CN213862582U

CN213862582U - Automatic laying device for underwater glider

Info

Publication number: CN213862582U
Application number: CN202022963394.4U
Authority: CN
Inventors: 赵宝德; 刘开周; 赵文涛; 崔健; 杨文林
Original assignee: Shenyang Institute of Automation of CAS
Current assignee: Shenyang Institute of Automation of CAS
Priority date: 2020-12-10
Filing date: 2020-12-10
Publication date: 2021-08-03
Anticipated expiration: 2030-12-10

Abstract

The utility model belongs to glider field under water, specifically speaking are automatic laying device of glider under water, are applicable to unmanned ship and carry on this automatic laying device and carry out the long-range operation of laying of divers such as glider under water. The automatic deployment device comprises a base assembly, a glider fixing mechanism, a sliding driving assembly, a hydraulic system and a control system, and is installed on an unmanned ship, so that the remote automatic deployment operation of the underwater glider can be realized, and the convenience and the economy of the deployment operation of the submersible are improved. The utility model discloses a mode that hydraulic drive and servo motor drive combined together for automatic laying device compact structure, the laying is high-efficient, improves the long-range convenience of laying of glider under water, jointly observes under water for the long-range unmanned operation of laying of glider under water and the surface of water provides effectual technological means.

Description

Automatic laying device for underwater glider

Technical Field

The utility model belongs to glider field under water, specifically speaking are automatic device of laying of glider under water, are applicable to the long-range laying of unmanned ship of surface of water glider under water and carry out the surface of water and jointly the ocean observation under water.

Background

The unmanned ship is one of important tools for ocean development, and the ocean observation of the small-sized cluster system by taking the unmanned ship on the water surface as an observation relay is a hotspot of the research on unmanned intelligent system equipment at present. The underwater glider is the most commonly used tool for marine resource exploration, marine environment monitoring, marine scientific investigation and the like, and is usually manually hung and put into water when a mother ship sails to a specified place before the underwater glider works. A large amount of manpower, material resources and time are consumed in the process of laying down the underwater glider, and particularly when the number of the underwater gliders put in one time is large, the problems of low working efficiency, high operation cost and the like exist in the traditional laying down mode.

SUMMERY OF THE UTILITY MODEL

In order to solve the above-mentioned problem of the artifical hanging existence of current glider under water, the utility model aims to provide an automatic device of laying of glider under water.

The purpose of the utility model is realized through the following technical scheme:

the utility model comprises a base assembly, a glider fixing mechanism, a sliding drive assembly, a hydraulic system and a control system, wherein a lead screw is rotatably arranged on the base assembly and is driven to rotate by a servo motor arranged on the base assembly; the glider fixing mechanism comprises a fixing seat welding frame, a tail limiting mechanism, a middle pressing mechanism, a head limiting mechanism and a base plate, the fixing seat welding frame is in rolling connection with the base assembly, the head limiting mechanism and the tail limiting mechanism are respectively installed at the front end and the rear end of the fixing seat welding frame and are used for supporting and limiting the head and the tail of the underwater glider to be laid respectively, and the middle pressing mechanism is installed between the head limiting mechanism and the tail limiting mechanism and is used for pressing the underwater glider to be laid on the base plate; the sliding driving assembly is connected with the base assembly in a rolling manner and is hinged with the fixed seat welding frame, a sliding block is arranged on the sliding driving assembly, and a nut in threaded connection with the lead screw is connected onto the sliding block; the hydraulic system comprises a retracting cylinder, a middle pressing cylinder, a front limiting cylinder and a hydraulic station arranged on a base assembly, the retracting cylinder is hinged to the sliding drive assembly, a piston rod is hinged to the fixed seat welding frame, the middle pressing cylinder is hinged to the fixed seat welding frame, the piston rod drives the middle pressing mechanism to press an underwater glider to be laid, the front limiting cylinder is hinged to the fixed seat welding frame, and the piston rod drives the head limiting mechanism to be separated from the head of the underwater glider when the head limiting mechanism is laid; the retracting oil cylinder, the middle pressing oil cylinder and the front limiting oil cylinder are respectively connected with a hydraulic pump driven by a single-phase asynchronous motor in the hydraulic station, and the single-phase asynchronous motor, the servo motor, the retracting oil cylinder, the middle pressing oil cylinder and the front limiting oil cylinder are respectively connected with a control system arranged on the base assembly.

