CN210149502U - Automatic laying and recycling system of unmanned boat - Google Patents
Automatic laying and recycling system of unmanned boat Download PDFInfo
- Publication number
- CN210149502U CN210149502U CN201920458632.0U CN201920458632U CN210149502U CN 210149502 U CN210149502 U CN 210149502U CN 201920458632 U CN201920458632 U CN 201920458632U CN 210149502 U CN210149502 U CN 210149502U
- Authority
- CN
- China
- Prior art keywords
- screw
- centering
- lock catch
- telescopic
- rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Transmission Devices (AREA)
Abstract
The utility model relates to an automatic laying and recovery system of unmanned ship, its characterized in that: the system comprises a telescopic guide rod device (1), a telescopic centering mechanism (2), a public hanging bracket device (3), a locking mechanism (4), an automatic lock catch (5) and a conical lifting device (6); the telescopic guide rod device (1), the telescopic centering mechanism (2) and the locking mechanism (4) are all installed on the public hanger device (3), the public hanger device (3) is hung on a hoisting device on a mother ship through a sling, the automatic lock catch (5) is installed at the bow of the unmanned ship (7), and the conical hoisting device (6) is installed at the hoisting point of the unmanned ship (7); therefore, the hook or connection operation of the unmanned boat and the crane hook is avoided being completed in a manual intervention mode, the conditions of equipment damage and personnel injury are avoided being easy to occur when the sea condition is poor, and the safety of the unmanned boat in the distribution and recovery processes is improved.
Description
Technical Field
The utility model relates to an unmanned ship control field, concretely relates to unmanned ship's automatic laying and recovery system.
Background
With the more and more prominent role and position of the unmanned ship in the field of ocean research and military and the non-substitutability in some fields, the unmanned ship collecting and releasing system is gradually paid more attention to all countries. However, in the field of practical application, how to carry on unmanned ship collecting and releasing system improves the efficiency of unmanned ship in the recovery process, guarantees the security of unmanned ship, has become the key technical problem that is urgently needed to be broken through at present. At present, the arrangement and the recovery of the unmanned boat are mainly realized by a ship crane. When the unmanned ship is laid and recovered in the mode, the hooking or connecting operation of the unmanned ship and a crane hook is generally finished in a mode of manual intervention by workers; however, the operation mode is greatly influenced by wind and waves, and equipment damage and personnel injury are easy to happen when the sea state is poor.
SUMMERY OF THE UTILITY MODEL
To the not enough and defect that exists among the prior art, the utility model provides an automatic cloth of unmanned ship is put and recovery system.
The utility model provides a technical scheme that its technical problem adopted is:
the utility model provides an automatic cloth of unmanned ship is put and recovery system which characterized in that: the system comprises a telescopic guide rod device, a telescopic centering mechanism, a public hanger device, a locking mechanism, an automatic lock catch and a conical lifting device; the telescopic guide rod device, the telescopic centering mechanism and the locking mechanism are all installed on the public hanger device, the public hanger device is hung on a lifting device on a mother ship through a main sling, the automatic lock catch is installed at the bow of the unmanned ship, and the conical lifting device is installed at the lifting point of the unmanned ship.
Further, the telescopic centering mechanism is provided with 2, and 2 telescopic centering mechanism respectively with the both sides contact of unmanned ship.
Furthermore, the telescopic guide rod device comprises a first speed reducing motor, an output shaft of the first speed reducing motor sequentially penetrates through a flange and the inside of the guide rod support to be in transmission connection with the transmission shaft, the output shaft of the first speed reducing motor is supported in the guide rod support through a bearing, two adjacent rings of bearings are spaced through a first check ring, an oil cup is arranged on the outer side of the guide rod support, the cylinder barrel is fixedly arranged below the guide rod support through a fifth guide screw and a second guide washer, and the shell is fixedly arranged below the cylinder barrel through a sixth guide screw and a first guide washer; the pipe is contacted with the inner wall of the shell through a boss at the upper end of the pipe, and is limited in the shell under the blocking action of a second check ring which is positioned at the lower end of the pipe and arranged on the inner wall of the shell, and an O-shaped ring is arranged on the boss of the pipe; the transmission shaft is a hollow shaft and has an internal spline structure, a transmission rod is arranged in the transmission shaft, the transmission rod has an external spline structure, a guide second screw is arranged at the upper end of the transmission rod, and the internal spline structure of the transmission shaft is matched with the external spline structure of the transmission rod; the upper end part of the screw rod is provided with a third retaining ring by guiding a first screw, the periphery of the screw rod is provided with an external thread, the inner cylinder is arranged at the radial outer side of the screw rod, the inner wall of the inner cylinder is provided with an internal thread, and the external thread of the screw rod is matched with the internal thread of the inner cylinder; the lower end plate of the transmission rod is fixedly connected with the lower base plate of the screw rod through a guide third screw, the upper sealing plate positioned at the lower end of the pipe is fixedly connected with the lower sealing plate through a guide fourth screw, and the radial outer edge of the lower base plate is positioned in the annular groove of the upper sealing plate.
