WO2021027041A1 - 智能船舶回收装置 - Google Patents

智能船舶回收装置 Download PDF

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Publication number
WO2021027041A1
WO2021027041A1 PCT/CN2019/109627 CN2019109627W WO2021027041A1 WO 2021027041 A1 WO2021027041 A1 WO 2021027041A1 CN 2019109627 W CN2019109627 W CN 2019109627W WO 2021027041 A1 WO2021027041 A1 WO 2021027041A1
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WO
WIPO (PCT)
Prior art keywords
ship
slewing
recovery device
guide rope
intelligent ship
Prior art date
Application number
PCT/CN2019/109627
Other languages
English (en)
French (fr)
Inventor
辛峻峰
杨奉儒
李鹏昊
樊昊雨
胡定兴
Original Assignee
青岛科技大学
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Application filed by 青岛科技大学 filed Critical 青岛科技大学
Publication of WO2021027041A1 publication Critical patent/WO2021027041A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B21/00—Tying-up; Shifting, towing, or pushing equipment; Anchoring
    • B63B2021/003—Mooring or anchoring equipment, not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
    • B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
    • B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/007—Unmanned surface vessels, e.g. remotely controlled autonomously operating
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING 
    • B63B35/00—Vessels or similar floating structures specially adapted for specific purposes and not otherwise provided for
    • B63B2035/006—Unmanned surface vessels, e.g. remotely controlled
    • B63B2035/008—Unmanned surface vessels, e.g. remotely controlled remotely controlled

Definitions

  • the invention discloses an intelligent ship recovery device.
  • Smart ship cloth recycling is the earliest recycling method adopted, and the method is mainly through manual direct deployment of hooks and recycling.
  • the smart ship due to the large weight of the smart ship and the complicated environment such as sea wind, surge and current, the smart ship has no operators on the smart ship during the water discharge stage, and it is very difficult to hook.
  • the recovery operation can easily cause damage to the smart ship and the mother ship. In extremely harsh sea conditions, It may even cause devastating accidents for smart ships.
  • the principle of the deployment and recovery of the hoisting cage for the intelligent surface ship is to use a hoisting cage for the deployment and recovery of the intelligent surface ship, which includes a spreader, a rigid frame and a buoyancy box.
  • the spreader is located above the rigid frame and the spreader passes The sling is connected to the rigid frame.
  • the left side, right side, front side and bottom surface of the rigid frame are all connected by the rigid frame.
  • the rear side and the top surface of the rigid frame are open.
  • the smart ship can be driven in from the rear of the rigid frame or hoisted from the top.
  • the buoyancy box inside the rigid frame enables the cage to float in the water after being hoisted into the water. It is not suitable for manipulation when retracted and placed in harsh sea conditions. It is troublesome to get off the smart ship into the cage.
  • the chute launch and recovery is a common way.
  • the principle is to drive the smart ship directly onto the chute slide of the mother ship. After the small boat goes up the chute and is caught by the blocking net, it will be transported to the ship’s fixed position through the lifting device. Location, but the disadvantage is that the system is complicated, the mother ship is highly demanded, and it is not suitable for work under high sea conditions.
  • the present invention discloses a smart ship recovery device, that is, a device for recovering a smart ship from a mother ship in use of the smart ship.
  • An intelligent ship recovery device includes a slewing mechanism, a bracket is connected to the slewing mechanism through a connecting shaft, a launching tube is installed on the bracket, and a marble is installed in the launching tube.
  • the angle between the bracket and the rotating disk is adjusted by a lifting device; a triggering device is provided at the non-emitting end of the launching cylinder, and the triggering device triggers the marbles in the launching cylinder to project.
  • the trigger device performs signal communication with a remote controller.
  • the trigger device is a miniature casket
  • the ball is equipped with compressed gas
  • the tail is provided with a jet hole
  • a valve is installed at the position of the jet hole. State whether the valve is open.
  • the rudder arm of the miniature ostrich machine is connected to the valve of the marble through a connecting rope, and the rudder arm is controlled to rotate the rudder arm to open the valve and release the marble.
