CN212313839U

CN212313839U - Deep water submersible vehicle underwater guarantee platform based on vision

Info

Publication number: CN212313839U
Application number: CN202021238807.6U
Authority: CN
Inventors: 王佳; 王恺; 卢道华; 蔡雅轩
Original assignee: Jiangsu University of Science and Technology; Marine Equipment and Technology Institute Jiangsu University of Science and Technology
Current assignee: Jiangsu University of Science and Technology; Marine Equipment and Technology Institute Jiangsu University of Science and Technology
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2021-01-08
Anticipated expiration: 2030-06-30

Abstract

The utility model discloses a deep water submersible vehicle underwater guarantee platform based on vision, it relates to underwater guarantee platform technical field. The lifting hook recovery device comprises a box body, a lifting hook recovery mechanism, a circular ring recovery mechanism, a winding object cleaning mechanism and a driving mechanism; the lifting hook recovery mechanism and the winding cleaning mechanism are respectively arranged on two opposite sides of the box body, and the other two sides of the box body are respectively provided with a circular ring recovery mechanism; the lifting hook recovery mechanism can lift and recover a lifting ring of the faultless submersible vehicle, the circular ring recovery mechanism can recover the faulted submersible vehicle, and the winding object cleaning mechanism can clean foreign matters on a propeller of the deepwater submersible vehicle; the driving mechanism can drive the box body, a handle is arranged at the top of the box body, and the box body is connected with the crane through the handle. The utility model has the advantages that: the recovery method can be used for carrying out different recovery modes on the fault submersible vehicle and the non-fault submersible vehicle, can simplify the recovery steps of the non-fault submersible vehicle, saves energy consumption, and can clean foreign matters wound on the deep water submersible vehicle.

Description

Deep water submersible vehicle underwater guarantee platform based on vision

Technical Field

The utility model relates to a guarantee platform technical field under water, concretely relates to deep water submersible vehicle guarantees platform under water based on vision.

Background

Aiming at the major ocean strategic requirements of large-area deep sea exploration and resource development, an underwater unmanned platform capable of realizing unmanned cluster operation of deep sea submersibles and guaranteeing effective work of the deep sea submersibles needs to be researched, key technologies such as electromechanical parts and system preparation thereof in a deep sea environment, high-power underwater autonomous rapid charging and information interaction, unmanned detection and maintenance of underwater equipment, intelligent operation and cabin returning of submersibles, unmanned operation control of multi-submersibles and the like are broken through, research on underwater modularized full-intelligent cabin dock and underwater multi-submersible-vehicle cluster operation is carried out, and a technical foundation is laid for future engineering and commercial deep sea resource exploitation and marine safety engineering.

For the deepwater submersible vehicle, the deepwater submersible vehicle needs to be guaranteed through an underwater guarantee platform of the deepwater submersible vehicle. In the prior art, a patent submarine security ship with patent application number 201810832408.3 is disclosed, wherein the lower part of the submarine security ship is manufactured into a deep submarine device in the shape of a submarine, the deep submarine device is rapidly separated from the upper part of the submarine security ship and dives to reach the position of the deep submarine, the deep submarine device embraces the submarine and integrally floats to the position of the water surface, a submarine exit port is butted with a special butt joint port of the submarine security ship, and rescue security is implemented on the submarine. However, the submersible vehicle is recovered in the mode, and then is transported back to the shore in other modes, so that energy waste is caused, and foreign matters wound on the deep water submersible vehicle cannot be cleaned.

SUMMERY OF THE UTILITY MODEL

The to-be-solved technical problem of the utility model is to provide a deep water submersible vehicle guarantees platform under water based on vision, can carry out different recovery modes to trouble submersible vehicle and non-trouble submersible vehicle, can simplify the recovery step to trouble-free submersible vehicle, practices thrift the energy consumption, and can clear up winding foreign matter on the deep water submersible vehicle.