Wherein: the sliding rail that is parallel to each other is installed along fixing base welded frame and the moving direction symmetry of the drive assembly that slides to the both sides of base assembly, the bearing A with both sides slide rail roll connection is installed respectively to the both sides of fixing base welded frame, install respectively on the curb plate of the drive assembly both sides that slides and roll connection's bearing B with both sides slide rail.

The end face of each side of the sliding rail is in a U shape turned by 90 degrees, the bearings A on each side of the fixed seat welding frame are arranged in an upper row and a lower row, and the upper row and the lower row of the bearings A on each side are respectively in rolling connection with the upper surface and the lower surface of one side of the U-shaped sliding rail located above the U-shaped sliding rail on the same side.

The end face of each side slide rail is in a U shape turned by 90 degrees, bearings B are arranged at the front end and the rear end of each side plate and between the front end and the rear end of each side plate, the bearings B at the front end and the rear end are in upper and lower rows and are respectively in rolling connection with the upper surface and the lower surface of one edge, located above the U-shaped slide rail, of the U-shaped slide rail, and the bearings B located between the two ends are abutted to the end face of one edge, located above the U-shaped slide rail, of the U-shaped slide rail.

The head limiting mechanism comprises a head limiting ring, the head limiting ring is hinged to the fixing seat welding frame, one end of the head limiting ring is annular, and the other end of the head limiting ring is hinged to a piston rod of the front limiting oil cylinder.

The tail limiting mechanism comprises a tail limiting ring, the bottom of the tail limiting ring is fixedly connected to the fixing seat welding frame, and the upper portion of the tail limiting ring is annular.

The middle pressing mechanisms are symmetrically arranged at the left side and the right side of the underwater glider to be laid, each middle pressing mechanism comprises a middle pressing block and a connecting rod, the connecting rods are hinged to the fixing seat welding frame, one end of each connecting rod is connected with the middle pressing block, and the other end of each connecting rod is provided with a roller which is in rolling connection with the fixing seat welding frame; and middle hold-down cylinders are symmetrically arranged on the left side and the right side of the underwater glider to be laid, and a piston rod of each middle hold-down cylinder is hinged with a connecting rod on the same side.

The left side and the right side of the underwater glider to be deployed are symmetrically provided with wing stabilizing frames, the wing stabilizing frames on each side are all installed on the fixed seat welding frame, a gap is reserved between the wing stabilizing frames and the base plate, and the wings of the underwater glider to be deployed are located between the wing stabilizing frames and the base plate.

The utility model discloses an advantage does with positive effect:

1. the utility model discloses install on unmanned ship, can realize laying the operation to the automation of glider under water to improve convenience and the economic nature of the operation that the glider laid under water, provide a swift, effectual means for the long-range laying in batches of glider under water.

2. The utility model discloses a mechanism such as afterbody stop gear, middle part hold-down mechanism, head stop gear, combined material backing plate will reliably fix on the device base is put to cloth under water to the glider, ensures also can realize under the abominable sea condition that reliable and stable glider does not have the automatic cloth of humanization under water.

3. The utility model discloses an adopt based on modes such as the front and back extreme position feedback of sensor, inclination feedback, through components such as PLC control system operation pneumatic cylinder, servo motor, realize the unmanned operation of laying down such as fixed, extrapolation, transfer, reset of glider under water.

4. The utility model discloses install on unmanned ship, provide power and control command by unmanned ship, support automatic release mode and manual release mode, support RS485 and ethernet with unmanned ship major control system communication mode.

5. The utility model discloses wing steady rest has respectively been installed in the left and right sides of glider under water, provides the holding power for the wing of glider under water at the cloth in-process.

