CN203581349U - Recovery system of autonomous underwater vehicle - Google Patents
Recovery system of autonomous underwater vehicle Download PDFInfo
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- CN203581349U CN203581349U CN201320784800.8U CN201320784800U CN203581349U CN 203581349 U CN203581349 U CN 203581349U CN 201320784800 U CN201320784800 U CN 201320784800U CN 203581349 U CN203581349 U CN 203581349U
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- lifting body
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Abstract
The utility model belongs to the field of autonomous underwater vehicles, and particularly relates to a recovery system of an autonomous underwater vehicle. The recovery system comprises a mother ship, an A-type frame, and lifting locks, as well as comprises a rope throwing appliance and lifting rings which are respectively installed on the autonomous underwater vehicle. After the autonomous underwater vehicle completes the mission, a traction rope is thrown from the bow of the autonomous underwater vehicle by the rope throwing appliance, a worker on a main ship fishes up the traction rope through a rope fishing appliance, then the traction rope passes through the A-type frame at the stern of the main ship, and the autonomous underwater vehicle is manually towed to sail on the sea to overcome the influence of sea waves; recovery rods with the end parts being provided with the lifting locks are sequentially aligned with the front and back lifting rings to realize the butt-joint of the lifting locks and the lifting rings, and then the autonomous underwater vehicle is lifted by the A-type frame to realize the whole recovery process. The recovery system provided by the utility model has the characteristics of simple structure, safety, reliability, and convenience in operation, and is slightly affected by the sea conditions, and free from any transformation on the main ship.
Description
Technical field
The utility model belongs to Autonomous Underwater aircraft field, specifically a kind of recovery system of Autonomous Underwater aircraft.
Background technology
Along with the continuous increase of the dynamics of investment of country to ocean equipment, Autonomous Underwater aircraft gains great popularity especially as a kind of advanced person's unmanned equipment.At present, existing a lot of different types of Autonomous Underwater aircraft are applied to multiple industry fields such as military maritime technology, oceanographic survey, oil filed pipeline maintenance.But owing to being subject to the combined influence of sea turn, wave, stream, the recovery of Autonomous Underwater aircraft is a global difficult problem always, affects the promotion and application of Autonomous Underwater aircraft.
At present, the recovery of Autonomous Underwater aircraft mainly contains three kinds of modes:
The first is to adopt floating drydock type and lifting table to carry out underwater mating to reclaim operation, although can reduce the impact of stormy waves, needs special support lash ship, and special lash ship cost and operating costs costliness, is not suitable for present status in China;
The second is with lash ship lifting, to reclaim on the water surface, generally all needs staff to take motor boat and completes and the docking of recovering mechanism near Autonomous Underwater aircraft; This mode of operation is subject to Lidar Equation larger, easily occurs the situation of device damage and personnel's injury when sea situation is poor;
The third is the hauling rope of dishing out by traction Autonomous Underwater aircraft, uses special docking lifting appliance to dock and reclaim; Although which has solved staff and do not descended the just problem of recyclable Autonomous Underwater aircraft of motor boat, its draw gear and docking lifting appliance are specialized equipment, structure relative complex, and cost is higher.
Therefore need one to make unmanned lower lash ship reclaim Autonomous Underwater aircraft with failure-free regenerative apparatus more economically and become possibility.
Utility model content
In order to solve that existing way of recycling exists or cost is high or personnel risk is large or install complicated problem, the purpose of this utility model is to provide a kind of staff to be positioned at and can realizes on lash ship the recovery system of the Autonomous Underwater aircraft of safe and reliable recovery.
The purpose of this utility model is achieved through the following technical solutions:
Recovery system of the present utility model comprises lash ship, A type frame, line throwing appliance, drags for rope device, hoisting ring and lift by crane lock, wherein line throwing appliance and hoisting ring are arranged on respectively in described Autonomous Underwater aircraft, described A type frame is arranged on lash ship, is hung with the lifting lock docking with described hoisting ring in removal process on this A type frame;
Described lifting lock comprises lifting body, attaching parts, bridle catcher, manual opening-closing plate and block tongue, and bridle catcher is arranged on one end of lifting body by attaching parts, and the other end both sides of described lifting body are hinged with respectively the block tongue with auto-lock function; The block tongue of described lifting body both sides is contained in respectively in the cavity of lifting body, and hinged by revolution bearing pin and described lifting body respectively, on every revolution bearing pin, be all arranged with torsion spring, the two ends of this torsion spring are connected to respectively described lifting body and block tongue, when docking with described hoisting ring, hoisting ring promote two block tongues respectively wraparound ship and resell on another market axle rotate, and by entering between two block tongues in the lockhole forming above two block tongues, described block tongue is resetted and is realized self-locking by the effect of torsion spring; The outside of each described block tongue is all provided with the manual opening-closing plate of opening two block tongues;
Described line throwing appliance comprises chassis, sidewall cylinder, firer's pusher assembly, penetrates an assembly, cover plate, hauling rope, shooting rope assembly and seal box, line throwing appliance entirety is arranged in Autonomous Underwater aircraft by chassis, one end of described sidewall cylinder is connected with chassis, and the other end is provided with cover plate; Described firer's pusher assembly, penetrate an assembly and hauling rope and be contained in respectively in the cavity that described cover plate and sidewall cylinder surround, one end of this firer's pusher assembly is arranged on chassis, described in penetrate an assembly and be set in by the other end of firer's pusher assembly the outside of firer's pusher assembly; Described shooting rope assembly and seal box are arranged on respectively on chassis, and sealing box is provided with adapter, and described Autonomous Underwater aircraft is connected with described firer's pusher electrical component by adapter; One end of described hauling rope with penetrate an assembly and be connected, the other end is connected with described shooting rope assembly; A described assembly and the hauling rope penetrated penetrates by the effect of firer's pusher assembly, and floats across the sea, and by the dragging for rope device on described lash ship, hauling rope reclaimed.