  • a guide rope pile is provided on the marble, and the guide rope pile is used to connect the guide rope.
  • One end of the guide rope is fixed on the smart ship, and the other end is fixed on the guide rope pile, so that The marble was able to fly to the mother ship with the guiding rope.
  • the lifting device adopts an electric push rod.
  • the cylinder part of the electric push rod is connected to a connecting shaft, both ends of the connecting shaft are mounted on the slewing mechanism through a support seat, and the push rod of the electric push rod is connected The piece is connected with the bracket.
  • the support includes a rectangular frame, and a support ring is provided on the rectangular frame, and the support ring is used to fix the launch tube.
  • the slewing mechanism includes a slewing support, a slewing disk, and a stepping motor.
  • the stepping motor drives the slewing ring to rotate
  • the slewing disk is installed on the slewing ring
  • the slewing ring drives the slewing disk to rotate.
  • the bracket is installed on the slewing support.
  • the device uses a lifting device to lift the launching system, adjust the launch angle of the gas cylinder, and use the slewing support to make the launching direction rotate 180° on the xoy plane to find the mother ship's position.
  • the trigger device is used to open the valve at the tail of the ball to release the ball.
  • the hull guide rope is thrown to the mother ship under the push of high pressure gas. The crew on the mother ship pulls the boat close to the mother ship through the guide rope, and then uses the guide rope to hang the load-bearing rope of the hull to the mother ship crane to complete the hull recovery.
  • FIG. 1 Figure 1 of Figure 2, Figure 3, Figure 4 are overall structural diagrams in the disclosed embodiments of the present invention.
  • FIG. 5 is a schematic structural diagram of a trigger device in an embodiment of the disclosure.
  • FIG. 6 is a schematic diagram of the structure of the marble in the disclosed embodiment of the present invention.
  • FIG. 7 is a schematic diagram of the structure of the launch tube in the disclosed embodiment of the present invention.
  • Figure 8 is a side view of the rotary disc and the rotary support in the disclosed embodiment of the present invention.
  • FIG. 9 is a perspective view of the rotating disk and the rotating support in the embodiment disclosed by the present invention.
  • Figure 10 is a top view of the rotary disc and the rotary support in the disclosed embodiment of the present invention.
  • FIG. 11 is a schematic diagram of the overall structure in the disclosed embodiment of the present invention.
  • Figures 12 and 13 are schematic diagrams of the structure of the stent in the disclosed embodiment of the present invention.
  • Figure 14 is a schematic diagram of the lifting device in the disclosed embodiment of the present invention.
  • Figures 15 and 16 are schematic diagrams of the structure of the stent
  • Figure 17 is a schematic diagram of the installation of marbles and pneumatic devices
  • Figure 18 is a physical model analysis diagram of a throw-in recovery device
  • Figure 19 is a schematic diagram of the simulation of the bow heave
  • this application proposes an intelligent ship recovery device.
  • the recovery device Due to the draught of the smart ship, the allowable area and other conditions, when designing the smart ship recovery device, the recovery device must be designed reasonably. Not only the availability of its throwing method should be considered, but also its own weight should be considered to prevent the hull from overloading.
  • the anti-corrosion problem of the device prevents the aging of the air valve; the waterproof problem of the connection between the device and the hull, etc., a specific embodiment disclosed in the present invention will be described in detail below with reference to the drawings;
  • the physical model of the throw-and-drop recovery device disclosed in this embodiment is shown in FIG. 18.
  • the smart ship recovery device mainly relies on the throw-and-drop device to recover the smart ship.
  • the operator can adjust the horizontal and vertical angle of the thrower through the remote control in his hand, and then find a suitable direction.
  • the trigger is located in the thrower
  • the micro steering gear behind the device triggers the throwing device to project.
  • the smart ship recovery device disclosed in this embodiment is shown in Figure 1, Figure 2, Figure 3, and Figure 4, and includes a slewing mechanism.
  • a bracket 3 is connected to the slewing mechanism through a connecting shaft.
  • a launching tube 4 is installed on the bracket 3, and a pin 5 is installed in the launching tube 4.
