An interlocking capture device for unmanned surface equipment

Abstract

The present invention discloses a linkage capturing device for unmanned surface equipment, which includes a blocking module, a transmission module and a clamping module. The blocking module includes a blocking net, a blocking support frame and an X-axis moving mechanism. The blocking net is installed on the X-axis moving mechanism through the blocking support frame. The clamping module includes a set of symmetrically arranged clamping brackets and a set of Y-axis side-shifting mechanisms, and the clamping brackets are all installed on the Y-axis side-shifting mechanisms. The transmission module includes a buffer oil cylinder group, a corner pulley group, a clamping oil cylinder group and a conduction steel wire rope. The present invention adopts a modular structure, which can meet the laying and recovery assistance of various types and different sizes of unmanned surface equipment. It can adapt to harsh sea conditions, especially the working conditions where the mechanism is immersed in water. During the capturing operation, it can correct and restrain longitudinally and laterally at the same time, reduce the adverse factors in aspects such as "relative speed" and "relative attitude" during the recovery process under harsh sea conditions, and ensure the smooth completion of the capturing task.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned equipment capture, and particularly relates to a linkage capture device for surface unmanned equipment. Background Art

[0002] With the wide application of unmanned equipment, marine unmanned equipment has also made great progress. Compared with the systematic and planned unmanned equipment, the functional characteristics of its deployment and recovery systems are different, and usually vary with the mission characteristics. At present, in the aspect of unmanned equipment recovery, the following two methods are mainly adopted: one is that divers (or auxiliary small boats carrying operators) carry out sling connection and guide structure correction, and the other is remote-controlled sling connection. In the latter method, the "guide correction" mechanism plays a role in correcting the navigation speed of the unmanned equipment: making it relatively fixed with the speed of the mother ship; correcting the attitude to facilitate the successful connection of the final remote-controlled locking mechanism, etc.

[0003] In terms of the adaptability of recovery capture: for manned (diver or auxiliary boat operator) hook-up equipment, ordinary cranes are mostly used to temporarily perform the deployment and recovery tasks; for unmanned hook-up, customized transition slings are generally used. That is, the industry has not yet had a top-level and systematic planning layout for the release and recovery devices, and the generality among various devices is not high. In some environments such as dock cabins, there is no suitable capture and recovery mechanism. Summary of the Invention

[0004] The purpose of the present invention is to solve the above-mentioned deficiencies of the prior art, and a linkage capture device for surface unmanned equipment is proposed, which includes a blocking module, a transmission module and a clamping module. The blocking module includes a blocking net, a blocking support frame and an X-axis moving mechanism, and the blocking net is installed on the X-axis moving mechanism through the blocking support frame; the clamping module includes a group of symmetrically arranged clamping brackets and a group of Y-axis side-moving mechanisms, and the clamping brackets are all installed on the Y-axis side-moving mechanisms.

[0005] The transmission module includes a buffer oil cylinder group, a corner pulley group, a clamping oil cylinder group and two conduction steel wire ropes. One end of the buffer oil cylinder group is connected to the X-axis moving mechanism through the piston rod of the buffer oil cylinder group, the corner pulley group is arranged at the other end of the buffer oil cylinder group, the clamping oil cylinder group is symmetrically arranged on both sides of the corner pulley group, and the clamping oil cylinder group is connected to the Y-axis side-moving mechanism through the piston rod of the clamping oil cylinder group. One end of the two conduction steel wire ropes is connected to the X-axis moving mechanism, and the other end is connected to the Y-axis side-moving mechanism through the corner pulley group.

[0006] Further, the clamping oil cylinder group is connected to a hydraulic system.

[0007] Furthermore, the hydraulic system includes a motor, an oil pump, a solenoid valve and an accumulator.

[0008] Based on the above further scheme, during the deployment condition, the solenoid valve of the hydraulic system is used to control the piston rod of the clamping cylinder group to extend so as to open the supporting bracket, and the X-axis moving mechanism is returned to the initial position through the action of the conductive wire rope.

