CN218839700U

CN218839700U - Unmanned ship winding and unwinding devices

Info

Publication number: CN218839700U
Application number: CN202223376058.5U
Authority: CN
Inventors: 张文莉; 胡永卫; 彭镇; 李玉东; 李元栋; 姜伟成; 刘雁轩; 朱忠诚
Original assignee: Army Military Transportation University of PLA Zhenjiang
Current assignee: Army Military Transportation University of PLA Zhenjiang
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-04-11
Anticipated expiration: 2032-12-16

Abstract

The utility model discloses an unmanned ship retracting device, which comprises a hoisting mechanism and a guiding butt joint mechanism, wherein the hoisting mechanism is connected with the guiding butt joint mechanism through a cable; the guide docking mechanism comprises a guide cover, a docking cover, an attitude controller and a hanging ring, and the guide cover is connected to one end of the docking cover; the attitude controller is fixedly connected to the outer side surface of the butt joint cover; the hoisting ring is arranged on the butt joint cover and can be connected with the cable through a connecting piece; the attitude controller comprises a propeller arranged on the side face and an internal motor, and the motor is connected with the propeller. The unmanned ship and the guide docking mechanism are placed in water through a series of operations such as lifting, descending and rotating through the hoisting mechanism, the unmanned ship is laid and recovered underwater and on water, meanwhile, the success rate of docking of the unmanned ship is improved by controlling and adjusting the posture and the position of the guide docking mechanism, and the high efficiency and the reliability of the folding and unfolding process under the complex operation environment are improved.

Description

Unmanned ship winding and unwinding devices

Technical Field

The utility model belongs to the technical field of unmanned ship, concretely relates to unmanned ship winding and unwinding devices.

Background

With the rapid development of unmanned systems, unmanned boats play an important role in reconnaissance, obstacle avoidance, high-risk task execution and the like. One of the important factors restricting the application of the unmanned ship at present is the unmanned ship deployment and recovery technology, and the higher the efficiency of the unmanned ship deployment and recovery process is, the higher the success rate of task execution can be ensured. The existing retraction and release technology generally has the problems of poor structural universality and functional universality, and a common retraction and release device only aims at a certain type of boat or a certain recovery mode (water surface or underwater). How to design a device which can reliably retract and release a water surface or underwater unmanned boat under the conditions of high navigation speed and high sea in a short time plays an important role in the application of the unmanned boat.

The information disclosed in this background section is only for enhancement of understanding of the general background of the invention and should not be taken as an acknowledgement or any form of suggestion that this information constitutes prior art already known to a person skilled in the art.

SUMMERY OF THE UTILITY MODEL

For solving the problem among the above-mentioned prior art, the utility model provides an unmanned ship winding and unwinding devices places the aquatic through serial operations such as rising to rise, decline, gyration with unmanned ship and direction docking mechanism through hoisting mechanism, carries out unmanned ship and lays and retrieve, and the gesture and the position through control adjustment direction docking mechanism are in order to improve the success rate of unmanned ship butt joint simultaneously, promote high efficiency and the reliability of receive and release process under the complicated operation environment. The application switching of the unmanned surface vehicle or the unmanned underwater vehicle is realized by changing the hoisting mode of the docking device.

The utility model is realized by adopting the following technical proposal:

an unmanned ship retracting device comprises a hoisting mechanism and a guide docking mechanism, wherein the hoisting mechanism is connected with the guide docking mechanism through a cable and is used for controlling the hoisting, descending and rotation of the guide docking mechanism;

the guide docking mechanism comprises a guide cover, a docking cover, an attitude controller and a hanging ring, and the guide cover is connected to one end of the docking cover and used for distributing and recovering the unmanned ship from the docking cover; the attitude controller is fixedly connected to the outer side surface of the butt joint cover and used for controlling the position of the butt joint cover; the hoisting rings are arranged on the attitude controller and the butt joint cover and can be connected with the mooring rope through connecting pieces;

the attitude controller comprises a propeller arranged on the side face and an internal motor, and the motor is connected with the propeller and used for controlling the propeller to rotate.

Furthermore, the hoisting mechanism comprises a base, a stand column and a telescopic machine, wherein a cable twisting machine is arranged in the base, one end of the cable is wound on the cable twisting machine, a rotary machine is further arranged between the bottom of the stand column and the top of the base, the rotary machine can drive the stand column to rotate horizontally on the base, one end of the telescopic arm is hinged to the top end of the stand column, and a telescopic first amplitude transformer is arranged in the middle of the telescopic arm and close to the left end and the bottom end of the stand column.

Furthermore, the telescopic machine comprises a fixed arm, a telescopic arm and a second amplitude transformer, the telescopic arm is sleeved in the fixed arm, one end of the second amplitude transformer is fixedly installed on the fixed arm, and the other end of the second amplitude transformer is fixed on the telescopic arm.

Furthermore, the guide cover is in a circular truncated cone shape with two open bottom surfaces, the bottom surface with the larger diameter is open outwards, and the bottom surface with the smaller diameter is fixedly connected with the butt joint cover.

Furthermore, the butt joint cover is a cage-shaped cylindrical structure with an opening at one end, and the side face of the butt joint cover comprises a longitudinal reinforcing rib along the extension direction of the butt joint cover and a transverse reinforcing rib along the circumferential direction.

Further, the rings arranged at the top end and the bottom end of the outer side surface of the butt joint cover are respectively provided with two rings, and the two rings are respectively fixed at the head end and the tail end of the top end and the bottom end of the butt joint cover.

Furthermore, the connecting piece includes jib and rope tying ring, and the jib that rises is provided with 2, and the upper end is all fixed on rope tying ring, and the lower extreme is connected with the rings that dock the cover through dismantling hanging respectively.

Compared with the prior art, the utility model discloses the beneficial effect who reaches is:

(1) The unmanned boat and the guide docking mechanism are placed in water through a series of operations such as lifting, descending and rotating through the hoisting mechanism, the unmanned boat is arranged and recovered, meanwhile, the attitude and the position of the guide docking mechanism are controlled and adjusted to improve the docking success rate of the unmanned boat, and the high efficiency and the reliability of the retraction process under a complex operation environment are improved;

(2) The butt joint cover is arranged into a cage-shaped cylindrical structure consisting of the transverse reinforcing ribs and the longitudinal reinforcing ribs, so that the resistance of the guide butt joint mechanism in water can be reduced, and the position of the guide butt joint mechanism in water can be conveniently and dynamically fixed in the process of collecting and releasing the unmanned ship;

(3) Through 4 variable-speed and variable-frequency propellers arranged on the side, the rear part and the top of the attitude controller, the dynamic balance of the whole guide docking mechanism in water can be conveniently controlled, so that the guide docking mechanism is dynamically fixed at a preset position in water, and the retraction and release operation of the unmanned boat is conveniently carried out.

Drawings

Fig. 1 is an overall structure diagram of the folding and unfolding apparatus in embodiment 1 of the present invention;

fig. 2 is an overall structure diagram of a hoisting mechanism in embodiment 1 of the present invention;

fig. 3 is an overall structure diagram of the guiding docking mechanism in embodiment 1 of the present invention;

fig. 4 is an overall structure diagram of the underwater operation of the retracting device in embodiment 1 of the present invention;

fig. 5 is an overall structure diagram of the above-water operation of the winding and unwinding device in embodiment 1 of the present invention.

In the figure: a hoisting mechanism 1; a base 11; a column 12; a compressor 13; a fixed arm 131; a telescopic arm 132; a cable winch 14; a turning machine 15; a first horn 16; a second horn 17;

a guiding butt-joint mechanism 2; a guide cover 21; a docking hood 22; an attitude controller 23; a propeller 231; a hanging ring 24; a connecting member 25; a boom 251; a tether ring 252;

a cable 3;

a parent vessel 4.

Detailed Description

The present invention will be further described with reference to the accompanying drawings. The following examples are only for illustrating the technical solutions of the present invention more clearly, and the protection scope of the present invention is not limited thereby.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are used merely for convenience of description and for simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention. Furthermore, the terms "first", "second", etc. are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first," "second," etc. may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it is to 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 meaning of the above terms in the present invention can be understood by those of ordinary skill in the art through specific situations.

Example 1

The embodiment provides an unmanned ship retracting device, as shown in fig. 1, which comprises a hoisting mechanism 1 and a guiding docking mechanism 2, wherein the hoisting mechanism 1 is connected with the guiding docking mechanism 2 through a cable 3 and is used for controlling the hoisting, descending and rotation of the guiding docking mechanism 2. The guide docking mechanism 2 comprises a guide cover 21, a docking cover 22, an attitude controller 23 and a lifting ring 24, wherein the guide cover 21 is connected to one end of the docking cover 22 and used for arranging and recovering the unmanned ship from the docking cover 22; the attitude controller 23 is fixedly connected to the outer side surface of the butt joint cover 22 and is used for controlling the position of the butt joint cover 22; the hanging ring 24 is arranged on the butt joint cover 22 and can be connected with the cable 3 through a connecting piece 25; the attitude controller 23 includes a propeller 231 provided at a side surface and an internal motor connected to the propeller 231 for controlling the rotation of the propeller 231. The hoisting mechanism 1 can conveniently adjust the position of the guide docking mechanism 2 on water or under water through self adjustment and retraction of the cable 3, and meanwhile, the position of the docking cover 22 is adjusted in real time through the propeller 231 on the side surface, so that the unmanned boat can be conveniently retracted on water or under water.

As shown in fig. 2, in the present embodiment, the hoisting mechanism 1 includes a base 11, a column 12 and a telescopic machine 13, a cable winch 14 is disposed in the base 11, and one end of the cable 3 is wound on the cable winch 14 and extends through the interior of the column 12 and the interior of the telescopic machine 13 to extend from the right end of the telescopic machine 13; a swing machine 15 is also arranged between the bottom of the upright post 12 and the top of the base 11, and the swing machine 15 can drive the upright post 12 to horizontally rotate on the base 11, so that the guiding and butting mechanism 2 is driven to move left and right by the telescopic machine 13; one end of the telescopic machine 13 is hinged at the top end of the upright post 12, and a telescopic first amplitude transformer 16 is arranged at the position close to the left end in the middle of the telescopic machine 13 and at the bottom end of the upright post 12, so that the telescopic machine 13 rotates around the hinged position under the action of the first amplitude transformer 16 to drive the guide docking mechanism 2 to move up and down. The telescopic machine 13 comprises a fixed arm 131, a telescopic arm 132 and a second amplitude transformer 17, wherein the telescopic arm 132 is sleeved in the fixed arm 131, one end of the second amplitude transformer 17 is fixedly arranged on the fixed arm 131, the other end of the second amplitude transformer is fixed on the telescopic arm 132, and the length of the telescopic machine 13 can be freely extended and shortened through the second amplitude transformer 17, so that the guide docking mechanism 2 is driven to move back and forth. In this embodiment, the first horn 16 and the second horn 17 both employ telescopic cylinders, and any other device capable of realizing telescopic horn variation may be used.

In order to reduce the resistance of the guiding docking mechanism 2 in water and facilitate dynamic fixing of the position of the guiding docking mechanism 2 in water during the process of launching and launching the unmanned ship, in the embodiment, as shown in fig. 3, the guiding cover 21 is a cage-shaped truncated cone-shaped structure with two open bottom surfaces, the bottom surface with a larger diameter is open outwards, and the bottom surface with a smaller diameter is fixedly connected with the docking cover 22. The docking cover 22 connected with the guide cover 21 is of a cage-shaped cylindrical structure with one open end, the side face of the docking cover 22 comprises longitudinal reinforcing ribs along the extending direction of the docking cover 22 and transverse reinforcing ribs along the circumferential direction, and the radian of the top of the side face is slightly flat, so that the docking cover is more attached to the bottom of the unmanned surface boat, and the docking mechanism 2 is suitable for storing and releasing the unmanned surface boat when being hoisted upside down. When the unmanned ship is folded and unfolded, water can freely enter and exit the interior of the butt joint cover 22, so that the convection resistance of water flow is effectively reduced.

As a preferable mode, in the present embodiment, as shown in fig. 3, two lifting rings 24 are provided at the top end and the bottom end of the outer side surface of the docking cover 22, and both ends of the lifting rings 24 are respectively fixed to the head end and the tail end of the docking cover 22. The connecting member 25 includes 2 lifting rods 251 and a tether ring 252, and the lifting rods 251 are fixed to the tether ring 252 at the upper ends thereof. Through the structure mode, the lower end of the lifting rod 251 can be hung on the hanging ring 24 of the butt joint cover 22 through a detachable hook, the installation and the disassembly are convenient, and the underwater retractable type underwater unmanned ship lifting device can be simultaneously suitable for underwater retractable operation and water retractable operation of an unmanned ship.

In the embodiment, the slewing machine 15 drives the mechanism at the upper part of the hoisting mechanism 1 to rotate left and right, the cable winch 14 winds and unwinds the cable 3, the first amplitude transformer 16 stretches and retracts, and the second amplitude transformer 17 stretches and retracts, all of which are controlled by an internal motor, and devices and methods for realizing the control in the prior art are available, which are not described herein in detail. The propellers 231 in the attitude controller 23 are actively controlled through extended electric wires, and the four propellers 231 can be respectively subjected to variable frequency speed regulation, so that the dynamic balance of the whole guide docking mechanism 2 in water is controlled through the four propellers 231, and the whole guide docking mechanism 2 is dynamically fixed in water for retraction and extension.

The utility model discloses can be applicable to unmanned ship's operation of receiving and releasing on water and under water simultaneously, as shown in fig. 4 and fig. 5, concrete working method is:

according to the figure 1, the whole unmanned ship retraction device is assembled, when the unmanned ship is deployed, a crew stores the unmanned ship into the guide docking mechanism 2, the mooring rope 3 is tied to the tether ring 252 by using the quick connection lock catch, the lower ends of the 2 lifting rods 251 are connected to the two lifting rings 24 at one end of the docking hood 22 through the detachable hooks, the first amplitude transformer 16 is controlled by the motor to lift up so that the guide docking mechanism 2 lifts off the deck of the mother ship 4, the swing machine 15 is controlled by the motor to rotate, the extension of the compressor 13 is controlled so that the guide docking mechanism 2 leaves the mother ship 4 to reach a specified water area, then the mooring rope 3 is winched by the winch 14 so that the guide docking mechanism 2 is lowered to the water surface (unmanned ship on the water surface) or underwater (unmanned ship under the water), and then the guide docking mechanism 2 is started by looking at the conditions of wind, waves, ocean currents and the like. If the arrangement environment is good, normally controlling the unmanned ship to drive away from the guide docking mechanism 2 and then withdrawing the guide docking mechanism 2; if the wind and waves are large, firstly starting 4 propellers 231 of the attitude controller 23, adjusting the angle and the rotating speed of each propeller 231, controlling the guide docking mechanism 2 to be in a balanced state in the vertical direction through a series of operations such as advancing and retreating, transversely moving left and right, floating and sinking, rotating around a z axis and the like, adjusting the direction of the guide cover 21 to enable the unmanned ship to conveniently drive away from the docking cover 22, and lifting through the lifting mechanism 1 after the unmanned ship drives away, and withdrawing the guide docking mechanism 2.

When the unmanned ship is recovered, the position information of the unmanned ship is determined through communication equipment such as radar and GPS, the post-driving mother ship 4 drives into the area where the unmanned ship is located or controls the unmanned ship to approach the mother ship 4, and when the distance is within the length range of the mooring rope 3, the guiding docking mechanism 2 is placed at a proper position in water through a series of operations such as rotation, descending and extension by the aid of the rotary machine 15, the first amplitude transformer 16, the second amplitude transformer 17 and the mooring winch 14 on the hoisting mechanism 1 by the aid of the guiding docking mechanism 2; then, the unmanned boat is continuously controlled to drive to the guide docking mechanism 2, and at this time, the attitude controller 23 of the guide docking mechanism 2 is started to adjust the attitude of the guide docking mechanism 2, including the relative position of the guide docking mechanism 2 and the opening direction of the guide cover 21, according to the position, the attitude and the like of the unmanned boat driven by adjusting the angles and the rotating speeds of the 4 propellers 231. The guiding docking mechanism 2 can be controlled by the attitude controller 23 to capture the unmanned ship in stormy waves or when emergency recovery is needed. When the unmanned ship enters the docking cover 22 for successful docking, the hoisting mechanism 1 is used for hoisting, contracting and rotating, and the guide docking mechanism 2 and the unmanned ship are retracted.

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

Claims

1. The unmanned ship retracting device is characterized by comprising a hoisting mechanism and a guide docking mechanism, wherein the hoisting mechanism is connected with the guide docking mechanism through a cable and is used for controlling the hoisting, descending and rotation of the guide docking mechanism;

the guide docking mechanism comprises a guide cover, a docking cover, an attitude controller and a hanging ring, and the guide cover is connected to one end of the docking cover and used for distributing and recovering the unmanned ship from the docking cover; the attitude controller is fixedly connected to the outer side surface of the butt joint cover and used for controlling the position of the butt joint cover; the hoisting ring is arranged on the butt joint cover and can be connected with the cable through a connecting piece;

2. The unmanned boat reel apparatus of claim 1, wherein the lifting mechanism comprises a base, a column and a telescopic machine, wherein a cable winch is arranged in the base, one end of the cable is wound on the cable winch, a swing machine is arranged between the bottom of the column and the top of the base, the swing machine can drive the column to horizontally rotate on the base, one end of the telescopic arm is hinged at the top of the column, and a first telescopic amplitude transformer is arranged between the middle of the telescopic arm and the bottom of the column.

3. The unmanned boat retraction device according to claim 2, wherein the telescopic mechanism comprises a fixed arm, a telescopic arm and a second horn, the telescopic arm is sleeved in the fixed arm, one end of the second horn is fixedly arranged on the fixed arm, and the other end of the second horn is fixed on the telescopic arm.

4. The unmanned boat retraction device according to claim 1, wherein the guide cover is in the shape of a truncated cone with two open bottom surfaces, the bottom surface with the larger diameter is open outwards, and the bottom surface with the smaller diameter is fixedly connected with the butt cover.

5. The unmanned boat stowing and releasing device of claim 1, wherein the docking cover is a cage-like cylindrical structure with one open end, and the side of the docking cover includes a longitudinal rib and a circumferential transverse rib along the extension direction of the docking cover.

6. The unmanned ship retracting device according to claim 1, wherein two lifting rings are arranged at the top end and the bottom end of the outer side surface of the butt joint cover, and the two lifting rings are respectively fixed at the head end and the tail end of the butt joint cover.

7. The unmanned ship retractable device of claim 6, wherein the connecting member comprises 2 lifting rods and a rope tying ring, the upper ends of the lifting rods are fixed on the rope tying ring, and the lower ends of the lifting rods are respectively connected with the hanging rings of the butt joint covers through detachable hooks.