  • the bracket 3 adjusts the angle between it and the rotating mechanism through the lifting device 6; in the non-launching tube 4
  • the terminal is equipped with a trigger device, the trigger device triggers the marble 5 in the launching cylinder to project, and the trigger device communicates with a remote controller.
  • the smart ship recovery device mainly relies on the thrower to recover the smart ship.
  • the operator can adjust the horizontal and vertical angle of the thrower through the remote control in his hand, and then find a suitable direction , After the launching tube is adjusted to the proper position, then trigger the miniature steering gear behind the thrower to trigger the marbles for projection.
  • the trigger device adopts the existing micro cassette machine 2.
  • the ball 5 is equipped with compressed gas, and the tail is provided with air jet holes.
  • a valve 10 is installed at the position of the air jet hole. It is controlled whether the valve 10 is open or not; in this embodiment, the micro machine is fixed on the bottom of the bracket. It is not difficult to understand that in other embodiments, the micro machine can also be fixed on the turntable.
  • the method of controlling the valve by the miniature machine is as follows:
  • the steering gear is used as a triggering device.
  • a short rope is connected to the valve of the ball on the rudder arm of the steering gear to control the steering gear to rotate the rudder arm, open the valve and release the ball.
  • a guide rope pile 11 is provided on the marble 5, and the guide rope pile 11 is used to connect the guide rope.
  • One end of the guide rope is fixed on the smart ship, and the other end is fixed on the guide rope pile, so that the marble can be Fly to the mother ship with the guide rope; the preferred guide rope pile is fixed at the rear end of the marble.
  • the lifting device 6 chooses to use an electric push rod, the cylinder part of the electric push rod is connected to a connecting shaft, and both ends of the connecting shaft are mounted on the rotating mechanism through a support seat.
  • the push rod of the electric push rod is connected to the bracket through a connecting piece; the specific connecting piece can adopt the structure shown in the figure.
  • the corresponding launching tube includes two, so the corresponding connecting piece structure is:
  • the connecting member includes a first connecting rod, a second connecting rod, and a third connecting rod.
  • the first connecting rod is connected to the push rod, and the second connecting rod and the third connecting rod are respectively perpendicular to the first connecting rod;
  • the rod and the third connecting rod are parallel to each other;
  • the second connecting rod is connected to the first launching tube, and the third connecting rod is connected to the second launching tube; it is not difficult to understand that in other embodiments, when there is one launching tube, it is connected
  • the third link can be removed from the structure of the piece. When there are more than two launching barrels, a fourth link, a fifth link, etc. are added; the number of increased links is equal to the number of increased launching barrels.
  • the support includes a rectangular frame, and a support ring is provided on the rectangular frame, and the support ring is used to fix the launching tube; in this embodiment, two launching tubes are taken as an example, There are four support rings on the rectangular frame, and the four support rings are divided into two columns to support two launching tubes; it is not difficult to understand that in other embodiments, one or two launching tubes can also be provided
  • the above launch barrels are set up according to actual needs; each launch barrel is equipped with a valve and a miniature machine for controlling the valve.
  • each launch tube is provided at the rear end of each launch tube to support it.
  • the slewing mechanism includes a slewing support 8, a slewing disk 1, a stepping motor, and the stepping motor drives the slewing support 8 to rotate, and the slewing disk is mounted on the slewing support 8.
  • the slewing disk 1 is driven to rotate, and the bracket is installed on the slewing support 8.
  • the specific stepping motor drives the slewing support to rotate, and the slewing support drives the slewing disk to rotate.
  • the electric push rods, brackets, etc. are all installed on the Described on the turntable.
  • the main component can be made of aluminum alloy and coated on the surface to prevent seawater corrosion.
  • the working chamber volume is 0.5L
  • the working pressure is adjustable from 30 to 200 bar
  • the projection angle is adjustable from 30° to 60
  • the size of the launching tube is taken on the basis of size coordination.
  • the intelligent ship recovery device is folded on the ship deck during hull operation, and is lifted and extended by the lifting device when the hull is recovered.
  • the pitch angle of the hull is ⁇
  • the elevation angle is ⁇
  • the launch angle is ⁇ .
  • the lift angle range of the ejector itself relative to the ship is (30°, 60°), and the ejection angle changes with the change of the bow undulation.
  • the pitch angle of the hull can be obtained from the range of launch angle (37.4065°, 65.676°).
  • the lifting arm adopts an electric push rod (see Table 3.3 for the specific data of the push rod), which can obtain a large enough force while meeting a small proportion of the space to lift the ejection device.
  • the folding structure of the double support lever is adopted.
  • a fixed axis is set on the ejection device and the deck.
  • a rotating shaft is designed on the top of the push rod to connect with a double support bracket to connect the support and the push rod. The bottom is connected with two fixed shafts.
  • a slewing support designed below the lifting device is proposed below and fixed on the upper deck.
  • the slewing support is driven to rotate.
  • the slewing support is driven by a stepper motor in the hull, and the remote control controls the current to control the rotation of the stepper motor. The rotation of the projectile.
  • the intelligent ship recovery device must reach the target spray distance without affecting the operation of other systems of the recovery device, and the devices used in the power system must be convenient and easy to operate. Because the pneumatic driving device is simple, easy to install and repair, and the external equipment is relatively light, pneumatic is adopted.
  • the pneumatic system includes the pinball, launcher, and trigger device.
  • air force is a kind of mechanical force, which is produced by the contact and interaction between objects and fluid (gas).
  • lift is generated.
  • the airflow is turned in one direction, and lift or thrust is generated in the opposite direction.
  • the valve of the marble is opened by the trigger device, the compressed gas inside the marble is ejected from the jet hole at the tail, and the ejected gas provides the thrust of the marble in the opposite direction, so that the marble can fly to the mother ship with the guiding rope.

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  • Chemical & Material Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Combustion & Propulsion (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Load-Engaging Elements For Cranes (AREA)
  • Toys (AREA)
  • Jib Cranes (AREA)

Abstract

一种智能船舶回收装置，其利用电动力臂抬升发射系统，调整弹子（5）发射的垂直角度，并使用步进电机通过回转支承（8）使发射方向在水平面进行180°的转动来寻找母船方位，最后以一个舵机（2）作为触发装置，在舵机的舵臂（9）上系一根短绳与弹子的阀门（10）相连，控制舵机旋转舵臂，将阀门打开，将弹子释放，弹子的尾部系引导绳，引导绳的后半部分为承重绳，末端与船体相连，引导绳视船体情况放置，弹子被释放后在高压气体的推动下将船上的引导绳带向母船，母船上由人员通过引导绳牵引智能船舶靠近母船，再利用引导绳将船体的承重绳挂上母船起重机，完成船体回收。智能船舶回收装置能实现智能船舶在无人员与船体直接接触且对母船要求不高的情况下回收，可以适应各种海况，安全性高。

Description

智能船舶回收装置 技术领域
本发明公开了一种智能船舶回收装置。
背景技术
近几年来，随着智能船舶技术的发展，国内外科研院已经研制出若干智能船舶型号，并投入实际的应用中去。智能船舶在海面工作完毕后，由于海况多变不能依赖人工下水回收船只，而且遭遇风浪时发生的摇动会对船只的回收增加难度，为使造价昂贵的智能船舶不受撞击等回收过程中造成的损坏，被安全回收，需要智能船舶回收时与母船建立联系，针对船的回收方案是多种多样的，比如通过智能船舶布回收、水面智能船舶布放吊笼回收、斜槽发射回收等。
智能船舶布回收，是最早采用的回收方式，其方式主要是通过人工直接布放挂钩回收。但是由于智能船舶自身重量大和海上风浪涌流等环境复杂，智能船舶在出水阶段，智能船舶上没有操作人员，挂钩非常困难，回收操作很容易造成智能船舶和母船的损坏，在极其恶劣的海况下，甚至会造成智能船舶的毁灭性事故。
水面智能船舶布放吊笼回收，其原理主要是利用了一种水面智能船舶布放回收的吊笼，包括吊具、刚性框体和浮力箱，吊具位于刚性框体的上方，吊具通过吊索与刚性框体相连，刚性框体的左侧面、右侧面、前侧面和底面均由刚性框架连接组成，刚性框体的后侧面和顶面都开口，刚性框体的内部装有多个浮力箱。智能船舶可从刚性框体的后部驶入或者从顶部吊入，刚性框体内部的浮力箱使得吊笼被吊入水面后能够漂浮于水中，其本身收放时不宜操控，在恶劣的海况下智能船舶进入吊笼较为麻烦。
斜槽发射回收，是一种常见的方式，其原理是直接将智能船舶行驶到母船的斜槽滑道上，小艇驶上斜槽被阻拦网捕获后，将通过起重装置运送到船上的固定位置，但缺点是系统复杂，对母船要求高，高海况下不适宜工作等。
大多数的回收装置都是将起重装置与智能船舶连接后运送到船上的固定位置，但恶劣的海况使连接变得难以控制。
发明内容
为了解决现有技术中存在的技术问题，本发明公开了一种智能船舶回收装置，即是用于智能船舶使用中的母船回收智能船的装置。
为了实现上述目的，本发明采用的技术方案如下：
一种智能船舶回收装置，包括回转机构，在所述的回转机构上通过连接轴连接有一个支架，在所述的支架上安装有发射筒，在所述的发射筒内安装有弹子，所述的支架通过抬升装置调节其与回转盘之间的角度；在发射筒的非发射端设有触发装置，所述的触发装置触发发射筒内的弹子进行投射。
作为进一步的技术方案，所述的触发装置与一个遥控器进行信号通讯。
作为进一步的技术方案，所述的触发装置为一个微型鸵机，所述的弹子内部装有压缩气体，尾部设有喷气孔，在所述的喷气孔位置安装有一个阀门，微型鸵机控制所述阀门是否开启。
更近一步的，微型鸵机的舵臂通过连接绳与弹子的阀门相连，控制舵机旋转舵臂将阀门打开，将弹子释放。
作为进一步的技术方案，所述的弹子上设有引导绳桩，在所述的引导绳桩用于连接引导绳，引导绳的一端固定在智能船舶上，另一端固定在引导绳桩上，使得弹子得以带着引导绳飞向母船。
作为进一步的技术方案，所述的抬升装置采用电动推杆。
作为进一步的技术方案，所述电动推杆的缸体部分与一个连接轴相连，所述的连接轴两端通过支撑座安装在所述的回转机构上，所述的电动推杆的推杆连接件与所述的支架相连。
作为进一步的技术方案，所述的支架包括矩形框架，在所述的矩形框架上设有支撑圈，所述的支撑圈用于固定发射筒。
作为进一步的技术方案，所述的回转机构包括回转支承、回转盘、步进电机，所述的步进电机驱动回转支承转动，所述的回转盘安装在回转支承上，回转支承驱动回转盘旋转，所述的支架安装在回转支撑上。
本发明的有益效果：
该装置利用抬升装置抬升发射系统，进而调整气瓶发射角度，并使用回转支承使发射方向在xoy平面进行180°的转动寻找母船方位，最后利用触发装置将弹子尾部的阀门打开，将弹子释放，气瓶被释放后在高压气体的推动下将船体引导绳抛向母船，母船上人员通过引导绳牵引小船靠近母船，再利用引导绳将船体的承重绳挂上母船起重机，完成船体回收。
附图说明
构成本申请的一部分的说明书附图用来提供对本申请的进一步理解，本申请的示意性实施例及其说明用于解释本申请，并不构成对本申请的不当限定。
图1、图2、图3、图4是本发明公开的实施例中的整体结构图；
图5是本发明公开的实施例中的触发装置的结构示意图；
图6是本发明公开的实施例中的弹子的结构示意图；
图7是本发明公开的实施例中的发射筒的结构示意图；
图8是本发明公开的实施例中的回转盘及回转支撑的侧视图；
图9是本发明公开的实施例中的回转盘及回转支撑的立体图；
图10是本发明公开的实施例中的回转盘及回转支撑的俯视图；
图11是本发明公开的实施例中的整体结构示意图；
图12、图13是本发明公开的实施例中的支架的结构示意图；
图14是本发明公开的实施例中的提升装置示意图；
图15、图16是支架的结构示意图；
图17是弹子与气动装置的安装示意图；
图18是抛投式回收装置的物理模型分析图；
图19是船首起伏模拟示意图；
图中：1回转盘，2微型鸵机，3支架，4发射筒，5弹子，6抬升装置，7后座,8回转支撑，9鸵臂，10阀门，11引导绳桩。
具体实施方式
应该指出，以下详细说明都是例示性的，旨在对本申请提供进一步的说明。除非另有指明，本文使用的所有技术和科学术语具有与本申请所属技术领域的普通技术人员通常理解的相同含义。
需要注意的是，这里所使用的术语仅是为了描述具体实施方式，而非意图限制根据本申请的示例性实施方式。如在这里所使用的，除非上下文另外明确指出，否则单数形式也意图包括复数形式，此外，还应当理解的是，当在本说明书中使用术语“包含”和/或“包括”时，其指明存在特征、步骤、操作、器件、组件和/或它们的组合；
为了方便叙述，本发明中如果出现“上”、“下”、“左”“右”字样，仅表示 与附图本身的上、下、左、右方向一致，并不对结构起限定作用,仅仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的设备或元件必须具有特定的方位，以特定的方位构造和操作，因此不能理解为对本发明的限制。
术语解释部分:本发明中的术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或为一体；可以是机械连接，也可以是电连接，可以是直接连接，也可以是通过中间媒介间接相连，可以是两个元件内部连接，或者两个元件的相互作用关系，对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明的具体含义。
正如背景技术所介绍的，现有技术中存在不足，为了解决如上的技术问题，本申请提出了一种智能船舶回收装置。
本申请的一种典型的实施方式中，在进行设计智能船舶回收装置之前，首先要对实验小船的各方面数据进行全面的测量分析，通过了解在此设计之前的智能船舶回收的方式及相应的原理，结合新想法进行设计，从而产生了新型的抛投式智能船舶回收装置。
由于智能船舶的吃水，允许占用的面积等条件，设计智能船舶回收装置时，必须合理的进行回收装置设计，不仅要考虑其抛投方式的可用性，还应考虑其自身的重量问题，防止船体过载；装置反腐蚀问题防止气阀老化；装置与船体连接处防水的问题等，下面结合附图对本发明公开的一个具体实施例进行详细说明；
本实施例中公开的抛投式回收装置物理模型如图18所示，智能船舶回收装置主要是依靠抛投器进行智能船舶的回收。当智能船舶需要进行回收时，操控者可通过手中的遥控器调整抛投器的水平角度和垂直角度，进而寻找到一个合适的方向，在发射筒调整到合适的位置后，然后触发位于抛投器后方的微型舵机，从 而触发抛投器，进行投射。
根据上述模型，本实施例公开的智能船舶回收装置如图1、图2、图3、图4所示，包括回转机构，在所述的回转机构上通过连接轴连接有一个支架3，在所述的支架3上安装有发射筒4，在所述的发射筒4内安装有弹子5，所述的支架3通过抬升装置6调节其与回转机构之间的角度；在发射筒4的非发射端设有触发装置，所述的触发装置触发发射筒内的弹子5进行投射，触发装置与一个遥控器进行信号通讯。
智能船舶回收装置主要是依靠抛投器进行智能船舶的回收，当智能船舶需要进行回收时，操控者可通过手中的遥控器调整抛投器的水平角度和垂直角度，进而寻找到一个合适的方向，在发射筒调整到合适的位置后，然后触发位于抛投器后方的微型舵机，从而触发弹子，进行投射。
在本实施例中，触发装置为采用现有的微型鸵机2,在弹子5内部装有压缩气体，尾部设有喷气孔，在所述的喷气孔位置安装有一个阀门10，微型鸵机2控制所述阀门10是否开启；本实施例中微型鸵机固定在支架底部，不难理解的在其他实施例中，微型鸵机还可以固定在回转盘上。
微型鸵机控制阀门的方式如下：
舵机作为触发装置，在舵机的舵臂上系一根短绳与弹子的阀门相连，控制舵机旋转舵臂，将阀门打开，将弹子释放。
进一步的，在弹子5上设有引导绳桩11，在所述的引导绳桩11用于连接引导绳，引导绳的一端固定在智能船舶上，另一端固定在引导绳桩上，使得弹子得以带着引导绳飞向母船；优选的引导绳桩固定在弹子的后端位置。
在本实施例中，抬升装置6选择采用电动推杆，电动推杆的缸体部分与一个 连接轴相连，所述的连接轴两端通过支撑座安装在所述的回转机构上，所述的电动推杆的推杆通过一个连接件与所述的支架相连；具体的连接件可以采用如图所示的结构，该实施例中对应的发射筒包括两个，因此对应的连接件结构是：连接件包括第一连杆、第二连杆、第三连杆，所述的第一连杆与推杆相连，第二连杆、第三连杆分别与第一连杆垂直；第二连杆、第三连杆相互平行；第二连杆与第一发射筒相连，第三连杆与第二发射筒相连；不难理解的在其他实施例中，当发射筒为1个时，连接件的结构中去掉第三连杆即可，当发射筒为2个以上时，增加第四连杆、第五连杆等；增加的连杆个数与增加的发射筒的个数相等。
作为进一步的技术方案，所述的支架包括矩形框架，在所述的矩形框架上设有支撑圈，所述的支撑圈用于固定发射筒；在本实施例中以两个发射筒为例，在矩形框架上设有四个支撑圈，将四个支撑圈分成了两列，用于支撑两个发射筒；不难理解的，在其他实施例中，还可以设置1个发射筒或者2个以上的发射筒，根据实际需要进行设置；每个发射筒的后面均设有一个阀门和一个用于控制阀门的微型鸵机。
进一步的，在每个发射筒的后端设有一个后座，对其进行支撑。
作为进一步的技术方案，所述的回转机构包括回转支承8、回转盘1、步进电机，所述的步进电机驱动回转支承8转动，所述的回转盘安装在回转支承8上，回转支承驱动回转盘1旋转，所述的支架安装在回转支撑8上；具体的步进电机驱动回转支撑旋转，所述的回转支撑带动回转盘旋转，所述的电动推杆、支架等均安装在所述的回转盘上。
下面以一个具体的实施例对本发明进行说明：
1.总体设计参数
表格1设计指标
Figure PCTCN2019109627-appb-000001
主构件可以采用铝合金材质，并在表面涂镀以防止海水腐蚀。为了保证装置的射程及安全性，工作腔容积取0.5L，工作压力为30～200bar可调，抛射角度为30°～60可调，并在尺寸协调的基础上取发射筒的尺寸为
Figure PCTCN2019109627-appb-000002
2.抬升装置设计
为减少船甲板的结构复杂程度，以及防止抛投装置受外力的作用导致的机械故障，智能船舶回收装置在船体作业时折叠于船甲板，在船体回收时由抬升装置将其抬升伸展开来，设船体纵摇角度为α，抬升角度为β，发射角度为γ可得
γ＝α+β
抛射器本身相对于船的抬升角度区间为(30°，60°)，抛射角度随船首起伏度数的改变而改变，以海狼游艇工作室设计的五体船在浪高0.65m到0.95m为例(图19)，船体纵摇角度(见表3.2)可得发射角度的取值区间为(37.4065°，65.676°)。
表2船首起伏角
Figure PCTCN2019109627-appb-000003
抬升力臂采用电动推杆(推杆具体数据见表3.3)，在满足对于空间的较小占比的同时能够得到足够大的力，将抛射装置抬升。
表3抬升力臂参数表
Figure PCTCN2019109627-appb-000004
推杆作用在系统结构中时，采用双支撑杠杆的折叠结构，在抛射装置与甲板上各设置一个定轴，推杆的顶部再设计一个转轴与一个双支撑的支架连接，将支架和推杆底部再与两个定轴连接。当推杆工作时由于力的相互作用使推杆抬升，带动抛射装置仰角增大，使抛射器进入待发射状态。
3.转向装置设计
由于智能船艇在海面上工作，海上条件十分复杂，不能准确地让船首指向母船，相对的抛射器就无法将弹子抛向母船，因此，在抛投器下方设计一个转向装置就显得极为重要。下面提出一个在抬升装置下方设计一个回转支承，固定于上 甲板的转台，转台由回转支承带动转动，回转支承由船体内一个步进电机带动，由遥控器控制电流以控制步进电机转动进而控制抛射器的转动。
4.气动系统设计
智能船舶回收装置必须达到目标的喷射距离并且不影响回收装置的其他系统的运作，且动力系统上采用的装置必须要满足便捷易操作。由于气动的驱动装置简单，安装检修方便，外设备又较为轻便，故采用气动。
弹子需要输出一定的力以驱动主动进动，为保证有较大的力输出，且有较精确的控制，气动系统包含弹子，发射架，触发装置。根据空气动力学原理:空气作用力是一种机械力,系由物体与流体(气体)间的接触与相互作用而产生。当一个物体将气流转向的时候,升力就产生了,根据牛顿第三运动定律,气流被转向一个方向,在相反的方向会产生升力或推力。在弹子的阀门被触发装置打开后，弹子内部的压缩气体在尾部的喷气孔喷出，喷出的气体为弹子提供反方向的推力，使得弹子得以带着引导绳飞向母船。
以上所述仅为本申请的优选实施例而已，并不用于限制本申请，对于本领域的技术人员来说，本申请可以有各种更改和变化。凡在本申请的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本申请的保护范围之内。

Claims (10)

  1. 一种智能船舶回收装置，其特征在于，包括回转机构，在所述的回转机构上通过连接轴连接有一个支架，在所述的支架上安装有发射筒，在所述的发射筒内安装有弹子和气动装置，所述的支架通过抬升装置调节其与回转盘之间的角度；在发射筒的非发射端设有触发装置，所述的触发装置触发气动装置，所述的气动装置驱动发射筒内的弹子进行投射。
  2. 如权利要求1所述的一种智能船舶回收装置，其特征在于，所述的触发装置与一个遥控器进行信号通讯。
  3. 如权利要求1或2所述的一种智能船舶回收装置，其特征在于，所述的触发装置为一个微型鸵机。
  4. 如权利要求3所述的一种智能船舶回收装置，其特征在于，所述的弹子内部装有压缩气体，尾部设有喷气孔，在所述的喷气孔位置安装有一个阀门，微型鸵机控制所述阀门是否开启。
  5. 如权利要求4所述的一种智能船舶回收装置，其特征在于，微型鸵机的舵臂通过连接绳与弹子的阀门相连，控制舵机旋转舵臂将阀门打开，将弹子释放。
  6. 如权利要求1所述的一种智能船舶回收装置，其特征在于，所述的弹子上设有引导绳桩，在所述的引导绳桩用于连接引导绳，引导绳的一端固定在智能船舶上，另一端固定在引导绳桩上，使得弹子得以带着引导绳飞向母船。
  7. 如权利要求1所述的一种智能船舶回收装置，其特征在于，所述的抬升装置采用电动推杆。
  8. 如权利要求1所述的一种智能船舶回收装置，其特征在于，所述电动推杆的缸体部分与一个连接轴相连，所述的连接轴两端通过支撑座安装在所述的回转 机构上，所述的电动推杆的推杆连接件与所述的支架相连。
  9. 如权利要求1所述的一种智能船舶回收装置，其特征在于，所述的支架包括矩形框架，在所述的矩形框架上设有支撑圈，所述的支撑圈用于固定发射筒。
  10. 如权利要求1所述的一种智能船舶回收装置，其特征在于，所述的回转机构包括回转支承、回转盘、步进电机，所述的步进电机驱动回转支承转动，所述的回转盘安装在回转支承上，回转支承驱动回转盘旋转，所述的支架安装在回转支撑上。
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