In order to solve the technical problem, the utility model adopts the technical scheme that: comprises a box body, a lifting hook recovery mechanism, a circular ring recovery mechanism, a winding cleaning mechanism and a driving mechanism; the lifting hook recovery mechanism and the winding cleaning mechanism are respectively arranged on two opposite sides of the box body, and the other two sides of the box body, which are vertical to one side of the box body provided with the lifting hook recovery mechanism, are respectively provided with a circular ring recovery mechanism;

the top of the box body is provided with a handle, and the box body is connected with the crane through the handle;

the lifting hook recovery mechanism comprises a first base plate arranged on the side edge of the box body, a first rotary hydraulic cylinder arranged on the first base plate, a first connecting rod driven by the first rotary hydraulic cylinder, a second connecting rod rotationally connected with the first connecting rod, a second camera arranged on the second connecting rod, a sleeve arranged at one end of the second connecting rod and a lifting hook structure, wherein the sleeve is internally clamped with a third connecting rod, the top of the third connecting rod is provided with a rope buckle, the third connecting rod is connected with the lifting hook structure, the lifting hook structure comprises a fourth connecting rod, a first lifting hook and a second lifting hook, the fourth connecting rod is connected with one end of the third connecting rod, the two sides of the fourth connecting rod are respectively provided with the first lifting hook and the second lifting hook, the first lifting hook and the second lifting hook are hinged and are simultaneously hinged with the fourth connecting rod, and the first lifting hook and the second lifting hook are connected through a spring chain, the thicknesses of the two ends of the first lifting hook and the second lifting hook are smaller than the thickness of the middle of the first lifting hook and the second lifting hook;

the ring recovery mechanism comprises a baffle arranged on the side edge of the box body, a plurality of connecting plates which extend along the axial direction of the baffle and are distributed annularly, a ring connected with the other ends of the connecting plates, a first camera arranged on the baffle and a limiting device arranged on the ring, the limiting device comprises a first fixing plate, a second fixing plate and a second screw rod, the first fixing plate and the second fixing plate are symmetrically arranged on the circular ring, the first fixing plate and the second fixing plate are provided with corresponding through holes, the second fixing plate is provided with a second screw rod motor, the output end of the second screw rod motor is arranged in the shell, the shell is connected with the second fixing plate through a fixing rod, the second screw rod penetrates through the shell and the second fixing plate, the output end of a second screw rod motor is connected with the second screw rod through a synchronous belt, and an internal thread corresponding to the second screw rod is arranged in a through hole of the second fixing plate;

the entanglement cleaning mechanism comprises a second bottom plate arranged on the side edge of the box body, a second rotating hydraulic cylinder arranged on the second bottom plate, a first lead screw motor, a first lead screw, an outer telescopic rod, an inner telescopic rod, a third camera and a cleaning device, wherein the first lead screw motor, the first lead screw, the outer telescopic rod, the inner telescopic rod, the third camera and the cleaning device are arranged on the inner telescopic rod, the first lead screw motor drives the first lead screw to rotate, the outer telescopic rod is in threaded connection with the first lead screw, the first lead screw drives the outer telescopic rod to move up and down, the outer telescopic rod simultaneously passes through two guide rods, the outer telescopic rod moves along the guide rods, the inner telescopic rod is sleeved in the outer telescopic rod, the side edge of one end of the inner telescopic rod is connected with a support plate, a first blade is arranged below the support plate, a first air cylinder and a second air cylinder are arranged above the support, the second blade is connected to the second blade fixing sleeve, and the first blade and the second blade are oppositely arranged;

the driving mechanism comprises a hydraulic cylinder and a propeller, one end of the hydraulic cylinder is connected with the bottom of the box body through a universal joint, and the other end of the hydraulic cylinder is connected with the propeller through a Hooke joint.

Furthermore, the number of the hydraulic cylinders is three, and the hydraulic cylinders are uniformly distributed at the bottom of the box body in an annular shape.

Furthermore, the top and the side of the box body are provided with illuminating lamps.

Furthermore, the upper portion and the lower portion of the first connecting rod are rotatably connected through a first rotating shaft, the first rotating shaft is driven to rotate through a first motor, the first connecting rod and the second connecting rod are rotatably connected through a second rotating shaft, and the second rotating shaft is driven to rotate through a second motor.

After adopting the structure, the utility model has the advantages that: the guarantee platform adopts visual guidance, and a mechanical arm consisting of a first connecting rod and a second connecting rod can be used for automatically connecting the lifting hook structure to the lifting ring of the deep-water submersible vehicle, so that the trouble-free deep-water submersible vehicle is convenient to recover and can be directly lifted back to the shore through a crane;

the movement of the guarantee platform is completed by adopting vector propulsion, so that the fault deep water submersible vehicle is conveniently guaranteed and recovered;

foreign matters wound on the propeller of the deep water submersible vehicle can be cleaned through the guarantee platform;

the submersible vehicles with faults and without faults are respectively recovered in different modes, so that energy consumption can be saved.

Drawings

Fig. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic structural view of the hook retrieving mechanism and the entanglement cleaning mechanism of the present invention;

fig. 3 is a schematic structural view of the hook structure of the present invention;

FIG. 4 is a schematic structural view of the cleaning device of the present invention;

fig. 5 is a schematic view of the connection between the second lead screw and the second lead screw motor of the limiting device of the present invention.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail with reference to the accompanying drawings and the following detailed description. The following examples are presented to enable those skilled in the art to more fully understand the present invention and are not intended to limit the scope of the present invention.

The specific implementation mode adopts the following technical scheme: as shown in fig. 1, the device comprises a box body 1, a hook recovery mechanism, a circular ring recovery mechanism, a winding cleaning mechanism and a driving mechanism; the lifting hook recovery mechanism and the winding cleaning mechanism are respectively arranged at two opposite sides of the box body 1, and the other two sides of the box body 1, which are vertical to one side of the box body 1 provided with the lifting hook recovery mechanism, are respectively provided with the circular ring recovery mechanism; the top of box 1 is equipped with handle 11, box 1 is connected with the hoist through handle 11, lifting hook recovery mechanism can hoist the rings of trouble-free latent ware and withdraw, ring recovery mechanism can retrieve trouble latent ware, winding clearance mechanism can clear up the foreign matter on the deep water latent ware screw, actuating mechanism includes pneumatic cylinder 2 and propeller 3, the one end of pneumatic cylinder 2 is connected with the bottom of box 1 through the universal joint, the other end is connected with propeller 3 through the hooke hinge, the quantity of pneumatic cylinder 2 is three, be annular evenly distributed in the bottom of box 1, can realize the thrust of propeller 3 different angles through the different length of three the same pneumatic cylinder 2, realize vector propulsion, drive box 1, the light is installed to the top and the side of box 1, can illuminate the environment all around of guarantee platform.

As shown in fig. 2 and 3, the hook retrieving mechanism includes a first base plate 10 installed at a side of the box body 1, a first rotary hydraulic cylinder 12 installed on the first base plate 10, the first rotary hydraulic cylinder 12 being capable of driving and rotating a device thereon to change a retrieving angle, a first connecting rod 14 driven by the first rotary hydraulic cylinder 12, a second connecting rod 15 rotatably connected to the first connecting rod 14, a second camera 16 installed on the second connecting rod 15, and a sleeve 17 and a hook structure installed at one end of the second connecting rod 15, the first connecting rod 14 and the second connecting rod 15 forming a mechanical arm capable of changing an angle of the hook structure, the upper portion and the lower portion of the first connecting rod 14 being rotatably connected by a first rotating shaft, the first rotating shaft being driven and rotated by a first motor 13, the first connecting rod 14 being rotatably connected to the second connecting rod 15 by a second rotating shaft, the second rotating shaft is driven to rotate by a second motor, the angle of the lifting hook structure can be adjusted up and down, a third connecting rod 18 is clamped in the sleeve 17, a rope buckle 19 is arranged at the top of the third connecting rod 18, a rope is arranged on the rope buckle 19 in a penetrating manner and is connected with a crane and can directly lift and recover the submersible vehicle, the third connecting rod 18 is connected with the lifting hook structure, the lifting hook structure comprises a fourth connecting rod 20, a first lifting hook 21 and a second lifting hook 22, the fourth connecting rod 20 is connected with one end of the third connecting rod 18, the first lifting hook 21 and the second lifting hook 22 are respectively arranged on two sides of the fourth connecting rod 20, the first lifting hook 21 and the second lifting hook 22 are hinged and are simultaneously hinged with the fourth connecting rod 20, the first lifting hook 21 and the second lifting hook 22 are connected through a spring chain 23, the thicknesses of two ends of the first lifting hook 21 and the second lifting hook 22 are smaller than the middle thickness, and when the first lifting hook 21 and the second lifting hook 22 pass through, the spring chain 23 contracts and rebounds after penetrating through the spring chain 23, and the first hook 21 and the second hook 22 are opened towards two sides to hook a hanging ring on the submersible vehicle and cannot fall off.

As shown in fig. 2 and 4, the entanglement cleaning mechanism comprises a second bottom plate 24 mounted on the side of the box body 1, a second rotary hydraulic cylinder 28 mounted on the second bottom plate 24, a first lead screw motor 25 arranged above the second rotary hydraulic cylinder 28, a first lead screw 26, an outer telescopic rod 27, an inner telescopic rod 30, a third camera 31 and a cleaning device mounted on the inner telescopic rod 30, wherein the first lead screw motor 25 drives the first lead screw 26 to rotate, the outer telescopic rod 27 is connected to the first lead screw 26 in a threaded manner, the outer telescopic rod 27 is driven by the first lead screw 26 to move up and down, the position of the cleaning device can be changed, the outer telescopic rod 27 simultaneously passes through two guide rods 29, the outer telescopic rod 27 moves along the guide rods 29 to ensure the linear motion of the outer telescopic rod 27, the inner telescopic rod 27 is sleeved with the outer telescopic rod 30, and the telescopic rod structure formed by the outer telescopic rod 27 and the inner telescopic rod 30 is an electric telescopic rod, the telescopic rod 30 is characterized in that foreign matters wound at different positions can be flexibly processed, a supporting plate is connected to one end side of the telescopic rod inner rod 30, a first blade 34 is installed below the supporting plate, a first cylinder 32 and a second cylinder 33 are installed above the supporting plate, the first cylinder 32 and the second cylinder 33 are both connected with a second blade fixing sleeve, a second blade 35 is connected onto the second blade fixing sleeve, the first blade 34 and the second blade 35 are oppositely arranged, the first cylinder 32 and the second cylinder 33 drive the second blade 35 to move towards the direction close to the first blade 34 or the direction far away from the first blade 34, and the wound objects are cut.

As shown in fig. 1 and 5, the ring recovering mechanism includes a baffle 4 mounted on a side of the box 1, a plurality of connecting plates 6 extending along an axial direction of the baffle 4 and distributed annularly, a ring 7 connected to another end of the plurality of connecting plates 6, a first camera 5 mounted on the baffle 4, and a limiting device mounted on the ring 7, the driving mechanism can drive the box 1 to move, recover the failed submersible vehicle into an annular space surrounded by the connecting plates 6, and limit the submersible vehicle by the limiting device to prevent the submersible vehicle from sliding out, the limiting device includes a first fixing plate 8, a second fixing plate 9, and a second lead screw 38, the first fixing plate 8 and the second fixing plate 9 are symmetrically mounted on the ring 7, corresponding through holes are provided on the first fixing plate 8 and the second fixing plate 9, a second lead screw 36 is mounted on the second fixing plate 9, an output end of the second motor 36 is provided in a housing 37, the shell 37 is connected with the second fixing plate 9 through a fixing rod 39, the second lead screw 38 penetrates through the shell 37 and the second fixing plate 9, the output end of the second lead screw motor 36 is connected with the second lead screw 38 through a synchronous belt, internal threads corresponding to the second lead screw 38 are arranged in the through hole of the second fixing plate 9, the second lead screw motor 36 drives the second lead screw 38 to rotate, due to the thread effect, linear movement is achieved when the second lead screw 38 rotates, the second lead screw 38 penetrates through the through hole of the first fixing plate 8 after moving, and the submersible vehicle is blocked.

Controller and power are installed to 1 inboard of box, 1 external communication line that has of box, pneumatic cylinder 2, propeller 3, first camera 5, first motor 15, the second motor, second camera 16, first hydraulic cylinder 12 that rotates, first lead screw motor 25, second hydraulic cylinder 28 rotates, third camera 31, first cylinder 32 and second cylinder 33, electric telescopic handle, second lead screw motor 36 etc. all with power electric connection, be convenient for control each part through the controller, and the control system of controller accessible surface of water carries out remote control, specific remote control's principle and structure are ripe prior art, no longer describe.

The working principle is as follows: when the underwater guarantee platform of the deepwater submersible vehicle based on vision is used, a rope of a crane is wound on the handle 11 to limit the moving range of the underwater guarantee platform and can also be used for pulling the underwater guarantee platform out of water, the second camera 16 is calibrated by a binocular camera and can use open cv for circle center detection, the binocular camera of the second camera 16 can measure two images, the two images can be transmitted to a controller through different pixel coordinates of the two images at the same characteristic point, the relative positions of the two cameras and the internal parameters of the two cameras of the binocular camera can be calculated by using the calibration of hands and eyes, the three-dimensional coordinate of the hoisting ring of the deepwater submersible vehicle relative to the third connecting rod 18 can be calculated, so that the hoisting hook structure connected with the third connecting rod 18 can be automatically inserted into the hoisting ring of the submersible vehicle, and when the first hook 21 and the second hook 22 pass through the hoisting ring of the submersible vehicle, the spring chain 23 is compressed, after the first hook 21 and the second hook 22 pass through the hanging ring, the first hook 21 and the second hook 22 are bounced off by the spring chain 23, so that a reverse hook can be formed, the hanging ring of the deepwater submersible vehicle is hung up by the hanging hook, the deepwater submersible vehicle can be pulled up by the hanging hook structure consisting of the fourth connecting rod 20, the first hook 21, the second hook 22 and the spring chain 23, the third connecting rod 18 is inserted into the sleeve 17, after the hanging hook structure is inserted into the hanging ring of the submersible vehicle, the third connecting rod 18 is automatically separated from the sleeve 17 due to the self weight of the submersible vehicle, the rope is connected into the rope buckle 19, and the non-fault submersible vehicle can be directly recovered by a shore device, a crane and the like.

The third camera 31 is used for transmitting underwater images to a water surface operator, the second rotary hydraulic cylinder 28 and the first screw rod motor 25 can be controlled to rotate, the telescopic rod inner rod 30 can stretch relative to the telescopic rod outer rod 27, the shearing knife composed of the first blade 34 and the second blade 35 can be ensured to reach the position of a propeller winding object of the deep water submersible vehicle, and the first air cylinder 32 and the second air cylinder 33 can stretch to shear the propeller winding object;

when the tail of the deep water submersible vehicle is tested and observed by the first camera 5 to pass through the circular ring 7, the second screw rod motor 36 is utilized to drive the second screw rod 38 to rotate, when the second screw rod 38 rotates, the second screw rod can linearly move along the second fixing plate 9, the second screw rod 38 can be controlled to be inserted into the first fixing plate 8, and therefore the deep water submersible vehicle can be fixed in a limited space and is convenient to recycle.

The guarantee platform adopts visual guidance, and a mechanical arm consisting of a first connecting rod and a second connecting rod can be used for automatically connecting the lifting hook structure to the lifting ring of the deep-water submersible vehicle, so that the trouble-free deep-water submersible vehicle is convenient to recover and can be directly lifted back to the shore through a crane; the movement of the guarantee platform is completed by adopting vector propulsion, so that the fault deep water submersible vehicle is conveniently guaranteed and recovered; foreign matters wound on the propeller of the deep water submersible vehicle can be cleaned through the guarantee platform; the submersible vehicles with faults and without faults are respectively recovered in different modes, so that energy consumption can be saved.

The basic principles and main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. The utility model provides a deep water submersible vehicle underwater guarantee platform based on vision which characterized in that: comprises a box body, a lifting hook recovery mechanism, a circular ring recovery mechanism, a winding cleaning mechanism and a driving mechanism; the lifting hook recovery mechanism and the winding cleaning mechanism are respectively arranged on two opposite sides of the box body, and the other two sides of the box body, which are vertical to one side of the box body provided with the lifting hook recovery mechanism, are respectively provided with a circular ring recovery mechanism;

2. The vision-based underwater security platform for deep water submersibles according to claim 1, wherein: the hydraulic cylinders are three and are uniformly distributed at the bottom of the box body in an annular mode.

3. The vision-based underwater security platform for deep water submersibles according to claim 1, wherein: and illuminating lamps are arranged at the top and the side edges of the box body.

4. The vision-based underwater security platform for deep water submersibles according to claim 1, wherein: the upper portion and the lower portion of the first connecting rod are rotatably connected through a first rotating shaft, the first rotating shaft is driven to rotate through a first motor, the first connecting rod and the second connecting rod are rotatably connected through a second rotating shaft, and the second rotating shaft is driven to rotate through a second motor.