CN202807079U - Intelligent underwater robot deployment device - Google Patents
Intelligent underwater robot deployment device Download PDFInfo
- Publication number
- CN202807079U CN202807079U CN 201220474564 CN201220474564U CN202807079U CN 202807079 U CN202807079 U CN 202807079U CN 201220474564 CN201220474564 CN 201220474564 CN 201220474564 U CN201220474564 U CN 201220474564U CN 202807079 U CN202807079 U CN 202807079U
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- underwater robot
- intelligent underwater
- auv
- live spindle
- gondola
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Abstract
The utility model relates to a device for quickly deploying multiple intelligent underwater robots. The device comprises a rotary spindle, a pod, an anti-oscillation device and a reinforcing connector, wherein the rotary spindle can rotate for 360 degrees around central axis; the pod is mounted on the outer surface of the rotary spindle, circumferentially surrounds the spindle and is connected with the rotary spindle through a first reinforcing connector to control the release of the intelligent underwater robots; and the anti-oscillation device is connected with the rotary spindle through a second reinforcing connector to control the anti-oscillation amplitude of the underground robot. The device disclosed by the utility model can realize quick deployment of multiple AUVs on the same site or uninterrupted deployment of multiple AUVs by a vehicle on different sites of the route thereof in one voyage; the device has a compact structure and high degree of automation, and is applicable to manned and unmanned and overwater and underwater vehicle carriers; and after mounting, the device causes little influence on the appearance and motion performance of the original vehicle carrier.
Description
Technical field
The utility model relates to a kind of device that a plurality of Intelligent Underwater Robot is carried out rapid deployment.
Background technology
At present, follow the correlation technique development of Intelligent Underwater Robot (being called for short AUV), AUV is increasing in the effect in the fields such as scientific investigation, military investigation.Because the sphere of action of the energy of every AUV and the sensor that carries thereof is limited, therefore can come by the Cooperation And Coordination of many AUV more reliable, complete the task that single AUV is difficult to complete more quickly.For the deployment way of AUV, for different AUV types, can be in different ways.Current AUV can be divided into large-scale AUV and the large class of microminiature AUV two by the difference of principal dimensions, and what generally adopt for large-scale AUV is to utilize the equipment such as crane on bank base or its carrier to discharge, and once can only carry out the deployment of an AUV.Because the equipment such as crane on carrier are limited, if thereby carry out the deployment of much type AUV in above-mentioned this mode, just need or use a large amount of carriers, or completing repeatedly repeated work with single carrier, can consume a large amount of manpowers and time like this.Although the relatively large-scale AUV volume of microminiature AUV is little, lightweight, but the mode of its deployment or carry to the assigned work waters with the people is disposed by the people, and people's participation so just need to be arranged, for the operation of some foul waters, bring larger threat can for personnel's life security.
Summary of the invention
The purpose of this utility model is to provide a kind of and can be used for a plurality of Intelligent Underwater Robot uninterruptedly implement the device disposed at same place rapid deployment or vehicle along the course line in a voyage.
The purpose of this utility model is achieved in that
The utility model comprises live spindle (1), gondola (2), anti-oscillation device (3) and the device that reinforces the connection, and live spindle (1) can carry out 360 ° of rotations around center shaft; Control motor and be connected with live spindle (1), be used for the rotation of driven rotary main shaft (1); Gondola (2) is arranged on the outside face of live spindle (1), is connected with live spindle (1) by first device (4) that reinforces the connection, and controls the release of Intelligent Underwater Robot; Anti-oscillation device (3) is connected with live spindle (1) through second device (8) that reinforces the connection, and controls the only amplitude of oscillation degree to under-water robot.
Gondola (2) comprises F type bar (6), slide block (12), engine installation (11), connecting rod (15), stage clip (16), anchor shaft (17) and ground way, slide block (12) is trapezium structure, engine installation (11) contacts with slide block (12), promotes slide block (12) during startup along the localized area motion of the first ground way (10) and the second ground way (13); F type bar (6) can rotate around anchor shaft (17), is used for connecting or breaking away from the suspension ring (7) of Intelligent Underwater Robot; Connecting rod (15) is connected with stage clip (16), can be along the 3rd ground way (14) motion, and connecting rod (15) will limit the rotation amplitude of F type bar (6).
The surface of slide block (12) and ground way is equipped with ball.