Wherein: the below of the described lifting body other end is provided with is convenient to described hoisting ring by entering the guide piece in described lockhole between two block tongues, this guide piece is pilot bar, below described lifting body other end both sides, be separately installed with pilot bar, the pilot bar of both sides is "eight" shape; On the manual opening-closing plate of described two block tongues, be separately installed with magnet, the both sides of described lifting body are respectively equipped with the magnet corresponding with magnet on two manual opening-closing plates; Described block tongue is realized self-locking by the combined action of torsion spring and magnet; One end of described manual opening-closing plate is fixed on block tongue, and other end outside is provided with hand-held handle, and the magnet on described manual opening-closing plate is arranged on the inner side of the manual opening-closing plate other end; One end of described attaching parts is fixed on lifting body, and it is affixed that the other end passes through Cross Recess Head Screw and fracture in shear part and described bridle catcher; The other end of described attaching parts is sleeve-shaped, and has through hole, and insert in the sleeve of the attaching parts other end one end of described bridle catcher; Described fracture in shear part inserts in described through hole, and the end face butt of end face and the attaching parts other end, and described Cross Recess Head Screw is successively through fracture in shear part, described through hole, affixed with one end of bridle catcher; Described bridle catcher one end symmetry has two U-shaped grooves, and these two U-shaped grooves are with the longitudinal center line symmetry of bridle catcher; On the other end of described attaching parts, be arranged with two cross recessed countersunk head sscrewes, each cross recessed countersunk head sscrew inserts respectively in a U-shaped groove; Line between described two cross recessed countersunk head sscrewes and the longitudinal center line of bridle catcher intersect vertically; One side of described lifting body is connected with surperficial adapter plate, and block tongue is contained in described surperficial adapter plate and lifts by crane in the cavity of body formation; Described revolution bearing pin is fixed on block tongue and surperficial adapter plate on lifting body by the slim nut of flat gasket, spring washer and hexagonal; The both sides of described lifting body are separately installed with only swings ring, and this only swings ring and in removal process, is connected with frapping line;
Between described cover plate and the sidewall cylinder other end, be provided with cover plate packing ring, when the thrust of firer's pusher assembly correlation assembly reaches the stress limit of described cover plate packing ring, this cover plate packing ring is cut off, and described cover plate flicks, described in penetrate an assembly and hauling rope is ejected; In the cavity that described cover plate surrounds with sidewall cylinder, by baffle for separating, become non-interference two parts, one end of this dividing plate is arranged on described chassis, the other end and described cover plate butt, and the other end of described dividing plate has the through hole passing for hauling rope; Described firer's pusher assembly and a side of penetrating an assembly and be positioned at dividing plate, hauling rope is coiled in the opposite side of dividing plate in the mode of spiral, one end of described hauling rope by described through hole through, with penetrate an assembly and be connected; Described firer's pusher assembly comprises end cover, inner piston rod, pressure vessel, firing unit, pedestal, wire and glass sintering connector, wherein pedestal is arranged on described chassis, the two ends of described pressure vessel are connected with this pedestal and end cover sealing thread respectively, described inner piston rod be contained in pressure vessel and with the inner wall sealing butt of pressure vessel; The glass sintering connector that has been threaded on described pedestal, is provided with firing unit on this glass sintering connector, and described firing unit is electrically connected with described Autonomous Underwater aircraft by wire; Described firing unit top is provided with the propulsive charge being contained in described pedestal; One end of described wire is connected with firing unit, and the other end is passed, is placed in described seal box by described chassis; Described Autonomous Underwater aircraft is electrically connected with the other end of wire by adapter; Between described end cover and one end of pressure vessel, by copper packing, seal, between the other end of described pressure vessel and pedestal, by copper packing, seal and close sealing, between described pedestal and glass sintering connector and between inner piston rod and pressure vessel inwall, by seal ring, seal respectively; A described assembly of penetrating comprises buoyancy material overcoat and liner, wherein liner is "Ji" type, be set on described firer's pusher assembly, described buoyancy material overcoat is positioned at liner periphery, in the bottom of liner, have the hole of passing for described hauling rope, space is left in the bottom of described buoyancy material overcoat, and one end of described hauling rope is passed, tied up in described space by described hole; Described shooting rope assembly comprises tether cylinder base, tether backing pin and tether blind nut, and wherein one end of tether cylinder base is arranged on chassis, and the other end is threaded with tether blind nut, and described tether cylinder base is provided with the tether backing pin for fastening hauling rope.
The recovery method of the utility model recovery system is: after described Autonomous Underwater aircraft mission finishes, staff makes the line throwing appliance that Autonomous Underwater aircraft bow is installed eject hauling rope by guidance command, use is dragged for after rope device is regained hauling rope and is imported from A type frame, and has staff to draw gradually to the below of lash ship stern A type frame; Described lifting is locked under the drive of A type frame gradually near Autonomous Underwater aircraft, and the bridle catcher that lifting lock is installed by lash ship staff operative end is realized and the docking of hoisting ring in Autonomous Underwater aircraft; Staff lifts by crane only swinging in the frapping line control lifting removal process of locking by being connected to.