[0009] Furthermore, the X-axis moving mechanism includes an X-axis guide rail, an X-axis moving platform and an X-axis roller. The X-axis roller is installed on both sides of the X-axis moving platform and is arranged in the X-axis guide rail. The X-axis platform moves back and forth relative to the X-axis guide rail.

[0010] Furthermore, the Y-axis lateral shift mechanism includes a Y-axis guide rail, a Y-axis roller and a Y-axis movable platform. The Y-axis roller is installed on both sides of the Y-axis movable platform and is arranged in the Y-axis guide rail. The Y-axis platform moves forward and backward relative to the Y-axis guide rail.

[0011] Furthermore, the buffer cylinder group and the clamping cylinder group are both mounted on the base surface through a cylinder mounting frame, and the cylinder mounting frame is an adjustable mounting frame.

[0012] Based on the above further solutions and modular structure, the present invention can be easily adjusted to be applicable to unmanned equipment of different shapes and volumes.

[0013] Furthermore, the rod chamber and the rodless chamber of the buffer oil cylinder group are both filled with hydraulic oil and are connected through an adjustable flow valve.

[0014] Furthermore, the transmission modules are all made of corrosion-resistant materials.

[0015] Furthermore, a first pulley block is installed on the X-axis moving mechanism, and the conductive steel wire ropes are connected to the X-axis moving mechanism through the first pulley block.

[0016] Furthermore, a second pulley block is installed on the Y-axis lateral shift mechanism, and the conductive steel wire ropes are connected to the Y-axis lateral shift mechanism through the second pulley block.

[0017] Operation principle: When the unmanned equipment sails from the surface or semi-submerged state to the capture area, its bow first contacts the arresting net. The inertial force of the unmanned equipment is transmitted to the arresting support frame through the arresting net, thereby driving the X-axis moving mechanism to slide forward as a whole;

[0018] When the X-axis moving mechanism of the blocking module generates motion, the piston rods of the buffer oil cylinder group of the transmission module extend. Due to the damping effect of the throttle valve, the extension speed will slow down, so that the running speed of the unmanned equipment can smoothly transition to the same state as the mother ship. At the same time, one end of the conduction steel wire rope in contact with the first pulley group is pulled. Through the transition of the corner pulley group, one end of the conduction steel wire rope in contact with the second pulley group is synchronously pulled, causing the Y-axis side shift mechanism to generate the same synchronous motion as the X-axis moving mechanism. The clamping bracket completes the clamping action under the motion of the Y-axis side shift mechanism, thus realizing the interlock of the buffering and clamping actions in the capture working condition, and correcting and restraining the unmanned equipment longitudinally and transversely at the same time.

[0019] In the deployment working condition, the piston rods of the clamping oil cylinder group are extended through the control of the solenoid valve of the hydraulic system to open the clamping bracket, and the X-axis moving mechanism is returned to the initial position through the action of the conduction steel wire rope.

[0020] Beneficial effects: (1) The present invention adopts a modular structure, which is adjustable and can simultaneously meet the deployment and recovery assistance of various types and different sizes of surface unmanned equipment.

[0021] (2) The transmission module of the present invention adopts anti-corrosion materials and can adapt to harsh sea conditions, especially the working conditions where the mechanism is immersed in water;

[0022] (3) In the capture working condition, the present invention can correct and restrain longitudinally and transversely at the same time, reduce the adverse factors such as "relative speed" and "relative attitude" during the recovery process of the unmanned equipment under harsh sea conditions, and ensure the smooth completion of the capture task;

[0023] (4) The present invention has a simple structure, is convenient to maintain, has strong reliability and a wide range of applications, and is suitable for being carried on board in the wet dock state of the dock cabin and the side cage platform to assist in the deployment and recovery of surface unmanned equipment. Description of the Drawings

[0024] Figure 1 is a three-dimensional structural schematic diagram of a surface unmanned equipment linkage capture device;

[0025] Figure 2 is a motion schematic diagram of the linkage capture device (the double arrows in the figure are the motion paths in the capture working condition, and the single arrows are the motion paths in the deployment working condition);

[0026] In the figure: 1. Blocking net, 2. Blocking support frame, 3. First moving pulley group, 4. X-axis moving mechanism, 5. Hydraulic system, 6. Buffer oil cylinder group, 7. Conduction steel wire rope, 8. Clamping bracket, 9. Moving pulley group, 10. Y-axis side shift mechanism, 11. Clamping oil cylinder group, 12. Corner pulley group. Detailed Implementation Modes

[0027] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with embodiments and 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] The "X-axis moving mechanism" and the "Y-axis lateral shifting mechanism" in the present invention only mean that there is a certain angle between the "X-axis moving mechanism" and the "Y-axis lateral shifting mechanism", and they do not necessarily have to be in a vertical right-angle relationship. The "X-axis moving mechanism" and the "Y-axis lateral shifting mechanism" in the embodiments and drawings are selected to be in a right-angle relationship for easy understanding, and do not constitute a limitation on the scope of protection of the present invention.

[0029] like Figure 1 As shown, a linkage capture device for unmanned surface equipment includes a blocking module, a transmission module and a clamping module. The blocking module includes a blocking net 1, a blocking support frame 2 and an X-axis moving mechanism 4. The blocking net 1 is installed on the X-axis moving mechanism 4 through the blocking support frame 2; the clamping module includes a group of symmetrically arranged clamping brackets 8 and a group of Y-axis side shifting mechanisms 10, and the clamping brackets 8 are all installed on the Y-axis side shifting mechanism 10;

[0030] The transmission module includes a buffer cylinder group 6, an angle pulley group 12, a clamping cylinder group 11 and two conductive steel wire ropes 7. One end of the buffer cylinder group 6 is connected to the X-axis moving mechanism 4 through the piston rod of the buffer cylinder group. The angle pulley group 12 is arranged at the other end of the buffer cylinder group 6. The clamping cylinder group 11 is symmetrically arranged on both sides of the angle pulley group 12, and the clamping cylinder group 11 is connected to the Y-axis side shift mechanism 10 through the piston rod of the clamping cylinder group. One end of the two conductive steel wire ropes 7 is connected to the X-axis moving mechanism 4, and the other end is connected to the Y-axis side shift mechanism 10 through the angle pulley group 12.

[0031] In this embodiment, the clamping cylinder groups 11 are all connected to the hydraulic system 5. The hydraulic system includes a motor, an oil pump, a solenoid valve and an accumulator.

[0032] In this embodiment, the X-axis moving mechanism includes an X-axis guide rail, an X-axis moving platform and an X-axis roller. The X-axis roller is installed on both sides of the X-axis moving platform and is arranged in the X-axis guide rail. The X-axis platform moves forward and backward relative to the X-axis guide rail; the Y-axis side shifting mechanism includes a Y-axis guide rail, a Y-axis roller and a Y-axis moving platform. The Y-axis roller is installed on both sides of the Y-axis moving platform and is arranged in the Y-axis guide rail. The Y-axis platform moves forward and backward relative to the Y-axis guide rail.

[0033] In this embodiment, the buffer cylinder group 6 and the clamping cylinder group 11 are both mounted on the base surface through a cylinder mounting frame, and the cylinder mounting frame is an adjustable mounting frame.

[0034] In this embodiment, the rod chamber and the rodless chamber of the buffer cylinder group 6 are both filled with hydraulic oil and are connected through an adjustable flow valve.

[0035] In this embodiment, the transmission modules are made of corrosion-resistant materials.

[0036] In this embodiment, the X-axis moving mechanism 4 is equipped with a first pulley group 3, and the conductive steel wire rope 7 is connected to the X-axis moving mechanism 4 through the first pulley group 3; the Y-axis lateral shifting mechanism 10 is equipped with a second pulley group 9, and the conductive steel wire rope 7 is connected to the Y-axis lateral shifting mechanism 10 through the second pulley group 9.