Live spindle is cylindricality, in the situation that intensity allows to be made as hollow structure.
Gondola (2) is circumferential distribution at the outside face of live spindle (1).
Regulating control (9) is housed on anti-oscillation device (3), and anti-oscillation device (3) and regulating control (9) are flexible with the contact surface of Intelligent Underwater Robot, and regulating control (9) is positioned on the rib of Intelligent Underwater Robot with the contact surface of Intelligent Underwater Robot.
The beneficial effects of the utility model are:
The utility model can realize that many AUV are implementing the deployment of many AUV the rapid deployment in same place or vehicle are continual in voyage along the different location in its course line, this apparatus structure is simply compact, degree of automation is high, applicable to having people or nobody, the water surface to reach multiple vehicle carrier under water, profile and exercise performance impact on former vehicle carrier after installing simultaneously are less.
Description of drawings
Fig. 1 is the schematic perspective view of many Intelligent Underwater Robot deployment devices;
Fig. 2 is the front view of many Intelligent Underwater Robot deployment devices;
Fig. 3 is the lateral plan of many Intelligent Underwater Robot deployment devices;
Fig. 4 is schematic diagram before a kind of design plan of AUV gondola in many Intelligent Underwater Robot deployment devices starts;
Fig. 5 is schematic diagram after a kind of design plan of AUV gondola in many Intelligent Underwater Robot deployment devices starts;
Fig. 6 is the unmanned boat scheme lateral plan of many Intelligent Underwater Robot deployment devices;
Fig. 7 is the unmanned boat scheme birds-eye view of many Intelligent Underwater Robot deployment devices;
Fig. 8 is the many Intelligent Underwater Robot deployment devices independence gondola scheme front view that is loaded into surface craft;
Fig. 9 is the many Intelligent Underwater Robot deployment devices independence gondola scheme lateral plan that is loaded into surface craft.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described further.
Take for overcome a large amount of personnel, the time that existing mode occurs when disposing many AUV, the many lash ships support when large-scale AUV disposes, and the security problems of considering the foul water operating personnel, the utility model provides the rapid deployment device of a kind of many AUV.This device is applicable to having people or unmanned, the water surface and underwater research vehicle carrier, and can realize that many AUV are implementing the deployment of many AUV the rapid deployment in same place or vehicle are continual in voyage along the different location in its course line.
The technical scheme that its technical matters that solves the utility model adopts is: circumferential at live spindle, gondola is installed, and on gondola, anti-oscillation device is housed simultaneously.Control motor and be connected with live spindle, its energy from separate energy source or with carrier on the energy share, the control motor can be controlled by the control system on carrier.When AUV was installed, AUV can be connected with gondola by dedicated hook, and is fixed by anti-oscillation device at every turn.When the device operation, can be according to operator's instruction, via control system, instruction is delivered to the control motor, controlling motor can rotate by the driven rotary main shaft, when required AUV arrives the releasing position, corresponding gondola can carry out release with AUV and its dedicated hook, thereby AUV is discharged, and AUV can leave carrier through free fall.AUV is upper will load drop able ballast in advance, make it be in the negative lift state, and after AUV arrived safety depth, drop able ballast can discharge by the control system on AUV, and so far AUV can start working.
as shown in the figure, 1. live spindles in figure, 2. gondola, 3. anti-oscillation device, 4. first device that reinforces the connection, 5.AUV, 6.F type bar, 7. suspension ring, 8. second device that reinforces the connection, 9. the regulating control on anti-oscillation device, 10. the first ground way, 11. engine installation, 12. slide block, 13. the second ground way, 14 the 3rd ground ways, 15 connecting rods, 16. stage clip, 17. anchor shaft, 18. control cabinet, 19. main engine room, 20. waterjet propulsor, 21. many AUV rapid deployment device, 22. fore peak tank, 23. attitude control cabinet, 24. antirolling tank, 25. cargo tank, 26. pumping gear cabin, 27. mast, 28. visual apparatus, 29. antenna and GPS fixing aid, 30. ship side or stern, 31. hawser, 32. independent gondola shell, 33. gondola suspension ring, 34. the water surface, 35. control motor room, 36. weight, 37. shock absorber, 38. hatch door.
