CN216994759U

CN216994759U - Fishing device for underwater glider

Info

Publication number: CN216994759U
Application number: CN202220517794.9U
Authority: CN
Inventors: 郎群; 王举; 王成彦; 黄技; 郭可盈
Original assignee: Guangdong Ocean University
Current assignee: Guangdong Ocean University
Priority date: 2022-03-08
Filing date: 2022-03-08
Publication date: 2022-07-19
Anticipated expiration: 2032-03-08

Abstract

The utility model relates to the technical field of water surface operation, and discloses an underwater glider fishing device which comprises a device main body, a support frame and at least two mechanical claws, wherein the device main body is provided with an accommodating groove and an opening, the support frame is arranged at the opening and is a rectangular frame, the upper frame and the lower frame of the support frame are both connected with the mechanical claws, the mechanical claws comprise support parts and grabbing parts, two ends of each support part are connected with the support frame and the grabbing parts, each grabbing part comprises a grabbing main body, a conveyor belt and a first driving device, the conveyor belt is wound on the grabbing main body, the first driving device is connected with the conveyor belt to drive the conveyor belt to move, when grabbing is carried out, the two mechanical claws clamp the underwater glider and approach the device main body, finally, the underwater glider is driven to pass through the support frame and move into the accommodating groove of the device main body through the movement of the conveyor belt, the grabbing is accurate, and the underwater glider can be prevented from falling off after grabbing, and carry underwater glider entering device main part through the conveyer belt, it is efficient.

Description

Fishing device for underwater glider

Technical Field

The utility model relates to the technical field of water surface operation, in particular to a salvaging device for an underwater glider.

Background

The underwater glider recovery technology is the leading edge and key technology of underwater glider research, and the capability of underwater glider recovery under high sea is an important technical guarantee for completing diversified mission tasks. The foreign research on the deployment and recovery device of the underwater glider is synchronously developed along with the research development of the underwater glider. The salvage recovery devices adopted by different types of underwater gliders are different. At present, the recovery of the underwater glider is mainly realized in a mode that a sleeve net is matched with telescopic lifting. The underwater glider recovery method has the advantages that the underwater glider is recovered in the mode, how to achieve accurate grabbing is a big problem, and the underwater glider floats on the sea surface and moves along with waves, so that the underwater glider is inconvenient to lift and recover.

The prior art discloses an AUV cluster surface of water recovery unit, includes: a recovery platform; the base is arranged on the recovery platform and used for placing the AUV; the portal frame is arranged on the recovery platform and provided with a grabbing piece; the lifting mechanism is arranged at one end of the recovery platform, moves up and down relative to the recovery platform and is provided with a capturing position and a lifting position; the fixing mechanism is arranged on the lifting mechanism and is provided with a containing space with variable sectional area, the containing space can be folded and unfolded, the AUV enters the containing space at the capturing position, and the containing space is folded to fix the AUV on the lifting mechanism; and at the lifting position, the accommodating space is opened, and the grabbing piece grabs the AUV and places the AUV on the base. This patent is through setting up the portion of getting that presss from both sides that can be close to each other or keep away from on the bottom plate and catch underwater robot, then the bottom plate promotes, and the rethread is grabbed and is got the piece and remove underwater robot and put on the base, and the mechanism, the step of adoption are more, and the underwater robot who is inconvenient to catch puts back the device to can't catch from the underwater robot that the device is far away, catch accurate inadequately.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide an underwater glider fishing device which is accurate in grabbing and high in efficiency.

In order to achieve the purpose, the utility model provides an underwater glider fishing device which comprises a device main body, a supporting frame and at least two mechanical claws, wherein the device main body is provided with an accommodating groove, one end of the device main body is provided with an opening communicated with the accommodating groove, the supporting frame is arranged at the opening, the supporting frame is a rectangular frame, the mechanical claws are connected to the upper frame and the lower frame of the supporting frame respectively, the mechanical claws comprise supporting parts and grabbing parts, one ends of the supporting parts are movably connected with the supporting frame, the other ends of the supporting parts are connected with the grabbing parts, the grabbing parts comprise grabbing main bodies, conveying belts and first driving devices, the conveying belts are wound on the grabbing main bodies, and the first driving devices are connected with the conveying belts to drive the conveying belts to move.

