CN116620484B - AUV cloth recycling device - Google Patents
AUV cloth recycling device Download PDFInfo
- Publication number
- CN116620484B CN116620484B CN202310917442.1A CN202310917442A CN116620484B CN 116620484 B CN116620484 B CN 116620484B CN 202310917442 A CN202310917442 A CN 202310917442A CN 116620484 B CN116620484 B CN 116620484B
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- 238000004064 recycling Methods 0.000 title claims abstract description 36
- 239000004744 fabric Substances 0.000 title claims abstract description 26
- 238000011084 recovery Methods 0.000 claims abstract description 69
- 230000002441 reversible effect Effects 0.000 claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 87
- 238000001179 sorption measurement Methods 0.000 claims description 38
- 239000002184 metal Substances 0.000 claims description 35
- 229910052751 metal Inorganic materials 0.000 claims description 35
- 238000003756 stirring Methods 0.000 claims description 10
- 230000008878 coupling Effects 0.000 claims description 9
- 238000010168 coupling process Methods 0.000 claims description 9
- 238000005859 coupling reaction Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 31
- 230000008569 process Effects 0.000 abstract description 23
- 230000000694 effects Effects 0.000 abstract description 5
- 238000001125 extrusion Methods 0.000 abstract description 5
- 238000010521 absorption reaction Methods 0.000 description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 230000009471 action Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 3
- 229910052742 iron Inorganic materials 0.000 description 3
- 239000003651 drinking water Substances 0.000 description 2
- 235000020188 drinking water Nutrition 0.000 description 2
- 150000002739 metals Chemical class 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 239000002537 cosmetic Substances 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000009977 dual effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000004080 punching Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000010079 rubber tapping Methods 0.000 description 1
- 239000013535 sea water Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
- 238000003809 water extraction Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
-
- 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
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/57—Mechanical or electrical details of cameras or camera modules specially adapted for being embedded in other devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/62—Plastics recycling; Rubber recycling
Abstract
The invention discloses an AUV (autonomous Underwater vehicle) cloth recycling device, which relates to the technical field of AUV cloth recycling and comprises a lifting frame and a recycling frame, wherein a guide assembly is arranged on the outer side of the recycling frame, which is close to a feed port, and the guide assembly comprises a port annular plate. The AUV cloth recovery device disclosed by the invention has the advantages that when the AUV cloth recovery operation is carried out, the recovery frame is initially aligned with the AUV through the initial adjusting component, the AUV is contacted with the abduction guide plate on the guide component in the advancing process, meanwhile, the forward and reverse motor is started, and the forward and reverse motor drives the deflection pushing arc plate to contact with the AUV and push the arc plate to move towards each abduction guide plate, and in the pushing process, the sliding roller contacts and slides with the AUV, so that the condition that the AUV is limited due to contact extrusion is avoided, the AUV is rapidly guided into the recovery frame, and the effect of accurately recovering the AUV is realized.
Description
Technical Field
The invention relates to the technical field of AUV cloth recycling, in particular to an AUV cloth recycling device.
Background
The underwater robots are mainly divided into two main types, namely a cabled underwater robot, which is commonly called a remote-control submersible vehicle (Remote Operated Vehicle, abbreviated as ROV), and an untethered underwater robot, which is commonly called an autonomous underwater vehicle (Autonomous Underwater Vehicle, abbreviated as AUV); the autonomous underwater robot is a new generation underwater robot, has the advantages of large moving range, good maneuverability, safety, intellectualization and the like, and becomes an important tool for completing various underwater tasks; for example, the method can be used for laying pipelines, submarine investigation, data collection, drilling support, submarine construction, underwater equipment maintenance and repair and the like in the civil field, and can be used for reconnaissance, mine laying, mine sweeping, rescue, life saving and the like in the military field, wherein AUV means attrition, unique and varity, and fashion and distinctive cosmetic skin care products are put forward by taking unique cross-cultural fashion as the background. The brand is based on the 3D Hydroa APS (PF) of the Spanish Infinitec Activos Absodoctor patent, which is a high-end technological means in Europe and America, while the trend is being announced, and the mark is being created in Europe and America belonging to young people.
When the AUV is recycled after working, the current recycling device is used for recycling the AUV, the AUV is easy to deviate from the position due to external water flow impact in the moving process, the water flow impact is continuous, however, the current recycling device cannot adjust the position of the recycling frame in real time, the AUV deviates from a set track gradually under the action of water flow in the continuous moving process, so that the AUV cannot smoothly enter the recycling frame due to the deviation of the position at the inlet end of the recycling frame due to the movement of the AUV, the recycling failure of the AUV is caused, and the use value of the recycling device is reduced.
