A sea glider replenishment device

Abstract

The application discloses a marine glider supply device, which comprises a telescopic trident, two positioning ropes, an electric rotating wheel, a special oil bag, an oil absorption groove, a data push rod, a receiving unit, a control power supply and other components. The telescopic trident comprises left and right split rods and a middle rod, and the telescopic trident is fixed on the glider through the left and right split rods. A steering pulley is designed at the top of the left and right split rods, and the positioning ropes pass through the rings to keep the relative displacement between the target glider. The middle rod is an electric control telescopic structure, the top is designed as an electromagnetic suction cup, and the middle is designed as a gripper structure, which is used for carrying the updated special oil bag and completing the replacement and supply of the mobile hard disk / fuel energy. The crew will control the falling height and timing of the electromagnetic suction cup at the front end of the positioning rope through the electric rotating wheel at the edge of the supply ship, and the two positioning ropes avoid mutual entanglement under the repulsive magnetic force of the electromagnetic blocks. The device is convenient to operate and has high automation degree.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of structure design, and relates to a set of supply device, in particular to a sea glider supply device. BACKGROUND

[0002] An underwater glider is a typical autonomous underwater vehicle, which mainly uses buoyancy drive to realize its ascent or descent in the ocean. In the initial stage of descent, the buoyancy drive unit reduces the self-displacement volume, so that the gravity is greater than the buoyancy, and the descent starts. After reaching the set depth, the self-displacement volume is changed under the action of the buoyancy drive unit, so that the buoyancy is greater than the gravity, thereby realizing the transition from descent to ascent. In the process of descent and ascent, horizontal motion is generated by means of the water power on the fixed horizontal wing, so as to realize the zigzag gliding motion in the longitudinal plane.

[0003] With the upgrading of technologies such as the Internet, artificial intelligence and intelligent manufacturing, the exploration range and precision of water unmanned platforms are constantly breaking records, and they are gradually applied to commercial and civilian fields to make full use of intelligent, networked and systematic optimal performance in the new era of marine scientific and technological innovation. However, it is worth noting that high performance is bound to bring high energy consumption, and how to solve the problem of energy supply has attracted widespread attention. The underwater glider relies on the fuel / oil carried by the body to realize the running work. Due to the limited carrying capacity, the self-supporting and endurance of the underwater glider are restricted. The load energy consumption of the underwater glider will be significantly increased by the sound detection load and the attached data processing and analysis system, resulting in an increase in the deployment frequency and cost of the underwater acoustic glider, and reducing the use efficiency of the underwater acoustic glider and cluster.

[0004] Glider sea navigation supply is a complex sea operation, which requires superb ship handling skills and experience. Usually, the target glider is caught and hoisted back to the supply ship by using a hoisting device, and then the engine / cabin supply and data hard disk replacement are implemented. There are also a series of difficulties in the tonnage and supply efficiency of the supply ship. With the improvement of glider performance and the change of working style, sea supply will become faster and faster, and single-function supply will develop towards multi-function supply. Therefore, it is necessary to continuously improve the supply capacity and self-adaptability of the supply device, widely adopt new technologies, improve the supply device and transmission system, and explore new supply ways. SUMMARY

[0005] In view of the technical problems in the above background art, the present application provides a sea glider supply device. The sea glider supply device of the present application provides a more convenient new way for glider sea navigation supply.

[0006] The present application adopts the following technical solutions:

[0007] A sea glider supply device, comprising a telescopic trident, two positioning ropes, an electric rotating wheel, a special oil bag, a data push rod, a receiving unit and a control power supply; the telescopic trident comprises left and right split rods and a middle rod, the top of the left and right split rods is designed with a steering pulley; the telescopic trident is fixed on the glider through the left and right split rods;

[0008] One end of the positioning rope is fixed on the supply ship, and the other end is designed with an electromagnetic chuck for fixedly connecting the target glider, the electromagnetic chuck is connected with the control power supply on the supply ship through a wire to adjust the presence or absence of the magnetic force of the electromagnetic chuck; the positioning rope passes through the steering pulley and the electric rotating wheel, the electric rotating wheel is arranged on the supply ship to control the falling height and timing of the electromagnetic chuck at the front end of the positioning rope by the crew, so that the relative static state between the supply ship and the target glider is maintained; the middle rod is an electric control telescopic structure, the top of the middle rod is designed with an electromagnetic chuck, and the middle part is designed with a gripper structure, the electromagnetic chuck is used for recycling old mobile hard disks, and the gripper structure is used for carrying the special oil bag to a position above the target glider, the receiving unit on the target glider is used for ejecting the old mobile hard disk, receiving the special oil bag and disassembling the special oil bag, so that the replacement and supply of the mobile hard disk / fuel energy of the target glider are realized; the data push rod is arranged in the target glider, the pushing direction of the data push rod is perpendicular to the falling direction of the special oil bag, and after the fuel energy is exhausted, the data push rod starts to extend and corrects the position of the mobile hard disk.

[0009] In the above technical scheme, further, the positioning rope is internally provided with an embedded wire, and the middle part of the positioning rope is provided with an electromagnetic block, which is designed to repel each other in the same way when electrified, so as to avoid entanglement between the positioning ropes.

[0010] Further, the special oil bag comprises an outer packaging layer and a mobile hard disk arranged in the packaging layer, and the packaging layer wraps the fuel; the data port of the mobile hard disk is arranged in the middle part, so as to avoid damage caused by collision during the process of throwing and receiving; a rubber airbag is connected to the lower part of the mobile hard disk, and the rubber airbag is filled with low-density gas.

[0011] Further, the receiving unit comprises an opening plate, an ejection plate and a combined rotating wheel; the combined rotating wheel is fixed on the glider, one part of the rotating wheel drives the opening plate to open and close through a rotating shaft, and the other part of the rotating wheel drives the ejection plate to move through a rotating shaft, and the two kinds of rotating wheels are alternately arranged;

[0012] The opening and closing fan-shaped plate a is designed as a semicircular arc surface, and after being opened under the driving of the combined rotating wheel, the two oppositely arranged opening and closing fan-shaped plates a can receive the special oil bag and block seawater from submerging after being closed; the top end of the opening and closing fan-shaped plate a is made of iron, and the rest is made of waterproof plastic material; after being opened, the top end of the opening and closing fan-shaped plate a is magnetically connected with the electromagnetic chuck at the front end of the positioning rope.

[0013] The ejecting plate comprises two oppositely arranged opening and closing fan-shaped plates b, the opening and closing fan-shaped plate b is designed as a straight plate, and the main body is made of elastic material; under the driving of the combined rotating wheel, the two oppositely arranged opening and closing fan-shaped plates b elastically hit the old mobile hard disk and make it vertically upward, and the old mobile hard disk is finally recycled by the electromagnetic chuck of the middle rod of the telescopic trident.

[0014] The bottom of the ejecting plate is provided with an oil suction groove; the end of the opening and closing fan-shaped plate b is designed as an elastic hollow design, and the elastic hollow design is used for compressing the length when ejecting the old mobile hard disk; the middle part of the opening and closing fan-shaped plate b is designed with an inclined blade for cutting the packaging layer of the special oil bag, so that the fuel flows into the oil suction groove.

[0015] Considering the complexity of the marine environment, the supply work of the glider has been too complex and time-consuming for a long time, and a set of rapid and stable supply device is needed to significantly improve the endurance and detection range of the glider. In the supply preparation stage, the relative position between the supply ship and the glider is locked to a certain extent by controlling the magnetic force generated by the telescopic trident; on the basis of the telescopic trident, the positioning rope, the electric rotating wheel, the control power supply and the like cooperate with each other to generate the same repulsive magnetic force to avoid entanglement between the positioning ropes. The design of the special oil bag integrates the replacement of the mobile hard disk and the fuel supplement, which effectively improves the supply efficiency; the design of the built-in rubber air bag can provide effective buoyancy for the emergency drifting of the glider in case of failure. The receiving unit is more compact and ingenious in design, and has the functions of receiving, data reading and ejecting.

[0016] The positioning rope is embedded with a wire, and the top end electromagnetic chuck, the middle electromagnetic block and the control power supply on the supply ship are connected in series. The crew controls the falling height and timing of the electromagnetic chuck at the front end of the positioning rope through the electric rotating wheel at the edge of the supply ship, and the left and right two positioning ropes avoid mutual entanglement under the repulsive magnetic force of the electromagnetic blocks.

[0017] The present application has the following beneficial effects:

[0018] The device has ingenious design, precise fitting, high overall automation degree, convenient operation, effectively reduces the operation difficulty, and is easy for ordinary crew to operate; the fuel supply and storage device are integrated; the mobile hard disk replacement mode is convenient and fast; and has certain data self-protection function. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 Triangular structure schematic diagram;

[0020] Figure 2 Electric rotating wheel and control power supply schematic diagram;

[0021] Figure 3 Receiving unit receives special oil bag process schematic diagram; wherein a) is before receiving, b) is during receiving, c) is the top view of the receiving unit before receiving, d) is the top view of the receiving unit during receiving;

[0022] Figure 4 Data push rod pushing mobile hard disk schematic diagram, a) is before pushing, b) is after pushing;

[0023] Figure 5 Ejection mode schematic diagram of the receiving unit, a) is that the special oil bag is received into the glider, b) is a mobile hard disk ejection schematic diagram;

[0024] Figure 6 Open-close type fan blade b constitutes a schematic diagram;

[0025] In the figure: 1 left and right bifurcated rod, 1a turning pulley, 2 middle rod, 3 positioning rope, 3a electromagnetic suction cup, 4 special oil bag, 5 oil suction groove, 6 electric rotating wheel, 7 control power supply, 8 combined rotating wheel, 8a opening plate, 8b ejection plate, 9 target glider, 10 supply ship, 11 mobile hard disk, 12 data push rod, 13 glider internal cavity wall and data port. DETAILED DESCRIPTION

[0026] The application will be further described below in combination with specific embodiments. The entire application can implement fixed mode, receiving mode and ejection mode and other various working modes of operation and switching.

[0027] REFERENCE Figure 1 , Figure 2The utility model provides a sea glider supply device, including telescopic trident, 2 positioning ropes 3, motorized runner 6, special oil bag 4, oil suction groove 5, data push rod 12, receiving unit, control power 7 and other components constitute, telescopic trident includes left and right bifurcated pole 1 and middle pole 2, the top of left and right bifurcated pole 1 is designed with steering pulley 1a, positioning rope 3 passes through steering pulley 1a and motorized runner 6 for keeping the relative displacement between supply ship 10 and target glider 9, telescopic trident is fixed on target glider 9 through left and right bifurcated pole 1, middle pole 2 is designed as electric control telescopic structure, the top is designed as electromagnetic chuck 3a, the middle is designed as gripper structure, electromagnetic chuck 3a is used to recycle old mobile hard disk 11, the gripper structure is used to carry special oil bag 4 to the position above target glider 9, the receiving unit on target glider 9 is used to eject old mobile hard disk 11, receives the special oil bag and disassembles it, so as to realize the replacement and supply of the mobile hard disk / fuel energy of target glider 9.

[0028] Refer to Figure 1 , Figure 3 , in fixed mode, the top end of positioning rope 3 is designed with electromagnetic chuck 3a, one end of positioning rope 3 with electromagnetic chuck 3a is vertically downward, is connected with control power 7 on supply ship 10 through embedded wire to adjust the presence or absence of electromagnetic chuck 3a magnetic force, middle part is designed with series electromagnetic block, is designed as same repulsion under electrification, avoids the entanglement between positioning rope 3. Figure 3 The top edge of open-close type fan blade a is iron structure, rotates Figure 2 Motorized runner 6, one positioning rope 3 is first connected with one side of open-close type fan blade a magnetically, another positioning rope 3 with same magnetism is extended and put down, and is magnetically connected with the other side of open-close type fan blade a, under the same repulsion of magnetic force, as far as possible to ensure that the two positioning ropes 3 do not entangle.

[0029] Refer to Figure 4 The data push rod 12 is arranged in the target glider 9, the pushing direction of the data push rod 12 is perpendicular to the falling direction of the special oil bag 4, is used to start to extend and press the position of mobile hard disk 11 after the fuel energy is emptied, so that the mobile hard disk 11 is opposite to the cavity wall and data port 13 in glider.

[0030] The special oil package 4 is wrapped with a packaging layer, and the mobile hard disk 11 is immersed in the packaging layer; the middle part of the mobile hard disk 11 is designed with a data port for connecting with the internal data port of the glider; the lower part of the mobile hard disk 11 is connected with a small rubber airbag, and the airbag is filled with low-density gas. When the glider has an accident, the mobile hard disk 11 and the rubber airbag will float on the sea surface, waiting for the salvage personnel to salvage.

[0031] Referring to Figure 3 , regarding the ejection mode, the receiving unit receives a special oil package process diagram, the receiving unit includes the opening plate 8a, the ejection plate 8b and the combined rotating wheel 8; the combined rotating wheel 8 is fixed on the glider, and a part of the rotating wheel drives the opening plate 8a to open and close through the rotating shaft, and the other part of the rotating wheel drives the ejection plate 8b to move through the rotating shaft, and the two kinds of rotating wheels are alternately arranged. The opening plate 8a includes two oppositely arranged opening and closing fan-shaped plates a, the opening and closing fan-shaped plates a are designed as semicircular arc surfaces, and under the driving of the combined rotating wheel 8, the two oppositely arranged opening and closing fan-shaped plates a are opened to receive the special oil package 4, and are closed to block the seawater from being immersed; the top end of the opening and closing fan-shaped plates a is made of iron, and the rest is made of waterproof plastic material; after the opening and closing fan-shaped plates a are opened, the iron material at the top thereof is magnetically connected with the electromagnetic suction disc 3a at the front end of the positioning rope 3. The ejection plate 8b includes two oppositely arranged opening and closing fan-shaped plates b, the opening and closing fan-shaped plates b are designed as straight plates, and the main body is made of elastic material, under the driving of the combined rotating wheel 8, the two oppositely arranged opening and closing fan-shaped plates b elastically hit the old mobile hard disk 11 and make it vertically upward, and the old mobile hard disk 11 is finally recycled by the electromagnetic suction disc 3a of the middle rod 2 of the telescopic trident. The lower part of the ejection plate 8b is provided with an oil suction groove 5; the end part of the opening and closing fan-shaped plates b is designed as an elastic hollow design, and the elastic hollow design is used to compress the length when ejecting the old mobile hard disk 11; the middle part of the opening and closing fan-shaped plates b is designed with an inclined blade for cutting the packaging layer of the special oil package 4, so that the fuel flows into the oil suction groove 5.

[0032] Referring to Figure 5 , regarding the ejection mode, the opening and closing fan-shaped plates b are designed as straight plates, and the main body is designed as an elastic material, under the driving of the combined rotating wheel 8, the old mobile hard disk 11 which has been stored and saturated is elastically hit to make it vertically upward, and is recycled by the electromagnetic suction disc 3a of the middle rod 2 of the telescopic trident.

[0033] Referring to Figure 6 , the top part of the opening and closing fan-shaped plates b is designed as an elastic hollow design, and is inclined on the oil suction groove 5, and can also be used to compress the length when ejecting; the middle part is designed with an inclined blade for cutting the packaging layer of the special oil package 4, so that the fuel flows into the oil suction groove 5.

[0034] The key of the application is that the difficulty of replenishment of the sea glider is fully solved, the replenishment device is ingeniously designed, the corresponding structure on the glider is optimized, the replenishment process is maximally simplified, and the endurance is indirectly improved. Finally, from the application point of view, compared with the existing replenishment system, the application is more convenient and controllable, the operation parameters are clear, the replenishment time is saved, and is suitable for popularization in the marine unmanned platform.

Claims

1. A resupply device for marine gliders, characterized in that, The system includes a telescopic trident, two positioning ropes, an electric rotating wheel, a special fuel tank, a data push rod, a receiving unit, and a control power supply. The telescopic trident includes left and right forked rods and a central rod, with steering pulleys designed at the top of the left and right forked rods. The telescopic trident is fixed to the glider via the left and right forked rods. One end of the positioning rope is fixed to the supply ship, and the other end is designed with an electromagnetic chuck for fixing and connecting the target glider. The electromagnetic chuck is connected to the control power supply on the supply ship via a wire. The positioning rope passes through the steering pulley and the electric rotating wheel, which is located on the supply ship. The intermediate rod is an electrically controlled telescopic structure with an electromagnetic chuck at the top and a gripper structure in the middle. The electromagnetic chuck is used to retrieve old portable hard drives. The data push rod is located inside the target glider. The pushing direction of the data push rod is perpendicular to the falling direction of the special fuel pack. It is used to extend and press the portable hard drive into position after the fuel energy is discharged. The receiving unit includes an opening plate, a catapult plate, and a combined rotating wheel; the combined rotating wheel is fixed on the glider, one part of which drives the opening plate to open and close through a rotating shaft, and the other part of which drives the catapult plate to move through a rotating shaft, with the two types of rotating wheels arranged alternately; The opening plate includes two opposing openable fan blades a. The openable fan blades a are designed with a semi-circular arc surface. Driven by the combined rotating wheel, the two opposing openable fan blades a open to receive a special oil pack, and close to prevent seawater from immersing. The top of the openable fan blades a is made of iron, and the rest is made of waterproof plastic. After the openable fan blades a open, the iron part at the top is magnetically connected to the electromagnetic chuck at the front end of the positioning rope. The ejector plate includes two opposing openable fan blades b. The openable fan blades b are designed as straight plates with an elastic material as the main body. Driven by the combined rotating wheel, the two opposing openable fan blades b elastically strike the old portable hard drive and make it vertically upward. The old portable hard drive is finally recovered by the telescopic trident middle rod electromagnetic chuck. The ejector plate is provided with an oil suction groove below it; the end of the opening and closing fan blade plate b is designed with elastic hollowing, which is used to compress the length when ejecting the old portable hard drive. The opening and closing fan blade b is designed with a slanted blade in the middle.

2. The marine glider resupply device according to claim 1, characterized in that, An electromagnetic block is provided in the middle of the positioning rope. When the electromagnetic block is energized, the left and right positioning ropes are designed to repel each other due to their similar polarity, so as to avoid entanglement between the positioning ropes.

3. The marine glider resupply device according to claim 1, characterized in that, The specially designed fuel pack includes an outer packaging layer and a portable hard drive housed within the packaging layer. The packaging layer encloses the fuel. The data port of the portable hard drive is located in the middle to avoid damage from bumps during delivery and reception. A rubber airbag is connected to the lower part of the portable hard drive and is filled with low-density gas.

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