As preferred scheme, the supporting part includes first support arm, second support arm and second drive arrangement, the one end of first support arm with the support frame is connected, the other end of first support arm with it rotates to connect to snatch the main part, the one end of second support arm with the middle part of first support arm rotates to be connected, the other end of second support arm with it rotates to connect to snatch the main part, just first support arm with the junction of snatching the main part for the second support arm with the junction of snatching the main part is closer to the support frame, second drive arrangement installs on the first support arm, second drive arrangement with first support arm is connected in order to drive first support arm winds first support arm with the junction of second support arm rotates.

Preferably, the first support arm and the second support arm are both electric telescopic rods.

Preferably, the number of the mechanical claws is four, and the four mechanical claws are respectively connected to four corners of the support frame.

Preferably, the carrying platform is arranged in the accommodating groove, the carrying platform and the supporting frame are located on the same straight line, the carrying platform is a semi-cylindrical shell with one closed end and one open end, and the open end of the carrying platform is close to the supporting frame.

As a preferred scheme, the device further comprises two trapezoidal supports arranged in parallel at intervals, each trapezoidal support comprises a top plate and two supporting plates, the two supporting plates are respectively connected to two ends of the top plate in an inclined mode, mounting plates are arranged on two sides of the carrying platform, the carrying platform is located between the two trapezoidal supports, and the mounting plates are connected with the top plate.

As a preferred scheme, the device further comprises a slide way, wherein the slide way is positioned between the support frame and the carrying platform, two ends of the slide way are respectively connected with the support frame and the opening end of the carrying platform, and the width of the slide way is gradually reduced from one end of the slide way connected with the support frame to one end of the slide way connected with the carrying platform.

Preferably, the lifting device further comprises two floating bodies, the two floating bodies are arranged in the two trapezoidal brackets, and the floating bodies are located between the two support plates and below the top plate.

Preferably, the device further comprises a propeller, and the propeller is arranged on the bottom surface of the device body.

According to a preferable scheme, the two sides of the device main body are respectively provided with a travelling mechanism, each travelling mechanism comprises a frame, a travelling crawler and a third driving device, the frames are connected to one side of the device main body, the travelling crawlers are wound on the frames, the third driving devices are arranged in the accommodating grooves, and the third driving devices are connected with the travelling crawlers to drive the travelling crawlers to move.

Compared with the prior art, the utility model has the beneficial effects that:

according to the utility model, the support frame is arranged on the device main body, the upper frame and the lower frame of the support frame are both connected with the mechanical claws, the mechanical claws comprise the supporting parts and the grabbing parts, the grabbing parts comprise the grabbing main bodies and the conveying belts wound on the grabbing main bodies, when the underwater glider floating on the water surface is grabbed, the grabbing main bodies of the mechanical claws connected to the lower frame of the support frame extend to the lower part of the underwater glider, the grabbing main bodies of the mechanical claws connected to the upper frame of the support frame extend to the upper part of the underwater glider, the underwater glider is clamped by the grabbing main bodies of the two mechanical claws, then the mechanical claws drive the grabbing parts and the underwater glider to be close to the device main body, and finally, the underwater glider is driven to pass through the support frame and move into the accommodating groove of the device main body through the movement of the conveying belts. The two mechanical claws clamp the underwater glider during grabbing, the grabbing is accurate, the grabbing of the underwater glider can be prevented from falling off, the underwater glider is conveyed into the device main body through the conveying belt, and the efficiency is high.

Drawings

Fig. 1 is a first perspective view structural diagram of an underwater glider fishing device according to an embodiment of the present invention.