In Fig. 1, every AUV(5) be connected with live spindle (1) via corresponding gondola (2).Gondola (2) circumferentially arranging in live spindle (1).Anti-oscillation device (3) is installed on gondola (2).Gondola (2) can be connected with live spindle (1) via first device (4) that reinforces the connection, and gains in strength.Live spindle (1) is connected with the control motor, controls motor and can be controlled by corresponding control system.As AUV(5) when needing to dispose, send instruction by control system, order is controlled driven by motor live spindle (1) and is rotated, as required AUV(5) when arriving directly over outlet, AUV(5) nearest apart from the water surface, gondola (2) can be with AUV(5) discharge.AUV(5) will leave carrier in the mode of free-falling body.AUV(5) upward can load in advance drop able ballast, make it be in the negative lift state, as AUV(5) arrive safety depth after, drop able ballast can pass through AUV(5) on control system discharge, AUV(5) can start working.
In Fig. 2 and Fig. 3, anti-oscillation device (3) is reinforced via second device (8) that reinforces the connection.Regulating control (9) is housed on anti-oscillation device (3), its effect is can be at AUV(5) in the process of loading, manual control is to AUV(5) only amplitude of oscillation degree, itself and AUV(5) contact surface be flexibility, and and AUV(5) contact point be positioned at AUV(5) rib on.AUV(5) lifting is by F type bar (6) and AUV(5 in gondola (2)) on suspension ring (7) be connected and complete.Live spindle (1) can reduce the gross weight of equipment amount on the one hand in the situation that intensity allows to be made as hollow, and its hollow parts can be used for adding relevant device and circuit on the other hand.
In Fig. 4, the parts in gondola are for being arranged symmetrically with and should carrying out water-proofing treatment.At AUV(5) dispose before, AUV(5) via suspension ring (7) with F type bar (6) to connecting.F type bar (6) connects together through attaching parts with the anchor shaft (17) that is arranged in gondola, and can rotate around anchor shaft (17), F type bar (6) can be avoided AUV(5) Large Amplitude Motion appears at the vehicle vertical direction, simultaneously the size of F type bar (6) can be according to loading AUV(5) model change, to prevent AUV(5) on attached body and gondola shell bump.At this moment, engine installation (11) is not activated, and F type bar (6) is by the connecting rod (15) that is connected with stage clip (16) and slide block (12) locking.Due to the sense of motion of connecting rod (15) by the 3rd ground way (14) restriction, thereby can only be along the direction motion of the 3rd ground way (14) after stressed.Motion conditions as shown by arrows in FIG..
In Fig. 5, after engine installation (11) starts via control system, it can promote slide block (12) along the second ground way (13) and the first ground way (10) motion, force F type bar (6) to overcome around anchor shaft (17) the power rotation that connecting rod (15) brings, make F type bar (6) extract out from suspension ring (7), thereby realize AUV(5) deployment discharge operation.Be equipped with steamboat or ball on the contact surface of the contact surface of the contact surface of the contact surface of the contact surface of slide block (12) and the first ground way (10), slide block (12) and the second ground way (13), slide block (12) and engine installation (11), connecting rod (15) and F type bar (6) and connecting rod (15) and the 3rd ground way (14) with the minimizing resistance of motion.Motion conditions as shown by arrows in FIG..
In Fig. 6 and Fig. 7, on general unmanned boat required control cabinet (18), main engine room (19), waterjet propulsor (20), fore peak tank (22), mast (27), visual apparatus (28), antenna and GPS fixing aid (29), after installing many AUV rapid deployment device (21), pumping gear cabin (26), attitude control cabinet (23) and hatch door (38) to be installed also.Because many AUV rapid deployment device (21) can be rotated around live spindle in the process of work, this can affect the athletic posture of unmanned boat carrier to a certain extent, thereby need to control the lateral attitude of unmanned boat carrier.Antirolling tank (24) and a cargo tank (25) with hull center line symmetry mainly are housed in attitude control cabinet (23).Cargo tank (25) is arranged in ship, the cross motion that brings to reduce unmanned boat fuel consumption in service; Antirolling tank (24) is arranged in unmanned boat two topsides, to control to greatest extent the attitude of unmanned boat, satisfies the normal operation of many AUV rapid deployment device (21).Because hatch door (38) need to be opened and close to many AUV rapid deployment device (21) when working, the cabin interior that many AUV rapid deployment device (21) is housed has water and enters, thereby needs to install pumping gear cabin (26).Complete the AUV deployment task, after hatch door (38) was closed, pumping gear cabin (26) started, and the water in this cabin was got rid of, to reduce water in this cabin to the impact of unmanned boat exercise performance.
In Fig. 8 and Fig. 9, this independent gondola can via the hawser (31) that is connected with gondola suspension ring (33), be connected with the crane of board or stern (30).By crane, independent gondola is winched in the water surface (34) top or water.Many AUV rapid deployment device (21) is placed in independent gondola, and independent gondola bottom is the reservation opening directly, to facilitate the deployment of AUV.Simultaneously, control motor room (35) need be set in independent gondola.Controlling motor room (35) can be connected with the ship lash ship via cable, by lash ship, it is controlled and energy supply.Because many AUV rapid deployment device (21) can occur rotating in when work, thereby can drive independent gondola integral body and occur rocking, for reducing the amplitude of its swing, can weight (36) be installed in independent gondola bottom.For preventing that independent gondola shell (32) and board or stern (30) from bumping, should shock absorber (37) be housed the side near board or stern (30) on independent gondola.
Claims (6)
1. Intelligent Underwater Robot deployment devices, it is characterized in that: comprise live spindle (1), gondola (2), anti-oscillation device (3) and the device that reinforces the connection, live spindle (1) can carry out 360 ° of rotations around center shaft; Control motor and be connected with live spindle (1), be used for the rotation of driven rotary main shaft (1); Gondola (2) is arranged on the outside face of live spindle (1), is connected with live spindle (1) by first device (4) that reinforces the connection, and controls the release of Intelligent Underwater Robot; Anti-oscillation device (3) is connected with live spindle (1) through second device (8) that reinforces the connection, and controls the only amplitude of oscillation degree to under-water robot.
2. a kind of Intelligent Underwater Robot deployment devices according to claim 1, it is characterized in that: described gondola (2) comprises F type bar (6), slide block (12), engine installation (11), connecting rod (15), stage clip (16), anchor shaft (17) and ground way, slide block (12) is trapezium structure, engine installation (11) contacts with slide block (12), promotes slide block (12) during startup along the localized area motion of the first ground way (10) and the second ground way (13); F type bar (6) can rotate around anchor shaft (17), is used for connecting or breaking away from the suspension ring (7) of Intelligent Underwater Robot; Connecting rod (15) is connected with stage clip (16), can be along the 3rd ground way (14) motion, and connecting rod (15) will limit the rotation amplitude of F type bar (6).
3. a kind of Intelligent Underwater Robot deployment devices according to claim 2, it is characterized in that: the surface of described slide block (12) and ground way is equipped with ball.
4. a kind of Intelligent Underwater Robot deployment devices according to claim 1 and 2, it is characterized in that: described live spindle is cylindricality, in the situation that intensity allows to be made as hollow structure.
5. a kind of Intelligent Underwater Robot deployment devices according to claim 1 and 2, it is characterized in that: described gondola (2) is circumferential distribution at the outside face of live spindle (1).
6. a kind of Intelligent Underwater Robot deployment devices according to claim 1 and 2, it is characterized in that: regulating control (9) is housed on described anti-oscillation device (3), anti-oscillation device (3) and regulating control (9) are flexible with the contact surface of Intelligent Underwater Robot, and regulating control (9) is positioned on the rib of Intelligent Underwater Robot with the contact surface of Intelligent Underwater Robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220474564 CN202807079U (en) | 2012-09-18 | 2012-09-18 | Intelligent underwater robot deployment device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220474564 CN202807079U (en) | 2012-09-18 | 2012-09-18 | Intelligent underwater robot deployment device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202807079U true CN202807079U (en) | 2013-03-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220474564 Expired - Fee Related CN202807079U (en) | 2012-09-18 | 2012-09-18 | Intelligent underwater robot deployment device |
Country Status (1)
| Country | Link |
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| CN (1) | CN202807079U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102826210A (en) * | 2012-09-18 | 2012-12-19 | 哈尔滨工程大学 | Autonomous underwater vehicle (AUV) deployment device |
-
2012
- 2012-09-18 CN CN 201220474564 patent/CN202807079U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102826210A (en) * | 2012-09-18 | 2012-12-19 | 哈尔滨工程大学 | Autonomous underwater vehicle (AUV) deployment device |
| CN102826210B (en) * | 2012-09-18 | 2015-04-08 | 哈尔滨工程大学 | Autonomous underwater vehicle (AUV) deployment device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130320 Termination date: 20160918 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |