CN110816794B - A general-purpose unmanned submersible recovery device - Google Patents

Abstract

The invention discloses a universal unmanned submersible recovery device, and relates to the technical field of underwater robot recovery. The device comprises a cage body and a top cross beam; the top cross beam is fixedly connected with the cage body to form a recovery hanging cage; the two ends of the cage body are respectively provided with a front fence and a rear fence, the two sides of the entrance of the cage body are provided with a left-eye camera and a right-eye camera, and the top of the entrance of the cage body is provided with a top camera; the bottom of the middle cross beam of the top cross beam is provided with a T-shaped groove, a spherical hinge structure is connected in a sliding manner in the T-shaped groove, and the top cross beam is connected with the throat hoop through the spherical hinge structure. The invention has the advantages that: the water surface recovery device has two working modes of water surface recovery and underwater recovery, and can select a proper working mode according to different working sea conditions, so that the working efficiency is improved; the problem of unmanned submersible vehicle cloth is put and recovery operation high risk can be solved.

Description

A general-purpose unmanned submersible recovery device

technical field

The invention relates to the technical field of underwater robot recovery, in particular to a universal unmanned submersible recovery device.

Background technique

With the development of science and technology, there are more and more explorations of marine resources. As the main exploration tool, unmanned submersibles need to recover and collect data after completing operations. However, the marine environment is complex and changeable, especially in harsh sea conditions. The recovery of unmanned submersibles has become very difficult.

There are two main recovery methods. The first one is that the staff take a small boat close to the unmanned submersible, dock with the artificially assisted lifting device, and complete the recovery. This recovery method is greatly affected by wind and waves, and the risk factor is poor when the sea condition is poor. High, it is easy to cause injury to staff and equipment; the second is to use floating docks and lifting platforms for underwater docking and recovery. This recovery method can reduce the impact of wind and waves, but small floating docks have weak wind and wave resistance, and large floating docks The cost is high, the mother ship needs special support, and the recycling fee is expensive, so it is not suitable for popular use.

Contents of the invention

The technical problem to be solved by the present invention is to provide a general-purpose unmanned submersible recovery device, which can solve the high-risk problem of unmanned submersible deployment and recovery operations at present, and can be applied in most sea conditions. The deployment and recovery of various types of unmanned submersibles can be completed on board.

In order to solve the above-mentioned technical problems, the technical solution of the present invention is: comprising a cage body and a top crossbeam; the top crossbeam has a side crossbeam and a middle crossbeam, the side crossbeams and the middle crossbeam are connected by a connecting beam, and the middle crossbeam is installed There are the first lifting lug, the second lifting lug and the cable pulley, the first lifting lug and the second lifting lug are arranged symmetrically, there is a connecting plate between the middle beam and the side beam, and a detachable camera cable storage box is installed on the connecting plate. The bottom of the top beam is provided with a protruding fixing column;

The top of the cage body is provided with a fixing groove corresponding to the fixing column at the bottom of the top beam, the fixing column and the fixing groove are fixed by locking bolts, and the top beam and the cage body are fixedly connected to form a recovery cage;

The two ends of the cage body are respectively provided with a front fence and a rear fence, the height of the front fence is low, a left-eye camera and a right-eye camera are symmetrically installed in the middle of the poles on both sides of the cage entrance, and the middle part of the top cross bar at the cage entrance is equipped with a The cables of the top camera, the left-eye camera, the right-eye camera, and the top camera are introduced into the camera cable storage box to form a video signal acquisition module;

The bottom of the middle beam of the top beam is provided with a T-shaped slot, and a spherical joint structure is slidingly connected in the T-shaped slot, and the top beam is connected with the throat hoop through the ball joint structure. Sliding bolts, the first ball hinge, the second ball hinge, the T-shaped slot has a first bolt in-out groove and a second bolt in-out groove for the first slide bolt and the second slide bolt to embed, the first slide bolt, the second The second sliding bolt slides in the T-shaped slot and is locked by a nut. The first sliding bolt is connected to the first spherical hinge, and the second sliding bolt is connected to the second spherical hinge through a connecting block. The first spherical hinge and the second spherical hinge have Passive damping, the first spherical joint and the first throat clamp are connected by bolts, the second spherical joint and the second throat clamp are connected by bolts, the bolts are connected at the bottom of the first spherical joint and the second spherical joint, the first throat clamp and the second The top of the second throat hoop is provided with screw holes, and the bolts are connected with the first throat hoop and the second throat hoop through the screw holes, and are fixed by locknuts.

Further, a rubber layer is provided inside the cage body, a shock-absorbing inflatable rubber pad is installed at the bottom of the cage body, and a corner seat is provided at the bottom of the vertical pole of the cage body.

Further, the first throat hoop and the second throat hoop are annular structures, one end of the first throat hoop is connected with a collar, and the collar passes through the other end of the first throat hoop to form a ring structure, and the second throat hoop One end of the hoop is connected with a collar, and the collar passes through the other end of the second throat hoop to form a ring structure.

Further, the top beam is equipped with a deployment rod, and the deployment rod is composed of a plurality of hollow rods with a threaded joint structure. The end of the deployment rod adopts a claw structure, and the center of the deployment rod is provided with a The cable is connected to the claw through the movable block. The movable block is hinged to one end of the claw, and the other end of the claw is hinged to the end of the deployment rod. The claw has a V-shaped structure. A spring is provided at the junction of the rod ends.

After adopting said structure, the advantage of the present invention is:

1. The present invention has two working modes of water surface recovery and underwater recovery, and the suitable working mode can be selected according to different working sea conditions to improve working efficiency;

2. The present invention can realize the deployment and recovery of the unmanned submersible by the staff on the mother ship, and solve the problem of high risk in the deployment and recovery of the unmanned submersible;

3. When the present invention is in the underwater recovery mode, the unmanned submersible enters the recovery cage through the underwater visual camera system, which improves the safety and accuracy of the recovery process, reduces the difficulty of recovery, and improves work efficiency; In the working mode, the component structure is simple, easy to operate and maintain, no power system is required during recovery, and the throat hoop is automatically tightened under the gravity of the unmanned submersible to fix the unmanned submersible;

4. The present invention has the characteristics of wide application range, strong versatility, and good balance. According to the length and center of gravity position of the unmanned submersible to be recovered, the position of the ball joint structure in the T-shaped slot is adjusted, so that the top beam is in the recovery process. Horizontal state; adjust the diameter of the throat hoop according to the diameter of the unmanned submersible to be recovered, and complete the recovery through the throat hoop.

Description of drawings

Fig. 1 is the schematic diagram when the present invention works in the underwater recovery mode;

Fig. 2 is a schematic diagram of the present invention in the water surface recovery mode;

Fig. 3 is a kind of state schematic diagram of top beam side view of the present invention;

Fig. 4 is another schematic view of the side view of the top beam of the present invention;

Fig. 5 is a schematic diagram of the structure of the opening of the first throat clamp and the second throat clamp of the present invention;

Fig. 6 is a structural schematic diagram of the deployment rod of the present invention;

Fig. 7 is an enlarged view of the connection between the first throat clamp and the top beam of the present invention;

Fig. 8 is a schematic structural view of the first throat hoop of the present invention.

Explanation of Reference Signs: 1. Top beam; 2. Camera cable storage box; 3. Fairlead pulley; 4. First lug; 5. Second lug; 6. Top camera; 7. Left eye camera; 8. Right eye Camera; 9. Rear fence; 10. Front fence; 11. Corner seat; 12. Shock-absorbing inflatable rubber pad; 13. Cage; 14. First throat hoop; 15. Second throat hoop; 16. First sliding bolt ; 17. The second sliding bolt; 18. The first ball joint; 19. The second ball joint; 20. T-shaped slot; 21. The first bolt enters and exits the groove; 22. The second bolt enters and exits the groove; 23. Arrangement Rod; 24, hollow rod; 25, claw.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. The following examples can enable those skilled in the art to understand the present invention more comprehensively, but the present invention is not limited to the scope of the described examples.

The recovery device of the unmanned submersible of the present invention is a powerless recovery device, and has two working modes of 30-meter underwater recovery and water surface recovery.

As shown in Figures 1-8, this specific embodiment adopts the following technical scheme: it includes a cage body 13 and a top beam 1; the top beam 1 has a side beam and a middle beam, and the side beams and the middle beam are connected by a connecting beam. The first lifting lug 4, the second lifting lug 5 and the fairlead pulley 3 are installed on the middle beam, the first lifting lug 4 and the second lifting lug 5 are symmetrically arranged, and the lifting lug is a lifting device connected with the winch of the mother ship, which can be passed The lifting device lifts the top beam 1, and a connecting plate is arranged between the middle beam and the side beams, and a detachable camera cable storage box 2 is installed on the connecting plate. The winch cables are merged and drawn out, and a battery pack can also be provided inside the camera cable storage box 2 for power supply. During internal power supply, the signal transmission can be carried out through a Bluetooth device. The top is provided with a fixing groove corresponding to the fixing column at the bottom of the top beam 1. The fixing column and the fixing groove are fixed by locking bolts. The cage body 13 and the top beam 1 are detachably connected and can be used together or separately for the top beam 1. The top beam 1 and the cage body 13 are fixedly connected to form a recovery cage, which is suitable for underwater recovery. Figure 1 shows the 30-meter underwater recovery working mode;