Fig. 2 is a second perspective view structural diagram of the underwater glider fishing device according to the embodiment of the present invention.

Fig. 3 is a third perspective view structural view of the underwater glider fishing device according to the embodiment of the present invention.

Fig. 4 is a fourth perspective view structural diagram of the underwater glider fishing device according to the embodiment of the present invention.

Fig. 5 is a schematic structural view of a gripper and a support frame according to an embodiment of the present invention.

Fig. 6 is a schematic structural view of a carrying platform and a slide according to an embodiment of the utility model.

Fig. 7 is a schematic structural diagram of a device main body according to an embodiment of the present invention.

In the figure, 1-the device body; 101-accommodating grooves; 102-an opening; 2-a support frame; 3-grabbing the main body; 4-a conveyor belt; 5-a first support arm; 6-a second support arm; 7-a second drive; 8-a carrying platform; 9-a ladder stand; 901-top plate; 902-a support plate; 10-mounting a plate; 11-a slide; 12-a float; 13-a propeller; 14-a frame; 15-a walking crawler; 16-third driving means.

Detailed Description

The following detailed description of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the utility model but are not intended to limit the scope of the utility model.

In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one

As shown in fig. 1 to 7, the fishing device for an underwater glider according to the preferred embodiment of the present invention includes a device main body 1, a supporting frame 2 and at least two mechanical claws, wherein the device main body 1 is provided with an accommodating groove 101, one end of the device main body 1 is provided with an opening 102 communicated with the accommodating groove 101, the supporting frame 2 is provided at the opening 102, the supporting frame 2 is a rectangular frame, the upper and lower frames of the supporting frame 2 are both connected with the mechanical claws, the mechanical claws include a supporting portion and a grabbing portion, one end of the supporting portion is movably connected with the supporting frame 2, the other end of the supporting portion is connected with the grabbing portion, the grabbing portion includes a grabbing main body 3, a conveyor belt 4 and a first driving device, the conveyor belt 4 is wound on the grabbing main body 3, and the first driving device is connected with the conveyor belt 4 to drive the conveyor belt 4 to move. This embodiment is through setting up support frame 2 on device main part 1, the upper and lower frame of support frame 2 all is connected with the gripper, and the gripper includes supporting part and snatchs the portion, snatch the portion including snatching main part 3 and around installing the conveyer belt 4 on snatching main part 3, when snatching the underwater glider that floats on the surface of water, the main part 3 that snatchs of the gripper of connecting at support frame 2 lower frame stretches the below of glider under water, the main part 3 that snatchs of the gripper of connecting at support frame 2 upper frame stretches the top of this underwater glider, this underwater glider is cliied to the main part 3 that snatchs of two grippers, then the gripper drives its portion of snatching and this underwater glider is close to device main part 1, through the removal of conveyer belt 4 at last, drive underwater glider pass support frame 2 and move into the holding tank 101 of device main part 1. Two gripper of this embodiment are cliied glider under water when snatching, snatch accurately, and can prevent to snatch and drop behind the glider under water to carry under water glider access device main part 1 through conveyer belt 4 in, efficient.

Specifically, the supporting part includes first support arm 5, second support arm 6 and second drive arrangement 7, the one end and the support frame 2 of first support arm 5 are connected, the other end of first support arm 5 with snatch main part 3 and rotate and be connected, the one end of second support arm 6 rotates with the middle part of first support arm 5 and is connected, the other end of second support arm 6 rotates with snatching main part 3 and is connected, and first support arm 5 and the junction of snatching main part 3 are more close to support frame 2 for second support arm 6 with the junction of snatching main part 3, second drive arrangement 7 installs on first support arm 5, second drive arrangement 7 is connected with first support arm 5 and rotates around the junction of first support arm 5 with second support arm 6 with driving first support arm 5. Through the rotation of first support arm 5 and second support arm 6, the drive snatchs main part 3 and is close to or keeps away from support frame 2, makes and snatchs main part 3 and stretch out forward when snatching underwater glider, snatchs underwater glider back and is close to the device main part, and the total messenger underwater glider passes through conveyer belt 4 and moves into in the holding tank 101 of device main part 1. Further, first support arm 5 and second support arm 6 are electric telescopic handle, make first support arm 5 and second support arm 6 scalable, can let and snatch main part 3 and be close to device main part 1 as far as to can make the position that glider placed in the device main part 1 under water more inside. First support arm 5 of this embodiment rotates with support frame 2 and is connected, is equipped with fourth drive arrangement on support frame 2, and fourth drive arrangement is connected in order to drive first support arm 5 and rotate with first support arm 5. The second driving device and the fourth driving device are both motors. Optionally, the first support arm 5 is connected to the support frame 2 through a universal joint, the fourth driving device is connected to the device body 1, and the fourth driving device drives the first support arm 5 to rotate in the vertical direction and the horizontal direction, so as to swing the first support arm 5 up and down and left and right.

In addition, the number of the gripper is four, and the four grippers are respectively connected to four corners of the supporting frame 2. The four mechanical claws form the hand grip, the gripping main bodies 3 of the four mechanical claws are respectively contacted with two sides of the top and two sides of the bottom of the underwater glider, and the underwater glider is wrapped by the four mechanical claws, so that the contact area between the hand grip and the underwater glider is increased, and the gripping is more stable. In addition, the conveyer belt 4 of this embodiment is the track, and conveyer belt 4 drives underwater glider through frictional force and removes, adopts the track, can improve the frictional force of conveyer belt 4 and underwater glider.

Example two

The difference between the present embodiment and the first embodiment is that, on the basis of the first embodiment, the present embodiment is further provided with a carrying platform 8.

In this embodiment, glider fishing device under water still includes carrying platform 8, and carrying platform 8 is located holding tank 101, and carrying platform 8 is located same straight line with support frame 2, and carrying platform 8 is one end closed, one end open-ended semi-cylindrical shell, and the open-ended one end of carrying platform 8 is close to support frame 2. The carrying platform 8 is specially used for storing the salvaged underwater glider, can be used for limiting the underwater glider to shake, and can prevent the device main body 1 from causing the underwater glider to shake and causing the underwater glider to be damaged when moving.

In addition, the underwater glider fishing device of this embodiment further includes two trapezoidal supports 9 that are arranged in parallel at an interval, and trapezoidal support 9 includes roof 901 and two extension boards 902, and two extension boards 902 are connected in the both ends of roof 901 respectively in an inclined manner, and the both sides of carrying platform 8 are equipped with mounting panel 10, and carrying platform 8 is located between two trapezoidal supports 9, and mounting panel 10 is connected with roof 901. The trapezoid support 9 supports the carrying platform 8, so that the semi-cylindrical carrying platform 8 is placed stably and has strong bearing capacity. The fulcrum plate 902 of the present embodiment is connected to the groove bottom of the accommodation groove 101 by a bolt.

Further, the underwater glider fishing device of this embodiment still includes slide 11, and slide 11 is located between support frame 2 and the carrying platform 10, and the both ends of slide 11 are connected with the open end of support frame 2 and carrying platform 8 respectively, and the width of slide 11 reduces gradually from its one end of being connected with support frame 2 to the one end of being connected with carrying platform 8. The slide 11 guides the salvaged underwater glider to enter the carrying platform 8, and the slide 11 which is gradually reduced can be used for righting the position of the underwater glider. Optionally, the slideway 11 of the present embodiment is a semi-circular truncated cone shaped housing.

In addition, the underwater glider fishing device of this embodiment further includes a fixing mechanism, the fixing mechanism includes two fixing frames and a fifth driving device, the two fixing frames are respectively rotatably connected to the mounting plates 10 on the two sides of the carrying platform 8, and the fifth driving device is connected with the fixing frames to drive the fixing frames to rotate. After the glider enters into carrying platform 8 under water, fifth drive arrangement drives the mount and rotates, and two mounts all rotate to carrying platform 8's inboard, and the mount contacts with the glider under water on carrying platform 8 to it is fixed to be glider under water.

Other structures of this embodiment are the same as those of the first embodiment, and are not described herein again.

EXAMPLE III

The difference between the present embodiment and the second embodiment is that, on the basis of the second embodiment, the present embodiment further describes the movement of the underwater glider fishing device.

In this embodiment, the underwater glider fishing device further comprises two floats 12, the two floats 12 are disposed in the two ladder supports 9, and the floats 12 are located between the two stays 902 and below the top plate 901. The floating body 12 can increase the buoyancy of the apparatus body 1, so that the apparatus body 1 can float on the water surface, and can salvage an underwater glider floating on the water surface.

The underwater glider fishing device of the embodiment further comprises a propeller 13, and the propeller 13 is arranged on the bottom surface of the device body 1. The propeller 13 allows the apparatus body 1 to sail on the water surface.

Further, the two sides of the device main body of the embodiment are provided with the traveling mechanisms, each traveling mechanism comprises a frame 14, a traveling crawler 15 and a third driving device 16, the frame 14 is connected to one side of the device main body 1, the traveling crawler 15 is wound on the frame 14, the third driving device 16 is arranged in the accommodating groove 101, and the third driving device 16 is connected with the traveling crawler 15 to drive the traveling crawler 15 to move. Through running gear, make device main part 1 can walk on land, make the underwater glider fishing device amphibious of this embodiment.

The working process of the utility model is as follows: when salvaging, the grabbing main bodies 3 of the two mechanical claws connected to the lower frame of the support frame 2 extend to the lower part of the underwater glider floating on the water surface, and the grabbing main bodies 3 of the two mechanical claws connected to the upper frame of the support frame 2 are positioned above the underwater glider, so that the underwater glider is wrapped in the grabbing main bodies 3 of the four mechanical claws. Then, the second driving device 7 drives the first supporting arm 5 to rotate around the first supporting arm and the second supporting arm 6, and the first supporting arm 5 and the second supporting arm 6 stretch out and draw back, so that the grabbing main bodies 3 of the mechanical claws are close to the device main body 1, then the first driving device drives the conveying belts 4 wound on the grabbing main bodies 3 to move, and further drives the clamped underwater glider to move, and the underwater glider penetrates through the supporting frame 2 and enters the carrying platform 8 through the slide rail 11.

In summary, the embodiment of the utility model provides a salvaging device for an underwater glider, which is characterized in that a support frame 2 is arranged on a device main body 1, the upper and lower frames of the support frame 2 are both connected with mechanical claws, and the gripper comprises a support part and a gripping part, the gripping part comprises a gripping main body 3 and a conveyor belt 4 wound on the gripping main body 3, when grabbing an underwater glider floating on the water, the grabbing main bodies 3 of the mechanical claws connected to the lower frame of the support frame 2 are extended to the lower part of the underwater glider, the grabbing main bodies 3 of the mechanical claws connected to the upper frame of the support frame 2 are extended to the upper part of the underwater glider, the grabbing main bodies 3 of the two mechanical claws clamp the underwater glider, then the gripper drives its portion of snatching and this glider under water to be close to device main part 1, through the removal of conveyer belt 4, drives the glider under water and passes support frame 2 and move and get into in the holding tank 101 of device main part 1 finally. Two gripper of this embodiment clip glider under water when snatching, snatch accurately, and can prevent to snatch and drop behind the glider under water to carry through conveyer belt 4 under water in glider access device main part 1, it is efficient.

The above description is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and substitutions can be made without departing from the technical principle of the present invention, and these modifications and substitutions should also be regarded as the protection scope of the present invention.

Claims

1. The underwater glider fishing device is characterized by comprising a device main body (1), a support frame (2) and at least two mechanical claws, wherein the device main body (1) is provided with an accommodating groove (101), one end of the device main body (1) is provided with an opening (102) communicated with the accommodating groove (101), the support frame (2) is arranged at the opening (102), the support frame (2) is a rectangular frame, the upper frame and the lower frame of the support frame (2) are both connected with the mechanical claws, each mechanical claw comprises a support part and a grabbing part, one end of the support part is movably connected with the support frame (2), the other end of the support part is connected with the grabbing part, the grabbing part comprises a grabbing main body (3), a conveyor belt (4) and a first driving device, the conveyor belt (4) is wound on the grabbing main body (3), the first driving device is connected with the conveyor belt (4) to drive the conveyor belt (4) to move.

2. The underwater glider fishing device according to claim 1, wherein the support portion comprises a first support arm (5), a second support arm (6), and a second driving device (7), wherein one end of the first support arm (5) is connected to the support frame (2), the other end of the first support arm (5) is rotatably connected to the grab body (3), one end of the second support arm (6) is rotatably connected to the middle of the first support arm (5), the other end of the second support arm (6) is rotatably connected to the grab body (3), and the connection between the first support arm (5) and the grab body (3) is closer to the support frame (2) than the connection between the second support arm (6) and the grab body (3), the second driving device (7) is installed on the first support arm (5), the second driving device (7) is connected with the first supporting arm (5) to drive the first supporting arm (5) to rotate around the joint of the first supporting arm (5) and the second supporting arm (6).

3. An underwater glider fishing device according to claim 2, characterized in that the first support arm (5) and the second support arm (6) are both electrically telescopic rods.

4. An underwater glider fishing device according to claim 1, wherein the number of the gripper is four, and the four grippers are connected at four corners of the support frame (2), respectively.

5. The underwater glider fishing device according to claim 1, further comprising a carrying platform (8), wherein the carrying platform (8) is disposed in the receiving groove (101), the carrying platform (8) and the supporting frame (2) are located on the same straight line, the carrying platform (8) is a semi-cylindrical shell with a closed end and an open end, and the open end of the carrying platform (8) is close to the supporting frame (2).

6. An underwater glider fishing device according to claim 5, further comprising two ladder-shaped supports (9) arranged in parallel at intervals, wherein each ladder-shaped support (9) comprises a top plate (901) and two support plates (902), the two support plates (902) are obliquely connected to two ends of the top plate (901) respectively, mounting plates (10) are arranged on two sides of the carrying platform (8), the carrying platform (8) is located between the two ladder-shaped supports (9), and the mounting plates (10) are connected with the top plate (901).

7. An underwater glider fishing device according to claim 5, further comprising a chute (11), wherein the chute (11) is located between the supporting frame (2) and the carrying platform (8), and both ends of the chute (11) are respectively connected with the opening (102) ends of the supporting frame (2) and the carrying platform (8), and the width of the chute (11) is gradually reduced from the end where the chute is connected with the supporting frame (2) to the end where the chute is connected with the carrying platform (8).

8. An underwater glider fishing device according to claim 6, characterized by further comprising two floats (12), wherein the two floats (12) are disposed in the two ladder legs (9), and the floats (12) are located between the two stays (902) and below the top plate (901).

9. An underwater glider fishing device according to claim 1, further comprising a propeller (13), wherein the propeller (13) is provided at a bottom surface of the device body.

10. The underwater glider fishing device according to claim 1, wherein a traveling mechanism is disposed on each side of the device body (1), the traveling mechanism comprises a frame (14), a traveling crawler (15) and a third driving device (16), the frame (14) is connected to one side of the device body (1), the traveling crawler (15) is wound on the frame (14), the third driving device (16) is disposed in the accommodating groove (101), and the third driving device (16) is connected with the traveling crawler (15) to drive the traveling crawler (15) to move.