CN115195976A - Retraction device for cooperative operation of double-body small unmanned ship and ROV - Google Patents
Retraction device for cooperative operation of double-body small unmanned ship and ROV Download PDFInfo
- Publication number
- CN115195976A CN115195976A CN202210992550.0A CN202210992550A CN115195976A CN 115195976 A CN115195976 A CN 115195976A CN 202210992550 A CN202210992550 A CN 202210992550A CN 115195976 A CN115195976 A CN 115195976A
- Authority
- CN
- China
- Prior art keywords
- rov
- basket
- towing
- main body
- small
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 229910000831 Steel Inorganic materials 0.000 claims description 7
- 239000010959 steel Substances 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 4
- 229910001220 stainless steel Inorganic materials 0.000 claims description 3
- 239000010935 stainless steel Substances 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000001514 detection method Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000010355 oscillation Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
Images
Classifications
-
- 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
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Catching Or Destruction (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a retraction device for cooperative operation of a double-body small unmanned ship and an ROV (remote operated vehicle), which comprises: a main body support; the towing basket is arranged below the main body support, one end of the towing basket is rotatably connected with the main body support, the other end of the towing basket is connected with an angle adjusting unit, the angle adjusting unit can adjust the relative rotation angle of the towing basket and the main body support, and the towing basket is used for releasing or retracting the ROV; and the guide unit is arranged on the dragging basket and used for guiding the moving direction of the ROV when the ROV is released or retracted. The invention has the advantages of simple structure, low manufacturing cost, easy control, small relative movement resistance between the platforms and the like.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a retraction device for cooperative operation of a double-body small unmanned ship and an ROV.
Background
With the continuous development of science and technology and economy, the underwater operation level of China is continuously improved, and underwater robots are born at the same time and play an important role in underwater operation and ocean exploration. It can replace human to submerge, is a robot tool that the practicality is very strong. The underwater robot is used as an exploratory tool and has strong applicability. Because the sea environment is complex, the function of the underwater robot is often restricted by a plurality of factors, and among the plurality of restricting factors, the retraction problem is one of the main reasons; the working time of the underwater robot is limited originally, however, the underwater robot has long time for each retraction, is easy to generate oscillation, and the safety accidents often occur. In addition, the unmanned surface vehicle is focused on the water surface for detection, and the ROV is focused under the water for detection, so that both the unmanned surface vehicle and the ROV have certain limitations, and meanwhile, compared with the unmanned surface vehicle, the ROV has the defects that a cable dragged by the ROV is longer when the ROV is deployed and retracted on the ground, the ROV movement posture is greatly influenced, and the detection maneuverability and the detection precision are influenced.
The existing unmanned ship comprises a drag-and-drop type, an underwater cable tractor, an A-frame type ROV (remote operated vehicle) retraction system and the like, and also comprises a manipulator for grabbing an ROV for releasing and recovering, so that the manipulator is required to be high in sensitivity and accurate in limiting, and the whole unmanned ship provided with a positioning system with high precision and high degree of freedom is high in manufacturing cost.
Disclosure of Invention
In view of the above, it is necessary to provide a folding and unfolding apparatus for a twin-hull small unmanned vehicle to work in cooperation with an ROV.
A retraction device for the cooperative operation of a twin hull unmanned vehicle with an ROV, comprising:
a main body support;
the towing basket is arranged below the main body support, one end of the towing basket is rotatably connected with the main body support, the other end of the towing basket is connected with an angle adjusting unit, the angle adjusting unit can adjust the relative rotation angle of the towing basket and the main body support, and the towing basket is used for releasing or retracting an ROV;
and the guide unit is arranged on the dragging basket in a sliding mode and is used for guiding the moving direction of the ROV when the ROV is released or retracted.
In one embodiment, the drag basket comprises:
the middle framework is paved with rollers;
the side wall support is arranged on the left side and the right side of the middle framework and comprises a plurality of square metal pipes, and the square metal pipes are connected into a hollow frame through bolts.
