CN217673099U

CN217673099U - A cloth and put recovery unit for glider under water

Info

Publication number: CN217673099U
Application number: CN202221464779.9U
Authority: CN
Inventors: 苏艳艳
Original assignee: Shanghai Jiaotong University Zhonghailong Underwater Defense Research Center Co ltd
Current assignee: Shanghai Jiaotong University Zhonghailong Underwater Defense Research Center Co ltd
Priority date: 2022-06-13
Filing date: 2022-06-13
Publication date: 2022-10-28
Anticipated expiration: 2032-06-13

Abstract

The utility model discloses a cloth puts recovery unit for glider under water belongs to glider technical field under water, has solved the present cloth of glider under water and has put the recovery and have the cloth to put the problem that the recovery effect is poor, and its technical essential is: the outside of glider under water is provided with fixture, fixture includes centre gripping group and centre gripping drive group, fixture installs on first connecting box, the erection joint has the mechanism of lifting by crane on the first connecting box, the mechanism of lifting by crane includes first group of lifting by crane and second group of lifting by crane, the outside of lifting by crane is provided with stop gear, centre gripping drive group's function orders about centre gripping group to be close to and accomplishes the centre gripping fixed to glider under water, first group of lifting by crane and second group of lifting by crane function simultaneously and lift by crane under stop gear's effect and place glider under water, be convenient for adjust the regional scope of glider cloth put the recovery under water, it is effectual to cloth put the recovery, it retrieves effectually to have to cloth to put the advantage of retrieving.

Description

A cloth and put recovery unit for glider under water

Technical Field

The utility model relates to a glider field under water specifically is a cloth puts recovery unit for glider under water.

Background

An underwater glider is a novel underwater robot. Because the propulsion is obtained by utilizing the adjustment of the net buoyancy and the attitude angle, the energy consumption is extremely low, only a small amount of energy is consumed when the net buoyancy and the attitude angle are adjusted, and the device has the characteristics of high efficiency and large endurance (up to thousands of kilometers).

Present recovery unit is put to glider cloth under water adopts the mode that the string hoisted by crane to the recovery of glider under water mostly, and the glider under water freely rocks in the air, must just can realize putting the recovery to the cloth of glider under water through artificial participation, and it is poor to put the recovery effect, and hoist and mount poor stability, is not convenient for carry out good recovery to glider under water, can't satisfy that the in-service use is required.

Therefore, the existing underwater glider has the defect of poor distribution and recovery effect, and is difficult to popularize and apply.

Therefore, it is necessary to provide a deployment and recovery device for an underwater glider, which aims to solve the above problems.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art exists, the utility model provides an aim at provides a cloth of glider puts recovery unit under water to solve the problem among the above-mentioned background art.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a cloth puts recovery unit for glider under water, includes glider under water and ship platform, the outside of glider under water is provided with fixture, fixture includes centre gripping group and centre gripping drive group, fixture installs on first connecting box, centre gripping group includes arc splint, first connecting rod, second connecting rod, first lifter plate and guide bar, arc splint fixed mounting is on first connecting rod, the inboard of arc splint is provided with the rubber pad, the one end of first connecting rod articulates on first connecting box, the one end of second connecting rod articulates on first connecting rod, the other end of second connecting rod articulates on first lifter plate, first lifter plate passes through guide bar swing joint on first connecting box, the erection joint has hoisting mechanism on the first connecting box, hoisting mechanism includes first group and second hoisting group, hoisting mechanism's the outside is provided with stop gear.

As a further aspect of the present invention, the clamping driving unit includes a second lifting plate and a first hydraulic cylinder, the guide rod is respectively slidably connected to the first connecting box, the one end fixedly connected with second lifting plate of the guide rod, a piston rod of the first hydraulic cylinder of the second lifting plate fixedly connected with, the first hydraulic cylinder is fixedly mounted in the first connecting box.