Drawings

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

FIG. 2 is a schematic structural view of the glider fixing mechanism of the present invention;

fig. 3 is a schematic structural view of the sliding drive assembly of the present invention;

fig. 4 is a block diagram of the control system of the present invention;

wherein: 1 is the base assembly, 2 is glider fixed establishment, 201 is the fixing base weld holder, 202 is the afterbody spacing ring, 203 is the middle part compact heap, 204 is the wing stabilizing support, 205 is the head spacing ring, 206 is the backing plate, 207 is bearing A, 208 is the connecting rod, 209 is the gyro wheel, 3 is the drive assembly that slides, 301 is bearing B, 302 is articulated seat, 303 is the articulated seat in upper portion, 304 is the sliding block, 305 is the curb plate, 4 is the hydraulic pressure station, 5 is control system, 6 is servo motor, 7 is the glider under water, 8 is the oil cylinder that receive and releases, 9 is the middle part compact cylinder, 10 is anterior spacing hydro cylinder, 11 is the lead screw, 12 is the slide rail.

Detailed Description

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

As shown in fig. 1-4, the utility model comprises a base assembly 1, a glider fixing mechanism 2, a sliding driving assembly 3, a hydraulic system and a control system 5, wherein a lead screw 11 is rotatably mounted on the base assembly 1, and the lead screw 11 is driven to rotate by a servo motor 6 mounted on the base assembly 1;

the glider fixing mechanism 2 comprises a fixing seat welding frame 201, a tail limiting mechanism, a middle pressing mechanism, a head limiting mechanism and a base plate 206, the fixing seat welding frame 201 is in rolling connection with the base assembly 1, the head limiting mechanism and the tail limiting mechanism are respectively installed at the front end and the rear end of the fixing seat welding frame 201, the head and the tail of the underwater glider 7 to be laid are supported and limited respectively, the middle pressing mechanism is installed between the head limiting mechanism and the tail limiting mechanism, and the underwater glider 7 to be laid is pressed on the base plate 206. The sliding driving assembly 3 is connected with the base assembly 1 in a rolling manner and is hinged with the fixed seat welding frame 201, a sliding block 304 is arranged on the sliding driving assembly 3, and a nut in threaded connection with the lead screw 11 is connected onto the sliding block 304. The hydraulic system comprises a retracting cylinder 8, a middle pressing cylinder 9, a front limiting cylinder 10 and a hydraulic station arranged on the base assembly 1, wherein a cylinder body of the retracting cylinder 8 is hinged to the sliding driving assembly 3, a piston rod is hinged to the fixing seat welding frame 201, a cylinder body of the middle pressing cylinder 9 is hinged to the fixing seat welding frame 201, the piston rod drives the middle pressing mechanism to press the underwater glider 7 to be laid, a cylinder body of the front limiting cylinder 10 is hinged to the fixing seat welding frame 201, and the piston rod drives the head limiting mechanism to be separated from the head of the underwater glider 7 when the head limiting mechanism is laid; the retracting cylinder 8, the middle pressing cylinder 9 and the front limiting cylinder 10 are respectively connected with a hydraulic pump driven by a single-phase asynchronous motor in the hydraulic station 4, and the single-phase asynchronous motor, the servo motor 6, the retracting cylinder 8, the middle pressing cylinder 9 and the front limiting cylinder 10 are respectively connected with a control system 5 arranged on the base assembly 1.

The base assembly 1 of the embodiment is a moving slideway for the movement of the automatic distributing device, and both sides of the base assembly are formed by bending steel plates. Two parallel slide rails 12 are symmetrically installed on two sides of the base assembly 1 along the moving direction of the fixing seat welding frame 201 and the sliding drive assembly 3 (i.e. the length direction of the base assembly 1), the lead screw 11 is located between the two slide rails 12 and is parallel to the two slide rails 12, and one end of the lead screw 11 is connected with the output end of the servo motor 6 to provide driving force for sliding. The base assembly 1 is fixed on the deck of the unmanned ship through bolts. The front end and the rear end of the screw rod 11 are respectively provided with a screw rod forward limit switch and a screw rod backward limit switch, and the screw rod forward limit switch and the screw rod backward limit switch are respectively connected with the control system 5. Bearings A207 in rolling connection with the slide rails 12 on the two sides are respectively installed on the two sides of the fixed seat welding frame 201, and bearings B301 in rolling connection with the slide rails 12 on the two sides are respectively installed on the side plates 305 on the two sides of the sliding driving assembly 3.

In this embodiment, the end surface of each side slide rail 12 is in a U shape turned by 90 °, and the U-shaped openings of the two side slide rails 12 are oppositely arranged. The bearings A207 on each side of the fixing seat welding frame 201 are arranged in an upper row and a lower row, each row of bearings A207 is arranged along the length of the fixing seat welding frame 201, the upper row and the lower row of bearings A207 on each side are respectively in rolling connection with the upper surface and the lower surface of one side, located above the U-shaped sliding rail 12, on the same side, and therefore up-down and lateral limiting is achieved. The front end and the rear end of each side plate 305 of the sliding driving assembly 3 and the two ends of each side plate are respectively provided with a bearing B301, the bearings B301 at the front end and the rear end are respectively arranged in an upper row and a lower row and are respectively in rolling connection with the upper surface and the lower surface of one edge of the U-shaped sliding rail 12 above the U-shaped sliding rail, and the bearing B301 between the two ends is abutted to the end surface of one edge of the U-shaped sliding rail 12 above the U-shaped sliding rail. Twenty bearings B301 are symmetrically arranged on the side plates 305 on the two sides of the embodiment, and ten bearings are respectively arranged on each side plate 305; the twenty bearings B301 have eight upper rows to provide support for gravity, eight lower rows to provide support for rollover prevention, and four middle rows to provide support for lateral positioning.

The head limiting mechanism of the embodiment comprises a head limiting ring 205, the head limiting ring 205 is hinged on the fixing seat welding frame 201, one end of the head limiting ring is an annular rubber plate and matched with the head of the underwater glider 7, and the other end of the head limiting ring is hinged with a piston rod of the front limiting oil cylinder 10.

The afterbody stop gear of this embodiment includes afterbody spacing ring 202, and this afterbody spacing ring 202's bottom rigid coupling is on fixing base weld holder 201, and upper portion is annular rubber slab, cooperates with the afterbody of glider 7 under water.

The middle part hold-down mechanism symmetry of this embodiment is installed in the left and right sides of the glider 7 under water of treating the cloth, and every side middle part hold-down mechanism all includes middle part compact heap 203 and connecting rod 208, and this connecting rod 208 articulates on fixing base welded frame 201, and one end is connected with middle part compact heap 203, and the other end is installed and is put up 201 roll connection's gyro wheel 209 with the fixing base. The left side and the right side of the underwater glider 7 to be laid are symmetrically provided with middle hold-down cylinders 9, and the piston rod of each middle hold-down cylinder 9 is hinged with the connecting rod 208 at the same side. The contact surface of the middle pressing block 203 and the underwater glider 7 is an arc surface so as to adapt to the outer surface of the underwater glider 7; the middle pressing block 203 provides pressing force through the middle pressing oil cylinder 9, and fixes the underwater glider 7 on the backing plate 206. The backing plate 206 of this embodiment is made of a composite material, such as ABS plastic.

In this embodiment, wing stabilizers 204 are symmetrically disposed on the left and right sides of the underwater glider 7 to be deployed, the wing stabilizers 204 on each side are mounted on the fixing seat welding frame 201, a gap is left between the wing stabilizers 204 and the base plate 206, the wings of the underwater glider 7 to be deployed are located between the wing stabilizers 204 and the base plate 206, and in the deployment process, the wing stabilizers 204 provide supporting force for the wings of the underwater glider 7.

The sliding driving assembly 3 of the embodiment is provided with a hinged seat 302 and an upper hinged seat 303, the sliding driving assembly 3 is hinged to the fixed seat welding frame 201 through the hinged seat 302, and the upper hinged seat 303 is hinged to the cylinder body of the retracting cylinder 8, so that the sliding driving assembly 3 can tilt. The sliding block 304 at the bottom of the sliding driving assembly 3 is connected with a screw nut, the screw nut and the screw rod 11 form a screw pair, and the servo motor 6 provides a driving force for sliding back and forth.

The control system 5 of this embodiment mainly comprises PLC, servo motor driver, motor starter, intermediate relay group, solenoid valve group, lead screw limit switch that gos forward, lead screw limit switch that backs, inclination limit switch, start and stop button, operating condition pilot lamp, switching power supply and external communication interface etc..

The utility model discloses a theory of operation does:

the PLC is used as a controller of the automatic deployment device of the underwater glider, is responsible for controlling the start and stop of a single-phase asynchronous motor of the hydraulic station 4, the on and off of the electromagnetic valve bank, the action of the servo motor 6 and the state acquisition of each limit switch, and comprises various peripheral interfaces such as expandable I/O, PWM, RS485, Ethernet and the like. The servo motor driver is used for driving the servo motor 6 to drive the screw rod 11 to rotate, and the screw pair of the screw rod 11 and the screw nut is utilized to drive the sliding driving assembly 3 to move along the slide rail 12; the glider fixing mechanism 2 is used for installing and fixing the underwater glider 7, the glider fixing mechanism 2 moves on the slide rail 12 along with the sliding driving assembly 3, and the underwater glider 7 is sent to the outside of the unmanned ship. The retracting oil cylinder 8 works, the glider fixing mechanism 2 with the underwater glider 7 inclines downwards, the front limiting oil cylinder 10 drives the head limiting ring 205 to turn downwards, the middle pressing oil cylinder 9 drives the connecting rod 208 to drive the middle pressing block 203 to open, and the deploying operation is realized by the gravity of the underwater glider 7. After the deployment operation is completed, the glider fixing mechanism 2 is retracted to the initial position through the deploying and retracting oil cylinder 8 and the servo motor 6. The lead screw forward limit switch and the lead screw backward limit switch are respectively used as the limit of the lead screw 11 extrapolation and recovery and the state feedback of the automatic distribution process. The inclination angle limit switch is used as the state feedback of the inclination angle limit and the automatic deployment process when the glider fixing mechanism 2 is deployed under the action of the retraction cylinder 8. The intermediate relay group and the electromagnetic valve group are mainly responsible for controlling a hydraulic circuit, and comprise actions of a low-pressure starting, a retraction cylinder 8, a middle pressing cylinder 9 and a front limiting cylinder 10 of the hydraulic station 4. The single-phase asynchronous motor is used as a power source of the hydraulic station 4 to drive the hydraulic pump to supply oil to each oil cylinder, and the motor starter is responsible for starting and stopping the asynchronous motor. The start and stop button is responsible for manually controlling the start and stop of the motor and is mainly used in debugging and emergency situations. The working state indicator light is used for indicating whether the automatic laying device of the underwater glider works normally at present, and an alarm signal is sent out when a fault occurs. The switching power supply supplies direct current to the whole system. The PLC and the unmanned ship control system are communicated in an RS485 or Ethernet mode, and a free protocol mode is adopted as a communication protocol.

Claims

1. The utility model provides an automatic device of laying of glider under water which characterized in that: the glider sliding mechanism comprises a base assembly (1), a glider fixing mechanism (2), a sliding driving assembly (3), a hydraulic system and a control system (5), wherein a lead screw (11) is rotatably arranged on the base assembly (1), and the lead screw (11) is driven to rotate by a servo motor (6) arranged on the base assembly (1); the glider fixing mechanism (2) comprises a fixing seat welding frame (201), a tail limiting mechanism, a middle pressing mechanism, a head limiting mechanism and a base plate (206), the fixing seat welding frame (201) is in rolling connection with the base assembly (1), the head limiting mechanism and the tail limiting mechanism are respectively installed at the front end and the rear end of the fixing seat welding frame (201) and respectively support and limit the head and the tail of the underwater glider (7) to be laid, and the middle pressing mechanism is installed between the head limiting mechanism and the tail limiting mechanism and presses the underwater glider (7) to be laid on the base plate (206); the sliding driving assembly (3) is in rolling connection with the base assembly (1) and is hinged with the fixed seat welding frame (201), a sliding block (304) is arranged on the sliding driving assembly (3), and a nut in threaded connection with the lead screw (11) is connected onto the sliding block (304); the hydraulic system comprises a retracting oil cylinder (8), a middle pressing oil cylinder (9), a front limiting oil cylinder (10) and a hydraulic station arranged on a base assembly (1), the retracting oil cylinder (8) is hinged to the sliding driving assembly (3), a piston rod is hinged to the fixing seat welding frame (201), the middle pressing oil cylinder (9) is hinged to the fixing seat welding frame (201), the piston rod drives the middle pressing mechanism to press the underwater glider (7) to be laid, the front limiting oil cylinder (10) is hinged to the fixing seat welding frame (201), and the piston rod drives the head limiting mechanism to be separated from the head of the underwater glider (7) when the head limiting mechanism is laid; the hydraulic system is characterized in that the retraction cylinder (8), the middle compression cylinder (9) and the front limit cylinder (10) are respectively connected with a hydraulic pump driven by a single-phase asynchronous motor in the hydraulic station (4), and the single-phase asynchronous motor, the servo motor (6), the retraction cylinder (8), the middle compression cylinder (9) and the front limit cylinder (10) are respectively connected with a control system (5) arranged on the base assembly (1).

2. The automatic deployment device of an underwater glider according to claim 1, characterized in that: slide rail (12) that are parallel to each other are installed along fixing base welding frame (201) and the moving direction symmetry of drive assembly (3) that slides to the both sides of base assembly (1), bearing A (207) with both sides slide rail (12) roll connection are installed respectively to the both sides of fixing base welding frame (201), install bearing B (301) with both sides slide rail (12) roll connection on curb plate (305) of drive assembly (3) both sides that slides respectively.

3. The automatic deployment device of an underwater glider according to claim 2, characterized in that: the end face of each slide rail (12) is in a U shape turned by 90 degrees, the bearings A (207) on each side of the fixed seat welding frame (201) are arranged in an upper row and a lower row, and the bearings A (207) on the upper row and the lower row on each side are respectively in rolling connection with the upper surface and the lower surface of one side of the U-shaped slide rail (12) on the same side, which is positioned above the U-shaped slide rail.

4. The automatic deployment device of an underwater glider according to claim 2, characterized in that: the end face of each side slide rail (12) is in a U shape turned by 90 degrees, bearings B (301) are arranged between the front end and the rear end of each side plate (305) and between the two ends, the bearings B (301) at the front end and the rear end are in an upper row and a lower row and are respectively in rolling connection with the upper surface and the lower surface of one side of the U-shaped slide rail (12) above, and the bearing B (301) between the two ends is abutted to the end face of one side of the U-shaped slide rail (12) above.

5. The automatic deployment device of an underwater glider according to claim 1, characterized in that: the head limiting mechanism comprises a head limiting ring (205), the head limiting ring (205) is hinged to the fixing seat welding frame (201), one end of the head limiting ring is annular, and the other end of the head limiting ring is hinged to a piston rod of the front limiting oil cylinder (10).

6. The automatic deployment device of an underwater glider according to claim 1, characterized in that: the tail limiting mechanism comprises a tail limiting ring (202), the bottom of the tail limiting ring (202) is fixedly connected to the fixing seat welding frame (201), and the upper portion of the tail limiting ring is annular.

7. The automatic deployment device of an underwater glider according to claim 1, characterized in that: the middle pressing mechanisms are symmetrically arranged at the left side and the right side of the underwater glider (7) to be laid, each middle pressing mechanism comprises a middle pressing block (203) and a connecting rod (208), the connecting rods (208) are hinged to the fixed seat welding frame (201), one end of each connecting rod is connected with the middle pressing block (203), and the other end of each connecting rod is provided with a roller (209) in rolling connection with the fixed seat welding frame (201); the left side and the right side of the underwater glider (7) to be laid are symmetrically provided with middle pressing oil cylinders (9), and a piston rod of each middle pressing oil cylinder (9) is hinged with a connecting rod (208) at the same side.

8. The automatic deployment device of an underwater glider according to claim 1, characterized in that: the left side and the right side of the underwater glider (7) to be deployed are symmetrically provided with wing stabilizing frames (204), the wing stabilizing frames (204) on each side are installed on the fixed seat welding frame (201) and form a gap with the base plate (206), and the wings of the underwater glider (7) to be deployed are located between the wing stabilizing frames (204) and the base plate (206).