Advantage of the present utility model and good effect are:
1. conceptual design is reasonable, simple and reliable for structure, and cost is low.The utility model is to take into full account marine recovery on the danger of operation and the basis of complexity, and draw in conjunction with marine practical operation experience; Recovery system of the present utility model is used equipment few, and whole system cost is lower, and hoisting ring and lifting lock construction are simple, connect safe and reliable.
2. do not need lash ship to carry out any transformation.Be arranged on hoisting ring in Autonomous Underwater aircraft not high to the requirements of installation space of aircraft, interface is simple, and lifting lock construction advantages of simple matching used with it, does not have specific (special) requirements to lash ship and crane.
3. operation is simple and feasible for the utility model, is easy to grasp.
4. applied range.The utility model not only can be applied to most of Autonomous Underwater aircraft, can also be applied to other recovery of relevant device under water.
5. lifting of the present utility model is locked on lifting body guide piece has been installed, like this as long as hoisting ring above Autonomous Underwater aircraft enters in the scope that guide piece controls, just can realize being connected of lifting latch mechanism and Autonomous Underwater aircraft, with regard to greatly having improved, lift by crane possibility and the work efficiency that latch mechanism is connected with Autonomous Underwater aircraft like this.
6. lifting of the present utility model is locked on revolution bearing pin torsion spring has been installed, on lifting body and manual opening-closing plate, circular thin magnet has been installed respectively, be used for guaranteeing to lift by crane latch mechanism with Autonomous Underwater aircraft before not separation, the reliable connection between buckle and block tongue.
7. lifting of the present utility model lock has adopted fracture in shear part, can, by selecting the fracture in shear part of different size to control the size of bridle catcher required pulling force when separation with attaching parts, so just there will not be bridle catcher to be connected unstable situation with attaching parts; In addition, the connection structure of bridle catcher and attaching parts is simple, easy for installation, can greatly increase work efficiency.
8. two U-shaped grooves are offered in one end that the bridle catcher of the utility model lifting lock is connected with attaching parts, with cross recessed countersunk head sscrew, pass attaching parts and be inserted in U-shaped groove, in case non-return is put away sports equipment and attaching parts between relatively rotate.
Lifting of the present utility model be locked in lifting body both sides respectively have one only to swing ring, frapping line can be connected to and only swing on ring, when lifting latch mechanism is sling Autonomous Underwater aircraft, can control the skyborne attitude of Autonomous Underwater aircraft by controlling two ropes, so again for the release of Autonomous Underwater aircraft has increased safety control one.
10. line throwing appliance of the present utility model adopts the structure that the attached body of explosion separates, the chemical power of gunpowder is converted into the kinetic energy of penetrating an assembly, dependence is penetrated the thrust of an assembly and is cut off cover plate packing ring, under the effect of buoyancy material, make to penetrate a subassembly levitation across the sea, there is the advantages such as simple in structure, attached body is easy for installation, safe and reliable.
The propulsive charge of firer's pusher assembly the inside of 11. the utility model line throwing appliances is ignited the signal control of sending by remote control Autonomous Underwater aircraft, and the simple structure of priming system has advantages of that dispose procedure is rapid, it is safe to separate.
Accompanying drawing explanation
Fig. 1 is one of work schematic diagram of the present utility model;
Fig. 2 is two of work schematic diagram of the present utility model;
Fig. 3 is one of integral structure schematic diagram of lifting lock in the utility model;
Fig. 4 be lifting lock in the utility model integral structure schematic diagram two;
Fig. 5 is that the utility model lifting lock is taken away the structural representation after lifting body;
Three of the integral structure schematic diagram that Fig. 6 is lifting lock in the utility model;
Fig. 7 is that the utility model lifting lock is taken away the structural front view after surperficial adapter plate;
Fig. 8 is the structural representation of bridle catcher and attaching parts junction in the utility model lifting lock;
Fig. 9 is the integral structure schematic perspective view of line throwing appliance in the utility model;
Figure 10 is that the utility model line throwing appliance is taken away the perspective view after sidewall cylinder;
Figure 11 is the inner structure schematic diagram of the utility model line throwing appliance;
Figure 12 is the structural representation of firer's pusher assembly in the utility model line throwing appliance;
Figure 13 is the structural representation of penetrating an assembly in the utility model line throwing appliance;
Wherein: 1 is lash ship, 2 is A type frame, and 3 is Autonomous Underwater aircraft,
4 is line throwing appliance, 401 is chassis, 402 is sidewall cylinder, 403 is firer's pusher assembly, 404 for penetrating an assembly, 405 is dividing plate, 406 is screw, 407 is nut, 408 is cover plate, 409 is hauling rope, 410 is tether cylinder base, 411 is tether backing pin, 412 is tether blind nut, 413 is packing ring, 414 is cover plate packing ring, 415 is end cover, 416 is copper packing, 417 is inner piston rod, 418 is pressure vessel, 419 is the first seal ring, 420 is propulsive charge, 421 is firing unit, 422 is pedestal, 423 is wire, 424 is glass sintering connector, 425 is the second seal ring, 426 is copper packing seal ring, 427 is buoyancy material overcoat, 428 is liner, 429 is space, 430 is seal box, 431 is adapter,
5 for dragging for rope device, and 6 is hoisting ring,
7 is lifting lock, and 701 is pilot bar, and 702 is lifting body, and 703 is torsion spring, 704 is cross recessed countersunk head sscrew, and 705 is Cross Recess Head Screw, and 706 is fracture in shear part, and 707 is attaching parts, 708 is bridle catcher, and 709 is manual opening-closing plate, and 710 is surperficial adapter plate, 711 is circular thin magnet, and 712 is block tongue, and 713 is flat gasket, 714 is spring washer, and 715 is the slim nut of hexagonal, and 716 is revolution bearing pin, till 717, swing ring, 718 is handle, and 719 is U-shaped groove;
8 is frapping line.
The specific embodiment
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As shown in Figure 1 and Figure 2, the utility model comprises lash ship 1, A type frame 2, line throwing appliance 4, drag for rope device 5, hoisting ring 6, lifting lock 7 and frapping line 8, wherein A type frame 2 is arranged on the stern of lash ship 1, line throwing appliance 4 and hoisting ring 6 are arranged on respectively in Autonomous Underwater aircraft 3, line throwing appliance 4 is positioned at the bow of Autonomous Underwater aircraft 3, hoisting ring 6 is positioned at the back of Autonomous Underwater aircraft 3, each one of front and back; 7 hangings of lifting lock, on A type frame 2, are docked with hoisting ring 6 in the removal process of Autonomous Underwater aircraft 3, complete 2 liftings and reclaim.
As shown in Fig. 3～8, lifting lock 7 comprises guide piece 701, lifting body 702, torsion spring 703, fracture in shear part 706, attaching parts 707, bridle catcher 708, manual opening-closing plate 709, surperficial adapter plate 710, block tongue 712 and revolution bearing pin 716, one side of wherein lifting by crane body 702 is connected with surperficial adapter plate 710 by cross recessed countersunk head sscrew 704, forms the cavity of accommodating block tongue 712 between this surface adapter plate 710 and lifting body 702.One end of attaching parts 707 is fixed on lifting body 702, and the other end is sleeve-shaped, and has through hole.Insert in the sleeve of attaching parts 707 other ends one end of bridle catcher 708, and affixed with one end of bridle catcher 708 by Cross Recess Head Screw 705 and fracture in shear part 706; Fracture in shear part 706 inserts in the through hole of attaching parts 707, and the end face butt of end face and attaching parts 707 other ends, and Cross Recess Head Screw 705 is successively through fracture in shear part 706, through hole, affixed with one end of bridle catcher 708.In bridle catcher 708 one end symmetries, have two U-shaped grooves 719, these two U-shaped grooves 719 are with the longitudinal center line symmetry of bridle catcher 708; On the other end of attaching parts 707, be arranged with two cross recessed countersunk head sscrewes 704, each cross recessed countersunk head sscrew 704 inserts respectively in a U-shaped groove 719, in case non-return put away sports equipment 708 and attaching parts 707 between relatively rotate; Line between two cross recessed countersunk head sscrewes 704 and the longitudinal center line of bridle catcher 708 intersect vertically.
The other end both sides of lifting body 702 are hinged with respectively the block tongue 712 with auto-lock function, and the block tongue 712 of lifting body 702 both sides is contained in respectively in the cavity that surperficial adapter plate 710 and lifting body 702 form; Each block tongue 712 is all hinged with lifting body 702 by revolution bearing pin 716, and this revolution bearing pin 716 is fixed on block tongue 712 and surperficial adapter plate 710 on lifting body 702 by the slim nut 715 of flat gasket 713, spring washer 714 and hexagonal.On every revolution bearing pin 716, be all arranged with torsion spring 703, one end of this torsion spring 703 is fixing by lifting by crane body 702, and the other end is fixed by block tongue 712.The outside of each block tongue 712 is all provided with the manual opening-closing plate 709 of opening two block tongues 712, and one end of this manual opening-closing plate 709 is fixed on block tongue 712 by cross recessed countersunk head sscrew 704, and the outside of the other end is provided with hand-held handle 718; The inner side of each manual opening-closing plate 709 other ends is connected with respectively circular thin magnet 711, correspondingly in the both sides of lifting body 702, is also respectively equipped with the circle thin magnet corresponding with circular thin magnet 711 on two manual opening-closing plates 709.Hoisting ring 6 in Autonomous Underwater aircraft 3 promotes two block tongues 712, left and right two block tongues 712 wraparound axle 716 Unscrews of shipping and reselling on another market respectively under the effect of hoisting ring 6 impacts, and hoisting ring 6 is by entering between two block tongues 712 in the lockhole that two block tongue 712 tops form; After external force is removed, block tongue 712 by the effect of torsion spring 703 reset, and combined action by torsion spring 703 and circular thin magnet 711 under, in self-locking closure state, prevent that hoisting ring 6 from deviating from from lock body.
Below lifting body 702 other ends, be provided with and be convenient to hoisting ring 6 and enter the guide piece 701 in lockhole between by two block tongues 712.The guide piece 701 of the present embodiment is pilot bar, below lifting body 702 other end both sides, is connected with pilot bar respectively by the slim nut 715 of hexagonal, and the pilot bar of both sides is "eight" shape; As long as the hoisting ring 6 in Autonomous Underwater aircraft, by entering between "eight" shape two pilot bars, can guarantee that hoisting ring 6 is successfully by pushing between two block tongues 712.In the both sides of lifting body 702, be respectively connected with one and only swing ring 717, rope can be connected to and only swing on ring 717, when lifting lock 7 is sling Autonomous Underwater aircraft 3, can control the skyborne attitude of Autonomous Underwater aircraft 3 by controlling frapping line 8, so again for the release of Autonomous Underwater aircraft 3 has increased safety control one.
The principle of work of the utility model lifting lock 7 is:
When needs are used lifting lock 7 to reclaim Autonomous Underwater aircraft 3, as long as the hoisting ring 6 of Autonomous Underwater aircraft 3 enters in the controlled range of guide piece 701, under the effect of bridle catcher 708 thrusts, overcome torsion spring 703 and with the effect of circular thin magnet 711, left and right two block tongues 712 are opened, hoisting ring 6 enters in the lockhole of block tongue 712 tops; Under the effect of torsion spring 703 and circular thin magnet 711, block tongue 712 self-closeds, lifting lock 7 just connects with Autonomous Underwater aircraft 3 like this.Because of bridle catcher 708 longer, in order to reclaim more easily Autonomous Underwater aircraft 3, need to bridle catcher 708 is separation with attaching parts 707, be operating as: make with the hands to pull back and put away sports equipment 708, when the pulling force between bridle catcher 708 and attaching parts 707 reaches the pulling force limit of fracture in shear part 706, fracture in shear part 706 will be cut off, and has completed the separation of bridle catcher 708 and attaching parts 707.After Autonomous Underwater aircraft 3 is hung on lash ship 1, staff with the hands pulls the handle 718 on manual opening-closing plate 709, manually opening-closing plate 709 overcomes the elastic force that the magnetic force of circular thin magnet 711 drives block tongue 712 to overcome torsion spring 703 simultaneously and rotates set angle around revolution bearing pin 716, now left and right two block tongues 712 are opened, and complete the separation of lifting lock 7 and Autonomous Underwater aircraft 3.Then, by lifting rope, Autonomous Underwater aircraft 3 is hung back to lash ship.
As shown in Fig. 9～11, line throwing appliance 4 comprises chassis 401, sidewall cylinder 402, firer's pusher assembly 403, penetrates an assembly 404, cover plate 408, hauling rope 409, shooting rope assembly and seal box 430, line throwing appliance 4 entirety are fixed in Autonomous Underwater aircraft 3 by chassis 401, one end (lower end) of sidewall cylinder 402 is affixed by screw 406 and nut 407 with chassis 401, and the other end (upper end) is connected with cover plate 408 by screw 406, nut 407 and cover plate packing ring 414.Cover plate 408 has surrounded cavity with sidewall cylinder 402, is provided with dividing plate 405 in cavity, and this cavity is separated into non-interference two parts by dividing plate 405; One end (lower end) of dividing plate 405 is fixed on chassis 401, the other end and cover plate 408 butts, and the other end (upper end) of dividing plate 405 has the through hole passing for hauling rope 409.
Firer's pusher assembly 403 and a side of penetrating an assembly 404 and be positioned at dividing plate 405, hauling rope 409 and shooting rope assembly are positioned at the opposite side of dividing plate 405, one end of this firer's pusher assembly 403 is arranged on chassis 401, penetrates an assembly 404 and be set in by the other end of firer's pusher assembly 403 outside of firer's pusher assembly 403.Shooting rope assembly and seal box 430 are separately fixed at the lower surface on chassis 401, and seal box 430 is positioned at the below of firer's pusher assembly 403, and shooting rope assembly is positioned at the below of hauling rope 409 and is positioned at a side of seal box 430.Seal box 430 is provided with adapter 431, and Autonomous Underwater aircraft 3 is electrically connected with firer's pusher assembly 403 by adapter 431.One end of hauling rope 409 with penetrate an assembly 404 and be connected, the other end is connected with shooting rope assembly.Cover plate packing ring 414 is that a kind of broken pieces is cut part (when stress reaches broken pieces and cuts the stress limit of part, broken pieces is cut part and will be cut off), when the thrust of firer's pusher assembly 403 correlation assembly 404 reaches the stress limit of cover plate packing ring 404, this cover plate packing ring 404 is cut off, cover plate 408 flicks, penetrate an assembly 404 and hauling rope 409 and be ejected by the effect of firer's pusher assembly 403, and float across the sea.
As shown in Figure 12 and Figure 13, firer's pusher assembly 403 comprises end cover 415, inner piston rod 417, pressure vessel 418, firing unit 421, pedestal 422, wire 423 and glass sintering connector 424, wherein pedestal 422 is fixed on chassis 401 by screw 406, nut 407 and packing ring 413, the two ends of pressure vessel 418 are connected with this pedestal 422 and end cover 415 sealing threads respectively, between one end of end cover 415 and pressure vessel 418, by copper packing 416, seal, between the other end of pressure vessel 418 and pedestal 422, by copper packing, seal and close 426 sealings.Inner piston rod 417 is contained in pressure vessel 418, can moves vertically with respect to pressure vessel 418; Inner piston rod 417 is provided with seal groove, is equipped with the first seal ring 419 in sealing ring recess, between inner piston rod 417 and the inwall of pressure vessel 418, by the first seal ring 419, seals.The bottom midway location of the pedestal 422 glass sintering connector 424 that has been threaded, seals by the second seal ring 425 between pedestal 422 and glass sintering connector 424; On this glass sintering connector 424, firing unit 421 is installed, one end of wire 423 is connected with firing unit 421, the other end is passed, is placed in seal box 430 by chassis 401, seal box 430 provides a dry air pressure-resistant cabin for wire 423, and Autonomous Underwater aircraft is electrically connected with the other end of wire 423 by adapter 431.Propulsive charge 420 is housed in pedestal 422, and this propulsive charge 420 is positioned at the top of firing unit 421.
As shown in Figure 11, Figure 13, penetrate an assembly 404 and comprise buoyancy material overcoat 427 and liner 428, wherein liner 428 is "Ji" type, be set on the pressure vessel 418 of firer's pusher assembly 403, buoyancy material overcoat 427 is positioned at liner 428 peripheries, in the bottom of liner 428, have the hole of passing for hauling rope 409, space 429 is left in the bottom of buoyancy material overcoat 417.The utility model buoyancy material overcoat 427 is commercial product, purchases in Qingdao Haiyang chemical research center, and buoyancy material is prior art, is micro glass bead and epoxy resin composite material.The liner 428 of penetrating an assembly 404 scribbles liquid petrolatum, is placed on the pressure vessel 418 of firer's pusher assembly 403, makes to penetrate sufficient lubrication between an assembly 404 and firer's pusher assembly 403.
Shooting rope assembly comprises tether cylinder base 410, tether backing pin 411 and tether blind nut 412, wherein one end of tether cylinder base 410 is arranged on the lower surface on chassis 401, the other end is threaded with tether blind nut 412, and tether cylinder base 410 is provided with the tether backing pin 411 for fastening hauling rope 409.Hauling rope 409 is coiled in the opposite side of dividing plate 405 in the mode of spiral, one end of hauling rope 409, through dividing plate 405, is passed by the interior just hole of 428 bottoms, ties up in described space 429; The other end of hauling rope 409, through chassis 401, passes from tether cylinder base 410, beats anti-untwisting and ties up to reliably on tether backing pin 411, and be placed on the groove of tether cylinder base 410, and tether blind nut 412 is reliably tightened.
The principle of work of the utility model line throwing appliance 4 is:
When Autonomous Underwater aircraft 3 is executing after inter-related task, in the time of need to reclaiming submarine navigation device, staff is to Autonomous Underwater aircraft 3 transmitted signals, Autonomous Underwater aircraft 3 passes into an initiation current excitation pulse that is greater than 1A to wire 423, and this is that firing unit 421 ignites propulsive charge 420, after propulsive charge 420 burnings, produce the gas of high pressure, the chemical power of gunpowder is converted into the kinetic energy that promotes inner piston rod 417 upward movements, after inner piston rod 417 upward movements, by the thread damage of end cover 415, end cover 415 is departed from from pressure vessel 418, then, inner piston rod 417 continues outwards to fly out under high pressure gas effect, and an assembly 404 is penetrated in drive, when after the thrust of firer's propulsion component 403 liner 428 in penetrating an assembly 404, liner 428 outwards promotes buoyancy material overcoat 427, when thrust reaches the stress limit of cover plate packing ring 414, cover plate packing ring 414 is cut off, cover plate 408 is flicked, the assembly 404 of penetrating that liner 428 and buoyancy material overcoat 427 form is penetrated together, now tying up to the hauling rope 409 of penetrating in buoyancy material overcoat 427 bottoms of an assembly 404 and space 429 that liner 428 forms is also brought out, because the density ratio water of buoyancy material overcoat 427 is little, and can bear high pressure (60～70MPa), buoyancy material overcoat 417 and liner 428 are bonding by epoxide-resin glue, density after combination is still little than water, therefore can be across the sea floating together after transmitting.The chassis 401 of line throwing appliance 4 is still connected in Autonomous Underwater aircraft 3, now Autonomous Underwater aircraft 3 connects together by hauling rope 409 and the assembly 404 of penetrating floating across the sea, then staff uses and drags for rope device 5 by hauling rope 409 and penetrate an assembly 404 and salvage back lash ship 1, on lash ship 1, draw Autonomous Underwater aircraft 3 and realize synchronous navigation, then on lash ship 1, lifting lock 7 is connected to the recovery that can complete Autonomous Underwater aircraft 3 with Autonomous Underwater aircraft 3.
The recovery method of the utility model recovery system is:
After Autonomous Underwater aircraft 3 missions finish, the line throwing appliance 4 that staff installs Autonomous Underwater aircraft 3 bows by guidance command ejects hauling rope 409, use is dragged for after rope device 5 is regained hauling rope 409 and is imported from A type frame 402, and has staff to draw gradually to the below of lash ship stern A type frame 2; Lifting lock 7 is gradually near Autonomous Underwater aircraft 3 under the drive of A type frame 2, and the bridle catcher 708 that lifting lock 7 is installed by lash ship staff operative end is realized and the docking of hoisting ring 6 in Autonomous Underwater aircraft 3; Staff controls only swinging in lifting removal process by the frapping line 8 being connected on lifting lock 7.
Claims (9)
1. the recovery system of an Autonomous Underwater aircraft, it is characterized in that: comprise lash ship (1), A type frame (2), line throwing appliance (4), drag for the device (5) of restricting, hoisting ring (6) and lifting lock (7), wherein line throwing appliance (4) and hoisting ring (6) are arranged on respectively in described Autonomous Underwater aircraft (3), it is upper that described A type frame (2) is arranged on lash ship (1), is hung with the lifting lock (7) docking with described hoisting ring (6) in removal process on this A type frame (2);
Described lifting lock (7) comprises lifting body (702), attaching parts (707), bridle catcher (708), manual opening-closing plate (709) and block tongue (712), bridle catcher (708) is arranged on one end of lifting body (702) by attaching parts (707), the other end both sides of described lifting body (702) are hinged with respectively the block tongue (712) with auto-lock function, the block tongue (712) of described lifting body (702) both sides is contained in respectively in the cavity of lifting body (702), and hinged by revolution bearing pin (716) and described lifting body (702) respectively, on every revolution bearing pin (716), be all arranged with torsion spring (703), the two ends of this torsion spring (703) are connected to respectively described lifting body (702) and block tongue (712), when docking with described hoisting ring (6), hoisting ring (6) promote two block tongues (712) respectively wraparound ship and resell on another market axle (716) rotate, and by entering between two block tongues (712) in the lockhole forming above two block tongues (712), described block tongue (712) resets by the effect of torsion spring (703), and realize self-locking, the outside of each described block tongue (712) is all provided with the manual opening-closing plate (709) of opening two block tongues (712),
Described line throwing appliance (4) comprises chassis (401), sidewall cylinder (402), firer's pusher assembly (403), penetrates an assembly (404), cover plate (408), hauling rope (409), shooting rope assembly and seal box (430), line throwing appliance (4) entirety is arranged in Autonomous Underwater aircraft (3) by chassis (401), one end of described sidewall cylinder (402) is connected with chassis (401), and the other end is provided with cover plate (408); Described firer's pusher assembly (403), penetrate an assembly (404) and hauling rope (409) and be contained in respectively in the cavity that described cover plate (408) and sidewall cylinder (402) surround, it is upper that one end of this firer's pusher assembly (403) is arranged on chassis (401), described in penetrate an assembly (404) and be set in by the other end of firer's pusher assembly (403) outside of firer's pusher assembly (403); Described shooting rope assembly and seal box (430) are arranged on respectively on chassis (401), sealing box (430) is provided with adapter (431), and described Autonomous Underwater aircraft (3) is electrically connected with described firer's pusher assembly (403) by adapter (431); One end of described hauling rope (409) with penetrate an assembly (404) and be connected, the other end is connected with described shooting rope assembly; A described assembly (404) and the hauling rope (409) penetrated penetrates by the effect of firer's pusher assembly (403), and floats across the sea, and by the device (5) of restricting of dragging on described lash ship (1), hauling rope (409) reclaimed.
2. by the recovery system of Autonomous Underwater aircraft described in claim 1, it is characterized in that: the below of described lifting body (702) other end is provided with is convenient to described hoisting ring (6) by the guide piece (701) entering between two block tongues (712) in described lockhole, this guide piece (701) is pilot bar, below in described lifting body (702) other end both sides is separately installed with pilot bar, and the pilot bar of both sides is "eight" shape.
3. by the recovery system of Autonomous Underwater aircraft described in claim 1, it is characterized in that: on the manual opening-closing plate (709) of described two block tongues (712), be separately installed with magnet, the both sides of described lifting body (702) are respectively equipped with the magnet corresponding with the upper magnet of two manual opening-closing plates (709); Described block tongue (712) is realized self-locking by the combined action of torsion spring (703) and magnet; It is upper that one end of described manual opening-closing plate (709) is fixed in block tongue (712), and other end outside is provided with hand-held handle (718), and the magnet on described manual opening-closing plate (709) is arranged on the inner side of manual opening-closing plate (709) other end.
4. by the recovery system of Autonomous Underwater aircraft described in claim 1, it is characterized in that: it is upper that one end of described attaching parts (707) is fixed in lifting body (702), the other end is affixed with described bridle catcher (708) by Cross Recess Head Screw (705) and fracture in shear part (706); The other end of described attaching parts (707) is sleeve-shaped, and has through hole, and insert in the sleeve of attaching parts (707) other end one end of described bridle catcher (708); Described fracture in shear part (706) inserts in described through hole, and the end face butt of end face and attaching parts (707) other end, described Cross Recess Head Screw (705) is successively through fracture in shear part (706), described through hole, affixed with one end of bridle catcher (708); Described bridle catcher (708) one end symmetry has two U-shaped grooves (719), and these two U-shaped grooves (719) are with the longitudinal center line symmetry of bridle catcher (708); On the other end of described attaching parts (707), be arranged with two cross recessed countersunk head sscrewes (704), each cross recessed countersunk head sscrew (704) inserts respectively in a U-shaped groove (719); The longitudinal center line of the line between described two cross recessed countersunk head sscrewes (704) and bridle catcher (708) intersects vertically.
5. by the recovery system of Autonomous Underwater aircraft described in claim 1, it is characterized in that: a side of described lifting body (702) is connected with surperficial adapter plate (710), block tongue (702) is contained in described surperficial adapter plate (710) and lifts by crane in the cavity of body (702) formation; Described revolution bearing pin (716) is fixed on block tongue (712) and surperficial adapter plate (710) on lifting body (702) by flat gasket (713), spring washer (714) and the slim nut of hexagonal (715); The both sides of described lifting body (702) are separately installed with only swings ring (20), and this only swings ring (20) and in removal process, is connected with frapping line (8).
6. by the recovery system of Autonomous Underwater aircraft described in claim 1, it is characterized in that: between described cover plate (408) and sidewall cylinder (402) other end, be provided with cover plate packing ring (404), when the thrust of firer's pusher assembly (403) correlation assembly (404) reaches the stress limit of described cover plate packing ring (404), this cover plate packing ring (404) is cut off, described cover plate (408) flicks, described in penetrate an assembly (404) and hauling rope (409) is ejected; In the cavity that described cover plate (408) and sidewall cylinder (402) surround, by dividing plate (405), be separated into non-interference two parts, one end of this dividing plate (405) is arranged on described chassis (401), the other end and described cover plate (408) butt, the other end of described dividing plate (405) has the through hole passing for hauling rope (409); Described firer's pusher assembly (403) and a side of penetrating an assembly (404) and be positioned at dividing plate (405), hauling rope (409) is coiled in the opposite side of dividing plate (405) in the mode of spiral, one end of described hauling rope (409) by described through hole through, with penetrate an assembly (404) and be connected.
7. by the recovery system of Autonomous Underwater aircraft described in claim 1, it is characterized in that: described firer's pusher assembly (403) comprises end cover (415), inner piston rod (417), pressure vessel (418), firing unit (421), pedestal (422), wire (423) and glass sintering connector (424), wherein pedestal (422) is arranged on described chassis (401), the two ends of described pressure vessel (418) are connected with this pedestal (422) and end cover (415) sealing thread respectively, described inner piston rod (417) is contained in pressure vessel (418), and with the inner wall sealing butt of pressure vessel (418), the glass sintering connector (424) that has been threaded on described pedestal (422), is provided with firing unit (421) on this glass sintering connector (424), and described firing unit (421) is electrically connected with described Autonomous Underwater aircraft by wire (423), described firing unit (421) top is provided with the propulsive charge (420) being contained in described pedestal (422), one end of described wire (423) is connected with firing unit (421), and the other end is passed, is placed in described seal box (430) by described chassis (401), described Autonomous Underwater aircraft is electrically connected with the other end of wire (423) by adapter (431), between one end of described end cover (415) and pressure vessel (418), by copper packing (416), seal, between the other end of described pressure vessel (418) and pedestal (422), by copper packing, seal pass (426) sealing, between described pedestal (422) and glass sintering connector (424) and between inner piston rod (417) and pressure vessel (418) inwall, by seal ring, seal respectively.
8. by the recovery system of Autonomous Underwater aircraft described in claim 1, it is characterized in that: described in penetrate an assembly (404) and comprise buoyancy material overcoat (427) and liner (428), wherein liner (428) is "Ji" type, be set on described firer's pusher assembly (403), described buoyancy material overcoat (427) is positioned at liner (428) periphery, in the bottom of liner (428), have the hole of passing for described hauling rope (409), space (429) is left in the bottom of described buoyancy material overcoat (417), one end of described hauling rope (409) is passed by described hole, tie up in described space (429).
9. by the recovery system of Autonomous Underwater aircraft described in claim 1, it is characterized in that: described shooting rope assembly comprises tether cylinder base (410), tether backing pin (411) and tether blind nut (412), wherein one end of tether cylinder base (410) is arranged on chassis (401), the other end is threaded with tether blind nut (412), and described tether cylinder base (410) is provided with the tether backing pin (11) for fastening hauling rope (409).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320784800.8U CN203581349U (en) | 2013-11-30 | 2013-11-30 | Recovery system of autonomous underwater vehicle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320784800.8U CN203581349U (en) | 2013-11-30 | 2013-11-30 | Recovery system of autonomous underwater vehicle |
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| CN203581349U true CN203581349U (en) | 2014-05-07 |
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| CN201320784800.8U Withdrawn - After Issue CN203581349U (en) | 2013-11-30 | 2013-11-30 | Recovery system of autonomous underwater vehicle |
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| CN (1) | CN203581349U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104015886A (en) * | 2014-06-13 | 2014-09-03 | 天津汉海环保设备有限公司 | Launching and recycling system for water surface unmanned aircraft |
| CN105599875A (en) * | 2016-01-04 | 2016-05-25 | 中国船舶重工集团公司第七一0研究所 | Frame type deep sea target detection and salvage system |
| CN105620676A (en) * | 2016-02-03 | 2016-06-01 | 青岛远创机器人自动化有限公司 | Unmanned surface vehicle collecting and releasing device |
| CN105644744A (en) * | 2016-03-17 | 2016-06-08 | 天津海之星海洋科技发展有限公司 | Throwing and recovering machine for ship-based underwater robot |
| CN105711749A (en) * | 2016-02-03 | 2016-06-29 | 青岛远创机器人自动化有限公司 | Unmanned surface vehicle laying and retrieving method |
| CN104670440B (en) * | 2013-11-30 | 2016-08-17 | 中国科学院沈阳自动化研究所 | The recovery system of a kind of Autonomous Underwater aircraft and recovery method thereof |
| CN106314694A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft recovering and deploying device |
| CN106314691A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft deploying and recovering method |
| CN111483572A (en) * | 2020-04-26 | 2020-08-04 | 交通运输部上海打捞局 | Fishing method based on underwater welding |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104670440B (en) * | 2013-11-30 | 2016-08-17 | 中国科学院沈阳自动化研究所 | The recovery system of a kind of Autonomous Underwater aircraft and recovery method thereof |
| CN104015886A (en) * | 2014-06-13 | 2014-09-03 | 天津汉海环保设备有限公司 | Launching and recycling system for water surface unmanned aircraft |
| CN104015886B (en) * | 2014-06-13 | 2018-10-16 | 天津汉海环保设备有限公司 | A kind of water surface unmanned vehicles drop puts recovery system |
| CN105599875A (en) * | 2016-01-04 | 2016-05-25 | 中国船舶重工集团公司第七一0研究所 | Frame type deep sea target detection and salvage system |
| CN105620676A (en) * | 2016-02-03 | 2016-06-01 | 青岛远创机器人自动化有限公司 | Unmanned surface vehicle collecting and releasing device |
| CN105711749A (en) * | 2016-02-03 | 2016-06-29 | 青岛远创机器人自动化有限公司 | Unmanned surface vehicle laying and retrieving method |
| CN105644744A (en) * | 2016-03-17 | 2016-06-08 | 天津海之星海洋科技发展有限公司 | Throwing and recovering machine for ship-based underwater robot |
| CN106314694A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft recovering and deploying device |
| CN106314691A (en) * | 2016-09-28 | 2017-01-11 | 青岛远创机器人自动化有限公司 | Unmanned-water-surface-aircraft deploying and recovering method |
| CN111483572A (en) * | 2020-04-26 | 2020-08-04 | 交通运输部上海打捞局 | Fishing method based on underwater welding |
| CN111483572B (en) * | 2020-04-26 | 2021-12-21 | 交通运输部上海打捞局 | Fishing method based on underwater welding |
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