Disclosure of Invention
The invention discloses a cloth recycling device, which aims to solve the technical problems that when an AUV works and is recycled, the AUV is easy to deviate from the position due to external water impact in the moving process, the water impact is continuous, the position of a recycling frame cannot be adjusted in real time by the conventional cloth recycling device, the AUV gradually deviates from a preset track under the action of water flow in the continuous moving process, and therefore the AUV cannot smoothly enter the recycling frame due to the deviation of the position at the inlet end of the AUV when moving to the recycling frame, and the recycling failure of the AUV is caused.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the utility model provides an AUV cloth puts recovery unit, includes crane and recovery frame, the outside that recovery frame is close to the feed port is equipped with guide assembly, and guide assembly includes the port annular plate, port annular plate fixed connection in the outside of recovery frame, and one side annular distribution that recovery frame was kept away from to the port annular plate has the abduction guide board, and the abduction guide board is by port annular plate to the gradual outside of outer end, the outside that the port annular plate was kept away from to the abduction guide board is opened there is the regulation hole, and the outside fixedly connected with link that the abduction guide board is close to the regulation hole, fixedly connected with positive and negative rotation motor on the link, and the output shaft of positive and negative rotation motor passes through shaft coupling fixedly connected with deflection shaft, and the one end that the shaft of deflecting is kept away from the shaft coupling passes through the bearing connection in the inner wall of regulation hole, the outside fixedly connected with of deflection promotion arc plate, and deflection promotion arc plate is located the inboard of regulation hole, and the outside of the central point of deflection promotion arc plate towards port annular plate is opened there is the mounting groove, and the inner wall of mounting groove is connected with a plurality of slide rollers through the bearing.
Through being provided with guide assembly, when carrying out AUV cloth and putting recovery operation, will retrieve frame and AUV through preliminary regulation subassembly and carry out preliminary alignment, the AUV is in advance in-process and the abduction guide board on the guide assembly contacts, abduction guide board is with its leading-in between a plurality of abduction guide boards, simultaneously, positive and negative rotation motor one starts, positive and negative rotation motor one drives the deflection and promotes the arc board and AUV contact, and promote it, make it remove between each abduction guide board, promote the in-process, the slide roller contacts and slides with the AUV, avoid contact extrusion to cause the AUV to be taken place by the condition of restriction, thereby in leading-in recovery frame with the AUV fast, realize the accurate recovery of AUV, improve this cloth and put recovery unit's use value.
In a preferred scheme, retrieve the inboard of frame and be equipped with the absorption and collect the subassembly, and adsorb and collect the subassembly and include cavity adsorption plate and interior annular plate, interior annular plate fixed connection is kept away from the inside of port annular plate in retrieving the frame, one side fixedly connected with two pneumatic cylinders two of interior annular plate, cavity adsorption plate fixed connection is in the output of two pneumatic cylinders two.
In a preferred scheme, the cavity adsorbs the face and opens to one side annular of port annular plate has the absorption hole, and the outside equidistance of cavity adsorbs the board has the follow-up piece through hinged joint, and the outside of every follow-up piece all is equipped with the electro-magnet, and the outside fixedly connected with pump frame of cavity adsorbs the board, fixedly connected with high-pressure water pump on the pump frame, and the water inlet end fixedly connected with drinking-water pipe of high-pressure water pump, the one end that the water inlet end of high-pressure water pump was kept away from to the drinking-water pipe peg graft in the inside of cavity adsorbs the board.
Through being provided with the absorption and collect the subassembly, at the in-process of retrieving the frame with AUV leading-in through guiding assembly, start high-pressure water pump, high-pressure water pump carries out powerful absorption to the AUV through the absorption hole on the cavity absorption board, accelerate the AUV and remove towards cavity absorption board department, after the electro-magnet in the cavity absorption board outside contacts with the AUV, the electro-magnet circular telegram adsorbs the iron shell in the AUV outside through the electro-magnet, thereby make the AUV remove to retrieving the inside of frame under the effect of dual absorption, avoid it to break away from again because of the condition that the impact of strong rivers appears.
In a preferred scheme, the outside fixedly connected with collar of retrieving the frame, and the one side fixedly connected with two dead levers of retrieving the frame is kept away from to the collar, and the one end that retrieves the frame was kept away from to two dead levers is equipped with and strikes propagation subassembly.
In a preferred scheme, strike and propagate the subassembly and include that the metal strikes board and cavity and bump the board, and the metal strikes the board fixed connection in the one end of keeping away from two dead levers of retrieving the frame, cavity bump the board fixed connection in the tip outside of retrieving the frame, the water delivery end fixedly connected with conveyer pipe of high pressure water pump, the conveyer pipe is kept away from the one end of the water delivery end of high pressure water pump and is pegged graft in the inside of cavity bump the board, and the cavity bumps one side annular that the board faced the metal and beats the board and open there is the impact hole.
In a preferred scheme, the side of cavity drumming board towards the metal and strike the board equidistance fixedly connected with spacing piece, and the inboard fixedly connected with two connecting rods of metal strike the board, two connecting rods are towards the one end fixedly connected with same fixed column of metal strike board axle center department, and one side fixedly connected with center pole of fixed column towards cavity drumming board, the outside annular distribution of center pole has the elastic rod, and the one end that every elastic rod kept away from center pole all is equipped with the metal ball, and the metal ball is located between every adjacent two spacing pieces.
Through being provided with and strike propagation subassembly, in the high-pressure water pump working process, it is in the cavity adsorption plate with the water extraction, then in leading-in cavity drum the movable plate through the conveyer pipe, through the impact hole punching out, the water that punches out is strikeed the elastic rod for the passive tensile deformation of elastic rod, then the metal ball of elastic rod tip strikes the metal and strikes the plate, the sound wave that the striking produced between the metal plays certain blocking effect to the aquatic organism in this cloth recovery unit outside, avoids the impact of aquatic organism to cause this cloth recovery unit unstable.
In a preferred scheme, the outside of crane is opened there is the lift groove, and the inside fixedly connected with slip stock of lift groove, and the outside sliding connection of slip stock has the lift slider, and the outside fixedly connected with upper end piece that the crane is close to the top, one side fixedly connected with pneumatic cylinder one of upper end piece face below, the output fixedly connected with in the outside of lift slider of pneumatic cylinder one, the outside fixedly connected with mounting bracket of crane.
In a preferred scheme, two fixed plates are fixedly connected with in the outside of lift slider, and are equipped with preliminary adjustment subassembly on two fixed plates, and preliminary adjustment subassembly is including adjusting the rail, adjusts rail fixedly connected with in the opposite side outer wall of two fixed plates, and lift slider's outside fixedly connected with extension rod, the one end fixedly connected with support of lift slider is kept away from to the extension rod, and the support is towards one side fixedly connected with camera of retrieving the frame.
In a preferred scheme, the top fixedly connected with mounting panel of lift slider, and the top fixedly connected with motor plate of mounting panel, the bottom fixedly connected with positive and negative rotation motor two of motor plate, the output shaft of positive and negative rotation motor two passes through the shaft coupling fixedly connected with drive shaft, and the inside sliding connection of regulating rail has the sliding block, and the outside fixedly connected with same gangbar of drive shaft and sliding block, the top fixedly connected with rotation longboard of sliding block, rotates the outside of longboard fixedly connected with collar.
Through being provided with preliminary regulation subassembly, at AUV removal in-process, shoot its direction of removal through the camera to confirm that it can be in under the impact of rivers in finally, at this moment, start positive reverse motor two, positive reverse motor two drive the slider through the gangbar and rotate in the regulation rail, thereby realize retrieving the angle modulation of the entry port of frame, make the entry port of retrieving the frame and the direction of movement of AUV be in same straight line, ensure that the AUV can be accurate get into retrieve in the frame.
In a preferred scheme, the both sides of rotating the long board are all fixedly connected with two arbor boards, and the equal fixedly connected with of top of two arbor boards that are located the top just is positive and negative motor three, and the output shaft of two positive and negative motor three all is connected with the axis of rotation through the bearing, and the one end that positive and negative motor three was kept away from to two axes of rotation is all connected in the outside of corresponding arbor board through the bearing, and the outside annular distribution of axis of rotation has the water guide piece, and the outside equal distance of every water guide piece is equipped with the auxiliary sheet, and the outside of water guide piece is opened there is the water hole.
Through being provided with positive and negative rotation motor three, water guide piece and auxiliary sheet, when positive and negative rotation motor two drive recovery frame carries out angle modulation, start positive and negative rotation motor three, positive and negative rotation motor three drive water guide piece is directed the water in the rotation long plate outside to reduce the resistance that receives in the rotation long plate rotation process, protection rotates the long plate, prolongs its life.
From the above, the beneficial effects of the invention are as follows:
the utility model provides an AUV cloth is put recovery unit has when carrying out AUV cloth and is retrieved the operation, will retrieve frame and AUV through preliminary adjusting part and carry out preliminary alignment, the AUV is in advance the in-process and the abduction guide board on the guide part contacts, abduction guide board is with its leading-in between a plurality of abduction guide boards, simultaneously, positive and negative rotation motor one starts, positive and negative rotation motor one drives the deflection and promotes the arc board and AUV contact, and promote it, make it remove between each abduction guide board, promote the in-process, the slide roller contacts and slides with the AUV, avoid the contact extrusion to cause the AUV to be taken place by the condition of restriction, thereby in the recovery frame is led into to the AUV fast, realize the accurate technical effect who retrieves of AUV.
In the moving process of the AUV, the moving direction of the AUV is shot through the camera, so that the angle of the AUV is determined to be in the final direction under the impact of water flow, at this time, a forward and reverse motor II is started, and the forward and reverse motor II drives the sliding block to rotate in the adjusting rail through the linkage rod, so that the angle adjustment of the inlet port of the recovery frame is realized, the inlet port of the recovery frame and the moving direction of the AUV are in the same straight line, and the AUV is ensured to accurately enter the recovery frame.
Drawings
Fig. 1 is a schematic diagram of the overall structure of an AUV deployment and recovery device according to the present invention.
Fig. 2 is a front view of the overall structure of an AUV deployment and retraction device according to the present invention.
Fig. 3 is a schematic diagram of a guiding assembly of an AUV deployment and retraction device according to the present invention.
Fig. 4 is an enlarged view of a single abduction guide plate structure of an AUV deployment and retraction device according to the present invention.
Fig. 5 is a schematic diagram of a combined structure of an adsorption receiving assembly and a knocking propagation assembly of an AUV deployment and recovery device according to the present invention.
Fig. 6 is a schematic diagram of an adsorption recovery assembly of an AUV fabric recovery device according to the present invention.
Fig. 7 is a schematic diagram of a knock propagation component of an AUV deployment and retraction device according to the present invention.
Fig. 8 is a schematic diagram of a preliminary adjustment assembly of an AUV deployment and recovery apparatus according to the present invention.
Fig. 9 is a schematic plan view of fig. 8.
In the figure: 1. a lifting frame; 2. sliding the long rod; 3. a mounting frame; 4. tapping the propagation assembly; 401. a metal striking plate; 402. a hollow drum plate; 403. an impingement hole; 404. an elastic rod; 405. a limiting piece; 406. a metal ball; 407. a central rod; 408. a connecting rod; 409. fixing the column; 5. a mounting ring; 6. a recovery frame; 7. a guide assembly; 701. a port ring plate; 702. an abduction guide plate; 703. an adjustment aperture; 704. deflecting and pushing the arc plate; 705. a slide roller; 706. a mounting groove; 707. a connecting frame; 708. a first motor which rotates positively and negatively; 709. a deflection shaft; 8. a preliminary adjustment assembly; 801. an adjustment rail; 802. a linkage rod; 803. rotating the long plate; 804. a second motor is rotated in the forward direction and in the reverse direction; 805. a mounting plate; 806. a sliding block; 807. a motor plate; 808. a drive shaft; 9. an upper end block; 10. a first hydraulic cylinder; 11. a lifting slide block; 12. an adsorption pickup assembly; 1201. a hollow adsorption plate; 1202. adsorption holes; 1203. an electromagnet; 1204. a follower block; 1205. a delivery tube; 1206. a second hydraulic cylinder; 1207. an inner ring plate; 1208. a high pressure water pump; 1209. a pump frame; 1210. a water pumping pipe; 13. a fixed rod; 14. an extension rod; 15. a fixing plate; 16. a water guiding sheet; 17. a shaft plate; 18. a bracket; 19. a camera; 20. a positive and negative rotation motor III; 21. an auxiliary sheet; 22. a water passing hole; 23. and (3) rotating the shaft.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.
The AUV distribution and recovery device disclosed by the invention is mainly applied to the situation that when the AUV is subjected to distribution and recovery after working, the AUV is easy to deviate from the position due to external water impact in the moving process when the AUV is subjected to distribution and recovery, the water impact is continuous, however, the position of a recovery frame cannot be regulated in real time by the conventional distribution and recovery device, and the AUV gradually deviates from a preset track under the action of water flow in the continuous moving process, so that the AUV is often caused to move to the inlet end of the recovery frame, and the AUV cannot smoothly enter the recovery frame due to the deviation of the position, and then the distribution and recovery failure of the AUV is caused.
Referring to fig. 1-9, an AUV cloth recycling device comprises a lifting frame 1 and a recycling frame 6, wherein a guiding component 7 is arranged on the outer side, close to a feed port, of the recycling frame 6, the guiding component 7 comprises a port ring plate 701, the port ring plate 701 is fixedly connected to the outer side of the recycling frame 6, a splay guide plate 702 is annularly distributed on one side, far away from the recycling frame 6, of the port ring plate 701, the splay guide plate 702 is gradually unfolded outwards from the port ring plate 701 to the outer end, an adjusting hole 703 is formed in the outer side, far away from the port ring plate 701, of the splay guide plate 702, a connecting frame 707 is fixedly connected to the outer side, close to the adjusting hole 703, of the splay guide plate 702, a forward and reverse rotation motor 708 is fixedly connected to a deflection shaft 709 through a coupling, one end, far away from the coupling, of the deflection shaft 709 is connected to the inner wall of the adjusting hole 703 through a bearing, a deflection pushing arc plate 704 is fixedly connected to the outer side of the deflection pushing arc plate 704, the outer side of the deflection pushing arc plate 704 is located on the inner side of the inner wall of the center point of the port ring plate 701, a mounting groove 706 is formed in the outer side, close to the center point of the port ring plate 704, the deflection pushing arc plate 704 is fixedly connected to a connecting frame 707, a connecting frame 708 is fixedly connected to the connecting frame 708 is fixedly to the connecting frame 708, 708 is connected to the connecting frame 708 is near the outer side of the adjusting hole, 708 is close to the connecting frame 708 and 708 through a plurality of sliding rolls.
In a specific application scene, when carrying out AUV arrangement and recovery operation, carry out preliminary alignment through preliminary adjusting part 8 with retrieving frame 6 and AUV, the AUV is in advance in-process and the abduction guide board 702 on the guide part 7 contacts, abduction guide board 702 is with its guide into between a plurality of abduction guide boards 702, simultaneously, positive and negative rotating motor one 708 starts, positive and negative rotating motor one 708 drives the deflection and promotes arc board 704 and AUV contact, and promote it, make it remove between each abduction guide board 702, in the promotion process, slide roller 705 contacts and slides with the AUV, avoid the contact extrusion to cause the AUV to be restricted the condition to take place, thereby with AUV leading into retrieving frame 6 fast, realize the accurate recovery of AUV, improve this cloth and put recovery unit's use value.
Referring to fig. 1, fig. 2, fig. 5 and fig. 6, in a preferred embodiment, the inner side of the recovery frame 6 is provided with an adsorption collecting assembly 12, and the adsorption collecting assembly 12 includes a hollow adsorption plate 1201 and an inner ring plate 1207, the inner ring plate 1207 is fixedly connected to the recovery frame 6 and far away from the inside of the port annular plate 701, one side of the inner ring plate 1207 is fixedly connected with two hydraulic cylinders 1206, the hollow adsorption plate 1201 is fixedly connected to the output ends of the two hydraulic cylinders 1206, one side of the hollow adsorption plate 1201 facing the port annular plate 701 is annularly opened with an adsorption hole 1202, the outer side of the hollow adsorption plate 1201 is equidistantly connected with a follower block 1204 through a hinge, the outer side of each follower block 1204 is provided with an electromagnet 1203, the outer side of the hollow adsorption plate 1201 is fixedly connected with a pump frame 1209, a high-pressure water pump is fixedly connected to the pump frame 1209, the water inlet end of the high-pressure water pump 1208 is fixedly connected with a water suction pipe 1210, and one end of the water suction pipe 1210 far away from the water inlet end of the high-pressure water pump 1208 is spliced into the hollow adsorption plate 1201.
In the process of guiding the AUV into the recovery frame 6 through the guiding assembly 7, the high-pressure water pump 1208 is started, the high-pressure water pump 1208 strongly adsorbs the AUV through the adsorption holes 1202 on the hollow adsorption plate 1201, the AUV is accelerated to move towards the hollow adsorption plate 1201, after the electromagnet 1203 outside the hollow adsorption plate 1201 contacts with the AUV, the electromagnet 1203 is electrified, the iron shell outside the AUV is adsorbed through the electromagnet 1203, so that the AUV moves to the inside of the recovery frame 6 under the double adsorption effect, and the situation that the AUV is separated again due to the impact of strong water flow is avoided.
Referring to fig. 2, 5 and 7, in a preferred embodiment, the outer side of the recovery frame 6 is fixedly connected with a mounting ring 5, and one side of the mounting ring 5 away from the recovery frame 6 is fixedly connected with two fixing rods 13, and one end of the two fixing rods 13 away from the recovery frame 6 is provided with a knocking propagation assembly 4.
In the invention, the knocking propagation assembly 4 comprises a metal knocking plate 401 and a hollow stirring plate 402, the metal knocking plate 401 is fixedly connected to one end of two fixing rods 13 far away from the recovery frame 6, the hollow stirring plate 402 is fixedly connected to the outer side of the end part of the recovery frame 6, the water delivery end of a high-pressure water pump 1208 is fixedly connected with a delivery pipe 1205, one end of the delivery pipe 1205 far away from the water delivery end of the high-pressure water pump 1208 is inserted into the hollow stirring plate 402, one side of the hollow stirring plate 402 facing the metal knocking plate 401 is annularly provided with an impact hole 403, one side of the hollow stirring plate 402 facing the metal knocking plate 401 is equidistantly and fixedly connected with a limiting piece 405, the inner side of the metal knocking plate 401 is fixedly connected with two connecting rods 408, one end of each connecting rod 408 facing the axis of the metal knocking plate 401 is fixedly connected with the same fixing column 409, one side of the fixing column 409 facing the hollow stirring plate 402 is fixedly connected with a center rod 407, the outer side of the center rod 407 is annularly provided with an elastic rod 404, one end of each elastic rod 404 far away from the center rod 407 is provided with a metal ball 406, and the metal ball 406 is positioned between every two adjacent limiting pieces 405.
In a specific application scene again, in the working process of the high-pressure water pump 1208, the water is pumped into the hollow adsorption plate 1201, and then the water is led into the hollow drum plate 402 through the conveying pipe 1205, the water is punched out through the impact hole 403, the punched water impacts the elastic rod 404, so that the elastic rod 404 is passively stretched and deformed, the metal ball 406 at the end part of the elastic rod 404 impacts the metal knocking plate 401, sound waves generated by the impact between metals play a certain blocking effect on the water organisms outside the cloth recovery device, and the instability of the cloth recovery device caused by the impact of the water organisms is avoided.
Referring to fig. 1 and 2, in a preferred embodiment, a lifting groove is formed in the outer side of a lifting frame 1, a sliding long rod 2 is fixedly connected to the inner side of the lifting groove, a lifting sliding block 11 is fixedly connected to the outer side of the sliding long rod 2, an upper end block 9 is fixedly connected to the outer side of the lifting frame 1 close to the top end, a hydraulic cylinder one 10 is fixedly connected to one side, facing downwards, of the upper end block 9, the output end of the hydraulic cylinder one 10 is fixedly connected to the outer side of the lifting sliding block 11, and a mounting frame 3 is fixedly connected to the outer side of the lifting frame 1.
When the recovery frame 6 descends, the first adjusting hydraulic cylinder 10 drives the lifting slide block 11 to move in the sliding long rod 2, so that the recovery frame 6 is slowly driven to descend into seawater.
Referring to fig. 1, 2, 8 and 9, in a preferred embodiment, two fixing plates 15 are fixedly connected to the outer side of the lifting slider 11, and a preliminary adjustment assembly 8 is provided on the two fixing plates 15, the preliminary adjustment assembly 8 includes an adjustment rail 801, the adjustment rail 801 is fixedly connected to the outer wall of one side of the two fixing plates 15, an extension rod 14 is fixedly connected to the outer side of the lifting slider 11, a bracket 18 is fixedly connected to one end of the extension rod 14 away from the lifting slider 11, and a camera 19 is fixedly connected to one side of the bracket 18 facing the recovery frame 6.
The specific position monitoring of the AUV is performed by means of the camera 19.
In the invention, a mounting plate 805 is fixedly connected to the top of a lifting slide block 11, a motor plate 807 is fixedly connected to the top of the mounting plate 805, a second counter-rotating motor 804 is fixedly connected to the bottom of the motor plate 807, a driving shaft 808 is fixedly connected to an output shaft of the second counter-rotating motor 804 through a coupling, a sliding block 806 is slidably connected to the inside of an adjusting rail 801, the driving shaft 808 and the outer side of the sliding block 806 are fixedly connected to the same linkage rod 802, a rotating long plate 803 is fixedly connected to the top of the sliding block 806, and the rotating long plate 803 is fixedly connected to the outer side of a mounting ring 5.
Specifically, in the moving process of the AUV, the moving direction of the AUV is photographed through the camera 19, so that it is determined which angle the AUV is finally located under the impact of water flow, at this time, the second counter-rotating motor 804 is started, the second counter-rotating motor 804 drives the sliding block 806 to rotate in the adjusting rail 801 through the linkage rod 802, so that the angle adjustment of the inlet port of the recovery frame 6 is realized, the inlet port of the recovery frame 6 and the moving direction of the AUV are located on the same straight line, and the AUV is ensured to accurately enter the recovery frame 6.
Referring to fig. 1, 2, 8 and 9, in a preferred embodiment, two shaft plates 17 are fixedly connected to two sides of a long rotating plate 803, a third forward-reverse motor 20 is fixedly connected to the tops of the two shaft plates 17 located above, output shafts of the third forward-reverse motor 20 are connected to rotating shafts 23 through bearings, one ends of the two rotating shafts 23, far away from the output shafts of the third forward-reverse motor 20, are connected to the outer sides of the corresponding shaft plates 17 through bearings, water guide plates 16 are annularly distributed on the outer sides of the rotating shafts 23, auxiliary plates 21 are arranged at equal distances on the outer sides of each water guide plate 16, and water holes 22 are formed in the outer sides of the water guide plates 16.
It should be noted that, when the second reversible motor 804 drives the recovery frame 6 to perform angle adjustment, the third reversible motor 20 is started, and the third reversible motor 20 drives the water guide plate 16 to guide the water body outside the rotating long plate 803, so as to reduce the resistance received by the rotating long plate 803 in the rotating process, protect the rotating long plate 803, and prolong the service life thereof.
Working principle: when in use, in the moving process of the AUV, the moving direction of the AUV is shot through the camera 19, so that the angle of the AUV is determined to be in the final water flow under the impact of water flow, at the moment, the second counter-rotating motor 804 is started, the second counter-rotating motor 804 drives the sliding block 806 to rotate in the adjusting rail 801 through the linkage rod 802, thereby realizing the angle adjustment of the inlet port of the recovery frame 6, the inlet port of the recovery frame 6 and the moving direction of the AUV are positioned on the same straight line, in the preliminary adjusting process, the third counter-rotating motor 20 is started, the third counter-rotating motor 20 drives the water guide plate 16 to guide the water body outside the rotating long plate 803, thereby reducing the resistance of the rotating long plate 803 in the rotating process, protecting the rotating long plate 803, after preliminary alignment, the AUV is contacted with the abduction guide plates 702 on the guide assembly 7 in the advancing process, the abduction guide plates 702 guide the AUV between the abduction guide plates 702, meanwhile, the forward and reverse rotation motor I708 is started, the forward and reverse rotation motor I708 drives the deflection pushing arc plate 704 to contact with the AUV and push the AUV to move towards each abduction guide plate 702, in the pushing process, the sliding roller 705 contacts with the AUV and slides to avoid the condition that the AUV is limited due to contact extrusion, so that the AUV is quickly guided into the recovery frame 6, in the process of guiding the AUV into the recovery frame 6 through the guiding assembly 7, the high-pressure water pump 1208 is started, the high-pressure water pump 1208 forcefully adsorbs the AUV through the adsorption holes 1202 on the hollow adsorption plate 1201 to accelerate the AUV to move towards the hollow adsorption plate 1201, after the electromagnet 1203 on the outer side of the hollow adsorption plate 1201 contacts with the AUV, the electromagnet 1203 is electrified to adsorb the iron shell on the outer side of the AUV, so that the AUV moves into the recovery frame 6 under the double adsorption effect, meanwhile, in the working process of the high-pressure water pump 1208, water is pumped into the hollow adsorption plate 1201, then is led into the hollow blast plate 402 through the conveying pipe 1205, and is flushed out through the impact hole 403, the flushed water impacts the elastic rod 404, so that the elastic rod 404 is passively stretched and deformed, the metal ball 406 at the end part of the elastic rod 404 impacts the metal knocking plate 401, and sound waves generated by the impact between metals play a certain blocking effect on the water organisms outside the cloth recovery device.
The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.
Claims (5)
1. The AUV cloth-placing and recycling device comprises a lifting frame (1) and a recycling frame (6), and is characterized in that the recycling frame (6) is provided with a guide component (7) close to the outer side of a feeding port, the guide component (7) comprises a port annular plate (701), the port annular plate (701) is fixedly connected to the outer side of the recycling frame (6), one side of the port annular plate (701) far away from the recycling frame (6) is annularly distributed with a abduction guide plate (702), the abduction guide plate (702) is gradually outwards unfolded from the port annular plate (701) to the outer end, the outsides of the abduction guide plate (702) far away from the port annular plate (701) are provided with adjusting holes (703), and the outer side of the abduction guide plate (702) close to the adjusting hole (703) is fixedly connected with a connecting frame (707), the connecting frame (707) is fixedly connected with a first positive and negative rotation motor (708), an output shaft of the first positive and negative rotation motor (708) is fixedly connected with a deflection shaft (709) through a coupling, one end of the deflection shaft (709) far away from the coupling is connected with the inner wall of the adjusting hole (703) through a bearing, the outer side of the deflection shaft (709) is fixedly connected with a deflection pushing arc plate (704), the deflection pushing arc plate (704) is positioned at the inner side of the adjusting hole (703), the outer side of the deflection pushing arc plate (704) facing the central point of the port ring plate (701) is provided with a mounting groove (706), the inner wall of the mounting groove (706) is connected with a plurality of sliding rollers (705) through bearings;
the inner side of the recovery frame (6) is provided with an adsorption collecting assembly (12), the adsorption collecting assembly (12) comprises a hollow adsorption plate (1201) and an inner ring plate (1207), the inner ring plate (1207) is fixedly connected to the inside of the recovery frame (6) far away from the port ring plate (701), one side of the inner ring plate (1207) is fixedly connected with two hydraulic cylinders II (1206), and the hollow adsorption plate (1201) is fixedly connected to the output ends of the two hydraulic cylinders II (1206);
the hollow adsorption plate (1201) is annularly provided with adsorption holes (1202) facing one side of the port annular plate (701), the outer sides of the hollow adsorption plates (1201) are equidistantly connected with follow-up blocks (1204) through hinges, electromagnets (1203) are arranged on the outer sides of each follow-up block (1204), a pump frame (1209) is fixedly connected to the outer sides of the hollow adsorption plates (1201), a high-pressure water pump (1208) is fixedly connected to the pump frame (1209), the water inlet end of the high-pressure water pump (1208) is fixedly connected with a water suction pipe (1210), and one end of the water suction pipe (1210) far away from the water inlet end of the high-pressure water pump (1208) is spliced in the hollow adsorption plate (1201);
the outside of the recovery frame (6) is fixedly connected with a mounting ring (5), one side of the mounting ring (5) away from the recovery frame (6) is fixedly connected with two fixing rods (13), and one end of the two fixing rods (13) away from the recovery frame (6) is provided with a knocking transmission assembly (4);
the knocking propagation assembly (4) comprises a metal knocking plate (401) and a hollow stirring plate (402), the metal knocking plate (401) is fixedly connected to one ends of two fixing rods (13) far away from the recovery frame (6), the hollow stirring plate (402) is fixedly connected to the outer side of the end part of the recovery frame (6), the water delivery end of the high-pressure water pump (1208) is fixedly connected with a delivery pipe (1205), one end, far away from the water delivery end of the high-pressure water pump (1208), of the delivery pipe (1205) is inserted into the hollow stirring plate (402), and an impact hole (403) is formed in the annular shape of one side, facing the metal knocking plate (401), of the hollow stirring plate (402);
the hollow agitating plate (402) is fixedly connected with a limiting sheet (405) at equal distance on one side facing the metal knocking plate (401), the inner side of the metal knocking plate (401) is fixedly connected with two connecting rods (408), one end of each connecting rod (408) facing the axis of the metal knocking plate (401) is fixedly connected with the same fixing column (409), one side of fixed column (409) towards cavity drum plate (402) fixedly connected with center pole (407), the outside annular of center pole (407) distributes there is elastic rod (404), and the one end that center pole (407) was kept away from to every elastic rod (404) all is equipped with metal ball (406), and metal ball (406) are located between every adjacent two spacing piece (405).
2. The AUV cloth recycling device according to claim 1, wherein a lifting groove is formed in the outer side of the lifting frame (1), a sliding long rod (2) is fixedly connected to the inner side of the lifting groove, a lifting sliding block (11) is fixedly connected to the outer side of the sliding long rod (2), an upper end block (9) is fixedly connected to the outer side of the lifting frame (1) close to the top end, a first hydraulic cylinder (10) is fixedly connected to one side, facing downwards, of the upper end block (9), the output end of the first hydraulic cylinder (10) is fixedly connected to the outer side of the lifting sliding block (11), and a mounting frame (3) is fixedly connected to the outer side of the lifting frame (1).
3. The AUV cloth and recycling device according to claim 2, characterized in that two fixing plates (15) are fixedly connected to the outer side of the lifting sliding block (11), a preliminary adjusting component (8) is arranged on the two fixing plates (15), the preliminary adjusting component (8) comprises an adjusting rail (801), the adjusting rail (801) is fixedly connected to the outer wall of one side of the two fixing plates (15) opposite to each other, an extension rod (14) is fixedly connected to the outer side of the lifting sliding block (11), a support (18) is fixedly connected to one end, away from the lifting sliding block (11), of the extension rod (14), and a camera (19) is fixedly connected to one side, facing the recycling frame (6), of the support (18).
4. An AUV deployment and retraction device according to claim 3 wherein the top of the lifting slider (11) is fixedly connected with a mounting plate (805), the top of the mounting plate (805) is fixedly connected with a motor plate (807), the bottom of the motor plate (807) is fixedly connected with a second forward and reverse rotation motor (804), the output shaft of the second forward and reverse rotation motor (804) is fixedly connected with a driving shaft (808) through a coupling, the inside of the adjusting rail (801) is slidably connected with a sliding block (806), the outer sides of the driving shaft (808) and the sliding block (806) are fixedly connected with the same linkage rod (802), the top of the sliding block (806) is fixedly connected with a rotation long plate (803), and the rotation long plate (803) is fixedly connected with the outer side of the mounting ring (5).
5. The AUV cloth recycling device according to claim 4, wherein two shaft plates (17) are fixedly connected to two sides of the rotary long plate (803), a forward and reverse rotation motor III (20) is fixedly connected to the tops of the two shaft plates (17) located above, rotating shafts (23) are connected to output shafts of the two forward and reverse rotation motors III (20) through bearings, one ends, far away from the output shafts of the forward and reverse rotation motors III (20), of the two rotating shafts (23) are connected to the outer sides of the corresponding shaft plates (17) through bearings, water guide plates (16) are annularly distributed on the outer sides of the rotating shafts (23), auxiliary plates (21) are arranged at equal distances on the outer sides of each water guide plate (16), and water passing holes (22) are formed in the outer sides of the water guide plates (16).
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| CN202310917442.1A CN116620484B (en) | 2023-07-25 | 2023-07-25 | AUV cloth recycling device |
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| CN202310917442.1A CN116620484B (en) | 2023-07-25 | 2023-07-25 | AUV cloth recycling device |
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| CN116620484B true CN116620484B (en) | 2023-09-26 |
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| FR505694A (en) * | 1916-02-02 | 1920-08-04 | John Branecky | Device indicating the location of sunken ships |
| KR20160111569A (en) * | 2015-03-16 | 2016-09-27 | (주)에이딕 | Lifting equipment and materials and the patriarch a scaffold |
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