CN210000531U - An underwater recovery device - Google Patents

Abstract

The utility model provides an underwater recovery device. The recovery device comprises a winch and a catch claw. The winch is installed on a surface boat. The interior of the catch claw is provided with a proximity switch and a motor. The motor is connected to the moving jaws. There is also a fixed jaw inside, a pressure sensor on the fixed jaw, an underwater acoustic sensor on the outside of the catching claw, and a guide cover on the outside of the catching claw, where the proximity switch, the underwater acoustic sensor, the motor and the pressure sensor are located at the same location. The controller on the catch claw is connected. The guide cover includes arc guide bars, and each end of the arc guide bars is provided with a guide wheel. The main body of the catching claw is cylindrical, and the outer diameter of the guide cover is three times the inner diameter of the main body of the catching claw. The main body of the catching claw is also provided with a ballast water tank, the outside of the catching claw is also provided with a water depth sensor, the action unit of the ballast water tank is connected with the controller, and the water depth sensor is connected with the controller.

Description

An underwater recovery device

technical field

The utility model belongs to the field of shipborne equipment, in particular to an underwater recovery device.

Background technique

Unmanned underwater vehicle, English name Unmanned underwater vehicle, is a device that navigates underwater by remote control or automatic control. An intelligent system for the next operation.

Unmanned underwater vehicles are currently divided into two categories: remotely controlled (ROV) and autonomous (AUV). The ROV is tethered to the host ship and continuously controlled by the operator; the AUV can be programmed to sail to one or more waypoints and operate independently for a predetermined period of time. AUV has its own electric power and is flexible, so it is widely used and is becoming a new star of future underwater reconnaissance. Both types of UUVs are typically equipped with payloads that include sound waves, cameras, environmental sensors, robotic arms, and a mine destruction device.

Utility model content

In view of the problems in the prior art that the underwater recovery device has a complex structure and a low docking success rate, the utility model proposes an underwater recovery device, and the adopted technical scheme is as follows:

An underwater recovery device, the recovery device includes a hoist and a catch claw, the winch is installed on a surface boat, a proximity switch and a motor are arranged inside the catch claw, the motor is connected to a moving jaw, and the inside of the catch claw is also provided with The fixed jaw is provided with a pressure sensor, the outside of the catching claw is provided with a hydroacoustic sensor, and the outside of the catching claw is also provided with a guide cover, in which the proximity switch, the hydroacoustic sensor, the motor and the pressure sensor are connected with the connected to the controller.

Further, the guide cover includes arc guide bars, and each end of the arc guide bars is provided with a guide wheel.

Further, the main body of the catching claw is cylindrical, and the outer diameter of the guide cover is three times the inner diameter of the main body of the catching claw.

Further, the main body of the catching claw is also provided with a ballast water tank, the outside of the catching claw is also provided with a water depth sensor, the action unit of the ballast water tank is connected with the controller, and the water depth sensor is connected with the controller.

Further, the underwater recovery equipment further includes handling equipment, the handling equipment is installed on the guide rail on the surface boat, and the handling equipment is used for grabbing and handling the unmanned submarine captured by the capture claws.

Compared with the prior art, the beneficial effect of the present invention is that: the recovery device includes a catching claw and a conveying device, one end of the catching claw is provided with a guide cover with a guide bar and a guide wheel, and the diameter of the guide cover is larger than that of the catching claw. The diameter of the main body improves the success rate of docking unmanned submarines.

Description of drawings

Fig. 1 is the structure schematic diagram of catching claw;

Fig. 2 is the schematic diagram of U-shaped groove of surface craft;

Figure 3 is a front view of the deployment and recovery device;

Figure 4 is a side view of the deployment recovery device.

Description of reference numbers:

Communication cable-1, catching claw-2, hydroacoustic sensor-3, arc guide strip-4, guide wheel-5, proximity switch-6, motor-7, clamp-8, winch-9, gantry- 10. Hydraulic Cylinder Fixing Frame-11, First Coupling-12, Hydraulic Cylinder-13, Lifting Eye-14, Second Coupling-15, Arc Bracket-16, Moving Wheel-17, Catch Arm-18 , Clamp Lock-19.

Detailed ways

In this embodiment, an underwater recovery device is proposed. The recovery device includes a winch 9 and a capture claw 2. The winch 9 is installed on a surface boat, and the capture claw 2 is provided with a proximity switch 6, a motor 7 and a clamp. The clamp 8, the motor 7 is connected to the movable jaw of the clamp 8, the fixed jaw of the clamp 8 is provided with a pressure sensor, the outside of the catching claw 2 is provided with an underwater acoustic sensor 3, and the outside of the catching claw 2 is also provided with a guide cover, so The guide cover includes arc guide bars 4 , and each end of the arc guide bars 4 is provided with a guide wheel 5 .

In this embodiment, the main body of the capturing claw 2 is cylindrical, and the outer diameter of the guide cover is three times the inner diameter of the main body of the capturing claw 2 . The main body of the catching claw 2 is also provided with a ballast water tank, and the outside of the catching claw 2 is also provided with a water depth sensor. The action unit of the ballast water tank, the water depth sensor, the proximity switch 6, the underwater acoustic sensor 3, the motor 7 and the pressure sensor are connected with the controller located on the catching claw 2.

In this embodiment, the underwater recovery device further includes a handling device, the handling device is installed on the guide rail on the surface boat, and the handling device is used for grabbing and handling the unmanned submarine captured by the capture claw 2 .

Among them, the main body of the handling equipment includes a gantry frame 10 and an arc-shaped bracket 16, the gantry frame 10 and the arc-shaped bracket 16 are fixedly connected, the gantry frame 10 and the arc-shaped bracket 16 form an h-shaped bracket, and the bottom of the gantry frame 10 and the arc-shaped bracket 16 The end is provided with a moving wheel 17 . The gantry frame 10 is provided with a hydraulic cylinder fixing frame 11, and two hydraulic cylinders 13 are installed on the hydraulic cylinder fixing frame 11. The hydraulic cylinders 13 are connected with the hydraulic cylinder fixing frame 11 through the first coupling 12, and the hydraulic cylinders 13 are symmetrically distributed. On both sides of the gantry 10. The tail of the capture arm 18 is connected to the arc-shaped bracket 16 through the second coupling 15, the hydraulic cylinder 13 is connected to the capture arm 18 through the lifting lug 14 at the end of the capture arm 18, and the capture arm 18 is provided with two clamp locks 19 .

When recovering, the winch 9 throws the capture claw 2 into the water, the controller controls the capture claw 2 to dive to a specified depth, and the unmanned submarine determines the position of the capture claw 2 through the hydroacoustic sensor 3. When the unmanned submarine drives into the capture claw 2 , the controller controls the movement of the motor 7, and clamps the unmanned submarine through the jaws. When the set pressure value is reached, the controller sends information to the control system on the surface boat through the communication cable 1. At this time, the hoist 9 retracts the capture claw 2. When the winch 9 stops working, the unmanned submarine is located outside the water surface and is at a certain angle to the surface boat. At this time, the handling equipment moves to the U-shaped groove, the clamp lock 19 is opened, and the push rod of the hydraulic cylinder 13 moves, making the capture The arm 18 is tilted to a specified angle, then the pliers lock 19 is closed, the unmanned submarine is clamped, the jaw inside the catching claw is released, the push rod of the hydraulic cylinder 13 moves, so that the catching arm 18 returns to the horizontal position, and finally, moves The handling equipment is moved to the designated position, and the unmanned submarine is placed in the idle position of the surface craft.

The technical principle of the present invention has been described above in conjunction with specific embodiments, and these descriptions are only for explaining the technical principle of the present invention, and cannot be interpreted as limiting the protection scope of the present invention in any way. Based on this explanation, those skilled in the art can imagine that other specific embodiments of the present invention will fall within the protection scope of the present invention without any creative effort.

Claims (5)

1, kind recovery unit under water, its characterized in that, recovery unit includes the hoist engine and catches the claw, and the hoist engine is installed on the surface of water ship, the inside of catching the claw is equipped with proximity switch and motor, and the motor is connected and is removed keeping silent, and the inside of catching the claw still is equipped with fixed keeping silent, is equipped with pressure sensor on the fixed keeping silent, and the outside of catching the claw is equipped with the underwater sound sensor, and the outside of catching the claw still is equipped with the direction cover, and wherein proximity switch, underwater sound sensor, motor and pressure sensor link to each other with the controller that is located on catching the claw.

2. The underwater recovery device of claim 1 wherein the guide housing includes arc-shaped guide bars, and a guide wheel is provided at a distal end of each arc-shaped guide bar.

3. The underwater recovery device of claim 2, wherein the main body of the catching jaw is cylindrical and the outer diameter of the guiding hood is 3 times the inner diameter of the main body of the catching jaw.

4. The underwater recovery device as claimed in claim 3, wherein a ballast water tank is further provided on the main body of the catching jaw, a water depth sensor is further provided on an outer portion of the catching jaw, an action unit of the ballast water tank is connected to the controller, and the water depth sensor is connected to the controller.

5. The underwater recovery device of claim 4, further comprising a carrying apparatus mounted on a rail on the surface boat for grasping and carrying the unmanned submarine caught by the catching jaw.

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