CN210416909U - Unmanned ship of surface of water is recovery unit independently - Google Patents
Unmanned ship of surface of water is recovery unit independently Download PDFInfo
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- CN210416909U CN210416909U CN201920822324.1U CN201920822324U CN210416909U CN 210416909 U CN210416909 U CN 210416909U CN 201920822324 U CN201920822324 U CN 201920822324U CN 210416909 U CN210416909 U CN 210416909U
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Abstract
The utility model relates to an automatic change device. The purpose is to provide a surface of water unmanned ship is recovery unit independently, and the device should be able to retrieve unmanned ship to mother on the ship steadily. The technical scheme is as follows: an autonomous recovery device for unmanned surface vehicles comprises a master control console arranged on a mother ship; the method is characterized in that: the device also comprises a first control platform provided with a gripper, a lifting platform arranged on the rotary platform and used for driving the first control platform to vertically move, a rotary platform arranged on the second control platform and used for driving the lifting platform to horizontally move, and a second control platform arranged on the mother ship and used for driving the rotary platform; the rotary platform comprises a base fixed on the second control platform, a stand column rotationally positioned on the base, a suspension arm fixed at the top of the stand column and transversely stretched, a sliding table capable of sliding along the length direction of the suspension arm, a rotary mechanism used for driving the stand column to rotate and a walking mechanism used for driving the sliding table to slide on the suspension arm.
Description
Technical Field
The utility model relates to an automatic change the device, specifically relate to an unmanned ship of surface of water is recovery unit independently.
Background
The unmanned surface vehicle is a small-sized surface motion platform which can navigate autonomously on the water surface and can complete the work of environment sensing, target detection, topographic mapping and the like. In addition, in military affairs, the unmanned surface vehicle has important application in the aspects of hydrological environment exploration, mine sweeping, anti-diving and even target hitting development. Therefore, research on unmanned ship technology is carried out in various countries, and numerous types of unmanned ship platforms are developed and applied to many occasions.
Due to the limitation of cruising ability and the like, after the unmanned ship completes tasks in a fixed sea area, the unmanned ship needs to be recovered by a mother ship to supplement the ability, detect and collect measurement data and the like. However, the sea conditions are complex, the unmanned ship swings indefinitely due to sea surface waves, and meanwhile, the mother ship swings under the influence of the waves, so that the unmanned ship is difficult to stably recover.
SUMMERY OF THE UTILITY MODEL
The utility model aims at overcoming not enough among the above-mentioned background art, providing an unmanned ship of surface of water independently recovery unit, the device should be able to retrieve the mother ship with unmanned ship steadily on board.
The technical scheme of the utility model is that:
an autonomous recovery device for unmanned surface vehicles comprises a master control console arranged on a mother ship; the method is characterized in that: the device also comprises a first control platform provided with a gripper, a lifting platform arranged on the rotary platform and used for driving the first control platform to vertically move, a rotary platform arranged on the second control platform and used for driving the lifting platform to horizontally move, and a second control platform arranged on the mother ship and used for driving the rotary platform; the rotary platform comprises a base fixed on the second control platform, a stand column rotatably positioned on the base, a suspension arm fixed at the top of the stand column and transversely extending, a sliding table capable of sliding along the length direction of the suspension arm, a rotary mechanism for driving the stand column to rotate and a travelling mechanism for driving the sliding table to slide on the suspension arm; the first control platform and the second control platform are both six-degree-of-freedom parallel mechanisms; the lifting platform is a scissor fork mechanism; and the master control platform is communicated with the first control platform, the lifting platform, the rotary platform and the second control platform through wired or wireless equipment.
The six-degree-of-freedom parallel mechanism comprises an upper platform, a lower platform and six telescopic rods arranged between the upper platform and the lower platform.
The swing mechanism comprises a swing motor fixed on the base, a driving gear driven by the swing motor, and a driven gear coaxially fixed on the upright post and meshed with the driving gear; the traveling mechanism comprises a rack arranged on the suspension arm, a driving gear meshed with the rack, a traveling motor arranged on the sliding table, and a worm and gear reducer for transmitting power of the traveling motor to the driving gear.
The scissor fork mechanism comprises a quadrilateral connecting rod structure and an oil pump oil cylinder structure.
The first control platform is provided with a camera which is communicated with the master control platform through wired or wireless equipment.
The hand grip is a grapple or a manipulator.
The utility model has the advantages that:
the six-degree-of-freedom parallel platform can effectively eliminate the swinging influence of sea waves on a mother ship, effectively cope with the continuous change of the position and the posture of the unmanned ship caused by the sea waves, ensure the invariability of the position and the posture of the gripper, realize the accurate butt joint of the gripper and the unmanned ship lifting ring, and provide a stable environment for the recovery of the unmanned ship; in the unmanned ship recovery process, the large-range movement of the rotary platform and the lifting platform is combined with the small-range adjustment of the first control platform, so that the recovery efficiency is ensured, and the grabbing precision is also ensured; the rotary platform and the lifting platform are all rigidly fixed, so that the adjustment precision is further ensured.
Drawings
Fig. 1 is one of the schematic perspective views of the present invention.
Fig. 2 is a schematic view of the usage state of the present invention.
Fig. 3 is a schematic structural diagram of the second control platform and the swing mechanism of the present invention.
Fig. 4 is a schematic structural diagram of the first control platform, the traveling mechanism and the lifting platform of the present invention.
Fig. 5 is a schematic structural diagram of a six-degree-of-freedom parallel mechanism according to the present invention.
Detailed Description
The present invention will be further described with reference to the drawings attached to the specification, but the present invention is not limited to the following embodiments.
As shown in fig. 1, the autonomous recovery device for the unmanned surface vehicle comprises a first control platform 1, a second control platform 2, a lifting platform 3 and a rotary platform 4. The first control platform is provided with a gripper 5, the second control platform is installed on a mother ship, the rotary platform is installed on the second control platform and used for driving the lifting platform to transversely move, and the lifting platform is installed on the rotary platform and used for driving the first control platform to lift.
As shown in fig. 5, the first control platform and the second control platform are both six-degree-of-freedom parallel mechanisms. The six-degree-of-freedom parallel mechanism comprises an upper platform 8.1 and a lower platform 8.2 which are arranged up and down and six telescopic rods 8.3 (the telescopic rods are provided with motors for driving). Two ends of the six telescopic rods are respectively connected with the upper platform and the lower platform through Hooke hinges (omitted in the figure), and two adjacent telescopic rods are arranged into a V shape or an inverted V shape (each telescopic rod is used as a half of the V shape and is also used as a half of the inverted V shape); as can be seen from the figure: six telescopic links are arranged with the V font according to the preface and the font interval of falling V, and the top of six telescopic links is located the circumference of same circle, and the bottom of six telescopic links also is located the circumference of another circle, and the size of two circles is the same.
As shown in fig. 3, the rotary platform comprises a base 4.1, a column 4.2 vertically arranged and rotatably positioned on the base, a boom 4.3 horizontally arranged and fixed on the top of the column, a sliding table 4.4 capable of sliding along a slide rail on the boom, a rotary mechanism for driving the column to rotate, and a traveling mechanism for driving the sliding table to slide. The base is fixed on the upper platform of the second control platform. The slide rail arrange along the length direction of davit, the slip table is equipped with the pulley that corresponds the complex with the slide rail, omits slide rail and pulley in the figure.
The slewing mechanism comprises a slewing motor 6.1, a driving gear 6.2 and a driven gear 6.3. The rotary motor is fixed with the base, the driving gear is driven by the rotary motor, and the driven gear is coaxially fixed on the upright and meshed with the driving gear. Running gear is including setting up rack 7.1 (the rack is on a parallel with the slide rail and arranges), with rack toothing's drive gear 7.2, setting walking motor 7.3 and worm reducer 7.4 in the slip table, worm reducer is by walking motor drive, worm reducer's output shaft installs drive gear.
The lifting platform is a scissor fork mechanism. The scissor fork mechanism comprises a quadrilateral connecting rod assembly and an oil pump oil cylinder assembly, and the oil pump oil cylinder assembly (omitted in the figure) is used for driving the quadrilateral connecting rod assembly to stretch. The top of the quadrilateral connecting rod assembly is installed on the sliding table, and the bottom of the quadrilateral connecting rod assembly is installed on the upper platform of the first control platform. The gripper is arranged on the lower platform of the second control platform and can adopt a grapple or a manipulator (the grapple or the manipulator is the prior art); obviously, when the quadrilateral connecting rod assembly stretches, the hand grip moves up and down. A camera 9 for monitoring is also arranged on the lower platform of the second control; the camera is also communicated with the main control console through wired or wireless equipment.
The utility model provides a six degree of freedom parallel mechanism, cut fork mechanism, wired and wireless device are current product, can purchase the acquisition outward.
The utility model discloses install on the mother ship, can begin to carry out recovery work when unmanned ship 10 is close to the mother ship, concrete working method is as follows:
the swing mechanism rotates the suspension arm to the position above the sea surface, then the walking mechanism moves the sliding table to the far end of the suspension arm, the lifting platform lowers the first control platform, an operator positioned on the main control platform utilizes a picture shot by the camera to observe the distance between the grab and the unmanned boat in real time, the position and the posture of the suspension arm are stabilized by adjusting six degrees of freedom in real time through the second control platform, and meanwhile, the position of the grab is adjusted in real time through the walking mechanism and the lifting platform; when the unmanned ship approaches a certain distance, the walking mechanism and the lifting platform stop working and are locked, the position and the posture of the hand grip are adjusted in a small range through the first control platform, the hand grip is enabled to gradually approach the unmanned ship and hook a hanging ring 10-1 on the unmanned ship, and finally the unmanned ship is hoisted through the lifting platform and is recovered to a mother ship through the rotary platform.
The utility model discloses still can dispose visual tracking system, utilize the action of each platform of image automatic control of camera feedback, further improve the accuracy and the reliability of snatching unmanned ship.
Claims (6)
1. An autonomous recovery device for unmanned surface vehicles comprises a master control console arranged on a mother ship; the method is characterized in that: the device also comprises a first control platform (1) provided with a gripper (5), a lifting platform (3) which is arranged on the rotary platform and used for driving the first control platform to vertically move, a rotary platform (4) which is arranged on the second control platform (2) and used for driving the lifting platform to horizontally move, and a second control platform which is arranged on the mother ship and used for driving the rotary platform; the rotary platform comprises a base (4.1) fixed on the second control platform, an upright post (4.2) rotatably positioned on the base, a suspension arm (4.3) fixed at the top of the upright post and transversely extending, a sliding table (4.4) capable of sliding along the length direction of the suspension arm, a rotary mechanism used for driving the upright post to rotate and a travelling mechanism used for driving the sliding table to slide on the suspension arm; the first control platform and the second control platform are both six-degree-of-freedom parallel mechanisms; the lifting platform is a scissor fork mechanism; and the master control platform is communicated with the first control platform, the lifting platform, the rotary platform and the second control platform through wired or wireless equipment.
2. The autonomous recovery device of unmanned surface vehicle of claim 1, wherein: the six-degree-of-freedom parallel mechanism comprises an upper platform (8.1), a lower platform (8.2) and six telescopic rods (8.3) arranged between the upper platform and the lower platform.
3. The autonomous recovery device of unmanned surface vehicle of claim 2, wherein: the rotary mechanism comprises a rotary motor (6.1) fixed on the base, a driving gear (6.2) driven by the rotary motor, and a driven gear (6.3) coaxially fixed on the upright post and meshed with the driving gear; the traveling mechanism comprises a rack (7.1) arranged on the suspension arm, a driving gear (7.2) meshed with the rack, a traveling motor (7.3) arranged on the sliding table, and a worm gear reducer (7.4) for transmitting power of the traveling motor to the driving gear.
4. The autonomous recovery device of unmanned surface vehicle of claim 3, wherein: the scissor fork mechanism comprises a quadrilateral connecting rod structure and an oil pump oil cylinder structure.
5. The autonomous recovery device of unmanned surface vehicle of claim 4, wherein: the first control platform is provided with a camera (9) which is communicated with the master control console through wired or wireless equipment.
6. The autonomous recovery device of unmanned surface vehicle of claim 5, wherein: the hand grip is a grapple or a manipulator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920822324.1U CN210416909U (en) | 2019-06-03 | 2019-06-03 | Unmanned ship of surface of water is recovery unit independently |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920822324.1U CN210416909U (en) | 2019-06-03 | 2019-06-03 | Unmanned ship of surface of water is recovery unit independently |
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| CN210416909U true CN210416909U (en) | 2020-04-28 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203335A (en) * | 2019-06-03 | 2019-09-06 | 浙江理工大学 | A kind of unmanned surface vehicle voluntary recall device |
| CN115675748A (en) * | 2022-11-17 | 2023-02-03 | 哈尔滨工程大学 | Amphibious underwater robot throwing and recycling device |
-
2019
- 2019-06-03 CN CN201920822324.1U patent/CN210416909U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110203335A (en) * | 2019-06-03 | 2019-09-06 | 浙江理工大学 | A kind of unmanned surface vehicle voluntary recall device |
| CN115675748A (en) * | 2022-11-17 | 2023-02-03 | 哈尔滨工程大学 | Amphibious underwater robot throwing and recycling device |
| CN115675748B (en) * | 2022-11-17 | 2023-08-29 | 哈尔滨工程大学 | Amphibious underwater robot throwing and recycling device |
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