In one embodiment, the guide unit includes:
the sliding rails are symmetrically fixed on the side wall brackets on the left side and the right side;
the guide rod, both ends of the said guide rod have slide blocks, the said slide block corresponds to sliding connection of the said slide rail, wherein, the said guide rod contacts with sidewall of the said ROV;
the motor is fixed on the main body bracket;
the front large winch is connected with the motor and consists of three stainless steel sheets and a plurality of screw rods, and is used for winding a cable rope to retract an ROV.
In one embodiment, the guiding unit further comprises a guiding bell mouth, the guiding bell mouth is arranged at an opening at the tail part of the dragging basket, and a nut is arranged at the guiding bell mouth.
In one embodiment, the angle adjusting unit comprises a small tail winch arranged at the tail of the main body support, the small tail winch comprises a pulley, a small speed reducing motor and a wire coil, one end of a steel wire rope is wound on the wire coil and connected with the small speed reducing motor, and the other end of the steel wire rope is connected with a nut at the opening of the tail of the dragging basket after bypassing the pulley.
In one embodiment, a travel switch is arranged on the main body bracket, and when the middle rear section of the uppermost cross rod of the dragging basket is in contact with the travel switch, the dragging basket is in a flat state.
According to the retracting device for the cooperative operation of the double-body small unmanned ship and the ROV, the relative rotation angle between the towing basket and the main body support is adjusted through the angle adjusting unit, then the moving direction of the ROV is guided by the guiding unit, so that the towing basket can automatically and accurately release or retract the ROV, and the retracting device has the advantages of simple structure, low manufacturing cost, easiness in control, small relative moving resistance between platforms and the like.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of the deploying and retracting device for the coordinated operation of the catamaran unmanned small boat and the ROV;
FIG. 2 is a front view of the deployment apparatus of the present invention for the coordinated operation of a catamaran unmanned small craft and an ROV;
FIG. 3 is a top plan view of the deployment and deployment apparatus of the present invention for the coordinated operation of a catamaran unmanned small watercraft with an ROV;
FIG. 4 is a left side view of the deployment apparatus of the present invention for the coordinated operation of a catamaran unmanned small craft and an ROV;
FIG. 5 is a schematic structural view of the drag basket of the present invention;
FIG. 6 is a schematic view of the front large winch of the present invention;
fig. 7 is a schematic structural view of a tail small winch of the present invention.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully hereinafter with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Referring to fig. 1-7, an embodiment of the present invention provides a retraction device for a twin-hull unmanned small boat working in cooperation with an ROV, comprising:
a main body support 1;
the towing basket 2 is arranged below the main body support 1, one end of the towing basket 2 is rotatably connected with the main body support 1, the other end of the towing basket 2 is connected with an angle adjusting unit 3, the angle adjusting unit 3 can adjust the relative rotation angle of the towing basket 2 and the main body support 1, and the towing basket 2 is used for releasing or retracting an ROV;
and a guide unit 4 disposed on the drag basket 2, wherein the guide unit 4 is used for guiding a moving direction of the ROV when the ROV is released or retracted.
The retracting and releasing device for the coordinated operation of the double-body small unmanned boat and the ROV has the advantages that the relative rotation angle of the towing basket 2 and the main body support 1 is adjusted through the angle adjusting unit 3, then the moving direction of the ROV is guided by the guiding unit 4, so that the towing basket 2 can automatically and accurately release or retract the ROV, the structure is simple, the manufacturing cost is low, the control is easy, the relative moving resistance between platforms is small, and the like.
In one embodiment of the present invention, the drag basket 2 comprises:
the device comprises a middle framework 21, wherein rollers 22 are paved on the middle framework 21; in this embodiment, the purpose of laying roller 22 is: the friction force during the retraction movement of the ROV is reduced.
The side wall support 23, the side wall support 23 sets up the left and right sides of middle skeleton 21, the side wall support 23 includes a plurality of square metal pipes, square metal pipe connects into the frame of fretwork through the bolted connection. Thus, the side wall bracket 23 can prevent the ROV from being stuck on the wall, and the hollow design can reduce the weight of the mop basket 2.