As a further aspect of the present invention, the first boom, the second boom, the wire wheel, the cable, the winch and the second hydraulic cylinder are lifted together, one end of the first boom is hinged to the first connection box, the other end of the first boom is connected to the second boom through the rotation of the rotation shaft, one end of the cable is fixedly connected to the first connection box, the cable is respectively connected to the wire wheel and the winch through transmission, the wire wheel is respectively installed at the connection between the first connection box and the first boom and between the first boom and the second boom, the piston rod of the second hydraulic cylinder is hinged to the second hinge seat, the bottom of the second hydraulic cylinder is hinged to the first hinge seat, the second hinge seat is fixedly installed on the first boom, and the first hinge seat is fixedly installed on the second boom.

As a further scheme of the utility model, the second lifts by crane the group and includes third connecting rod, movable block, lead screw, connecting axle, gear pair, positive and negative motor and second connecting box, the one end of third connecting rod articulates on the second plays davit, the other end of third connecting rod articulates on the movable block, movable block threaded connection is on the lead screw, the lead screw passes through the installed part and rotates to be connected on ship platform and second connecting box, the one end of lead screw is passed through bevel gear pair and is rotated and be connected with the connecting axle, the connecting axle rotates through gear pair and is connected with positive and negative motor's output shaft.

As a further scheme of the utility model, stop gear includes gag lever post, spacing groove and limiting plate, the one end that the second plays the davit is passed through the main shaft and is rotated and connect on the ship platform, gag lever post fixed connection is in the outside that the second plays the davit, limiting plate difference fixed connection is on the ship platform, set up on the limiting plate with the spacing gliding spacing groove of gag lever post cooperation.

As a further scheme of the utility model, fixedly connected with is convenient for place the platform of placing of glider under water on the ship platform.

To sum up, compared with the prior art, the embodiment of the utility model has the following beneficial effects:

the utility model discloses an outside of glider under water is provided with fixture, and fixture includes centre gripping group and centre gripping drive group, and fixture installs on first connecting box, when lifting by crane, and centre gripping drive group's function orders about centre gripping group and is close to each other to accomplish fixed to the centre gripping of glider under water, need not artificial intervention and adopts the string to lift by crane, has promoted the efficiency of recovery of putting of glider under water's cloth greatly.

The first connecting box is provided with the lifting mechanism, the lifting mechanism comprises a first lifting group and a second lifting group, when the underwater glider is placed in water, the first lifting group and the second lifting group are operated simultaneously to lift the underwater glider for placement, the area range of deployment and recovery of the underwater glider is convenient to adjust, and the deployment and recovery effect is good.

The outside of lifting by crane the mechanism is provided with stop gear, and the stop gear who sets up lifts by crane of glider under water carries on spacingly, has avoided lifting by crane the too big emergence that causes unable recovery problem of scope, possesses the effectual advantage of laying recovery.

To illustrate the structural features and functions of the present invention more clearly, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.

Drawings

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

Fig. 2 is a schematic view of a connection structure of the holding mechanism in the embodiment of the present invention.

Fig. 3 is a schematic diagram of an internal structure of a second connection box in an embodiment of the present invention.

Fig. 4 is a schematic view of a partial bottom view of an embodiment of the present invention.

Reference numerals are as follows: 1. a boat platform; 2. an underwater glider; 3. an arc-shaped splint; 4. a first link; 5. a second link; 6. a first lifter plate; 7. a guide rod; 8. a second lifter plate; 9. a first hydraulic cylinder; 10. a first connection box; 11. a first boom; 12. a second lifting arm; 13. a wire guide wheel; 14. a cable; 15. a winch; 16. a third link; 17. a moving block; 18. a screw rod; 19. a bevel gear pair; 20. a connecting shaft; 21. a gear pair; 22. a positive and negative motor; 23. a second connection box; 24. a limiting rod; 25. a limiting groove; 26. a limiting plate; 27. a main shaft; 28. a second hydraulic cylinder; 29. a first hinge mount; 30. a second hinge mount; 31. a placing table.

Detailed Description

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 embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The following detailed description is provided for the specific embodiments of the present invention.

Example 1

Referring to fig. 1 and 2, a deployment and recovery device for an underwater glider comprises an underwater glider 2 and a boat platform 1, wherein a clamping mechanism is arranged on the outer side of the underwater glider 2 and comprises a clamping group and a clamping driving group, the clamping mechanism is installed on a first connecting box 10, the clamping group comprises an arc-shaped clamping plate 3, a first connecting rod 4, a second connecting rod 5, a first lifting plate 6 and a guide rod 7, the arc-shaped clamping plate 3 is fixedly installed on the first connecting rod 4, a rubber pad is arranged on the inner side of the arc-shaped clamping plate 3, one end of the first connecting rod 4 is hinged on the first connecting box 10, one end of the second connecting rod 5 is hinged on the first connecting rod 4, the other end of the second connecting rod 5 is hinged on the first lifting plate 6, and the first lifting plate 6 is movably connected on the first connecting box 10 through the guide rod 7.

Further, centre gripping drive group includes second lifter plate 8 and first pneumatic cylinder 9, guide bar 7 is sliding connection respectively on first connecting box 10, the one end fixedly connected with second lifter plate 8 of guide bar 7, the piston rod of the first pneumatic cylinder 9 of 8 fixedly connected with of second lifter plate, 9 fixed mounting of first pneumatic cylinder are in the inside of first connecting box 10.

Further, a placing platform 31 convenient for placing the underwater glider 2 is fixedly connected to the boat platform 1.

Preferably, the in-process of retrieving is laid to glider 2 under water, be convenient for place platform 31 department of placing on ship platform 1 glider 2 under water, when lifting by crane, the outside of glider 2 under water is arranged in to arc splint 3, first pneumatic cylinder 9 starts to drive second lifter plate 8 and rises, first lifter plate 6 on second lifter plate 8 drives guide bar 7 rises, it is fixed to accomplish the centre gripping of glider 2 under water to be close to each other two arc splint 3 under the articulated relation of second connecting rod 5 and first connecting rod 4 and the articulated relation of first connecting box 10.

Preferably, the inboard of arc splint 3 is provided with the rubber pad and is convenient for protect the outside of glider 2 under water, and holistic centre gripping is fixed and need not artificial intervention and adopt the string to lift by crane, has promoted the cloth of glider 2 under water greatly and has put recovery efficiency.

Example 2

Referring to fig. 1 to 4, a deployment and recovery device for an underwater glider comprises an underwater glider 2, a boat platform 1 and a first connection box 10, wherein a hoisting mechanism is installed and connected to the first connection box 10, the hoisting mechanism comprises a first hoisting group and a second hoisting group, and a limiting mechanism is arranged on the outer side of the hoisting mechanism.

Further, the first lifting group comprises a first lifting boom 11, a second lifting boom 12, a wire guide wheel 13, a cable 14, a winch 15 and a second hydraulic cylinder 28, one end of the first lifting boom 11 is hinged on the first connection box 10, the other end of the first lifting boom 11 is rotatably connected on the second lifting boom 12 through a rotating shaft, one end of the cable 14 is fixedly connected on the first connection box 10, the cable 14 is respectively connected on the wire guide wheel 13 and the winch 15 in a transmission manner, the wire guide wheel 13 is respectively arranged at the connection positions of the first connection box 10 and the first lifting boom 11 as well as the first lifting boom 11 and the second lifting boom 12, a piston rod of the second hydraulic cylinder 28 is hinged on a second hinge seat 30, the bottom of the second hydraulic cylinder 28 is hinged on a first hinge seat 29, the second hinge seat 30 is fixedly arranged on the first lifting boom 11, and the first hinge seat 29 is fixedly arranged on the second lifting boom 12.

Further, the second lifting group comprises a third connecting rod 16, a moving block 17, a lead screw 18, a connecting shaft 20, a gear pair 21, a positive and negative motor 22 and a second connecting box 23, one end of the third connecting rod 16 is hinged to the second lifting arm 12, the other end of the third connecting rod 16 is hinged to the moving block 17, the moving block 17 is in threaded connection with the lead screw 18, the lead screw 18 is rotatably connected to the boat platform 1 and the second connecting box 23 through a mounting piece, one end of the lead screw 18 is rotatably connected with the connecting shaft 20 through a bevel gear pair 19, and the connecting shaft 20 is rotatably connected with an output shaft of the positive and negative motor 22 through the gear pair 21.

Further, the limiting mechanism comprises a limiting rod 24, a limiting groove 25 and a limiting plate 26, one end of the second lifting arm 12 is rotatably connected to the boat platform 1 through a main shaft 27, the limiting rod 24 is fixedly connected to the outer side of the second lifting arm 12, the limiting plates 26 are respectively and fixedly connected to the boat platform 1, and the limiting plate 26 is provided with the limiting groove 25 which is matched with the limiting rod 24 for limiting sliding.

Preferably, when the underwater glider 2 is to be placed in water, the winch 15 operates to drive the cable 14 to be slowly released, the forward and reverse motor 22 operates to drive the connecting shaft 20 to rotate under the connection relationship of the gear pair 21, the connecting shaft 20 drives the screw rod 18 to rotate under the connection relationship of the bevel gear pair 19, and the moving block 17 moves under the threaded connection relationship with the screw rod 18, so that the second lifting arm 12 is rotatably connected to the boat platform 1 through the main shaft 27 under the hinged relationship of the third connecting rod 16, and the cable 14 is convenient to lift and place the underwater glider 2 clamped on the first connecting box 10 under the guiding effect of the guide wheel 13 under the relationship of the matching limit sliding connection of the limit rod 24 and the limit groove 25.

Preferably, the second hydraulic cylinder 28 is operatively extended to increase the angle between the first lifting arm 11 and the second lifting arm 12, facilitating the placement of the underwater glider 2 in a more remote area.

Preferably, the winch 15, the positive and negative motor 22 and the second hydraulic cylinder 28 operate in reverse to recycle the underwater glider 2, so that the deployment and recovery range of the underwater glider 2 is greatly expanded, and the deployment and recovery effect is good.

The rest of the structure of this example is the same as example 1.

The utility model discloses a theory of operation is: in the process of laying and recovering the underwater glider 2, the underwater glider 2 is conveniently placed on a placing table 31 on a boat platform 1, when the underwater glider is lifted, the arc-shaped clamping plates 3 are placed on the outer side of the underwater glider 2, the first hydraulic cylinder 9 is started to drive the second lifting plates 8 to ascend, the second lifting plates 8 drive the first lifting plates 6 on the guide rods 7 to ascend, under the hinging relation between the second connecting rods 5 and the first connecting rods 4 and the hinging relation between the first connecting rods 4 and the first connecting box 10, the two arc-shaped clamping plates 3 are mutually close to finish clamping and fixing the underwater glider 2, the rubber pads are arranged on the inner sides of the arc-shaped clamping plates 3, so that the outer side of the underwater glider 2 can be protected, manual intervention is not needed, hanging ropes are used for lifting, and the laying and recovering efficiency of the underwater glider 2 is greatly improved; when the underwater glider 2 is to be placed in water, the winch 15 operates to drive the cable 14 to be slowly released, meanwhile, the positive and negative motor 22 operates to drive the connecting shaft 20 to rotate under the connection relationship of the gear pair 21, the connecting shaft 20 drives the screw rod 18 to rotate under the connection relationship of the bevel gear pair 19, the moving block 17 moves under the threaded connection relationship with the screw rod 18, so that the second lifting arm 12 is rotatably connected to the boat platform 1 through the main shaft 27 under the hinge relationship of the third connecting rod 16, under the matching relationship of the limiting rod 24 and the limiting groove 25 in limiting sliding connection, the cable 14 is enabled to be convenient to lift and place the underwater glider 2 clamped on the first connecting box 10 under the guiding action of the guide wheel 13, meanwhile, the second hydraulic cylinder 28 extends to increase the included angle between the first lifting arm 11 and the second lifting arm 12, so that the underwater glider 2 is placed in a farther area, and the winch 15, the positive and negative motor 22 and the second hydraulic cylinder 28 reversely operate to realize the recovery of the underwater glider 2, thereby greatly improving the underwater glider 2 deployment and recovery range and the deployment effect.

It should be particularly noted that all the components in the present application are general standard components or components known by those skilled in the art, which effectively solve the problem of poor deployment and recovery effect of existing deployment and recovery of underwater gliders.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not intended to limit the present invention, and any modifications, equivalents, improvements, etc. made within the spirit and principles of the present invention should be included within the scope of the present invention.

Claims

1. The utility model provides a cloth puts recovery unit for glider under water, includes glider (2) and boat platform (1) under water, its characterized in that, the outside of glider (2) under water is provided with fixture, fixture includes centre gripping group and centre gripping drive group, fixture installs on first connecting box (10), centre gripping group includes arc splint (3), first connecting rod (4), second connecting rod (5), first lifter plate (6) and guide bar (7), arc splint (3) fixed mounting is on first connecting rod (4), the inboard of arc splint (3) is provided with the rubber pad, the one end of first connecting rod (4) articulates on first connecting box (10), the one end of second connecting rod (5) articulates on first connecting rod (4), the other end of second connecting rod (5) articulates on first lifter plate (6), first lifter plate (6) pass through guide bar (7) swing joint on first connecting box (10), first connecting box (10) go up the installation of lifting by crane and organize including the hoisting mechanism, the outside is provided with the hoisting mechanism.

2. The deployment and recovery device for underwater gliders according to claim 1, wherein the clamping driving set comprises a second lifting plate (8) and a first hydraulic cylinder (9), the guide rods (7) are respectively connected to the first connection box (10) in a sliding manner, one end of each guide rod (7) is fixedly connected with the second lifting plate (8), the second lifting plate (8) is fixedly connected with a piston rod of the first hydraulic cylinder (9), and the first hydraulic cylinder (9) is fixedly installed inside the first connection box (10).

3. The deployment and retrieval device for underwater gliders according to claim 1, characterized in that the first lifting group comprises a first lifting arm (11), a second lifting arm (12), a wire guide wheel (13), a cable (14), a winch (15) and a second hydraulic cylinder (28), one end of the first lifting arm (11) is hinged to a first connecting box (10), the other end of the first lifting arm (11) is rotatably connected to the second lifting arm (12) through a rotating shaft, one end of the cable (14) is fixedly connected to the first connecting box (10), the cable (14) is respectively connected to the wire guide wheel (13) and the winch (15) in a transmission manner, the wire guide wheel (13) is respectively mounted on the first connecting box (10) and the first lifting arm (11) and the connection between the first lifting arm (11) and the second lifting arm (12), a piston rod of the second hydraulic cylinder (28) is hinged to a second hinge base (30), the bottom of the second hydraulic cylinder (28) is hinged to the first base (29), and the second hydraulic cylinder (28) is fixedly mounted on the second base (29) and the second lifting arm (11).

4. The deployment and recovery device for the underwater glider as claimed in claim 3, wherein the second lifting group comprises a third connecting rod (16), a moving block (17), a screw rod (18), a connecting shaft (20), a gear pair (21), a forward and reverse motor (22) and a second connecting box (23), one end of the third connecting rod (16) is hinged to the second lifting arm (12), the other end of the third connecting rod (16) is hinged to the moving block (17), the moving block (17) is in threaded connection with the screw rod (18), the screw rod (18) is in rotational connection with the boat platform (1) and the second connecting box (23) through a mounting piece, one end of the screw rod (18) is in rotational connection with the connecting shaft (20) through a bevel gear pair (19), and the connecting shaft (20) is in rotational connection with an output shaft of the forward and reverse motor (22) through the gear pair (21).

5. The deployment and recovery device for the underwater glider according to claim 4, wherein the limiting mechanism comprises a limiting rod (24), a limiting groove (25) and a limiting plate (26), one end of the second lifting arm (12) is rotatably connected to the boat platform (1) through a main shaft (27), the limiting rod (24) is fixedly connected to the outer side of the second lifting arm (12), the limiting plates (26) are respectively and fixedly connected to the boat platform (1), and the limiting groove (25) matched with the limiting rod (24) for limiting and sliding is formed in the limiting plate (26).

6. The deployment and retrieval device for underwater gliders according to claim 1, characterized in that a placing platform (31) for placing the underwater glider (2) is fixedly connected to the boat platform (1).