CN207191320U - Unmanned boat lays retracting device, unmanned boat and system - Google Patents
Unmanned boat lays retracting device, unmanned boat and system Download PDFInfo
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- CN207191320U CN207191320U CN201721085700.0U CN201721085700U CN207191320U CN 207191320 U CN207191320 U CN 207191320U CN 201721085700 U CN201721085700 U CN 201721085700U CN 207191320 U CN207191320 U CN 207191320U
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- unmanned boat
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- strop
- lifting rope
- hook
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Abstract
The utility model discloses a kind of unmanned boat to lay retracting device, is arranged on unmanned boat, including strut, hook, the first locking device, control system, the first cable coiling device, the second cable coiling device, frapping line and strop.Strut is arranged at hull side, and its one end is articulated with hull, and the other end is provided with loose joint hook；Control system realizes packing up and strutting for strut by controlling locking and the unblock of the first locking device；Frapping line and strop are connected with hook, the other end winding of frapping line and strop is wound in the first cable coiling device, the second cable coiling device respectively, and the first cable coiling device, the second cable coiling device are individually fixed on hull.The invention also discloses corresponding unmanned boat and unmanned boat to lay recovery system.According to the technical solution of the utility model, unmanned boat lays retracting device and can cooperated with the hoisting structure on lash ship, realizes that the automation of unmanned boat lays and reclaimed.
Description
Technical field
Ships and light boats recovery technology field is the utility model is related to, more particularly to a kind of unmanned boat lays retracting device, unmanned boat
And system.
Background technology
Water surface unmanned boat is a kind of surface platform that autonomous navigation is carried out by the self-contained energy, and its scale of construction is small, eats
Water is shallow, maneuverability, can substitute staff and be engaged in operation at sea, at present in water environment detection, hydrographic survey, security protection, core
Safety, flood-fighting etc. have obtained more and more extensive application.
After unmanned boat completes operation at sea, it usually needs be recycled to lash ship.Existing recovery scheme is, in the water surface
On with lash ship lift by crane unmanned boat.Due to nobody on unmanned boat, it is close that this scheme generally requires staff's seating motorboat
Unmanned boat, completion lash ship boom hoisting and unmanned boat buckle.The risk that manpower buckles is larger, and especially at sea environment compares
In the case of severe, personnel's injury is easily caused, it is difficult to realize that unmanned boat reclaims.
Utility model content
Therefore, the utility model, which provides a kind of unmanned boat, lays retracting device, unmanned boat and system, to solve or at least delay
The problem of solution exists above.
According to one side of the present utility model, there is provided a kind of unmanned boat lays retracting device, is arranged on unmanned boat, bag
Include：The strut of hull side is arranged at, one end of strut is articulated with hull, and the other end is provided with hook；It is located at hull with strut
First locking device of the same side, suitable for strut is fixed on into hull；Control system, suitable for by controlling the first locking device
Locking, unlock to realize the packing up of strut, strut；The first cable coiling device and the second cable coiling device of hull are fixed on, suitable for control line
Cable being rolled and releasing；The frapping line being wound in the first cable coiling device and the strop being wound in the second cable coiling device, frapping line,
Strop connects respectively by being drawn in the first cable coiling device, the second cable coiling device with hook；Wherein, hook is suitable to catch under lash ship
The first lifting rope put, and drawn by the first lifting rope, drive frapping line and strop to rise；Strop is suitable to by the second cable rolling
Device drives, and the second lifting rope of traction lash ship decentralization declines, and the second lifting rope is established connection and by the second lifting rope with hull
Hull is driven to rise.
Alternatively, in retracting device is laid according to unmanned boat of the present utility model, hook by the second locking device with
Strut connects, and the second locking device is suitable to unlock when linking up with tension so that hook departs from strut.
Alternatively, in retracting device is laid according to unmanned boat of the present utility model, the second locking device is ferrule structure.
Alternatively, in retracting device is laid according to unmanned boat of the present utility model, frapping line, strop are flexibility
Rope.
Alternatively, in retracting device is laid according to unmanned boat of the present utility model, it is provided with above the second cable coiling device
3rd locking device, the strop drawn in the second cable coiling device pass through the 3rd locking device, are connected with hook.
Alternatively, in retracting device is laid according to unmanned boat of the present utility model, the lower end of the second lifting rope is connected with
Rope slocket, rope slocket include the body portion of column and the head of inverted cone shape, and in body portion and the junction on head, the width on head is more than
The width in body portion, head are suitable to be connected with strop, and strop is suitable to traction rope slocket and drops to the 3rd locking device；3rd lock
Tight device includes at least one pair of spring catch, and spring catch is the pin that one end is connected with spring, and spring is suitable in the head by rope slocket
Compressed during the pressure in portion, and on head through resilience after the spring catch, so as to block rope slocket.
Alternatively, in retracting device is laid according to unmanned boat of the present utility model, the 3rd locking device also includes unblock
Part, unlocking feature are suitable to compression spring so that the 3rd locking device unlocks and discharges rope slocket.
According to one side of the present utility model, there is provided a kind of unmanned boat, including unmanned boat as described above lay recovery
Device.
According to one side of the present utility model, there is provided a kind of unmanned boat lays recovery system, including nothing as described above
People's ship；And lash ship, boom hoisting, the first lifting rope, gravity installation, the second lifting rope and rope slocket are provided with the lash ship,
Wherein, the upper end of the first lifting rope is connected with boom hoisting, and lower end is connected with gravity installation, and gravity installation is suitable to make the first lifting
Rope keeps tensioning state, and the hook that the first lifting rope is suitable to be laid by unmanned boat in retracting device is caught, and by boom hoisting band
Dynamic, traction hook, frapping line and strop rise；The upper end of second lifting rope is connected with boom hoisting, and lower end connects with rope slocket
Connect, the other end of rope slocket is connected with strop, and rope slocket is suitable to decline under the traction of strop, establishes and connects with unmanned boat
Connect, and driven by boom hoisting, traction unmanned boat rises.
Alternatively, in recovery system is laid according to unmanned boat of the present utility model, the first lifting rope and the second lifting rope
It is flexible strand.
According to the technical solution of the utility model, one strut is set in the side of unmanned boat, one end of strut is articulated with
Hull, the other end are provided with hook；Frapping line and strop, the other end winding point of frapping line and strop are connected with hook
It is not wound in the first cable coiling device, the second cable coiling device, the first cable coiling device, the second cable coiling device are individually fixed on hull.In addition, nothing
The first locking device and control system are additionally provided with people's ship, control system is by controlling the unblock of the first locking device to realize support
Bar struts.
When needing to reclaim hull, the boom hoisting on lash ship transfers the first lifting rope, unmanned boat control system control the
One locking device unlocks, and strut struts, and angled with hull side.Unmanned boat is controlled with the speed more than lash ship and mother
Ship travels in the same direction, and hook on strut catches the first lifting rope, after capturing the first lifting rope, lash ship boom hoisting traction the
One lifting rope rises, and links up with and is departed from strut by the pulling force of the first lifting rope, hook drives frapping line and strop, with the first
Lifting rope rises together.After hook rises to lash ship deck position, staff removes the first lifting rope from boom hoisting,
The second lifting rope is changed, the lower end of the second lifting rope is connected with rope slocket；Frapping line on hook and strop are removed, by only
Swing rope and be fixed on lash ship, and strop is connected to rope slocket.Strop draws rope slocket decline under the driving of the second cable coiling device,
Make rope slocket establish with hull to connect.Then, the boom hoisting on lash ship draws the second lifting rope and risen, so as to drive rope slocket
Rise with hull, complete the recovery of unmanned boat.
The technical solution of the utility model is convenient, have effectively achieved the automation recovery of unmanned boat so that staff
The recovery of unmanned boat can be completed on lash ship, without the special personnel that arrange work to going on unmanned boat execution the behaviour such as to buckle
Make, improve the security of unmanned boat recovery.
Described above is only the general introduction of technical solutions of the utility model, in order to better understand skill of the present utility model
Art means, and being practiced according to the content of specification, and in order to allow above and other purpose of the present utility model, feature
It can be become apparent with advantage, below especially exemplified by specific embodiment of the present utility model.
Brief description of the drawings
In order to realize above-mentioned and related purpose, some illustrative sides are described herein in conjunction with following description and accompanying drawing
Face, these aspects indicate the various modes that can put into practice principles disclosed herein, and all aspects and its equivalent aspect
It is intended to fall under in the range of theme claimed.Read following detailed description in conjunction with the accompanying drawings, the disclosure it is above-mentioned
And other purposes, feature and advantage will be apparent.Throughout the disclosure, identical reference generally refers to identical
Part or element.
Fig. 1 shows the top view of the unmanned boat 100 according to the utility model one embodiment；
Fig. 2 shows the annexation figure of the hook 120 and strut 110 according to the utility model one embodiment；
Fig. 3 shows the cross sectional side view of the unmanned boat 100 according to the utility model one embodiment；
Fig. 4 shows the schematic diagram of the hoisting structure on the lash ship 200 according to the utility model one embodiment；
Fig. 5 shows the schematic diagram fixed according to the rope slocket 250 of the utility model one embodiment with unmanned boat hull；
Fig. 6 shows the flow chart of the unmanned boat recovery method 600 according to the utility model one embodiment；
Fig. 7 A~7F show and performed in recovery system 300 is laid according to the unmanned boat of the utility model one embodiment
The process schematic of unmanned boat recovery method 600；And
Fig. 8 shows the flow chart that method 800 is laid according to the unmanned boat of the utility model one embodiment.
Embodiment
The exemplary embodiment of the disclosure is more fully described below with reference to accompanying drawings.Although the disclosure is shown in accompanying drawing
Exemplary embodiment, it being understood, however, that may be realized in various forms the disclosure without should be by embodiments set forth here
Limited.On the contrary, these embodiments are provided to facilitate a more thoroughly understanding of the present invention, and can be by the scope of the present disclosure
Completely it is communicated to those skilled in the art.
Fig. 1 shows the top view of the unmanned boat 100 according to the utility model one embodiment.As shown in figure 1, unmanned boat
Unmanned boat is provided with 100 and lays retracting device, unmanned boat, which lays retracting device, includes strut 110, the locking of hook 120, first
Device 130, the first cable coiling device 140, frapping line 150, strop 160, the second cable coiling device 170 and the (control system of control system 180
180 are not shown in Fig. 1).
Strut 110 is arranged at hull side, such as the left side of hull or the right side of hull.One end of strut 110 is articulated with
Hull so that strut 110 can rotate around the pin joint；The other end of strut is provided with hook 120.According to a kind of embodiment,
As shown in Fig. 2 hook 120 is connected by the second locking device 112 with strut 110.Second locking device 112 for example can be card
The Detachable connection structures such as nested structure, but not limited to this.When linking up with 120 under tension, the second locking device 112 unlocks, and makes
120, which must be linked up with, to depart from strut 110.Hook 120 is suitable to the first lifting rope for catching lash ship decentralization, and by the first lifting
Wire saws, it is driven to rise to the position on lash ship deck.
First locking device 130 is located at the same side of hull with strut 110, suitable for strut 110 is fixed on into unmanned boat ship
Body.When the first locking device 130 is locked, strut 110 is in collapsed state, is fixed in hull side；When the first locking dress
When putting 130 unblock, strut 110 is in softened state, is formed an angle with hull side.Control system 180 is suitable to pass through control
First locking device 130 is unlocked to realize strutting for strut 110.Certainly, in addition to control the strutting of strut 110, control system
180 can also be arranged to be suitable to realize packing up for strut 110 by controlling the locking of the first locking device 130, and this practicality is newly
Type is not especially limited to the control function and control mode of control system 180.It should be pointed out that the utility model is to control system
180 existing forms are not also limited, and control system 180 is not specific to certain framework, operating system or language, and it can be physics
Independent embedded device, it can also be integrated in the master control system of unmanned boat 100, the utility model is without limitation.
First cable coiling device 140 and the second cable coiling device 170 are fixed on hull, rolling and releasing suitable for controlling cable.Should
When pointing out, the utility model is not limited to the particular location of the first cable coiling device 140 and the second cable coiling device 170 on hull.Root
According to a kind of embodiment, in order to realize the steady lifting of unmanned boat, acutely rocking during lifting is avoided, it is preferable that the first cable coiling device
140 and second cable coiling device 170 be arranged on the axis of hull, the first cable coiling device 140 is arranged at fore position, the second cable coiling device
170 be arranged in ship or in ship rear position.
First cable coiling device 140 and the second cable coiling device 170 can be reel structures, for example, Mainspring type cable roll, with dynamic
Reel of force driving device (such as electronic, pneumatically or hydraulically power etc.) etc., the utility model is to the first cable coiling device 140 and second
The concrete structure of cable coiling device 170 is not limited, as long as it can realize the folding and unfolding of cable.First cable coiling device 140 and second
The operation principle of cable coiling device 170 is as follows：Cable winds have one end to stretch out outside cable coiling device inside cable coiling device.Work as cable coiling device
Outside line end when receiving pulling force, cable coiling device can will wind cable therein and release；When line end is not by pulling force, automatically by cable
Recovery.Certainly, in order to avoid the cable in cable coiling device can not reclaim because being released completely, the line end inside cable coiling device is provided with
Limited block, so as to which the line end within cable coiling device is limited within cable coiling device all the time, cable is avoided to be released completely, meanwhile, limit
Position block can bear to design hauled load.
Frapping line 150 is wound in the first cable coiling device 140, and strop 160 is wound in the second cable coiling device 170.Frapping line
150th, strop 160 is connected respectively by being drawn in the first cable coiling device 140, the second cable coiling device 170 with hook 120.It should be pointed out that
Frapping line 150, strop 160 can be connected to the optional position of hook 120 with any connected mode, and the utility model is to only swinging
Rope, strop are not limited with the link position and connected mode linked up with.According to a kind of embodiment, frapping line 150 and guiding
Rope 160 is flexible strand, i.e. and frapping line 150 and strop 160 can produce deformation (being elongated) under tension, and
Pulling force restores to the original state when eliminating.
When linking up with the first lifting ropes traction rising that 120 are transferred by lash ship, frapping line 150 and strop 160 are with hook
120 rise together.After hook 120 rises to lash ship deck, frapping line 150 is fixed on lash ship by the staff on lash ship
On, strop 160 is connected with the second lifting rope that lash ship is transferred.So, strop 160 is driven by the second cable coiling device 170, is led
Draw the second lifting rope and drop to unmanned boat hull.After the second lifting rope and hull, which are established, to be connected, the boom hoisting on lash ship is led
Draw the second lifting rope, drive hull to rise, complete the recovery of unmanned boat.
According to a kind of embodiment, as shown in figure 3, the top of the second cable coiling device 170 is provided with the 3rd locking device 172, from
The strop 160 drawn in second cable coiling device 170 passes through the 3rd locking device 172, is connected with hook 120 and (links up with 120 in Fig. 3
Not shown in).According to a kind of embodiment, the 3rd locking device 172 includes at least one pair of spring catch 174, and spring catch is that one end connects
It is connected to the pin of spring.When pressure of the pin by object, spring is compressed, and the object penetrates spring catch；When the object passes through
After spring catch, spring catch resilience, so as to block the object, the object is set to be connected with hull.According to a kind of embodiment, the 3rd
Locking device 172 also includes unlocking feature 176 (unlocking feature 176 is not shown in figure 3), the bullet suitable for compression spring pin 174
Spring, so that the 3rd locking device 172 unlocks and discharges the object.According to a kind of embodiment, the object can be lash ship decentralization
The second lifting rope the rope slocket that is connected of lower end.
Fig. 4 shows the schematic diagram of the hoisting structure on the lash ship 200 according to the utility model one embodiment.Such as Fig. 4
Shown, the hoisting structure on lash ship includes boom hoisting 210, the first lifting rope 220, gravity installation 230, the second lifting rope 240
With rope slocket 250.According to a kind of embodiment, the first lifting rope 220 and the second lifting rope 240 are flexible strand.
The upper end of first lifting rope 220 is connected with boom hoisting 210, and lower end is connected with gravity installation 230.Gravity installation
230 density, quality are larger, for making the first lifting rope 220 keep tensioning state.The utility model is to gravity installation 230
Shape, material are unrestricted, as long as it can make the first lifting rope 220 keep tensioning state.According to a kind of embodiment, gravity
Device 230 is gravitation ball.
First lifting rope 220 is suitable to be caught by the hook 120 on unmanned boat 100, after being captured by hook 120, lifting
Device 210 draws the first lifting rope 220 and risen, and hook 120 is departed from strut 110, the first by the pulling force of the first lifting rope 220
The drive of lifting rope 220 hook 120 and the frapping line 150 on hook 120 and strop 160 rise.
The upper end of second lifting rope 240 is connected with boom hoisting 210, and lower end is connected with rope slocket 250.Implemented according to one kind
Example, rope slocket 250 include the body portion 252 of column and the head 254 of inverted cone shape.The top in body portion 252, which is provided with, is adapted to
The through hole of two lifting ropes 240.The bottom on head 254 is provided with the through hole for the strop 160 being adapted on unmanned boat.In body portion
252 and the junction on head 254, the width on head 254 is more than the width in body portion 252.
It is female after the first lifting rope 220 drives hook 120, frapping line 150, strop 160 to rise to lash ship deck position
Staff on ship removes the first lifting rope 220 from boom hoisting 210, changes be connected with rope slocket 250 second
Lifting rope 240；And remove the frapping line 150 linked up with 120 and strop 160, frapping line 150 is fixed on lash ship, will be guided
Rope 160 is connected to the through hole at the head 254 of rope slocket 250.So, one end of strop 160 is connected with rope slocket 250, separately
One end is connected with the second cable coiling device 170 on unmanned boat.Second cable coiling device 170 reclaims strop 160 automatically, and strop 160 is led
Straw line joint 250 declines.When the spring catch for the 3rd locking device 172 that the head 254 of rope slocket 250 is dropped on unmanned boat
When 174, the spring of spring catch 174 is compressed because of the pressure by the head 254 of rope slocket, and the head 254 of rope slocket penetrates
Gap between two pins.After the head 254 of rope slocket passes through spring catch 174, the recoil of spring of spring catch 174, so as to
The body portion 252 of rope slocket is blocked, rope slocket 250 is fixed on hull.Schematic diagram such as Fig. 5 institutes that rope slocket 250 is fixed with hull
Show.After rope slocket 250 is connected with hull, boom hoisting 210 draws the second lifting rope 240 and risen, so as to drive hull to rise,
Complete the recovery of unmanned boat.
Based on above description, the first lifting rope 220 and the second lifting rope 240 are used for the different phase that unmanned boat lifts by crane：The
One lifting rope 220 has been used for hanging hook 120, frapping line 150 and strop 160；Second lifting rope 240 is used to lift by crane unmanned boat.
Although it should be pointed out that the first lifting rope 220 and the second lifting rope 240 be used for unmanned boat lifting different phase, the two
Can be two different ropes or same root rope.For example, after hook 120 is promoted to lash ship deck, will be connected with
First lifting rope 220 of gravity installation 230 is removed from boom hoisting 210, changes the second lifting rope for being connected with rope slocket 250
240, in this case, the first lifting rope 220 and the second lifting rope 240 are two different ropes.In another example linking up with 120 quilts
After being promoted to lash ship deck, the gravity installation 230 of the lower section of the first lifting rope 220 is removed, changes rope slocket 250, such case
Under, the first lifting rope 220 and the second lifting rope 240 are the ropes of same root.It should be pointed out that the utility model is when describing lifting rope
Used " first ", " second " are intended to the different phase that both explanations are used for unmanned boat lifting, and being not intended to limit the two is
No is same root rope.
Foregoing unmanned boat 100 and lash ship 200 can form unmanned boat and lay recovery system 300, and unmanned boat lays recovery system
System 300 is adapted for carrying out unmanned boat recovery method 600 as shown in Figure 6.As shown in fig. 6, method 600 starts from step S610.
In step S610, lash ship transfers gravity installation to its position less than the strut on unmanned boat.As shown in Figure 7 A, it is female
Ship transfers gravity installation 230, and at this moment, the strut 110 on unmanned boat is in collapsed state.
Then, in step S620, control the first locking device unblock makes the strut to strut the strut on unmanned boat
It is angled with hull side.As shown in Figure 7 B, the control system 180 on unmanned boat (do not show in figure 7b by control system 180
Going out) the first locking device 130 of control unlocked with the strut 110 on strut unmanned boat, and strut 110 and hull side are into certain angle
Degree.As strut 110 is softened, the hook 120 of strut one end stretches out hull, and frapping line 150 and strop 160 are drawn therewith
Stretch.
Then, in step S630, control unmanned boat is travelled in the same direction with the safe speed more than lash ship with lash ship.So that
120, which must be linked up with, can capture the first lifting rope 220 of lash ship decentralization.
Then, in step S640, the hook on unmanned boat catches on the first lifting rope.As seen in figure 7 c, hook 120 hooks
First lifting rope 220.
Then, in step S650, lash ship boom hoisting draws the first lifting rope and risen, so as to drive hook to rise.Root
According to a kind of embodiment, link up with the pulling force by the first lifting rope, solve the second locking device (the second locking device is as shown in Figure 2)
Lock, hook depart from strut, are driven and rise by the first lifting rope.Due to being connected with frapping line and strop on hook, therefore only swing
Rope and strop rise with hook.According to a kind of embodiment, after hook departs from strut, the control control system control on unmanned boat
The locking of the first locking device is made, so as to pack up the strut on unmanned boat, strut is fixed in hull side, avoids lifting process
Middle strut and the potential safety hazard of lash ship collision.
Then, in step S660, when hook rises to lash ship deck, the first lifting rope is taken from boom hoisting
Under, the upper end of the second lifting rope is connected to boom hoisting, the lower end of the second lifting rope is connected with rope slocket, by stopping on hook
Swing rope and strop is removed, frapping line is fixed on lash ship, and strop is connected to rope slocket.As illustrated in fig. 7d, when hook 120 (is hung
Hook 120 is not shown in fig. 7d) when rising to lash ship deck with frapping line 150 and strop 160, the staff on lash ship
The first lifting rope for being connected with gravity installation is removed, the second lifting rope 240 is connected to boom hoisting, the second lifting rope 240
Lower end be connected with rope slocket 250.The frapping line 150 linked up with 120 and strop 160 are removed, frapping line 150 is fixed on
Lash ship deck, strop 160 are connected to rope slocket 250.
Then, in step S670, strop drawn under the driving of the second cable coiling device rope slocket decline, make rope slocket with
Hull establishes connection.According to a kind of embodiment, the structure of rope slocket is also set up as shown in the rope slocket 250 in Fig. 4 on unmanned boat
There is the 3rd locking device, the structure of the 3rd locking device is as shown in the 3rd locking device 172 in Fig. 3.Strop is in volume Two
Draw rope slocket under the driving of cable device to decline, when three locking devices is touched on the head of rope slocket, in the 3rd locking device
The spring of spring catch is compressed；After spring catch being passed through on the head of rope slocket, recoil of spring, so as to block rope slocket so that rope connects
Head is established with hull and connected.As seen in figure 7e, the second cable coiling device 170 has the function of automatic deploying and retracting cable, in the second cable coiling device
Under 170 driving, strop 160 draws rope slocket 250 and declined.In figure 7e, rope slocket 250 is established with hull and connected.Root
According to a kind of embodiment, with reference to figure 3, rope slocket 250 is fixed on hull by the 3rd locking device 172.
Then, in step S680, lash ship boom hoisting draws the second lifting rope and risen, so as to drive rope slocket and hull
Rise.After hull rises to lash ship, that is, complete recovery.
Fig. 8 shows the flow chart that method 800 is laid according to the unmanned boat of the utility model one embodiment.Unmanned boat cloth
Method 800 is put to be suitable to perform in foregoing unmanned boat lays recovery system 300.It will be understood by those skilled in the art that unmanned boat
Recovery and to lay be two corresponding processes, as long as the step of the step of unmanned boat is laid reclaims unmanned boat is in turn i.e.
Can, the positioning that need not realize unmanned boat is additionally, since, laying for unmanned boat is physically easier to perform than recovery.As shown in figure 8, method
800 start from step S810.
In step S810, rope slocket is connected with the 3rd locking device.3rd locking device is located on unmanned boat, and rope connects
Head is connected with the second lifting rope of lash ship boom hoisting decentralization.
Then, in step S820, boom hoisting decentralization unmanned boat.
Then, in step S830, the 3rd locking device is unlocked, departs from rope slocket and the 3rd locking device.
Then, in step S840, boom hoisting draws the second lifting rope and risen, and reclaims rope slocket.
In the specification that this place provides, numerous specific details are set forth.It is it is to be appreciated, however, that of the present utility model
Embodiment can be put into practice in the case of these no details.In some instances, known side is not been shown in detail
Method, structure and technology, so as not to obscure the understanding of this description.
Similarly, it will be appreciated that in order to simplify the disclosure and help to understand one or more in each utility model aspect
Individual, in the description to exemplary embodiment of the present utility model above, each feature of the present utility model is divided together sometimes
Group is into single embodiment, figure or descriptions thereof.However, the method for the disclosure should be construed to reflect following meaning
Figure：The requires of the utility model i.e. claimed is than the feature more features that is expressly recited in each claim.More
Exactly, as the following claims reflect, it is to be less than single reality disclosed above in terms of utility model
Apply all features of example.Therefore, it then follows thus claims of embodiment are expressly incorporated in the embodiment,
Wherein each claim is used as separate embodiments of the present utility model in itself.
Those skilled in the art should be understood the module or unit or group of the equipment in example disclosed herein
Part can be arranged in equipment as depicted in this embodiment, or alternatively can be positioned at and the equipment in the example
In different one or more equipment.Module in aforementioned exemplary can be combined as a module or be segmented into addition multiple
Submodule.
Those skilled in the art, which are appreciated that, to be carried out adaptively to the module in the equipment in embodiment
Change and they are arranged in one or more equipment different from the embodiment.Can be the module or list in embodiment
Member or component be combined into a module or unit or component, and can be divided into addition multiple submodule or subelement or
Sub-component.In addition at least some in such feature and/or process or unit exclude each other, it can use any
Combination is disclosed to all features disclosed in this specification (including adjoint claim, summary and accompanying drawing) and so to appoint
Where all processes or unit of method or equipment are combined.Unless expressly stated otherwise, this specification (including adjoint power
Profit requires, summary and accompanying drawing) disclosed in each feature can be by providing the alternative features of identical, equivalent or similar purpose come generation
Replace.
In addition, it will be appreciated by those of skill in the art that although some embodiments described herein include other embodiments
In included some features rather than further feature, but the combination of the feature of different embodiments means in this practicality newly
Within the scope of type and form different embodiments.For example, in the following claims, embodiment claimed
One of any mode can use in any combination.
In addition, be described as herein can be by the processor of computer system or by performing for some in the embodiment
The method or the combination of method element that other devices of the function are implemented.Therefore, have and be used to implement methods described or method
The processor of the necessary instruction of element forms the device for implementing this method or method element.In addition, device embodiment
Element described in this is the example of following device：The device is used to implement by order to implement the element of the purpose of utility model institute
The function of execution.
As used in this, unless specifically stated so, come using ordinal number " first ", " second ", " the 3rd " etc.
Description plain objects are merely representative of the different instances for being related to similar object, and are not intended to imply that the object being so described must
Must have the time it is upper, spatially, in terms of sequence or given order in any other manner.
Although describing the utility model according to the embodiment of limited quantity, above description, this technology are benefited from
It is in field it is clear for the skilled person that in the scope of the utility model thus described, it can be envisaged that other embodiments.In addition,
It should be noted that the language used in this specification primarily to readable and teaching purpose and select, rather than in order to
Explain or limit theme of the present utility model and select.Therefore, without departing from the scope and spirit of the appended claims
In the case of, many modifications and changes will be apparent from for those skilled in the art.For this
The scope of utility model, the disclosure done to the utility model are illustrative and be not restrictive, the scope of the utility model
It is defined by the appended claims.
Claims (10)
1. a kind of unmanned boat lays retracting device, it is arranged on unmanned boat, it is characterised in that including：
The strut of hull side is arranged at, one end of the strut is articulated with hull, and the other end is provided with hook；
It is located at first locking device of hull the same side with the strut, suitable for the strut is fixed on into hull；
Control system, suitable for by controlling the locking of first locking device, unblock to realize the packing up of strut, strut；
It is fixed on the first cable coiling device and the second cable coiling device of hull, rolling and releasing suitable for controlling cable；
The frapping line being wound in the first cable coiling device and the strop being wound in the second cable coiling device, frapping line, strop difference
Connected by being drawn in the first cable coiling device, the second cable coiling device, and with the hook；
Wherein, the hook is suitable to the first lifting rope for catching lash ship decentralization, and is drawn by first lifting rope, described in drive
Frapping line and strop rise；The strop is suitable to be driven by second cable coiling device, the second lifting of traction lash ship decentralization
Rope declines, and second lifting rope is established connection with hull and drives hull to rise by second lifting rope.
2. device as claimed in claim 1, it is characterised in that the hook is connected by the second locking device and the strut
Connect, second locking device is suitable to unlock in the hook under tension so that the hook departs from the strut.
3. device as claimed in claim 2, it is characterised in that second locking device is ferrule structure.
4. such as the device any one of claim 1-3, it is characterised in that the frapping line, strop are flexible strand.
5. device as claimed in claim 4, it is characterised in that the 3rd locking dress is provided with above second cable coiling device
Put, the strop drawn in second cable coiling device passes through the 3rd locking device, is connected with the hook.
6. device as claimed in claim 5, it is characterised in that the lower end of second lifting rope is connected with rope slocket, described
Rope slocket includes the body portion of column and the head of inverted cone shape, in the body portion and the junction on the head, the width on the head
Degree is more than the width in the body portion, and suitable for being connected with the strop, the strop is suitable to the traction rope and connect on the head
Head drops to the 3rd locking device；
3rd locking device includes at least one pair of spring catch, and the spring catch is connected with the pin of spring, the bullet for one end
Spring be suitable to compressed in the pressure on the head by the rope slocket, and the head pass through the spring catch after return
Bullet, so as to block the rope slocket.
7. device as claimed in claim 6, it is characterised in that the 3rd locking device also includes unlocking feature, the solution
Lock assembly is suitable to compress the spring so that the 3rd locking device unlocks and discharges the rope slocket.
8. a kind of unmanned boat, it is characterised in that lay recovery dress including the unmanned boat as any one of claim 1-7
Put.
9. a kind of unmanned boat lays recovery system, it is characterised in that including：
Unmanned boat as claimed in claim 8；With
Lash ship, boom hoisting, the first lifting rope, gravity installation, the second lifting rope and rope slocket are provided with the lash ship, its
In,
The upper end of first lifting rope is connected with the boom hoisting, and lower end is connected with the gravity installation, the gravity dress
Put suitable for making first lifting rope keep tensioning state, first lifting rope is suitable to be laid in retracting device by unmanned boat
Hook is caught, and is driven by the boom hoisting, is drawn hook, frapping line and the strop and is risen；
The upper end of second lifting rope is connected with the boom hoisting, and lower end is connected with rope slocket, the rope slocket it is another
End is connected with the strop, and the rope slocket is suitable to decline under the traction of strop, establishes and connects with the unmanned boat, and
Driven by the boom hoisting, draw the unmanned boat and rise.
10. system as claimed in claim 9, it is characterised in that first lifting rope and the second lifting rope are flexible strand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721085700.0U CN207191320U (en) | 2017-08-25 | 2017-08-25 | Unmanned boat lays retracting device, unmanned boat and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721085700.0U CN207191320U (en) | 2017-08-25 | 2017-08-25 | Unmanned boat lays retracting device, unmanned boat and system |
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| Publication Number | Publication Date |
|---|---|
| CN207191320U true CN207191320U (en) | 2018-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721085700.0U Active CN207191320U (en) | 2017-08-25 | 2017-08-25 | Unmanned boat lays retracting device, unmanned boat and system |
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| Country | Link |
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| CN (1) | CN207191320U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344597A (en) * | 2017-08-25 | 2017-11-14 | 深圳市云洲创新科技有限公司 | Unmanned boat lays retracting device, system and unmanned boat and lays recovery method |
| CN108516055A (en) * | 2018-04-18 | 2018-09-11 | 上海大学 | A kind of unmanned boat lays retracting device |
-
2017
- 2017-08-25 CN CN201721085700.0U patent/CN207191320U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107344597A (en) * | 2017-08-25 | 2017-11-14 | 深圳市云洲创新科技有限公司 | Unmanned boat lays retracting device, system and unmanned boat and lays recovery method |
| CN107344597B (en) * | 2017-08-25 | 2023-11-28 | 深圳市云洲创新科技有限公司 | Unmanned ship deployment and recovery device, system and unmanned ship deployment and recovery method |
| CN108516055A (en) * | 2018-04-18 | 2018-09-11 | 上海大学 | A kind of unmanned boat lays retracting device |
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