In an embodiment of the present invention, the guiding unit 4 includes:
the slide rails 41 are symmetrically fixed on the side wall brackets 23 at the left side and the right side;
the guide rod 42, two ends of the guide rod 42 are provided with sliding blocks 43, the sliding blocks 43 are correspondingly connected with the sliding rails 41 in a sliding manner, wherein the guide rod 42 is in contact with the side wall of the ROV;
a motor 46 fixed on the main body bracket 1;
the front big winch 47 is connected with the motor 46, the front big winch 47 is composed of three stainless steel sheets 471 and a plurality of screw rods 472, and the front big winch 47 is used for winding a cable to retract and release an ROV; specifically, one end of the cable is connected to the ROV, the other end of the cable is wound on the front large winch 47, and the ROV can be released or retracted by driving the front large winch 47 to rotate through the motor 46.
In this embodiment, the guiding rod 42 and the cable can move along with the ROV, and when the ROV is released, the guiding rod 42 can push the ROV to slide downwards to complete the releasing operation; when the ROV is retracted, the ROV pushes the guide rod 42 to slide upwards to complete the retraction work. The guide rod 42 is provided for the purpose of: the central point finding is done by aligning the ROV midline with the midline of the drag basket 2.
In an embodiment of the present invention, the guiding unit 4 further includes a guiding bell mouth 44, the guiding bell mouth 44 is disposed at a tail opening of the dragging basket 2, and a nut 45 is disposed at the guiding bell mouth 44. In this embodiment, the guiding bell mouth 44 can assist the ROV to enter the towing basket 2, and the retraction efficiency is improved.
In an embodiment of the present invention, the angle adjusting unit 3 includes a tail small winch 33, the tail small winch 33 is disposed at the tail of the main body support 1, the tail small winch 33 includes a pulley 331, a small speed reduction motor 332, and a wire coil 333, one end of a steel wire rope is wound on the wire coil 333 and is connected to the small speed reduction motor 332, and the other end of the steel wire rope is connected to a nut 45 at an opening at the tail of the basket 2 after passing around the pulley 331.
In this embodiment, the small gear motor 332 can drive the wire coil winding 333 to rotate, receive and release the steel wire rope, and under the guiding action of the pulley 331, the tail of the dragging basket 2 can be lifted or dropped, so that the angle of the dragging basket 2 can be adjusted.
In an embodiment of the present invention, a travel switch 5 is disposed on the main body support 1, and when the rear section of the uppermost cross bar of the dragging basket 2 contacts with the travel switch 5, the dragging basket 2 is in a flat state. Therefore, whether the mop basket 2 is flatly placed or not can be judged by pressing the travel switch 5 once, and the judgment is more accurate and reliable.
The working process of the invention is as follows:
and (3) releasing:
1) Before releasing, the dragging basket 2 is horizontal, and the guide rod 42 and the ROV are both positioned at the front end of the dragging basket 2;
2) The dragging basket 2 is inclined, at the moment, the cable is tensioned, and the ROV cannot slide downwards;
3) Releasing the cable, the guide rod 42 and the ROV slide downwards together;
4) The guide rod 42 reaches the end of the dragging basket 2 and does not move any more, and the ROV is about to be separated from the dragging basket 2;
5) The ROV is completely separated from the dragging basket 2;
6) The empty dragging basket 2 is pulled flat, at the moment, the guide rod 42 is still at the tail end of the dragging basket 2, and the release is finished;
a retracting process:
7) The empty dragging basket 2 is inclined, and at the moment, the guide rod 42 is still at the tail end of the dragging basket 2 and is ready to meet an ROV;
8) Tightening the cable, the ROV approaching the guiding bell 44, gradually approaching the guiding rod 42;
9) The ROV is attached to the guide rod 42 to further tighten the cable, and pushes the guide rod 42 to move towards the front end of the dragging basket 2;
10 Guide rod 42 and ROV to the front end of the tow basket 2, the cable stops being withdrawn but not released;
11 Flattening the dragging basket 2 and finishing the recovery.
All possible combinations of the technical features of the above embodiments may not be described for the sake of brevity, but should be considered as within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.
The above examples only represent several embodiments of the present invention, but should not be construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (6)
1. A retraction device for the cooperative operation of a double-body small unmanned ship and an ROV is characterized by comprising:
a main body support;
the towing basket is arranged below the main body support, one end of the towing basket is rotatably connected with the main body support, the other end of the towing basket is connected with an angle adjusting unit, the angle adjusting unit can adjust the relative rotation angle of the towing basket and the main body support, and the towing basket is used for releasing or retracting an ROV;
and a guide unit provided on the drag basket, the guide unit being configured to guide a moving direction of the ROV when the ROV is released or retracted.
2. The stowing apparatus for co-operating a catamaran kayak and an ROV according to claim 1, wherein the tow basket comprises:
the middle framework is paved with rollers;
the side wall support is arranged on the left side and the right side of the middle framework and comprises a plurality of square metal pipes, and the square metal pipes are connected into a hollow frame through bolts.
3. The stowing and releasing device for the catamaran small unmanned ship working in conjunction with an ROV according to claim 2, wherein the guide unit comprises:
the sliding rails are symmetrically fixed on the side wall brackets on the left side and the right side;
the guide rod is provided with sliding blocks at two ends, the sliding blocks are correspondingly connected with the sliding rails in a sliding manner, and the guide rod is in contact with the side wall of the ROV;
the motor is fixed on the main body bracket;
the front big winch is connected with the motor and consists of three stainless steel sheets and a plurality of lead screws, and the front big winch is used for winding a cable to retract and release an ROV.
4. The stowing and releasing device for double-hull unmanned small boat and ROV in cooperation as claimed in claim 3, wherein the guiding unit further comprises a guiding bell mouth, the guiding bell mouth is arranged at the tail opening of the towing basket, and a nut is arranged at the guiding bell mouth.
5. The retracting device for the coordinated operation of the catamaran small unmanned vehicle and the ROV as claimed in claim 1, wherein the angle adjusting unit comprises a small tail winch, the small tail winch is arranged at the tail of the main body bracket, the small tail winch comprises a pulley, a small speed reducing motor and a wire coil, one end of a steel wire rope is wound on the wire coil and connected with the small speed reducing motor, and the other end of the steel wire rope is connected with a nut at an opening at the tail of the towing basket after passing around the pulley.
6. The stowing and releasing device for two-body unmanned boat in cooperation with ROV according to claim 5, characterized in that a travel switch is provided on the main body support, and when the rear section of the uppermost cross bar of the towing basket is in contact with the travel switch, the towing basket is in a flat state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210992550.0A CN115195976B (en) | 2022-08-18 | 2022-08-18 | A receive and release device that is used for small-size unmanned ship of binary and ROV to cooperate operation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210992550.0A CN115195976B (en) | 2022-08-18 | 2022-08-18 | A receive and release device that is used for small-size unmanned ship of binary and ROV to cooperate operation |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115195976A true CN115195976A (en) | 2022-10-18 |
| CN115195976B CN115195976B (en) | 2024-07-23 |
Family
ID=83585475
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210992550.0A Active CN115195976B (en) | 2022-08-18 | 2022-08-18 | A receive and release device that is used for small-size unmanned ship of binary and ROV to cooperate operation |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN115195976B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160039022A (en) * | 2014-09-30 | 2016-04-08 | 바다중공업 주식회사 | Davit device for lifeboat |
| KR20160093315A (en) * | 2015-01-29 | 2016-08-08 | 한국해양과학기술원 | System for tow-fish type lose prevention and management method of the same |
| CN108839758A (en) * | 2018-08-02 | 2018-11-20 | 中交第三航务工程勘察设计院有限公司 | A kind of offshore engineering ship borne type platform prospecting equipment draw off gear and folding and unfolding method |
| CN109292057A (en) * | 2018-11-08 | 2019-02-01 | 天津深之蓝海洋设备科技有限公司 | A kind of cable control underwater robot is laid and recovery system |
| CN110872074A (en) * | 2019-11-19 | 2020-03-10 | 西安航空职业技术学院 | Mechanical lifting device and using method thereof |
| CN211869648U (en) * | 2020-03-12 | 2020-11-06 | 中科探海(苏州)海洋科技有限责任公司 | Novel ROV cloth put recovery device |
| CN213535069U (en) * | 2020-11-10 | 2021-06-25 | 深圳潜行创新科技有限公司 | Unmanned ship carrying underwater vehicle |
| CN213535026U (en) * | 2020-11-10 | 2021-06-25 | 深圳潜行创新科技有限公司 | Device for collecting and releasing underwater robot by unmanned ship |
| CN114572349A (en) * | 2022-02-22 | 2022-06-03 | 江苏优思微智能科技有限公司 | Small-sized ROV (remote operated vehicle) folding and unfolding system for unmanned ship |
-
2022
- 2022-08-18 CN CN202210992550.0A patent/CN115195976B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20160039022A (en) * | 2014-09-30 | 2016-04-08 | 바다중공업 주식회사 | Davit device for lifeboat |
| KR20160093315A (en) * | 2015-01-29 | 2016-08-08 | 한국해양과학기술원 | System for tow-fish type lose prevention and management method of the same |
| CN108839758A (en) * | 2018-08-02 | 2018-11-20 | 中交第三航务工程勘察设计院有限公司 | A kind of offshore engineering ship borne type platform prospecting equipment draw off gear and folding and unfolding method |
| CN109292057A (en) * | 2018-11-08 | 2019-02-01 | 天津深之蓝海洋设备科技有限公司 | A kind of cable control underwater robot is laid and recovery system |
| CN110872074A (en) * | 2019-11-19 | 2020-03-10 | 西安航空职业技术学院 | Mechanical lifting device and using method thereof |
| CN211869648U (en) * | 2020-03-12 | 2020-11-06 | 中科探海(苏州)海洋科技有限责任公司 | Novel ROV cloth put recovery device |
| CN213535069U (en) * | 2020-11-10 | 2021-06-25 | 深圳潜行创新科技有限公司 | Unmanned ship carrying underwater vehicle |
| CN213535026U (en) * | 2020-11-10 | 2021-06-25 | 深圳潜行创新科技有限公司 | Device for collecting and releasing underwater robot by unmanned ship |
| CN114572349A (en) * | 2022-02-22 | 2022-06-03 | 江苏优思微智能科技有限公司 | Small-sized ROV (remote operated vehicle) folding and unfolding system for unmanned ship |
Also Published As
| Publication number | Publication date |
|---|---|
| CN115195976B (en) | 2024-07-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CA3083046C (en) | Line handling system for a tugboat | |
| EP3713826B1 (en) | Tugboat | |
| CN112478072B (en) | Water surface garbage cleaning method | |
| CN115556873B (en) | Ship mooring device and method | |
| US11702173B2 (en) | Tugboat | |
| US9359046B2 (en) | Submersible towed body deployment and recovery device | |
| CN114194337A (en) | Can restrain wobbling cloth of ROV and put recovery unit | |
| CN115195976A (en) | Retraction device for cooperative operation of double-body small unmanned ship and ROV | |
| CN112875544B (en) | Rope-driven AUV recovery cabin control system mounted on marine crane | |
| JP2869857B2 (en) | Underwater aerial vehicle retrieval and deployment equipment for ships | |
| CN219215316U (en) | Unmanned-boat-based manual side-scan sonar collecting and releasing device | |
| CN220809755U (en) | Be applied to fender receive and releases device of unmanned ship | |
| CN221418574U (en) | Cooperative device for inspection of reservoir dam | |
| CN218537035U (en) | Retractable gangway ladder of adjustable outer angle of putting | |
| KR20130111686A (en) | Hydraulic boat trailer | |
| WO2022106684A2 (en) | Line handling system | |
| CN115649359A (en) | Repeater arrangement and recovery device and method based on unmanned ship | |
| CN116280013A (en) | Unmanned ship for detection and use method thereof | |
| CN117799793A (en) | Be applied to fender receive and releases device of unmanned ship | |
| CN117262120A (en) | Unmanned vehicles's underwater receive and releases depressed place cabin transfer device | |
| CN115571806A (en) | Intelligent towed body folding and unfolding system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |