CN211644336U

CN211644336U - Laying and recycling system of unmanned navigation equipment

Info

Publication number: CN211644336U
Application number: CN202020014121.2U
Authority: CN
Inventors: 吴国松; 雷宏图
Original assignee: Zhuhai Yunzhou Intelligence Technology Ltd
Current assignee: Zhuhai Yunzhou Intelligence Technology Ltd
Priority date: 2020-01-03
Filing date: 2020-01-03
Publication date: 2020-10-09
Anticipated expiration: 2030-01-03

Abstract

The utility model is suitable for a navigation equipment accessory technical field provides a recovery system is put to cloth of unmanned navigation equipment, include: the hoisting connecting piece is used for connecting with a hoisting device; the connecting hook comprises a hook-shaped body, and the hook-shaped body is arranged on the unmanned navigation equipment; one end of the catching piece is connected with the hoisting connecting piece, a plurality of butt joint holes are formed in the catching piece, and the butt joint holes are used for catching the hook-shaped body; the hook-shaped body can be butted with any one of the butting holes, so that the success rate of butting the hook-shaped body and the capturing piece can be greatly improved, the unmanned navigation equipment can be quickly lifted and recovered, the recovery efficiency of the unmanned navigation equipment is improved, the unmanned navigation equipment is prevented from swinging and shaking on the water surface for a long time, particularly under a high sea condition, the risk that the unmanned navigation equipment is damaged or even lost can be reduced, manual intervention can be reduced, and the manual operation risk can be reduced.

Description

Laying and recycling system of unmanned navigation equipment

Technical Field

The utility model belongs to the technical field of the equipment accessories that sails, in particular to recovery system is put to cloth of unmanned navigation equipment.

Background

At present, under the situation of vigorous development of the whole marine application equipment, equipment such as unmanned ships, unmanned boats and the like are important tasks in the aspects of marine exploration and the like. How to more efficiently realize the safe distribution and recovery of unmanned boats under the premise of less man-made operation of marine operation and even under the condition of high sea is always a common problem of general attention at home and abroad.

At present, when the unmanned ship is distributed and recovered, the lifting hook of a mother ship crane is mostly lowered to be butted with a lifting point arranged on the unmanned ship, then the crane is started and lifts the unmanned ship to a mother ship deck, and the unmanned ship is recovered. However, when the operation is performed in a severe sea condition, the unmanned ship fluctuates up and down and swings due to the large wind waves on the sea surface, so that it is difficult to ensure the accurate and rapid butt joint of the hook of the mother ship crane and the lifting point on the unmanned ship, which brings inconvenience to the operation of laying and recovering the unmanned ship, and further, if the unmanned ship cannot be recovered in time, the problems of loss of the unmanned ship and damage to the ship body can be caused.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a recovery system is put to cloth of unmanned navigation equipment aims at solving the technical problem that the existing unmanned ship recovery mode exists dock difficulty and inconvenience with mother's ship.

The utility model discloses a realize like this, a recovery system is put to cloth of unmanned navigation equipment, include:

the hoisting connecting piece is used for connecting with a hoisting device;

the connecting hook comprises a hook-shaped body, and the hook-shaped body is arranged on the unmanned navigation equipment; and

the hook-shaped body is connected with the lifting connecting piece through a connecting piece, one end of the hook-shaped body is connected with the lifting connecting piece, a plurality of butt joint holes are formed in the hook-shaped body, and the butt joint holes are used for catching the hook-shaped body.

In one embodiment, the catch member is a flexible member.

In one embodiment, the deploying and retrieving system of the unmanned aerial vehicle further comprises an auxiliary rope connected to one end of the catching member and spaced apart from the lifting connecting member.

In one embodiment, the connecting hook further comprises a locking elastic sheet arranged at the opening of the hook-shaped body, and the locking elastic sheet can rotate in a single direction to the opening of the hook-shaped body and automatically rebound.

In one embodiment, the deploying and retrieving system of the unmanned aerial vehicle further comprises a stabilizing assembly, the stabilizing assembly comprises a plurality of stabilizing connectors, one end of each stabilizing connector is arranged on the unmanned aerial vehicle at intervals, and the other end of each stabilizing connector is connected to the hook-shaped body.

In one embodiment, each of the stabilizing connectors is a flexible member; or

Each stable connecting piece is a rigid piece; or

One of the plurality of stabilizing links is a rigid telescoping member or a rigid rotating member, and at least one other of the plurality of stabilizing links is a flexible member, the rigid telescoping member or the rigid rotating member being used to raise the hook-shaped body.

In one embodiment, the laying and recycling system of the unmanned navigation equipment further comprises a hanging ring, the hanging ring is arranged on the unmanned navigation equipment, and the hanging ring is used for being connected with an automatic unhooking device connected with the lifting device.

In one embodiment, the hanging ring is U-shaped, and two ends of the hanging ring are respectively installed on two opposite side surfaces of the hook-shaped body.

In one embodiment, two ends of the hanging ring are respectively and rotatably arranged on two opposite side surfaces of the hook-shaped body.

In one embodiment, the deploying and retrieving system of the unmanned aerial vehicle further comprises at least one limiting member, and the limiting member is arranged on at least one side of the hook-shaped body and is positioned on one side of the hanging ring close to the opening of the hook-shaped body.

The embodiment of the utility model provides an unmanned navigation equipment's cloth puts recovery system's beneficial effect lies in:

this recovery system is put in cloth of unmanned navigation equipment is including catching the piece, catch and be connected with hoisting accessory after being connected to the connecting piece of lifting by crane, be equipped with hook-like body on the unmanned navigation equipment, it is used for catching hook-like body to be equipped with a plurality of butt joint holes on the piece of catching, hook-like body can realize the butt joint with arbitrary one butt joint hole, therefore, can greatly improve hook-like body and the success rate of catching a butt joint, can lift by crane unmanned navigation equipment fast and accomplish the recovery, improve unmanned navigation equipment's recovery efficiency, avoid unmanned navigation equipment to swing on the surface of water for a long time, rock, especially under the high sea state, and then can reduce the risk that unmanned navigation equipment damaged or even lost, still can reduce artificial intervention, reduce the manual work risk.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without creative efforts.

Fig. 1 is a schematic structural diagram of a deployment and recovery system of unmanned navigation equipment provided by an embodiment of the present invention;

FIG. 2 is an enlarged view of a portion of the deployment and retrieval system of the unmanned aerial vehicle shown in FIG. 1 at the attachment hook with the bail in an erected condition;

fig. 3 is a partially enlarged view of the deployment and retrieval system of the unmanned aerial vehicle shown in fig. 1 at the connection hook, in which the hoist ring is in a laid-down state.

The designations in the figures mean:

100-a laying and recovering system of unmanned navigation equipment, 1-a hoisting connecting piece, 2-a connecting hook, 21 a hook-shaped body, 22 a locking elastic sheet, 3-a capturing piece, 30 a butt joint hole, 4 auxiliary ropes, 5-a stabilizing component, 51 a stabilizing connecting piece, 6-a hanging ring, 7-a limiting piece and 9-the unmanned navigation equipment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the patent. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

In order to explain the technical solution of the present invention, the following detailed description is made with reference to the specific drawings and examples.

Referring to fig. 1, an embodiment of the present invention provides a deployment and recovery system 100 for unmanned navigation equipment, for deploying and recovering the unmanned navigation equipment 9. Specifically, the laying and recovering system 100 of the unmanned aerial vehicle 9 includes a lifting device (not shown), a lifting connector 1, a connecting hook 2, and a catching member 3, wherein the lifting connector 1 is connected to the lifting device, the connecting hook 2 includes a hook-shaped body 21, as shown in fig. 2, the hook-shaped body 21 is disposed on the unmanned aerial vehicle 9, one end of the catching member 3 is connected to the lifting connector 1, the catching member 3 is provided with a plurality of docking holes 30, and the docking holes 30 are used for catching the hook-shaped body 21, so that the hook-shaped body 21 can be caught by and embedded into any one of the docking holes 30, and thus the lifting device can lift the unmanned aerial vehicle 9 through the connection among the lifting connector 1, the catching member 3, and the hook-shaped body 21, and further can recover the unmanned aerial vehicle 9.

The embodiment of the utility model provides an unmanned navigation equipment's cloth puts recovery system 100, it catches hook-shaped body 21 through catching 3 that has a plurality of butt joint holes 30, make hook-shaped body 21 can be caught by arbitrary one butt joint hole 30, therefore, can greatly improve hook-shaped body 21 and the success rate of catching 3 butt joints, can lift by crane unmanned navigation equipment 9 fast and accomplish the recovery, improve unmanned navigation equipment 9's recovery efficiency, avoid unmanned navigation equipment 9 to swing on the surface of water for a long time, rock, especially under the high sea condition, and then can reduce unmanned navigation equipment 9 and damage the risk of losing even, and can avoid carrying out risk and technical problem that brings because of transferring work boat or sending the frogman to board unmanned navigation equipment 9 and carry out manual intervention butt joint etc., practice thrift artifically, reduce staff's operation risk.

The unmanned navigation device 9 may be any device capable of navigating on the water surface or under the water, such as an unmanned ship, an unmanned boat, an unmanned submersible, etc., and is not particularly limited.

The hoisting device may be a crane, or may be any device capable of lifting the unmanned aerial vehicle 9, and is not particularly limited. According to specific recycling requirements, the hoisting device can be arranged on a fixed platform, such as a shoreside, an overwater operation platform and the like; alternatively, the deployment and retrieval system 100 for unmanned aerial vehicle may further include a mother ship (not shown) on which the hoisting device is installed.

The form of the hoisting connector 1 is not limited, and it is only necessary to be able to connect one end of the catcher 3 with the hoisting device, for example, it may be in the form of a hook or a ring.

In an alternative embodiment, the catching member 3 is a flexible member, such as a flexible net, in particular a plastic string net. This has the advantage that the flexible catch member 3 is easily deformed, and in the process of the catch member 3 approaching the hook-shaped body 21, the catch member 3 can adapt to the shape change around the hook-shaped body 21 on the surface of the unmanned navigation device 9, so that the docking hole 30 can approach the hook-shaped body 21 as much as possible, which can further improve the catching efficiency, and the flexible net is not easily damaged to structures and the like arranged at other positions on the unmanned navigation device 9, which is beneficial for ensuring the safety of the unmanned navigation device 9.

In other embodiments, the catching member 3 may also be a rigid member, such as a metal mesh. In order to facilitate the butt joint of the rigid member with the hook-shaped body 21, two adjacent butt holes 30 on the rigid catching member 3 should be disposed as close as possible to improve the butt joint success rate with the hook-shaped body 21.

As shown in fig. 1, in one embodiment, the deployment and recovery system 100 of the unmanned aerial vehicle 9 further includes an auxiliary rope 4, and the auxiliary rope 4 is connected to one end of the catching member 3 and spaced apart from the lifting link 1. For the flexible catching part 3, the auxiliary rope 4 can act together with the hoisting connecting part 1 to unfold the flexible net and the like, so that the butt joint success rate of the flexible catching part 3 and the hook-shaped body 21 can be further improved; for the rigid catching pieces 3, the auxiliary string 4 may be used to adjust the angle or direction thereof, and also to improve the success rate of the butt joint of the catching pieces 3 with the hook body 21. In a particular application, the auxiliary ropes 4 may be operated by an operator located on a fixed platform or mother vessel.

Referring to fig. 2 and 3, in an embodiment, the connection hook 2 further includes a locking elastic sheet 22 disposed at the opening of the hook body 21, and the locking elastic sheet 22 can rotate in one direction into the opening of the hook body 21 under the pushing of the capturing member 3 and can automatically rebound when not pushed. So, after hook-shaped body 21 stretched into one and connect the hole 30, along with catching the continuation promotion of piece 3, locking shell fragment 22 receives the promotion of the part between two adjacent butt joint holes 30 and takes place one-way rotation, afterwards, the part between two adjacent butt joint holes 30 on catching piece 3 gets into inside the opening of hook-shaped body 21, locking shell fragment 22 is automatic to kick-back, catching piece 3 can't break away from this hook-shaped body 21, thereby, can guarantee to lift by crane in-process hook-shaped body 21 and catch and keep being connected all the time between the piece 3, avoid taking place unmanned navigation equipment 9 and drop scheduling problem at the in-process of lifting by crane.

The implementation form of the locking spring 22 is not limited. For example, the locking spring 22 and the hook body 21 may be connected to each other by a return torsion spring (not shown), or may be limited by an extension spring (not shown). This is easy to implement and will not be described in detail.

Referring to fig. 1 to 3, in one embodiment, the deployment and retrieval system 100 of the unmanned aerial vehicle further includes a stabilizing assembly 5 including a plurality of stabilizing connectors 51, one ends of the stabilizing connectors 51 are disposed on the unmanned aerial vehicle 9 at intervals, and the other ends of the stabilizing connectors 51 are connected to the hook-shaped body 21. The advantage of this is that, when lifting by crane, a plurality of firm connecting piece 51 can exert the pulling force of lifting by crane to two at least points on unmanned navigation equipment 9 to can make unmanned navigation equipment 9's the lift by crane process more steady, avoid unmanned navigation equipment 9 to take place the possibility of rocking by a wide margin under single stress point, guarantee the stability of lift by crane process.

Wherein, in one embodiment, the plurality of stabilizing connectors 51 are each a flexible member, such as a flexible cord. When the connecting hook 2 is not used, the flexible ropes are in a relaxed state, and the connecting hook 2 can be directly placed on the unmanned navigation equipment 9; when the coupling hook 2 is coupled to the catching member 3, the flexible string is gradually tightened as the unmanned navigation device 9 is lifted, and the plurality of flexible strings can stably lift the unmanned navigation device.

For example, in one specific embodiment, the number of the flexible ropes may be four, and the positions where the four flexible ropes are arranged on the unmanned navigation device 9 are set according to the weight distribution of the unmanned navigation device 9, so that the unmanned navigation device 9 can be lifted while being kept horizontal. Of course, this is merely an example and the number of flexible cords is not limited thereto.

In another embodiment, one of the plurality of stabilizing links 51 is a rigid member and is capable of lifting the attachment hook 2, wherein at least another stabilizing link 51 may be a flexible member. This has the advantage that the rigid and stable connection 51 enables a certain distance between the coupling hook 2 and the upper surface of the unmanned aerial vehicle 9, i.e. makes the coupling hook 2 more prominent, and thus facilitates the abutment of the catch member 3, in particular the rigid catch member 3, with the hook-shaped body 21; in addition, when not in the recovery step, the rigid stable connecting piece 51 can also lower the position of the connecting hook 2, so as to lower the height of the center of gravity of the whole unmanned navigation equipment 9, which is also beneficial to ensuring the stability of the hoisting process.

Alternatively, in this embodiment, the rigid stabilizing link 51 may be a rigid telescopic member that lifts the coupling hook 2 in a telescopic manner; or a rigid rotary member which rotates the coupling hook 2 to the high position by rotation.

In yet another embodiment, the plurality of stabilizing links 51 may be rigid members, and the plurality of stabilizing links 51 may support the attachment hook 2 in different directions at all times. This has the advantage that the coupling hook 2 is always in the high position and does not need any power to raise or lower it, which reduces the power consumption on the unmanned navigation device 9.

The above description relates to the recovery of the unmanned aerial vehicle 9. It will be appreciated that deployment of the unmanned aerial vehicle 9 may also be achieved by the attachment hooks 2 themselves. For example, the lifting device is connected to an automatic unhooking device (not shown) which is connected to the coupling hook 2, and the automatic unhooking device can be detached from the coupling hook 2 after the unmanned aerial vehicle 9 is lowered to the water surface.

However, referring to fig. 2 and 3, in this embodiment, the deploying and retrieving system 100 of the unmanned aerial vehicle further includes a hanging ring 6, the hanging ring 6 is disposed on the unmanned aerial vehicle 9, and the hanging ring 6 is used for being connected with an automatic unhooking device connected with a lifting device to deploy the unmanned aerial vehicle 9. It should be noted that the reason why the hook body 21 is inevitably open due to its function in the embodiment, and the hook body 21 is configured to be able to be engaged with the automatic unhooking device by additionally providing the hanging ring 6, although the locking elastic piece 22 is able to prevent the automatic unhooking device from being disengaged, the automatic unhooking device is rigid and large in size, and the hook body 21 cannot be configured to be able to be well adapted to both the catching member 3 and the automatic unhooking device. Therefore, the hanging ring 6 for laying and the connecting hook 2 for recovering are separately arranged, so that the safety of the recovering process and the safety of the laying process can be ensured.

Specifically, referring to fig. 2 and 3, in one embodiment, the hanging ring 6 is U-shaped, and two ends of the hanging ring 6 are respectively installed at two opposite sides of the hook body 21. Thus, the U-shaped hanging ring 6 forms a closed ring shape by means of two sides of the hook-shaped body 21, and can ensure that the automatic unhooking device cannot accidentally fall off in the laying process; moreover, the hanging ring 6 and the connecting hook 2 are integrated together, so that the occupation of the surface area of the unmanned navigation equipment 9 can be reduced, and the functional arrangement of the unmanned navigation equipment 9 is facilitated.

Further, in one embodiment, both ends of the hanging ring 6 are rotatably mounted on opposite sides of the hook body 21, respectively, so that the hanging ring 6 can be rotated to one side of the hook body 21 when not in use, i.e., when not being laid, thereby preventing the catching member 3 from being blocked, and enabling the catching member 3 to completely enter the opening of the hook body 21.

With continuing reference to fig. 2 and fig. 3, in an embodiment, the deployment and recovery system of the unmanned aerial vehicle 9 further includes at least one limiting member 7, and the limiting member 7 is disposed on at least one side of the hook body 21 and is located on one side of the hanging ring 6 close to the open end of the hook body 21. The advantage of this is that the limiting part 7 can block the lifting ring 6 from rotating towards the opening side of the hook-shaped body 21, so that the lifting ring 6 can only rotate towards the opening side far away from the hook-shaped body 21, and further, the catching piece 3 can be prevented from scraping against the lifting ring 6 when the unmanned navigation equipment 9 is recovered, and the butt joint of the catching piece 3 and the connecting hook 2 can be prevented from being affected. In a specific application, the limiting member 7 may be in the form of a protrusion protruding from the surface of the hook body 21, or even a stud, and the like, and is not particularly limited.

The embodiment of the utility model provides an unmanned navigation equipment's cloth puts recovery system 100's working process is:

when the unmanned navigation equipment 9 is laid, an operator erects the lifting ring 6 on the unmanned navigation equipment 9, the automatic unhooking device connected with the lifting device is further connected with the lifting ring 6, the lifting device lifts and lowers the unmanned navigation equipment 9 from a mother ship until the unmanned navigation equipment 9 reaches the water surface, the automatic unhooking device is opened, the automatic unhooking device is separated from the lifting ring 6, and the unmanned navigation equipment 9 can automatically drive away;

when the unmanned navigation equipment 9 is recovered, the unmanned navigation equipment 9 approaches to a mother ship, a hoisting device on the mother ship is connected with a hoisting connecting piece 1, the hoisting connecting piece 1 is connected with a capturing piece 3 and transfers the capturing piece 3, an auxiliary rope 4 is manually tensioned to tension the capturing piece 3 or keep a required angle, the capturing piece 3 and the unmanned navigation equipment 9 move in opposite directions until a hook-shaped body 21 on the unmanned navigation equipment 9 is captured by the capturing piece 3, the capturing piece 3 is clamped into an opening of a connecting hook 2, and then the hoisting device is started to hoist the unmanned navigation equipment 9 off the water surface until the unmanned navigation equipment is recovered to the mother ship.

The above description is only exemplary of the present invention and should not be taken as limiting the scope of the present invention, as any modifications, equivalents, improvements and the like made within the spirit and principles of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a recovery system is put in laying of unmanned navigation equipment which characterized in that includes:

the hoisting connecting piece (1) is used for connecting with a hoisting device;

the connecting hook (2) comprises a hook-shaped body (21), and the hook-shaped body (21) is arranged on the unmanned navigation equipment (9); and

the hook-shaped body is characterized by comprising a capturing piece (3), one end of the capturing piece (3) is connected with the hoisting connecting piece (1), a plurality of butt joint holes (30) are formed in the capturing piece (3), and the butt joint holes (30) are used for capturing the hook-shaped body (21).

2. The deployment and retrieval system for unmanned aerial vehicle as claimed in claim 1, wherein the catching member (3) is a flexible member.

3. The deployment and recovery system of unmanned aerial vehicle as claimed in claim 1, wherein the deployment and recovery system of unmanned aerial vehicle further comprises an auxiliary rope (4), the auxiliary rope (4) is connected to one end of the catching member (3) and is spaced apart from the lifting connection member (1).

4. The deployment and recovery system of Unmanned Aerial Vehicle (UAV) as defined in claim 1, wherein said coupling hook (2) further comprises a locking spring (22) disposed at the opening of said hook-shaped body (21), said locking spring (22) being capable of rotating in one direction into the opening of said hook-shaped body (21) and automatically rebounding.

5. The deployment and recovery system of unmanned aerial vehicle equipment according to claim 1, further comprising a stabilizing member (5), wherein the stabilizing member (5) comprises a plurality of stabilizing connectors (51), one end of each stabilizing connector (51) is spaced apart from the unmanned aerial vehicle equipment (9), and the other end of each stabilizing connector (51) is connected to the hook-shaped body (21).

6. The deployment and retrieval system for unmanned aerial vehicles of claim 5, wherein each of said stabilizing connectors (51) is a flexible member; or

Each stabilizing connecting piece (51) is a rigid piece; or

One of the plurality of said stable connection elements (51) is a rigid telescopic element or a rigid rotary element, and at least another one of the plurality of said stable connection elements (51) is a flexible element, said rigid telescopic element or rigid rotary element being used to lift said hook-shaped body (21).

7. The laying and recovery system of unmanned aerial vehicle equipment according to any one of claims 1 to 6, characterized in that, the laying and recovery system of unmanned aerial vehicle equipment further comprises a hanging ring (6), the hanging ring (6) is arranged on the unmanned aerial vehicle equipment (9), and the hanging ring (6) is used for connecting with an automatic unhooking device connected with the hoisting device.

8. The deployment and recovery system of unmanned aerial vehicle as claimed in claim 7, wherein said suspension ring (6) is U-shaped, and both ends of said suspension ring (6) are respectively installed on opposite sides of said hook-shaped body (21).

9. The deployment and recovery system of unmanned aerial vehicle as claimed in claim 8, wherein both ends of said flying ring (6) are rotatably mounted to opposite sides of said hook body (21), respectively.

10. The deployment and recovery system of unmanned aerial vehicle as claimed in claim 9, wherein the deployment and recovery system of unmanned aerial vehicle further comprises at least one stopper (7), wherein the stopper (7) is provided on at least one side of the hook-shaped body (21) and on a side of the bail (6) near the opening of the hook-shaped body (21).