Further, the first speed reduction motor can rotate positively and reversely.
Furthermore, the telescopic centering mechanism comprises a centering pin shaft, a rubber wheel, a telescopic arm, a first sliding plate, an induction block, a second sliding plate, a friction block, a rack, a gear, a baffle plate, a centering first screw, a centering second screw, a centering first washer, a second gear motor, a centering third screw, a centering second washer, a centering fourth screw, a centering fifth screw, a first self-lubricating bearing, a stop plate, a bolt and a basic arm; the rubber wheel is arranged on a lower support of the L-shaped telescopic arm through a centering pin shaft and a first self-lubricating bearing; the upper surface of flexible arm is provided with response piece and second slide respectively, the response piece through centering fourth screw install in the upper surface of flexible arm the afterbody lower surface mounting of basic arm has the clutch blocks the head both sides face of flexible arm has first slide through centering fifth screw mounting, the rack is through centering second screw, the first packing ring fixed mounting of centering on flexible arm, and second gear motor is through centering third screw, centering second packing ring installation one side of basic arm, second gear motor's output shaft passes through the first screw mounting gear of centering the baffle is installed to the one end of gear the both ends of centering round pin axle are passed through the bolt and are still installed the locking plate.
Furthermore, the locking mechanism (4) comprises a bell jar body (4-1), a second self-lubricating bearing, a first pin shaft, a second pin shaft, a connecting rod, a locking support, a bolt, a washer, a nut, an inner ring, a locking sleeve, a support column and an electric push rod; the locking mechanism comprises a bell jar body, a first self-lubricating bearing, a second self-lubricating bearing, a locking support, a connecting rod, an electric push rod, an inner ring and a conical lifting device, wherein the second self-lubricating bearing is arranged on the periphery of the bell jar body, the locking support is arranged on the periphery of the bell jar body and is positioned below the second self-lubricating bearing through bolts, gaskets and nuts respectively, a supporting column is arranged on the locking support, the outer end of the connecting rod is hinged to the upper end of the supporting column through a second pin shaft, the inner end of the connecting rod is hinged to one end of a locking sleeve through a first pin shaft, the upper side of the connecting rod is further provided with the electric push rod, the inner ring of the second self-lubricating bearing is further provided with the inner ring, the locking sleeve extends into the inner.
Furthermore, the arrangement position of the annular groove of the conical lifting device is at the same height as the arrangement positions of the second self-lubricating bearing and the inner ring.
Further, the automatic lock catch comprises a cover plate, a lock catch body, a spring fixing bolt, a manual opening and closing plate, a blocking tongue, a guide rod, an installation frame, a bolt, a first lock catch screw, a second lock catch screw, a third lock catch screw, a thin nut and a lock catch nut; the cover plate is fixed above the lock catch body through a first lock catch screw, the baffle tongue is movably arranged on the lock catch body through a spring fixing bolt, one end, extending out of the upper surface of the cover plate, of the spring fixing bolt is provided with a thin nut, the spring is installed on the spring fixing bolt, the outer side of the baffle tongue is provided with a manual opening plate respectively, the guide rod is arranged at the entrance of the front end of the lock catch body through a lock catch nut, the lock catch body is fixedly installed on the installation frame through a second lock catch screw, the installation frame is installed at the bow of the unmanned ship through a third lock catch screw, a bolt is further arranged on one side of the guide rod, and when the automatic lock catch is manually opened, the baffle tongue is enabled.
Further, the spring is a torsion spring.
The utility model has the advantages that:
(1) when the unmanned ship is laid, firstly, the automatic lock catch at the bow of the unmanned ship is disengaged, the telescopic guide rod device is released, then the unmanned ship is transferred to the outer side of the mother ship by the hoisting equipment on the mother ship, and when the unmanned ship is lowered to be close to the water surface, the telescopic centering mechanism is unfolded, and the locking mechanism is released, so that the laying operation of the unmanned ship is completed; when the unmanned ship is recovered, unmanned automatic capture and hooking are realized through three steps of guiding, centering and locking, so that the hooking or connecting operation of the unmanned ship and a crane hook is avoided being finished in a manual intervention mode, the conditions of equipment damage and personnel injury easily occurring when sea conditions are poor are avoided, and the safety of the unmanned ship in the distribution and recovery processes is improved.
(2) The transmission part and the shell part of the telescopic guide rod device are relatively independent, and the telescopic guide rod device can prevent seawater, salt mist and the like from entering the interior due to the sealing effect of the O-shaped ring on the pipe, so that the corrosion resistance effect of the telescopic guide rod device is improved; due to the telescopic effect of the device, the unmanned ship can be effectively prevented from being unexpectedly separated due to the fluctuation of sea waves when being deployed and recovered, so that the reliability of the unmanned ship in the deploying and recovering process is ensured.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a structural side view of an automatic deployment and recovery system of an unmanned surface vehicle according to the present invention;
fig. 2 is a structural plan view of the automatic deployment and recovery system of the unmanned surface vehicle of the present invention;
fig. 3 is a structural side view of the telescopic guide rod device of the automatic deployment and recovery system of the unmanned surface vehicle of the present invention;
FIG. 4 is an enlarged view of the structure of FIG. 3 at location I;
FIG. 5 is an enlarged view of the structure at position II in FIG. 3;
fig. 6 is a structural plan view of the telescopic centering mechanism of the automatic deployment and recovery system of the unmanned surface vehicle of the present invention;
FIG. 7 is a schematic view of the rubber wheel of FIG. 6 viewed from another direction;
fig. 8 is a schematic view of the structure of fig. 6 viewed from another direction to the position of the second reduction motor;
fig. 9 is a structural side view of the telescopic centering mechanism of the automatic deployment and retrieval system of the unmanned surface vehicle of the present invention;
fig. 10 is a structural side view of a locking mechanism of an automatic deployment and retrieval system of an unmanned surface vehicle according to the present invention;
fig. 11 is a structural side view of an automatic lock catch of an automatic deployment and recovery system of an unmanned surface vehicle according to the present invention;
fig. 12 is a top view of the automatic lock catch of the automatic deployment and recovery system of the unmanned surface vehicle according to the present invention;
Detailed Description
The present invention will now be described in further detail with reference to the accompanying drawings. These drawings are simplified schematic drawings and illustrate the basic structure of the present invention only in a schematic manner, and thus show only the components related to the present invention.
As shown in fig. 1-12, an automatic deployment and recovery system for unmanned boats comprises a telescopic guide rod device 1, a telescopic centering mechanism 2, a common hanger device 3, a locking mechanism 4, an automatic lock catch 5 and a conical lifting device 6; the telescopic guide rod device 1, the telescopic centering mechanism 2 and the locking mechanism 4 are all installed on a public hanger device 3, the public hanger device 3 is hung on a hoisting device on a mother ship through a main sling, the automatic lock catch 5 is installed at the bow of the unmanned ship 7, and the conical hoisting device 6 is installed at the hoisting point of the unmanned ship 7.
When the unmanned ship is laid, the automatic lock catch 5 at the bow of the unmanned ship is firstly released, then the telescopic guide rod device 1 is released, then the unmanned ship 7 is transferred to the outer side of the mother ship by the hoisting equipment on the mother ship, when the unmanned ship 7 needs to be laid, the main sling is lowered to enable the unmanned ship 7 to be laid to be close to the water surface, the telescopic centering mechanism 2 is unfolded, and then the locking mechanism 4 is released, so that the laying of the unmanned ship can be completed.
When the unmanned ship is recovered, the public hanger device 3 is firstly placed 2-3m above the water surface, the telescopic guide rod device 1 is extended to the maximum, then the unmanned ship 7 is operated, the automatic lock catch 5 at the bow of the unmanned ship collides with the telescopic guide rod device 1, so that the telescopic guide rod device 1 slides into the automatic lock catch 5 at the bow of the unmanned ship, after the telescopic guide rod device 1 completely enters the automatic lock catch 5, the telescopic centering mechanism 2 is gradually contracted from the maximum position, and the public hanger device 3 is aligned with the lifting point position of the unmanned ship 7; simultaneously, the public hanger device 3 is lowered, after the locking mechanism 4 is locked, the telescopic guide rod device 1 is retracted, and after a main sling of the public hanger device 3 is aligned with a lifting point on the unmanned boat 7, the locking mechanism 4 on the public hanger device 3 is fastened on the conical lifting device 6 on the unmanned boat 7; at this time, the system confirms that the operation for capturing the unmanned ship 7 is completed, and then the unmanned ship 7 can be recovered to the mother ship by the main slings.
Specifically, the number of the telescopic centering mechanisms 2 is 2, and the 2 telescopic centering mechanisms 2 are respectively in contact with two sides of the unmanned boat, so that the main sling of the public hanger device 3 can be aligned with the lifting point position on the unmanned boat 7 through the telescopic centering mechanisms 2 on two sides between the bow part and the lifting point position of the unmanned boat 7, the locking mechanism 4 on the public hanger device 3 is further ensured to fasten the conical lifting device 6 on the unmanned boat 7, and the centering and positioning positions are ensured to be accurate from two sides.
Specifically, the telescopic guide rod device 1 comprises first speed reducing motors 1-20, output shafts of the first speed reducing motors 1-20 sequentially penetrate through flanges 1-6 and the insides of guide rod brackets 1-5 to be in transmission connection with transmission shafts 1-11, the output shafts of the first speed reducing motors 1-20 are supported inside the guide rod brackets 1-5 through bearings 1-14, two adjacent circles of bearings 1-14 are spaced through first check rings 1-7, an oil cup 1-16 is arranged on the outer side of the guide rod support 1-5, a cylinder barrel 1-9 is fixedly arranged below the guide rod support 1-5 through a guide fifth screw 1-23 and a guide second gasket 1-24, and a shell 1-8 is fixedly arranged below the cylinder barrel 1-9 through a guide sixth screw 1-28 and a guide first gasket 1-29; the pipe 1-1 is contacted with the inner wall of the shell 1-8 through a boss 1-21 at the upper end of the pipe 1-1, and is limited in the shell 1-8 under the blocking action of a second check ring 1-10 which is positioned at the lower end of the pipe 1-1 and is arranged on the inner wall of the shell 1-8, and the boss of the pipe 1-1 is provided with an O-shaped ring 1-17; the transmission shaft 1-11 is a hollow shaft and has an internal spline structure, a transmission rod 1-3 is arranged inside the transmission shaft 1-11, the transmission rod 1-3 has an external spline structure, a guide second screw 1-15 is arranged at the upper end part of the transmission rod 1-3, and the internal spline structure of the transmission shaft 1-11 is matched with the external spline structure of the transmission rod 1-3; the upper end part of the screw rod 1-2 is provided with a third check ring 1-12 by guiding a first screw 1-13, the periphery of the screw rod 1-2 is provided with an external thread, the inner cylinder 1-22 is arranged at the radial outer side of the screw rod 1-2, the inner wall of the inner cylinder 1-22 is provided with an internal thread, and the external thread of the screw rod 1-2 is matched with the internal thread of the inner cylinder 1-22; the lower end plate 1-25 of the transmission rod 1-3 is fixedly connected with the lower bottom plate 1-26 of the screw rod 1-2 through a guide third screw 1-18, the upper sealing plate 1-27 positioned at the lower end of the tube 1-1 is fixedly connected with the lower sealing plate 1-4 through a guide fourth screw 1-19, and the radial outer edge of the lower bottom plate 1-26 is positioned in the annular groove of the upper sealing plate 1-27.
The first speed reducing motor 1-20 of the telescopic guide rod device 1 drives the transmission shaft 1-11 to rotate at a low speed, the external spline of the transmission rod 1-3 is matched with the internal spline of the transmission shaft 1-11, so that the transmission rod 1-3 is driven to rotate synchronously, the lower end plate 1-25 of the transmission rod 1-3 is fixedly connected with the lower bottom plate 1-26 of the screw rod 1-2 by guiding the third screw 1-18, the screw rod 1-2 also rotates synchronously, and when the screw rod 1-2 moves up and down by matching the external thread of the screw rod 1-2 with the internal thread of the internal cylinder 1-22, the radial outer edge of the lower bottom plate 1-26 of the screw rod 1-2 is positioned in the trapezoidal groove of the upper sealing plate 1-27, so that the moving pipe 1-1 is driven to realize the up and down.
Specifically, the first speed reduction motor 1-20 can rotate forward and backward, so that the first speed reduction motor drives the transmission shaft 1-11 to rotate forward and backward, and finally drives the pipe 1-1 to move up and down in a telescopic manner.
Specifically, the telescopic centering mechanism 2 comprises a centering pin shaft 2-1, a rubber wheel 2-2, a telescopic arm 2-3, a first sliding plate 2-4, an induction block 2-5, a second sliding plate 2-6, a friction block 2-7, a rack 2-8, a gear 2-9, a baffle plate 2-10, a centering first screw 2-11, a centering second screw 2-12, a centering first gasket 2-13, a second speed reducing motor 2-14, a centering third screw 2-15, a centering second gasket 2-16, a centering fourth screw 2-17, a centering fifth screw 2-18, a first self-lubricating bearing 2-19, a stop plate 2-20, a bolt 2-21 and a basic arm 2-22; wherein, the rubber wheel 2-2 is arranged on a lower bracket of the L-shaped telescopic arm 2-3 through a centering pin shaft 2-1 and a first self-lubricating bearing 2-19; the upper surface of the telescopic arm 2-3 is respectively provided with an induction block 2-5 and a second sliding plate 2-6, the induction block 2-5 is arranged on the upper surface of the telescopic arm 2-3 through a centering fourth screw 2-17, the lower surface of the tail part of the basic arm 2-22 is provided with a friction block 2-7, the two side surfaces of the head part of the telescopic arm 2-3 are provided with a first sliding plate 2-4 through a centering fifth screw 2-18, a rack 2-8 is fixedly arranged on the telescopic arm 2-3 through a centering second screw 2-12 and a centering first gasket 2-13, a second speed reducing motor 2-14 is arranged on one side of the basic arm 2-22 through a centering third screw 2-15 and a centering second gasket 2-16, an output shaft of the second speed reducing motor 2-14 is provided with a gear 2-9 through a centering first screw 2-11, one end of the gear 2-9 is provided with a baffle 2-10, and two ends of the centering pin shaft 2-1 are also provided with a stop plate 2-20 through bolts 2-21.
The output shaft of the second speed reducing motor 2-14 drives the gear 2-9 to rotate, the gear 2-9 enables the telescopic arm 2-3 to extend or retract along the direction of the basic arm 2-22 through the meshing transmission with the rack 2-8, meanwhile, the rubber wheel 2-2 on the lower support of the L-shaped telescopic arm 2-3 can enable the telescopic centering mechanism 2 to effectively protect the unmanned boat in the centering working process, two sides inside the unmanned boat 7 are prevented from being damaged, two pairs of sliding friction pairs are formed between the second sliding plate 2-6 on the telescopic arm 2-3 and the basic arm 2-22 and between the friction block 2-7 on the basic arm 2-22 and the telescopic arm 2-3, preferably, the second sliding plate 2-6 and the friction block 2-7 are made of cast aluminum bronze, so that the friction resistance of the telescopic arm 2-3 during sliding along the basic arm-22 can be reduced, the sensing blocks 2-5 on the telescopic arms 2-3 are used for limiting the extending or retracting working area of the telescopic arms 2-3 through the photoelectric switch during the extending or retracting process of the telescopic arms 2-3, so as to control the working range of the telescopic centering mechanism 2.
Specifically, the locking mechanism 4 comprises a bell jar body 4-1, a second self-lubricating bearing 4-2, a first pin shaft 4-3, a second pin shaft 4-4, a connecting rod 4-5, a locking support 4-6, a bolt 4-7, a washer 4-8, a nut 4-9, an inner ring 4-10, a locking sleeve 4-11, a support column 4-12 and an electric push rod 4-13; wherein, the second self-lubricating bearing 4-2 is arranged on the periphery of the bell jar body 4-1, a locking bracket 4-6 is respectively arranged on the periphery of the bell jar body 4-1 and below the second self-lubricating bearing 4-2 through a bolt 4-7, a washer 4-8 and a nut 4-9, a support column 4-12 is arranged on the locking bracket 4-6, the outer end of a connecting rod 4-5 is hinged with the upper end of the support column 4-12 through a second pin shaft 4-4, the inner end of the connecting rod 4-5 is hinged with one end of a locking sleeve 4-11 through a first pin shaft 4-3, an electric push rod 4-13 is also arranged on the upper side of the connecting rod 4-5, an inner ring 4-10 is also arranged on the inner ring of the second self-lubricating bearing 4-2, the locking sleeve 4-11 extends into the inner ring 4-10 so as to realize the locking operation of the locking mechanism 4, the conical lifting device 6 extends from below into the interior of the bell jar body 4-1.
Specifically, the annular groove 61 of the conical lifting device 6 is arranged at the same height as the second self-lubricating bearing 4-2 and the inner ring 4-10, so that the locking operation of the locking mechanism 4 on the conical lifting device 6 is realized by extending the locking sleeve 4-11 into the inner ring 4-10 in the second self-lubricating bearing 4-2.
After the bell jar body 4-1 is aligned with the conical lifting device 6, the electric push rod 4-13 drives the connecting rod 4-5 to synchronously realize the extending or retracting action in an electric mode under the driving of a power source, so that the locking operation of the locking mechanism 4 on the conical lifting device 6 is realized in a mode that the locking sleeve 4-11 extends into or retracts out of the inner ring 4-10 in the second self-lubricating bearing 4-2.
Specifically, the automatic lock catch 5 comprises a cover plate 5-1, a lock catch body 5-2, a spring 5-3, a spring fixing bolt 5-4, a manual opening and closing plate 5-5, a baffle tongue 5-6, a guide rod 5-7, an installation frame 5-8, a bolt 5-9, a lock catch first screw 5-10, a lock catch second screw 5-11, a lock catch third screw 5-12, a thin nut 5-13 and a lock catch nut 5-14; wherein, the cover plate 5-1 is fixed above the lock catch body 5-2 through a lock catch first screw 5-10, the baffle tongue 5-6 is movably arranged on the lock catch body 5-2 through a spring fixing bolt 5-4, one end of the spring fixing bolt 5-4 extending out of the upper surface of the cover plate 5-1 is provided with a thin nut 5-13, the spring 5-3 is arranged on the spring fixing bolt 5-4, the outer side of the baffle tongue 5-6 is respectively provided with a manual opening and closing plate 5-5, a guide rod 5-7 is arranged at the front end entrance of the lock catch body 5-2 through a lock catch nut 5-14, the lock catch body 5-2 is fixedly arranged on the mounting rack 5-8 through a lock catch second screw 5-11, the mounting rack 5-8 is arranged at the bow of the unmanned boat through a lock catch third screw 5-12, a bolt 5-9 for limiting the position of the stop tongue 5-6 is also arranged on the cover plate 5-1.
The unmanned boat 7 is aligned with the telescopic guide rod device 1 through a photoelectric system of the unmanned boat 7, and actively collides with the telescopic guide rod device 1 under the driving of a power system of the unmanned boat 7, after a certain collision force along the direction of the canoe is applied to the stop tongues 5-6 of the automatic lock catches, the action of the springs 5-3 is overcome, so that the telescopic guide rod device 1 slides into the U-shaped groove of the automatic lock catch 5, at the moment, the torsion force applied to the stop tongues 5-6 disappears, the telescopic guide rod device 1 is locked under the action of the springs 5-3, when the telescopic guide rod device 1 needs to be released, the stop tongues 5-6 are opened by utilizing the manual opening plate 5-5, and then the pins 5-9 are inserted to limit the positions of the stop tongues 5-6. Specifically, the spring 5-3 is a torsion spring.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (9)
1. The utility model provides an automatic cloth of unmanned ship is put and recovery system which characterized in that: the system comprises a telescopic guide rod device (1), a telescopic centering mechanism (2), a public hanging bracket device (3), a locking mechanism (4), an automatic lock catch (5) and a conical lifting device (6); the device comprises a telescopic guide rod device (1), a telescopic centering mechanism (2) and a locking mechanism (4), wherein the telescopic guide rod device, the telescopic centering mechanism and the locking mechanism are all installed on a public hanger device (3), the public hanger device (3) is hung on a hoisting device on a mother ship through a main sling, an automatic lock catch (5) is installed at the bow of an unmanned ship (7), and a conical hoisting device (6) is installed at the hoisting point of the unmanned ship.
2. The automatic deployment and retrieval system of an unmanned boat of claim 1, wherein: the number of the telescopic centering mechanisms (2) is 2, and the telescopic centering mechanisms (2) are respectively contacted with the two sides of the unmanned boat.
3. The automatic deployment and retrieval system of an unmanned boat of claim 1, wherein: the telescopic guide rod device (1) comprises first speed reducing motors (1-20), output shafts of the first speed reducing motors (1-20) sequentially penetrate through flanges (1-6) and the insides of guide rod supports (1-5) to be in transmission connection with transmission shafts (1-11), the output shafts of the first speed reducing motors (1-20) are supported in the guide rod supports (1-5) through bearings (1-14), two adjacent rings of bearings (1-14) are spaced through first check rings (1-7), oil cups (1-16) are arranged on the outer sides of the guide rod supports (1-5), cylinder barrels (1-9) are fixedly arranged below the guide rod supports (1-5) through fifth guide screws (1-23) and second guide gaskets (1-24), the shell (1-8) is fixedly arranged below the cylinder barrel (1-9) through a guide sixth screw (1-28) and a guide first gasket (1-29); the pipe (1-1) is contacted with the inner wall of the shell (1-8) through a boss (1-21) at the upper end of the pipe (1-1), and is limited in the shell (1-8) under the blocking action of a second check ring (1-10) which is positioned at the lower end of the pipe (1-1) and arranged on the inner wall of the shell (1-8), and an O-shaped ring (1-17) is arranged on the boss of the pipe (1-1); the transmission shaft (1-11) is a hollow shaft and has an internal spline structure, a transmission rod (1-3) is arranged in the transmission shaft (1-11), the transmission rod (1-3) has an external spline structure, a guide second screw (1-15) is arranged at the upper end part of the transmission rod (1-3), and the internal spline structure of the transmission shaft (1-11) is matched with the external spline structure of the transmission rod (1-3); the upper end part of the screw rod (1-2) is provided with a third retaining ring (1-12) by guiding a first screw (1-13), the periphery of the screw rod (1-2) is provided with an external thread, the inner cylinder (1-22) is arranged at the radial outer side of the screw rod (1-2), the inner wall of the inner cylinder (1-22) is provided with an internal thread, and the external thread of the screw rod (1-2) is matched with the internal thread of the inner cylinder (1-22); the lower end plate (1-25) of the transmission rod (1-3) is fixedly connected with the lower bottom plate (1-26) of the screw rod (1-2) through a guide third screw (1-18), the upper sealing plate (1-27) positioned at the lower end of the pipe (1-1) is fixedly connected with the lower sealing plate (1-4) through a guide fourth screw (1-19), and the radial outer edge of the lower bottom plate (1-26) is positioned in the annular groove of the upper sealing plate (1-27).
4. The automatic deployment and retrieval system of an unmanned boat of claim 3, wherein: the first speed reduction motor (1-20) can rotate forwards and backwards.
5. The automatic deployment and retrieval system of an unmanned boat of claim 1, wherein: the telescopic centering mechanism (2) comprises a centering pin shaft (2-1), a rubber wheel (2-2), a telescopic arm (2-3), a first sliding plate (2-4), an induction block (2-5), a second sliding plate (2-6), a friction block (2-7), a rack (2-8), a gear (2-9), a baffle plate (2-10), a centering first screw (2-11), a centering second screw (2-12), a centering first gasket (2-13), a second speed reducing motor (2-14), a centering third screw (2-15), a centering second gasket (2-16), a centering fourth screw (2-17), a centering fifth screw (2-18), a first self-lubricating bearing (2-19), a stop plate (2-20), Bolts (2-21) and base arms (2-22); the rubber wheel (2-2) is arranged on a lower support of the L-shaped telescopic arm (2-3) through a centering pin shaft (2-1) and a first self-lubricating bearing (2-19); the upper surface of the telescopic arm (2-3) is respectively provided with an induction block (2-5) and a second sliding plate (2-6), the induction block (2-5) is installed on the upper surface of the telescopic arm (2-3) through a centering fourth screw (2-17), the lower surface of the tail part of the telescopic arm (2-3) is provided with a friction block (2-7), two side surfaces of the head part of the telescopic arm (2-3) are provided with first sliding plates (2-4) through centering fifth screws (2-18), the rack (2-8) is fixedly installed on the telescopic arm (2-3) through a centering second screw (2-12) and a centering first gasket (2-13), and the second speed reduction motor (2-14) is fixedly installed on the telescopic arm (2-3) through a centering third screw (2-15), The centering second washer (2-16) is installed on one side of the basic arm (2-22), the output shaft of the second speed reducing motor (2-14) is provided with a gear (2-9) through the centering first screw (2-11), one end of the gear (2-9) is provided with a baffle (2-10), and two ends of the centering pin shaft (2-1) are further provided with stop plates (2-20) through bolts (2-21).
6. The automatic deployment and retrieval system of an unmanned boat of claim 1, wherein: the locking mechanism (4) comprises a bell jar body (4-1), a second self-lubricating bearing (4-2), a first pin shaft (4-3), a second pin shaft (4-4), a connecting rod (4-5), a locking support (4-6), a bolt (4-7), a gasket (4-8), a nut (4-9), an inner ring (4-10), a locking sleeve (4-11), a support column (4-12) and an electric push rod (4-13); wherein, the second self-lubricating bearing (4-2) is arranged on the periphery of the bell jar body (4-1), a locking bracket (4-6) is arranged on the periphery of the bell jar body (4-1) and below the second self-lubricating bearing (4-2) through a bolt (4-7), a gasket (4-8) and a nut (4-9), a supporting column (4-12) is arranged on the locking bracket (4-6), the outer end of the connecting rod (4-5) is hinged with the upper end of the supporting column (4-12) through a second pin shaft (4-4), the inner end of the connecting rod (4-5) is hinged with one end of a locking sleeve (4-11) through a first pin shaft (4-3), an electric push rod (4-13) is arranged on the upper side of the connecting rod (4-5), an inner ring (4-10) is further arranged on the inner ring of the second self-lubricating bearing (4-2), the locking sleeve (4-11) extends into the inner ring (4-10) so as to realize the locking operation of the locking mechanism (4), and the conical lifting device (6) extends into the bell jar body (4-1) from the lower part.
7. The automatic deployment and retrieval system of an unmanned boat of claim 6, wherein: the arrangement position of the annular groove (61) of the conical lifting device (6) is at the same height as the arrangement positions of the second self-lubricating bearing (4-2) and the inner ring (4-10).
8. The automatic deployment and retrieval system of an unmanned boat of claim 1, wherein: the automatic lock catch (5) comprises a cover plate (5-1), a lock catch body (5-2), a spring (5-3), a spring fixing bolt (5-4), a manual opening and closing plate (5-5), a stop tongue (5-6), a guide rod (5-7), a mounting frame (5-8), a bolt (5-9), a lock catch first screw (5-10), a lock catch second screw (5-11), a lock catch third screw (5-12), a thin nut (5-13) and a lock catch nut (5-14); wherein the cover plate (5-1) is fixed above the lock catch body (5-2) through a lock catch first screw (5-10), the baffle tongue (5-6) is movably arranged on the lock catch body (5-2) through a spring fixing bolt (5-4), one end of the spring fixing bolt (5-4) extending out of the upper surface of the cover plate (5-1) is provided with a thin nut (5-13), the spring (5-3) is arranged on the spring fixing bolt (5-4), the outer side of the baffle tongue (5-6) is respectively provided with a manual opening and closing plate (5-5), the guide rod (5-7) is arranged at the front end entrance of the lock catch body (5-2) through a lock catch nut (5-14), the lock catch body (5-2) is fixedly arranged on the mounting frame (5-8) through a lock catch second screw (5-11), the mounting rack (5-8) is mounted on the stem of the unmanned boat through a lock catch third screw (5-12), and a bolt (5-9) is further arranged on one side of the guide rod (5-7) and used for enabling the baffle tongue (5-6) to be always kept in an opening state due to the bolt (5-9) when the automatic lock catch is manually opened.
9. The automated unmanned ship deployment and retrieval system of claim 8, wherein: the spring (5-3) is a torsion spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920458632.0U CN210149502U (en) | 2019-04-08 | 2019-04-08 | Automatic laying and recycling system of unmanned boat |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920458632.0U CN210149502U (en) | 2019-04-08 | 2019-04-08 | Automatic laying and recycling system of unmanned boat |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210149502U true CN210149502U (en) | 2020-03-17 |
Family
ID=69756461
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920458632.0U Active CN210149502U (en) | 2019-04-08 | 2019-04-08 | Automatic laying and recycling system of unmanned boat |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210149502U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104124A (en) * | 2019-04-08 | 2019-08-09 | 中船绿洲镇江船舶辅机有限公司 | A kind of automatic distributing and discharging and recovery system of unmanned boat |
| CN114261473A (en) * | 2021-12-09 | 2022-04-01 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
-
2019
- 2019-04-08 CN CN201920458632.0U patent/CN210149502U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104124A (en) * | 2019-04-08 | 2019-08-09 | 中船绿洲镇江船舶辅机有限公司 | A kind of automatic distributing and discharging and recovery system of unmanned boat |
| CN110104124B (en) * | 2019-04-08 | 2024-03-15 | 中船绿洲镇江船舶辅机有限公司 | Automatic deployment and recovery system of unmanned ship |
| CN114261473A (en) * | 2021-12-09 | 2022-04-01 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
| CN114261473B (en) * | 2021-12-09 | 2023-03-28 | 武汉理工大学 | Connector mechanism for butt joint of unmanned boat |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210149502U (en) | Automatic laying and recycling system of unmanned boat | |
| CN103183112B (en) | Abutting and lifting device for recovering underwater robot | |
| CN110104124B (en) | Automatic deployment and recovery system of unmanned ship | |
| CN208602648U (en) | The mechanical arm type of underwater robot lays recovery system | |
| CN110816754B (en) | Mechanical arm type cloth-laying recovery system of underwater robot and cloth-laying recovery method thereof | |
| CN109368493B (en) | Buoy recovery device | |
| GB2556591A (en) | Moving tools on offshore structures | |
| CN109733541B (en) | Unmanned ship recovery plant | |
| CN115556873B (en) | Ship mooring device and method | |
| CN104057865A (en) | Remote control separated emergency water draining wrecking truck | |
| CN111483576B (en) | Underwater laying and recycling large slenderness ratio load system of manned submersible | |
| CN203920537U (en) | The Long-distance Control separation type drainage emergency service vehicle of meeting an urgent need | |
| CN112158333A (en) | Air releasing and recovering device for reversed fish fork type primary-secondary unmanned aerial vehicle | |
| CN112849371A (en) | Slide way type distribution and recovery device for AUV (autonomous underwater vehicle) | |
| CN115503890A (en) | Liftable submersible laying and recycling system and operating method thereof | |
| CN113460244A (en) | Laying and recycling device of multi-joint submersible vehicle | |
| CN105620676A (en) | Unmanned surface vehicle collecting and releasing device | |
| CN113401283B (en) | Double-portal frame retracting device and operation method thereof | |
| KR20160033265A (en) | Shackle device for underwater cleaning robot, and lunching and retrieval apparatus of underwater cleaning robot having the same | |
| CN101797970A (en) | Carrying device for underwater movable platform of remote control submersible | |
| CN114408761A (en) | Navigation mark recycling and hoisting device and method | |
| CN112758257B (en) | Portable folding rope net formula AUV recovery system | |
| CN115395317A (en) | Ship-shore type shore power connection device and method | |
| GB2479742A (en) | A boat lift incorporating lift components attached to side portions of the boat | |
| CN219215316U (en) | Unmanned-boat-based manual side-scan sonar collecting and releasing device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |