WO2021196618A1

WO2021196618A1 - Recovery apparatus and navigation device

Info

Publication number: WO2021196618A1
Application number: PCT/CN2020/127170
Authority: WO
Inventors: 刘陈利; 张云飞; 汪叶拾; 岳剑峰; 胡勇智; 王雪; 李冬科; 吴国松
Original assignee: 珠海云洲智能科技有限公司
Priority date: 2020-03-30
Filing date: 2020-11-06
Publication date: 2021-10-07
Also published as: CN111319722A

Abstract

A recovery apparatus and a navigation device. The recovery apparatus comprises: a recovery cage (2) provided internally with an accommodating cavity for accommodating an unmanned ship (1), a first opening and a second opening which are communicated with the accommodating cavity being respectively formed in two ends of the recovery cage (2), and the end of the recovery cage (2) close to the second opening being provided with a counter-locking rod (21); and a storage rack (3), the top of which is provided with a storage platform used for storing the unmanned ship (1); one end of the storage rack (3) is provided with a locking mechanism (31) in butt joint with the counter-locking rod (21). The navigation device is provided with the recovery apparatus. According to the recovery apparatus and the navigation device, the unmanned ship (1) can be conveniently transferred by means of the cooperation between the recovery cage (2) and the storage rack (3), and meanwhile, the regular placement of the unmanned ship is also facilitated. In addition, the unmanned ship (1) can conveniently enter and exit the recovery cage (2) by means of the first opening and the second opening of the recovery cage (2); and finally, by means of the cooperation between the counter-locking rod (21) and the locking mechanism (31), the stability of the transfer of the unmanned ship (1) can be higher.

Description

Recovery device and navigation equipment

This application is required to be submitted to the State Intellectual Property Office of China on March 30, 2020, application number For 202010239358.5, the invention created a patent named "a kind of recovery device and navigation equipment" Priority of application.

Technical field

This application relates to the field of unmanned ship recovery technology, and more specifically, to a recovery device and navigation equipment.

Background technique

The existing unmanned ships perform tasks in specific ways as follows: the mother ship carries multiple small unmanned ships to perform missions in the open sea, and the mother ship and multiple small unmanned ships form a navigation system to ensure that the entire navigation system can operate normally under higher sea conditions. To use and work, it is necessary to carry out targeted design and research and development work in three aspects: the rapid deployment and recovery device of small unmanned ships, the deck transfer device and the storage device of small unmanned ships; the existing navigation system has the following problems: The transfer speed of unmanned ships on deck is slow, and the fixation and storage of unmanned ships are also inconvenient.

Summary of the invention

The purpose of this application is to provide a recovery device and navigation equipment to solve the technical problems in the prior art that the unmanned ship's transfer speed on the mother ship is slow and the storage is inconvenient.

In order to achieve the above-mentioned purpose, the technical solution adopted in this application is a recovery device, which includes:

A recovery cage is provided with a containing cavity for accommodating an unmanned ship. Both ends of the recovery cage are respectively provided with a first opening and a second opening communicating with the containing cavity. One end of the second opening is provided with a pair of lock rods; and

The storage rack is provided with a storage platform for storing unmanned ships on the top, and one end of the storage rack is provided with a locking mechanism butted with the pair of lock rods.

In one embodiment, the end of the recovery cage close to the second opening is rotated to be provided with a door frame for closing the second opening.

In an embodiment, the door frame is provided with a first locking rod for docking with a locking pliers on an unmanned ship.

In one embodiment, the storage rack includes two guardrails, the two guardrails are arranged on opposite sides of the storage platform, and the distance between the two guardrails is slightly larger than the width of the recovery cage.

In an embodiment, the storage rack is provided with a second locking rod for docking with the locking pliers of the unmanned ship at one end of the storage rack away from the locking mechanism.

In one embodiment, the storage rack includes a plurality of guide wheels, and the plurality of guide wheels are arranged on the storage platform and located between the second locking rod and the locking mechanism.

In one embodiment, the storage rack includes a plurality of brackets, a plurality of the brackets are rotatably connected to the storage platform, the guide wheel is rotatably connected to the bracket, and the bracket is rotatably connected to the storage platform .

In one embodiment, it further includes a control mechanism connected to the locking mechanism and used for controlling the expansion and contraction of the locking mechanism on the storage rack.

In one embodiment, the locking mechanism includes a first rotating rod fixed on the storage rack, a hook piece rotatably connected to the first rotating rod, and one side connected to the hook piece and used A connecting rod that drives the hook member to rotate around the first rotating rod; the control mechanism includes a second rotating rod rotatably connected to the storage rack, and connected to the connecting rod away from the hook member A control rod with one end connected to the second rotating rod and a control pedal for driving the second rotating rod to rotate and thereby driving the control rod to rotate.

Another object of the present application is to provide a navigation equipment provided with the aforementioned recovery device.

The beneficial effects of the recovery device and navigation equipment provided by this application are:

Through the cooperation between the recovery cage and the storage rack, the unmanned ship can be easily transferred between the water surface and the mother ship, and it is also conducive to the regularity of the unmanned ship; in addition, through the first opening and the second opening of the recovery cage It is convenient for the unmanned ship to enter and exit; finally, through the cooperation between the lock rod and the locking mechanism, the stability between the recovery cage and the storage rack when the unmanned ship is transferred can be higher, which is conducive to the safe transfer of the unmanned ship.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative work, other drawings can be obtained from these drawings.

Figure 1 is a schematic diagram of a recovery device provided by an embodiment of the present application;

Figure 2 is a three-dimensional structural diagram of a recovery cage provided by an embodiment of the present application;

Fig. 3 is a three-dimensional structural diagram of a storage rack provided by an embodiment of the present application.

The reference signs in the figure are:

Unmanned ship-1; Locking pliers-11;

Recovery cage-2; Pair lock rod-21; Mast-22; First lock rod-23; Guide rail-24; Floating body-25;

Storage rack-3; locking mechanism-31; first rotating rod-311; hook piece-312; connecting rod-313; wedge-shaped part-314; second locking rod-32; support rod-33; guide wheel- 34; bracket-35; control mechanism-36; second rotating lever-361; control lever-362; control pedal-363; guardrail-37.

Detailed ways

In order to make the technical problems, technical solutions, and beneficial effects to be solved by the present application clearer, the following further describes the present application in detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present application, and are not used to limit the present application.

As shown in Figures 1 to 3, a recovery device provided by an embodiment of the present application is used to transfer the unmanned vessel 1, specifically capturing the unmanned vessel 1 from the surface and transferring it to the mother ship; or removing the unmanned ship 1 from the mother ship. The human ship 1 is released onto the water.

The recovery device includes: a recovery cage 2 and a storage rack 3; the interior of the recovery cage 2 is provided with an accommodation cavity for accommodating the unmanned ship 1, and both ends of the recovery cage 2 are respectively provided with first openings and In the second opening, the end of the recovery cage 2 close to the second opening is provided with a pair of lock rods 21; the top of the storage rack 3 is provided with a storage platform for storing the unmanned ship 1, and one end of the storage rack 3 is provided with a pair of lock rods 21 The butt locking mechanism 31.

The working principle of the recovery device provided in this embodiment is as follows:

The specific process of installing the recovery device on the mother ship or dock, and putting the unmanned ship 1 into the unmanned ship 1 is to unlock the lock lever 21 and the locking mechanism 31, that is, to release the cooperation between the recovery cage 2 and the storage rack 3, and the recovery cage 2 Place it on the water and control the unmanned ship 1 to drive out of the recovery cage 2;

The specific process of recovering the unmanned ship 1 is to control the unmanned ship 1 to enter the recovery cage 2 from the first opening, and move the recovery cage 2 to the storage rack 3 so that the locking rod 21 is connected to the locking mechanism 31, namely The recovery cage 2 is fixed on the storage rack 3 and controls the unmanned ship 1 to move from the second opening to the storage rack 3.

The beneficial effects of the recovery device provided in this embodiment are:

Through the cooperation between the recovery cage 2 and the storage rack 3, the unmanned ship 1 can be easily transferred between the surface of the water and the mother ship, and it is also conducive to the regularity of the unmanned ship 1; in addition, through the first of the recovery cage 2 The opening and the second opening facilitate the entry and exit of the unmanned ship 1; finally, the coordination between the lock rod 21 and the locking mechanism 31 can make the recovery cage 2 and the storage rack 3 more stable when the unmanned ship 1 is transferred. High, which is conducive to the safe transfer of the unmanned ship 1.

In one embodiment, the end of the recovery cage 2 close to the second opening is rotated to provide a door frame 22 for closing the second opening. It is understandable that the second opening can be closed by setting the door frame 22, that is, when the second opening is closed, the recovery cage 2 has only one opening, which is convenient for the recovery cage 2 to perform the transfer action after the unmanned ship 1 is recovered; At the same time, it is also convenient to open the second opening after the recovery cage 2 and the storage rack 3 are docked, so that the unmanned ship 1 can be transferred from the second opening to the storage rack 3.

In one embodiment, the door frame 22 is provided with a first locking rod 23 for docking with the locking pliers 11 on the unmanned ship 1. It can be understood that by setting the first locking rod 23, when the unmanned ship 1 enters the frame, the locking pliers 11 cooperate with the first locking rod 23 to fix the unmanned ship 1 inside the frame. In this embodiment, this design can prevent the unmanned vessel 1 from colliding in the recovery cage 2 when the unmanned vessel 1 is transferred by the recovery cage 2.

In one embodiment, the recovery cage 2 is provided with a guide rail 24 at the opening. It can be understood that the guide rail 24 is used to guide the unmanned ship 1 into the accommodating cavity from the opening.

Specifically, the number of the guide bars 24 is two, and the two guide bars 24 are arranged opposite to the opening of the recovery cage 2, and the distance between the two guide bars 24 gradually expands from the opening to the distance. It is understandable that this design can make the guide bar 24 have a stronger guiding ability.

In one embodiment, floating bodies 25 are provided on both sides of the recovery cage 2. It can be understood that by setting the floating body 25, the recovery cage 2 can be floated on the water surface, so that the unmanned ship 1 can enter the containing cavity.

Specifically, the floating body 25 is provided in the middle of the two sides of the recovery cage 2. Through this design, the upper half of the recovery cage 2 is exposed to the water surface, and the lower half of the recovery cage 2 sinks under the water surface, so that the unmanned ship 1 can enter the container. Set the cavity.

In one embodiment, the storage rack 3 includes two guardrails 37, the two guardrails 37 are provided on opposite sides of the storage platform, and the distance between the two guardrails 37 is slightly larger than the width of the recovery cage 2. It is understandable that the docking of the recovery cage 2 can be guided by the guardrail 37 to increase the docking speed and avoid collisions during docking.

In an embodiment, an end of the storage rack 3 away from the locking mechanism 31 is provided with a second locking rod 32 for docking with the locking pliers 11 of the unmanned ship 1. It is understandable that by setting the second locking rod 32, when the unmanned ship 1 is transferred to the storage rack 3, the second locking rod 32 is connected to the locking pliers 11, and the storage rack 3 connects the unmanned ship 1 to the storage rack 3. fixed. Through this design, the storage of the unmanned ship 1 can be made more stable.

In one embodiment, the storage rack 3 is provided with a supporting rod 33 for supporting the second locking rod 32. It can be understood that the stability of the second locking rod 32 can be increased by the support rod 33.

Specifically, the number of the supporting rods 33 is two, and the two supporting rods 33 are arranged opposite to the two sides of the second locking rod 32.

In one embodiment, the storage rack 3 includes a plurality of guide wheels 34, and the plurality of guide wheels 34 are arranged on the storage platform and located between the second locking rod 32 and the locking mechanism 31. By providing a plurality of guide wheels 34, the unmanned ship 1 can be more smoothly transferred when the storage rack 3 is transferred.

Specifically, the plurality of guide wheels 34 are divided into two groups, and the two groups of guide wheels 34 are oppositely arranged on the top of the storage rack 3, and the unmanned ship 1 is guided to transfer on the storage rack 3 along a preset direction through this design.

In one embodiment, the guide wheel 34 is rotatably connected to the bracket 35, and the bracket 35 is rotatably connected to the storage rack 3.

Specifically, the guide wheel 34 rotates around the first rotation axis, and the support 35 rotates around the second rotation axis. The first rotation axis is perpendicular to the transfer direction of the unmanned ship 1, usually the length direction of the storage rack 3, and the second rotation axis is parallel. The transfer direction of the unmanned ship 1 is the width direction of the storage rack 3. That is, the guide wheel 34 can be adapted to rotate according to the shape of the bottom of the unmanned ship 1, so as to always be close to the bottom of the unmanned ship 1, thereby providing sufficient supporting force.

In one embodiment, the storage rack 3 further includes a control mechanism 36 connected to the locking mechanism 31 and used to control the locking mechanism 31 to expand and contract on the storage rack 3. It can be understood that by providing a control mechanism 36, the user can control the locking or unlocking between the locking mechanism 31 and the lock lever 21, which is convenient for the user to operate.

In one embodiment, the locking mechanism 31 includes a first rotating rod 311 fixed on the storage rack 3, a hook 312 rotatably connected to the first rotating rod 311, and a side connected to the hook 312 and used for driving The hook 312 is a connecting rod 313 that rotates around the first rotating rod 311; the control mechanism 36 includes a second rotating rod 361 rotatably connected to the storage rack 3, and an end of the connecting rod 313 away from the hook 312 and connected to the second rotating rod 361. The control rod 362 on the rotation rod 361 and the control pedal 363 for driving the second rotation rod 361 to rotate and thereby drive the control rod 362 to rotate. Specifically, the hook 312 can rotate around the first rotating rod 311, the hook 312 rotates under the drive of the connecting rod 313, and the rotation of the hook 312 can cause the hook 312 to expand and contract on the storage rack 3, that is, toward the accommodating cavity. When the hook 312 extends toward the interior of the accommodating cavity, the hook member 312 is stuck on the lock rod 21, so that the recovery cage 2 and the storage rack 3 are relatively fixed; When the hook 312 is retracted, the lock with the lock rod 21 is released, and the recovery cage 2 can be detached from the storage rack 3. Further, the control pedal 363 is controlled by the user. The user can press the control pedal 363 with his feet. The control pedal 363 drives the control rod 362 to rotate around the second rotating rod 361, and the control rod 362 is used to drive the connecting rod 313 to move. In turn, the connecting rod 313 drives the hook 312 to rotate. It is understandable that the above design makes the operation mode of the user more convenient.

Specifically, a side of the hook 312 away from the connecting rod 313 is provided with a wedge-shaped portion 314 protruding toward the storage platform. It can be understood that by providing the wedge-shaped portion 314, the hook member 312 can be more easily matched with the pair of lock rod 21.

The navigation equipment provided with the aforementioned recovery device has the advantage of convenient transfer of the unmanned ship 1.

The above descriptions are only the preferred embodiments of this application and are not intended to limit this application. Any modification, equivalent replacement and improvement made within the spirit and principle of this application shall be included in the protection of this application. Within range.

Claims

A recovery device, characterized in that it comprises:

The recovery cage (2) is provided with a containing cavity for accommodating the unmanned ship (1). The two ends of the recovery cage (2) are respectively provided with a first opening and a second opening communicating with the containing cavity. An opening, an end of the recovery cage (2) close to the second opening is provided with a pair of lock rods (21); and

The storage rack (3) is provided with a storage platform for storing the unmanned ship (1) on the top, and one end of the storage rack (3) is provided with a locking mechanism (31) butted with the pair of lock rods (21).
The recovery device according to claim 1, characterized in that the end of the recovery cage (2) close to the second opening is rotatably provided with a door frame (22) for closing the second opening.
The recovery device according to claim 2, characterized in that the door frame (22) is provided with a first locking rod (23) for docking with the locking pliers (11) on the unmanned ship (1) .
The recovery device according to claim 1, wherein the storage rack (3) includes two guardrails (37), and the two guardrails (37) are arranged on opposite sides of the storage platform, and The distance between the guardrails (37) is slightly larger than the width of the recovery cage (2).
The recovery device according to claim 1, characterized in that the end of the storage rack (3) far away from the locking mechanism (31) is provided with a locking pliers (11) for contacting the unmanned ship (1) The second butt locking lever (32).
The recovery device according to claim 5, characterized in that the storage rack (3) includes a plurality of guide wheels (34), and the plurality of guide wheels (34) are arranged on the storage platform and located at the storage platform. Between the second locking rod (32) and the locking mechanism (31).
The recovery device according to claim 6, characterized in that the storage rack (3) comprises a plurality of brackets (35), and the plurality of brackets (35) are rotatably connected to the storage platform, and the guide wheels (34) It is rotatably connected to the bracket (35), and the bracket (35) is rotatably connected to the storage platform.
The recovery device according to any one of claims 1 to 7, characterized in that, the recovery device further comprises connected to the locking mechanism (31) and used for controlling the expansion and contraction of the locking mechanism (31). The control mechanism (36) of the storage rack (3).
The recovery device according to claim 8, wherein the locking mechanism (31) comprises a first rotating rod (311) fixed to the storage rack (3), and a first rotating rod (311) rotatably connected to the first rotating rod (311) on the hook member (312) and a connecting rod (313) connected to one side of the hook member (312) and used to drive the hook member (312) to rotate around the first rotating rod (311) ); The control mechanism (36) includes a second rotating rod (361) rotatably connected to the storage rack (3), an end connected to the connecting rod (313) away from the hook (312) and A control rod (362) connected to the second rotating rod (361) and a control pedal (363) for driving the second rotating rod (361) to rotate, thereby driving the control rod (362) to rotate.
A navigation equipment, characterized in that the navigation equipment is provided with the recovery device according to any one of claims 1 to 9.