Unmanned ship recovery device based on openable guide wheels

Abstract

The invention relates to the technical field of unmanned ship recovery devices, and provides an unmanned ship recovery device based on an openable guide wheel, which is simple in structure, convenient to operate, high in automation degree and capable of realizing autonomous recovery of an unmanned ship, and comprises a recovery cage and a guide wheel opening and closing mechanism mounted on the recovery cage, the guiding wheel opening and closing mechanism comprises an air cylinder, a guiding wheel frame, a flexible guiding wheel, a short rocker, a linear sliding rail, a gas cylinder providing power and a control assembly, the recycling cage is formed by correspondingly welding a plurality of metal square pipes, the gas cylinder and the control assembly are installed at the center of the head end of the recycling cage, it is guaranteed that the gravity center moves backwards as much as possible, and a plurality of hanging rings are installed above the recycling cage. The bottom of the recovery cage and the front end of the recovery cage are each provided with an unmanned ship supporting structure, the unmanned ship is prevented from directly colliding with a metal structure in the recovery cage, the middle of the recovery cage is hinged to the tail of the air cylinder, and the guide wheel frame and the short rocker are hinged to the tail of the recovery cage.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned boat recovery devices, and in particular to an unmanned boat recovery device based on openable and closable guide wheels. Background Art

[0002] With the development of human marine affairs, marine engineering, marine military and other activities are becoming more and more frequent. Due to the limitations of conditions, some marine activities need to be implemented with the help of unmanned equipment. Among them, unmanned ships, as a highly automated equipment, are widely used in marine exploration such as water monitoring and seabed mapping.

[0003] However, the recovery of unmanned ships has always been one of the key issues in their technological development. Affected by offshore operating conditions and sea conditions, it has long been difficult to achieve a high level of automation in the recovery of unmanned ships. To address the above issues, we have designed an unmanned ship recovery equipment with a simple structure, easy operation and automated control to achieve autonomous recovery of unmanned ships. Summary of the invention

[0004] 1. Technical issues to be resolved

[0005] In view of the shortcomings of the prior art, the present invention provides an unmanned boat recovery device based on openable and closable guide wheels, which has a simple structure, is easy to operate and has a high degree of automation, and can realize the autonomous recovery of the unmanned boat.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an unmanned boat recovery device based on an openable and closable guide wheel, comprising a recovery cage and a guide wheel opening and closing mechanism installed thereon, the guide wheel opening and closing mechanism comprising a cylinder, a guide wheel frame, a flexible guide wheel, a short rocker, a linear slide rail, a gas cylinder for providing power and a control component, wherein the recovery cage is formed by correspondingly welding a plurality of metal square tubes, the gas cylinder and the control component are installed at the middle position of the head end of the recovery cage to ensure that the center of gravity is moved as far back as possible, a plurality of lifting rings are installed above the recovery cage for deployment and recovery during operation, the bottom of the recovery cage and the front end of the recovery cage are both installed with an unmanned boat support structure to prevent direct collision between the unmanned boat and the metal structure in the recovery cage, the middle part of the recovery cage is hinged to the tail of the cylinder, the guide wheel frame and the short rocker arm are both hinged to the tail of the recovery cage, a linear slide rail is symmetrically and parallelly installed on the metal square tube at the tail of the recovery cage, and the flexible guide wheels are distributed on both sides of the recovery cage.

[0008] Preferably, the guide wheel frame passes through the flexible guide wheel, a rocker bracket is fixedly connected in the recovery cage, the short rocker is hinged to the rocker bracket, the guide wheel frame is hinged with a slider through a connecting rod, the slider is slidably connected on the linear slide rail to prevent the guide wheel frame from getting stuck during sliding, the front end of the cylinder is hinged to the middle part of the connecting rod, the short rocker, guide wheel frame and slider are combined into a rocker-slider mechanism, the power of which is transmitted through the cylinder, and the extension and contraction of the cylinder causes the slider to slide on the linear slide rail, thereby causing the guide wheel frame to open and close.