The two ends of the cage body 13 are respectively provided with a front fence 10 and a rear fence 9, the height of the rear fence 9 is relatively high, which blocks the rear end face of the whole cage body 13, and the height of the front fence 10 at the entrance is relatively low, leaving the entrance of the unmanned submersible; A left eye camera 7 and a right eye camera 8 are installed symmetrically in the middle of the pole on both sides of the cage body 13 entrances, and a top camera 6 is installed in the middle part of the top cross bar at the entrance of the cage body 13, the cables of the left eye camera 7, the right eye camera 8, and the top camera 6. The cable is introduced into the camera cable storage box 2 to form a video signal acquisition module. The three cameras on the cage body 13 are used for video signal acquisition. The left-eye camera 7 and the right-eye camera 8 are fixed-focus straight tube cameras to form a binocular vision system. Realize the positioning of the unmanned submersible and transmit video signals. The top camera 6 is a dome camera, which is used to judge whether the AUV has completely entered the cage body 13, and can be recovered in the next step. At the same time, according to the prior art, the top camera 6 can also be It is set to rotate for observing the surrounding underwater environment;

As shown in Figure 2, Figure 7 and Figure 8, the water surface recovery mode is shown. The top beam 1 is separated from the cage body 13, and the recovery is realized only through the top beam 1. The camera cable storage box 2 can be removed from the top beam 1 to reduce weight. The cable storage box 2 and the top crossbeam 1 are commonly used bolt connection structures; the bottom of the middle crossbeam of the top crossbeam 1 is provided with a T-shaped groove 20, and a ball joint structure is slidingly connected in the T-shaped groove 20, and the top crossbeam 1 is connected to the top crossbeam through the ball joint structure. Throat hoop connection, the ball joint structure includes the first slide bolt 16, the second slide bolt 17, the first ball joint 18, the second ball joint 19, and the T-shaped groove 20 has the first slide bolt 16 and the second slide bolt 17 The embedded first bolt enters and exits the groove 21 and the second bolt enters and exits the groove 22. The first sliding bolt 16 and the second sliding bolt 17 slide in the T-shaped groove 20 and are locked by nuts to adjust the first sliding bolt 16. , the distance between the second sliding bolts 17, as shown in Figure 3 and Figure 4, the two sliding bolts can slide in the T-shaped slot 20, and adjust to a suitable position according to the length and the center of gravity of the unmanned submersible that needs to be recovered After tightening and fixing with nuts, the first sliding bolt 16 and the first ball joint 18, the second sliding bolt 17 and the second ball joint 19 are connected through a connecting block, and the first ball joint 18 and the second ball joint 19 have passive damping. It remains stable under the condition of no force or small force, the first ball joint 18 is connected with the first throat hoop 14 by bolts, the second ball joint 19 is connected with the second throat hoop 15 by bolts, and the bolts are connected with the first ball joint 18 and the bottom of the second ball joint 19, the top of the first throat clamp 14 and the second throat clamp 15 are provided with screw holes, and the bolts are connected with the first throat clamp 14 and the second throat clamp 15 through the screw holes, and through the anti-loosening The nut is fixed; the first throat hoop 14 and the second throat hoop 15 are annular structures, one end of the first throat hoop 14 is connected with a collar, and the collar passes through the other end of the first throat hoop 14 to form a ring structure, the second throat hoop 14 One end of the second throat hoop 15 is connected with a collar, and the collar passes through the other end of the second throat hoop 15 to form a ring structure. The first throat hoop 14 and the second throat hoop 15 can be recovered according to the size of the unmanned submersible Choose the appropriate length.

The inner side of the cage body 13 is provided with a rubber layer, and the inner bottom of the cage body 13 is provided with a shock-absorbing inflatable rubber pad 12 , and the bottom of the vertical pole of the cage body 13 is provided with a corner seat 11 .

As shown in Figure 6, it is a special deployment rod. The top beam 1 is equipped with a deployment rod 23. The deployment rod 23 is composed of a plurality of hollow rods 24 with a threaded joint structure. The length of each hollow rod 24 is 2-3 meters. The hollow rod 24 can be quickly connected through the threaded joint structure, and the total length can be extended to 15-20 meters according to the needs. It is made of carbon fiber. The end of the deployment rod 23 adopts a claw 25 structure. Cable, the cable is connected with the claw 25 through the movable block, the movable block is hinged with one end of the claw 25, the other end of the claw 25 is hinged with the end of the deployment rod 23, the claw 25 is a V-shaped structure, and the claw 25 is provided with a spring at the junction of the deployment rod 23 ends, and the cable is pulled, and the claw 25 is closed. By the claw 25, the throat clamp can be clamped to enclose the unmanned submersible, and the throat clamp can also be removed from the unmanned submersible. Take it off, loosen the cable, and the spring structure makes the claws 25 open automatically.

Working principle: When the sea conditions are bad, it is difficult to recover the unmanned submersible under the influence of wind and waves. At this time, the 30-meter underwater recovery work mode can be adopted: after the unmanned submersible completes the task, the staff remotely controls the unmanned submersible. The manned submersible is close to the mother ship. At this time, the recovery cage composed of the cage body 13 and the top beam 1 is placed at 30 meters underwater. The water flow is relatively stable. The video transmitted by the right-eye camera 8 sees the unmanned submersible. Under the guidance of the binocular vision positioning, the staff completes the positioning and accurately drives the unmanned submersible into the recovery cage through the remote control. The top camera 6 judges whether the unmanned submersible is complete. Enter the cage, when the unmanned submersible enters the recovery cage completely, the unmanned submersible loses power and falls on the shock-absorbing inflatable rubber pad 12, and the winch reclaims the cable to complete the recovery of the unmanned submersible.

When the sea conditions are good, the wind and waves have little effect on the recovery of the unmanned submersible. At this time, the surface recovery work mode can be adopted: after the unmanned submersible completes the task, the staff will remotely control the unmanned submersible to approach the mother ship. The size of the unmanned submersible, adjust the first sliding bolt 16 and the second sliding bolt 17 to a suitable position, select a suitable throat clamp, and open the first throat clamp 14 and the second throat clamp 15, as shown in Figure 5 It shows that due to the function of the first spherical joint 18 and the second spherical joint 19, the first throat clamp 14 and the second throat clamp 15 can be opened and fixed, and the winch will lift the recovery cage to the water surface close to the unmanned submersible. The special deployment rod 23 rotates and closes the first hose clamp 14 and the second hose clamp 15, traps the two ends of the unmanned submersible, the winch recovers the cable, and under the gravity of the unmanned submersible, the first hose clamp 14 and the second hose clamp The collar on the second throat hoop 15 slides down along the ends of the first throat hoop 14 and the second throat hoop 15, and automatically tightens and fixes the unmanned submersible to prevent the unmanned submersible from falling off.

This specific implementation mode has two working modes of surface recovery and underwater recovery, and the suitable working mode can be selected according to different working sea conditions to improve work efficiency; the staff can complete the deployment and recovery of the unmanned submersible on the mother ship , to solve the problem of high risk in the deployment and recovery of unmanned submersibles; when in the underwater recovery mode, the unmanned submersible enters the recovery cage through the underwater vision camera system to improve the safety and accuracy of the recovery process. Reduce the difficulty of recovery and improve work efficiency; when it is in the surface recovery mode, the component structure is simple, easy to operate and maintain, no power system is required during recovery, and the throat clamp automatically tightens under the gravity of the unmanned submersible to fix the unmanned submersible; It has the characteristics of wide application range, strong versatility, and good balance. According to the length and center of gravity of the unmanned submersible to be recovered, the position of the ball joint structure in the T-slot is adjusted so that the top beam is in a horizontal state during the recovery process; The diameter of the unmanned submersible needs to be recovered to adjust the diameter of the throat hoop, and the recovery is completed through the throat hoop.

The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above. Those skilled in the industry should understand that the present invention is not limited by the above-mentioned embodiments. What are described in the above-mentioned embodiments and the description only illustrate the principle of the present invention. Without departing from the spirit and scope of the present invention, the present invention will also have Variations and improvements are possible, which fall within the scope of the claimed invention. The protection scope of the present invention is defined by the appended claims and their equivalents.

Claims (3)

1. The utility model provides a general unmanned submersible recovery unit which characterized in that: comprises a cage body and a top cross beam; the top beam is provided with a side beam and a middle beam, the side beam and the middle beam are connected through a connecting beam, a first lifting lug, a second lifting lug and a cable guiding pulley are arranged on the middle beam, the first lifting lug and the second lifting lug are symmetrically arranged, a connecting plate is arranged between the middle beam and the side beam, a detachable camera cable storage box is arranged on the connecting plate, and a convex fixing column is arranged at the bottom of the top beam;

the top of the cage body is provided with a fixed groove corresponding to the fixed column at the bottom of the top cross beam, the fixed column and the fixed groove are fixed through a locking bolt, and the top cross beam is fixedly connected with the cage body to form a recovery hanging cage;

the two ends of the cage body are respectively provided with a front fence and a rear fence, the height of the front fence is low, a left-eye camera and a right-eye camera are symmetrically arranged in the middle of upright posts at two sides of an inlet of the cage body, a top camera is arranged in the middle of a top cross rod at the inlet of the cage body, and cables of the left-eye camera, the right-eye camera and the top camera are led into a camera cable storage box to form a video signal acquisition module;

the middle cross beam of the top cross beam is provided with a T-shaped groove at the bottom, a spherical hinge structure is connected in the T-shaped groove in a sliding way, the top cross beam is connected with a throat hoop through the spherical hinge structure, the spherical hinge structure comprises a first sliding bolt, a second sliding bolt, a first spherical hinge and a second spherical hinge, the T-shaped groove is provided with a first bolt inlet and outlet groove and a second bolt inlet and outlet groove for embedding the first sliding bolt and the second sliding bolt, the first sliding bolt and the second sliding bolt slide in the T-shaped groove and are locked through nuts, the first sliding bolt is connected with the first spherical hinge, the second sliding bolt is connected with the second spherical hinge through a connecting block, the first spherical hinge is connected with the first throat hoop through a bolt, the second spherical hinge is connected with the second throat hoop through a bolt, the top of the first throat hoop and the second throat hoop is provided with a screw hole, and the bolt is connected with the first throat hoop and the second throat hoop through a screw hole and is fixed through the nuts;

the top cross beam is provided with a laying rod, the laying rod is formed by connecting a plurality of hollow rods with threaded joint structures, the end parts of the laying rod are of claw structures, a cable is arranged in the center of the laying rod and connected with the claw through a movable block, the movable block is hinged with one end of the claw, the other end of the claw is hinged with the end parts of the laying rod, the claw is of a V-shaped structure, and a spring is arranged at the connecting part of the claw clamp and the end parts of the laying rod;

the recovery working process is as follows: when the sea condition is severe, an underwater recovery working mode is adopted: after the unmanned submersible completes the task, a worker remotely controls the unmanned submersible to approach a mother ship, at the moment, a recovery cage formed by a cage body and a top cross beam is placed at a position of 30 meters under water, the water flow is relatively stable, when the unmanned submersible approaches the recovery cage, the worker sees the unmanned submersible through videos transmitted by a left-eye camera and a right-eye camera, under the guidance of binocular vision positioning, the worker completes positioning and accurately drives the unmanned submersible into the recovery cage through remote control, and the top camera judges whether the unmanned submersible completely enters the cage or not, when the unmanned submersible completely enters the recovery cage, the unmanned submersible loses power and falls on a damping and inflating rubber pad, and a winch recovers a cable, so that the recovery of the unmanned submersible is completed;

when the sea condition is good, a water surface recovery working mode is adopted: after the unmanned submersible completes the task, a worker remotely controls the unmanned submersible to approach a mother ship, adjusts the first sliding bolt and the second sliding bolt to proper positions according to the size of the unmanned submersible to be recovered, selects proper hoops, opens the first hoops and the second hoops, hangs a recovery cage to the water surface to approach the unmanned submersible, uses a cloth rod to rotate the first hoops and the second hoops up, sleeves two ends of the unmanned submersible, and recovers cables by using a winch.

2. A universal unmanned submersible vehicle recovery device according to claim 1, wherein: the inner side of the cage body is provided with a rubber layer, the bottom of the cage body is provided with a damping and inflating rubber pad, and the bottom of the upright rod of the cage body is provided with an angle seat.

3. A universal unmanned submersible vehicle recovery device according to claim 1, wherein: the first throat hoop and the second throat hoop are of annular structures, one end of the first throat hoop is connected with a lantern ring, the lantern ring penetrates through the other end of the first throat hoop to form an annular structure, one end of the second throat hoop is connected with the lantern ring, and the lantern ring penetrates through the other end of the second throat hoop to form an annular structure.

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