[0037] like Figure 2 As shown, when the unmanned equipment sails from the surface or semi-submerged state to the capture area, its bow first contacts the blocking net, and the inertial force of the unmanned equipment is transmitted to the blocking support frame through the blocking net, thereby driving the X-axis moving mechanism to slide forward as a whole;

[0038] When the X-axis moving mechanism of the blocking module moves, the piston rod of the buffer cylinder group of the transmission module extends. Due to the damping effect of the throttle valve, the extension speed will slow down, so that the operating speed of the unmanned equipment will smoothly transition to the same state as the mother ship. At the same time, the end of the conductive wire rope in contact with the first pulley group is pulled, and through the transition of the angle pulley group, the end of the conductive wire rope in contact with the second pulley group is pulled synchronously, so that the Y-axis side shift mechanism produces synchronous movement with the X-axis moving mechanism, and the clamping bracket completes the clamping action under the movement of the Y-axis side shift mechanism, thereby realizing the buffering of the capture working condition and the interlocking of the clamping action, and correcting and restraining the unmanned equipment in both the longitudinal and lateral directions.

[0039] During the deployment condition, the solenoid valve of the hydraulic system is used to control the piston rod of the clamping cylinder group to extend so as to open the supporting bracket, and the X-axis moving mechanism is returned to the initial position through the action of the conductive wire rope.

[0040] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A linkage capture device for unmanned surface equipment, characterized in that, It includes a blocking module, a transmission module and a clamping module. The blocking module includes a blocking net, a blocking support frame and an X-axis moving mechanism. The blocking net is installed on the X-axis moving mechanism through the blocking support frame; the clamping module includes a set of symmetrically arranged clamping brackets and a set of Y-axis side-moving mechanisms. The clamping brackets are all installed on the Y-axis side-moving mechanisms; The transmission module includes a buffer oil cylinder group, a corner pulley group, a clamping oil cylinder group and two conduction steel wires. One end of each buffer oil cylinder group is connected to the X-axis moving mechanism through the piston rod of the buffer oil cylinder group. The corner pulley group is arranged at the other end of the buffer oil cylinder group. The clamping oil cylinder group is symmetrically arranged on both sides of the corner pulley group, and the clamping oil cylinder group is connected to the Y-axis side-moving mechanism through the piston rod of the clamping oil cylinder group. One end of the two conduction steel wires is connected to the X-axis moving mechanism, and the other end is connected to the Y-axis side-moving mechanism through the corner pulley group; The X-axis moving mechanism includes an X-axis guide rail, an X-axis moving platform and X-axis rollers. The X-axis rollers are installed on both sides of the X-axis moving platform and are arranged in the X-axis guide rail. The X-axis moving platform moves back and forth relative to the X-axis guide rail; The Y-axis side-moving mechanism includes a Y-axis guide rail, Y-axis rollers and a Y-axis moving platform. The Y-axis rollers are installed on both sides of the Y-axis moving platform and are arranged in the Y-axis guide rail. The Y-axis moving platform moves back and forth relative to the Y-axis guide rail.

2. The linkage capture device for unmanned surface equipment according to claim 1, characterized in that, The clamping oil cylinder groups are all connected to the hydraulic system.

3. The linkage capture device for unmanned surface equipment according to claim 2, characterized in that, The hydraulic system includes a motor, an oil pump, a solenoid valve and an accumulator.

4. The linkage capture device for unmanned surface equipment according to claim 1, characterized in that, The buffer oil cylinder group and the clamping oil cylinder group are both installed on the base surface through an oil cylinder mounting frame, and the oil cylinder mounting frame is an adjustable mounting frame.

5. The linkage capture device for unmanned surface equipment according to claim 1, characterized in that, Both the rodless cavity and the rod cavity of the buffer oil cylinder group are filled with hydraulic oil and are connected through an adjustable throttle valve.

6. The linkage capture device for unmanned surface equipment according to claim 1, characterized in that, The materials of the transmission module are all anti-corrosion materials.

7. The linkage capture device for unmanned surface equipment according to claim 1, characterized in that, A first pulley group is installed on the X-axis moving mechanism, and the conduction steel wires are all connected to the X-axis moving mechanism through the first pulley group.

8. The linkage capture device for unmanned surface equipment according to claim 1, characterized in that, A second pulley group is installed on the Y-axis side-moving mechanism, and the conduction steel wires are all connected to the Y-axis side-moving mechanism through the second pulley group.

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