[0009] Preferably, the unmanned boat support structure includes a bottom support structure and a top support structure, the bottom support structure is symmetrically arranged on both sides of the inside of the recovery cage, and the bottom support structure is a gradually rising and gradually inclined structure toward the front end, ensuring that the unmanned boat slides to the front end when lifted, while preventing the unmanned boat from sliding to the rear, and the top support structure is used to cushion the collision of the bow of the unmanned boat.

[0010] Preferably, the water-immersed portion of the recovery cage is provided with a color coating, and a water level sensor and a buzzer are provided to ensure that the recovery cage is placed at a reasonable depth during operation.

[0011] Preferably, limit blocks are fixedly connected at both ends of the linear slide rail to prevent the slider from falling off due to exceeding the stroke. Stroke sensors are provided at both ends of the stroke of the slider on the side. The stroke sensor transmits the captured signal to the gas cylinder and the control component in real time to control the change of the direction of the cylinder. By adjusting the position of the stroke sensor, the stroke of the slider can be adjusted, and then the opening and closing angle of the guide wheel frame can be adjusted.

[0012] Preferably, there is a dead point in the operation of the guide wheel opening and closing mechanism, that is, when the guide wheel frame and the short rocker are in line, the hinge between the two components has two movement directions, and in the working state, the hinge between the two components always moves on the side away from the device. By setting the position of the stroke sensor, the dead point state of the two components can be avoided. In the non-working state, the guide wheel frame can be restricted from opening outward by adjusting the hinge of the two components to a side close to the recovery cage, thereby avoiding damage to the recovery cage itself and surrounding objects in an unexpected situation in the non-working state, thereby playing a safety role.

[0013] Preferably, when the recovery cage descends to a specified water depth, the water level sensor transmits a signal to cause a buzzer to sound a warning, and the gas cylinder and the gas cylinder in the control assembly are deflated to cause the cylinder to continue to extend outward until the stroke sensor transmits a signal to stop it, and after the unmanned boat enters the recovery cage, the same method is used to control the guide wheel opening and closing mechanism to reset relative to the recovery cage.

[0014] Preferably, the gas cylinder, the control assembly and the gas cylinder are all waterproof to adapt to underwater working conditions when recovering the unmanned boat.

[0015] (III) Beneficial effects

[0016] Compared with the prior art, the present invention provides an unmanned boat recovery device based on an openable and closable guide wheel, which has the following beneficial effects:

[0017] 1. In the present invention, the guiding device corrects the posture and bow direction of the unmanned boat within a certain range through the free rotation of the guiding wheel around the axis, and guides the unmanned boat into the recovery cage. At the same time, due to the overall skeleton structure of the device, it has less impact on the hydrodynamic force, which makes it more convenient for the unmanned boat to return to its correct position, thereby realizing autonomous guidance of the unmanned boat recovery process.

[0018] 2. In the present invention, the cylinder is used to provide power for the guide wheel opening and closing mechanism based on the rocker slider combination, the limit device and the sensor device are used to constrain the mechanism stroke, and then the posture of the guide device when opening and closing is determined. In addition, by rationally utilizing the dead point characteristics of the mechanism, a safety is set for the guide device to prevent it from accidentally opening, thereby realizing automatic opening and closing of the guide device, and a safety lock is set at the same time.

[0019] 3. In the present invention, the bottom support structure tilted forward allows the unmanned boat to slide forward when the overall horizontal lift of the device is achieved, thereby preventing it from tipping over to the rear side due to the shift in the center of gravity. The top support structure cushions the collision of the unmanned boat and positions the bow at the same time, thereby realizing the placement posture constraint of the unmanned boat.

[0020] 4. In the present invention, the water level is determined autonomously by means of paint markings, water level sensor alarms, etc., to ensure that the unmanned boat enters the recovery device smoothly, realize autonomous determination of the water level, control the depth of the recovery device immersed in water, and avoid affecting the final recovery effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a schematic diagram of the structure of an embodiment of the present invention;

[0022] Figure 2 This is a schematic diagram of the guide wheel frame in an open state according to an embodiment of the present invention;

[0023] Figure 3 This is a schematic diagram of a guide wheel frame in a closed state according to an embodiment of the present invention;

[0024] Figure 4 This is a schematic diagram of the safety locking state of the guide wheel frame according to an embodiment of the present invention;

[0025] Figure 5 It is a front view of the bottom support structure of an embodiment of the present invention.

[0026] Among them: 1-recovery cage, 101-lifting ring, 102-rocker bracket, 2-guide wheel opening and closing mechanism, 201-cylinder, 202-guide wheel frame, 203-flexible guide wheel, 204-short rocker, 205-linear slide rail, 206-slider, 207-limiting block, gas cylinder and control component-208, stroke sensor-209, 3-unmanned ship support structure, 301-bottom support structure, 302-top support structure. DETAILED DESCRIPTION

[0027] In order to deepen the understanding of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings. The embodiments are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0028] Example

[0029] See also Figure 1-Figure 5 , an unmanned boat recovery device based on an openable and closable guide wheel, comprising a recovery cage 1 and a guide wheel opening and closing mechanism 2 installed thereon, the guide wheel opening and closing mechanism 2 comprising a cylinder 201, a guide wheel frame 202, a flexible guide wheel 203, a short rocker 204, a linear slide rail 205, a gas cylinder for providing power and a control component 208, wherein the recovery cage 1 is formed by correspondingly welding a plurality of metal square tubes, the gas cylinder and the control component 208 are installed at the center of the head end of the recovery cage 1, ensuring that the center of gravity is moved as far back as possible, and the top of the recovery cage 1 A plurality of lifting rings 101 are installed for deployment and recovery during operation. An unmanned boat support structure 3 is installed at the bottom and the front end of the recovery cage 1 to prevent direct collision between the unmanned boat and the metal structure in the recovery cage 1. The middle part of the recovery cage 1 is hinged to the tail of the cylinder 201, and the guide wheel frame 202 and the short rocker 204 are hinged to the tail of the recovery cage 1. Four linear slide rails 205 are symmetrically and parallelly installed on the metal square tube at the tail of the recovery cage 1, and the flexible guide wheels 203 are distributed on both sides of the recovery cage 1.

[0030] like Figure 1As shown, the guide wheel frame 202 passes through the flexible guide wheel 203, the recovery cage 1 is fixedly connected with the rocker bracket 102, the short rocker 204 is hinged with the rocker bracket 102, the guide wheel frame 202 is hinged with a slider 206 through a connecting rod, and the slider 206 is slidably connected on the linear slide rail 205 to prevent the guide wheel frame 202 from getting stuck during the sliding process. The front end of the cylinder 201 is hinged with the middle part of the connecting rod, and the short rocker 204, the guide wheel frame 202, and the slider 206 are combined into a rocker-slider mechanism, and its power is transmitted through the cylinder 201 is transmitted, and the sliding block 206 slides on the linear slide rail 205 through the extension and contraction of the cylinder 201, thereby causing the guide wheel frame 202 to open and close. The unmanned boat support structure 3 includes a bottom support structure 301 and a top support structure 302. The bottom support structure 301 is symmetrically arranged on both sides of the interior of the recovery cage 1, and the bottom support structure 301 is a gradually rising and gradually inclined structure toward the front end, ensuring that the unmanned boat slides to the most head end when lifted, and preventing the unmanned boat from sliding to the tail. The top support structure 302 is used to buffer the collision of the bow of the unmanned boat. The submerged part of the recovery cage 1 is provided with color coating. At the same time, a water level sensor and a buzzer are provided to ensure that the recovery cage 1 is placed at a reasonable depth during operation. The two ends of the linear slide rail 205 are fixedly connected to the limit block 207 to prevent the slider 206 from falling off due to exceeding the stroke. The two ends of the stroke of the slider 206 located on the side are provided with a stroke sensor 209. The stroke sensor 209 transmits the captured signal to the gas cylinder and the control component 208 in real time to control the direction of the cylinder 201 to change. By adjusting the position of the stroke sensor 209, the stroke of the slider 206 is adjusted, and then the opening and closing angle of the guide wheel frame 202 is adjusted. When the recovery cage 1 drops to the specified water depth, the water level sensor transmits a signal to make the buzzer sound a warning, and the gas cylinder in the gas cylinder and the control component 208 is deflated to make the cylinder 201 continue to extend outward until the stroke sensor 209 transmits a signal to stop it. After the unmanned boat enters the recovery cage 1, the same method is used to control the guide wheel opening and closing mechanism 2 to reset relative to the recovery cage 1.

[0031] like Figure 2 As shown, by setting the travel sensor 209 at a suitable position, the angle and position of the guide wheel frame 202 when opened can be controlled to adapt to different working conditions. In this state, the short rocker 204 is located between the guide wheel frame 202 and the recovery cage 1, as shown in FIG. Figure 3 As shown, by setting the travel sensor 209 at a suitable position, the angle and position of the guide wheel frame 202 when it is retracted can be controlled to prevent the mechanism from entering a dead point position. In this state, the short rocker 204 is located between the guide wheel frame 202 and the recovery cage 1, as shown in FIG. Figure 4As shown, by adjusting the angle of the short rocker 204, the guide wheel frame 202 is placed in a safety locking state. At this time, any telescopic movement of the cylinder 201 will not cause the guide wheel frame 202 to open outward. In this state, the guide wheel frame 202 is located between the short rocker 204 and the recovery cage 1, as shown in FIG. Figure 5 As shown, the bottom support structure 301 adopts an inclined design to ensure that the unmanned boat slides to the front end when lifted to prevent it from sliding backwards; a number of through holes are processed inside to reduce the impact on buoyancy and hydrodynamics while ensuring structural strength; flexible and smooth materials are used to prevent rigid collision with the unmanned boat. There is a dead point in the working process of the guide wheel opening and closing mechanism 2, that is, when the guide wheel frame 202 and the short rocker 204 are in line, the hinge between the two components has two movement directions. In the working state, the hinge between the two components always moves on the side away from the device. By setting the position of the stroke sensor 209, the dead point state of the two components can be avoided. In the non-working state, the hinge of the two components can be adjusted to the side close to the recovery cage 1 to limit the guide wheel. The wheel frame 202 opens outward to avoid damage to the recovery cage 1 itself and surrounding objects in an unexpected situation when it is not in working state, and plays a role of insurance. The gas cylinder and control component 208 control the movement of the mechanism in the whole working process, wherein the control module is realized by a single chip microcomputer, and all power components are powered by a 5V power supply. When the crane placement device reaches the specified water depth, the water level sensor transmits a signal to make the buzzer sound a warning, enabling the guide wheel opening and closing mechanism 2, and at the same time, the gas cylinder is deflated to extend the cylinder 201 until the stroke sensor 209 transmits a signal to stop it. After the unmanned boat enters the recovery cage 1, the guide wheel opening and closing mechanism is retracted using the same method. The gas cylinder and control component 208 and the cylinder 201 are all waterproof to adapt to the underwater working conditions when recovering the unmanned boat.

[0032] The above specific implementation methods are only for illustrating the technical concept and structural features of the present invention, and the purpose is to enable relevant persons familiar with this technology to implement it. However, the above content does not limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should fall within the protection scope of the present invention.

Claims

1. An unmanned boat recovery device based on openable and closable guide wheels, characterized in that: The invention comprises a recovery cage (1) and a guide wheel opening and closing mechanism (2) mounted thereon, wherein the guide wheel opening and closing mechanism (2) comprises a cylinder (201), a guide wheel frame (202), a flexible guide wheel (203), a short rocker (204), a linear slide rail (205), a gas cylinder for providing power, and a control component (208), wherein The recovery cage (1) is formed by welding a plurality of metal square tubes in correspondence. The gas cylinder and the control assembly (208) are installed at the center of the head end of the recovery cage (1) to ensure that the center of gravity is moved as far back as possible. A plurality of lifting rings (101) are installed above the recovery cage (1) for deployment and recovery during operation. The bottom of the recovery cage (1) and the front end of the recovery cage (1) are both installed with an unmanned boat support structure (3) to prevent the unmanned boat from directly colliding with the metal structure in the recovery cage (1). The middle of the recovery cage (1) is hinged to the tail of the cylinder (201), the guide wheel frame (202) and the short rocker (204) are both hinged to the tail of the recovery cage (1), and four linear slide rails (205) are symmetrically and parallelly installed on the metal square tube at the tail of the recovery cage (1). The flexible guide wheels (203) are distributed on both sides of the recovery cage (1).

2. The unmanned boat recovery device based on openable and closable guide wheels according to claim 1, characterized in that: The guide wheel frame (202) passes through the flexible guide wheel (203); a rocker bracket (102) is fixedly connected inside the recovery cage (1); the short rocker (204) is hinged to the rocker bracket (102); the guide wheel frame (202) is hinged to a slider (206) via a connecting rod; the slider (206) is slidably connected on the linear slide rail (205) to prevent the guide wheel frame (202) from getting stuck during the sliding process; the front end of the cylinder (201) is hinged to the middle of the connecting rod; the short rocker (204), the guide wheel frame (202) and the slider (206) are combined into a rocker-slider mechanism, the power of which is transmitted through the cylinder (201); the extension and retraction of the cylinder (201) causes the slider (206) to slide on the linear slide rail (205), thereby causing the guide wheel frame (202) to open and close.

3. The unmanned boat recovery device based on openable and closable guide wheels according to claim 2 is characterized in that: The unmanned boat support structure (3) comprises a bottom support structure (301) and a top support structure (302), wherein the bottom support structure (301) is symmetrically arranged on both sides of the interior of the recovery cage (1), and the bottom support structure (301) is a gradually rising and gradually inclined structure toward the front end, thereby ensuring that the unmanned boat slides to the front end when lifted, and preventing the unmanned boat from sliding to the rear end, and the top support structure (302) is used to cushion the collision of the bow of the unmanned boat.

4. The unmanned boat recovery device based on openable and closable guide wheels according to claim 3 is characterized in that: The water-immersed portion of the recovery cage (1) is provided with a color coating, and a water level sensor and a buzzer are provided to ensure that the recovery cage (1) is placed at a reasonable depth during operation.

5. The unmanned boat recovery device based on openable and closable guide wheels according to claim 4 is characterized in that: The two ends of the linear slide rail (205) are fixedly connected to limit blocks (207) to prevent the slider (206) from falling off due to exceeding the stroke. Stroke sensors (209) are provided at the two ends of the stroke of the slider (206) on the side. The stroke sensor (209) transmits the captured signal to the gas cylinder and the control component (208) in real time to control the change of the direction of the cylinder (201). By adjusting the position of the stroke sensor (209), the stroke of the slider (206) is adjusted, and then the opening and closing angle of the guide wheel frame (202) is adjusted.

6. The unmanned boat recovery device based on openable and closable guide wheels according to claim 5, characterized in that: There is a dead point during the operation of the guide wheel opening and closing mechanism (2), that is, when the guide wheel frame (202) and the short rocker (204) are in line, the hinge between the two components has two movement directions. In the working state, the hinge between the two components always moves on the side away from the device. By setting the position of the travel sensor (209), the dead point state of the two components can be avoided. In the non-working state, by adjusting the hinge of the two components to a side close to the recovery cage (1), the guide wheel frame (202) can be restricted from opening outward, thereby avoiding damage to the recovery cage (1) itself and surrounding objects in an unexpected situation in the non-working state, thereby playing a safety role.

7. The unmanned boat recovery device based on openable and closable guide wheels according to claim 6, characterized in that: When the recovery cage (1) descends to a specified water depth, the water level sensor transmits a signal to cause a buzzer to sound a warning, and the gas cylinder in the gas cylinder and control component (208) is deflated to cause the cylinder (201) to continue to extend outward until the travel sensor (209) transmits a signal to stop it. After the unmanned boat enters the recovery cage (1), the same method is used to control the guide wheel opening and closing mechanism (2) to reset relative to the recovery cage (1).

8. The unmanned boat recovery device based on openable and closable guide wheels according to claim 7, characterized in that: The gas bottle and control assembly (208) and the gas cylinder (201) are all waterproof so as to adapt to underwater working conditions when recovering the unmanned boat.

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