Underwater unmanned vehicle launch and recovery device based on rotating scissors mechanism and method thereof

Abstract

The present application relates to unmanned underwater vehicle deployment and recovery technology field, provide a kind of underwater unmanned vehicle deployment and recovery device based on rotary scissor mechanism, wherein the deployment and recovery device includes buoyancy cylinder, frame, scissor mechanism, docking cone cylinder, docking guide assembly, rotating mechanism, electric cylinder, rotary drive assembly, control assembly;The buoyancy cylinder is at least two, fixedly connected on frame;Two ends of the rotating mechanism are rotatably installed on frame;The control assembly is used to realize the control of the working process of the deployment and recovery device.Simultaneously, the present application also provides a kind of deployment and recovery method of underwater unmanned vehicle.Through the present application, the deployment and recovery operation of underwater vehicle can be automatically completed, the rapidity and mobility of deployment and recovery are improved;Without complex deployment equipment and professional technical personnel, cost can be reduced;The influence of environmental factors on deployment and recovery can be reduced, various underwater complex working condition requirements are met, and the safety of deployment and recovery is improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned aerial vehicle (UAV) technology, specifically to an underwater UAV deployment and retrieval device and method based on a rotary scissor mechanism. Background Technology

[0002] Underwater unmanned vehicles (UAVs) are important equipment for countries to explore and develop the ocean. Because UAVs need to operate in the marine environment for extended periods, high demands are placed on their operational capabilities and endurance. Therefore, the deployment and recovery of UAVs are extremely critical aspects.

[0003] Currently, underwater unmanned vehicles (UAVs) are primarily deployed and recovered using manned surface mother ships. During deployment, the UAV is lowered into the water using a hoisting device on the mother ship. For recovery, there are two methods: one is for the UAV to surface first and then be retrieved by the mother ship; the other is for the UAV to first dock with the docking device used for lowering into the water, and then be hoisted onto the mother ship's deck. After the UAV has completed data transmission and replenished its energy, the mother ship then performs the deployment.

[0004] The deployment and recovery of unmanned underwater vehicles using manned surface mother ships presents the following main problems:

[0005] (i) High cost, requiring the mother ship to be equipped with special lifting and launching equipment, as well as a large number of professional and technical personnel;

[0006] (ii) It is greatly affected by the environment. When the sea conditions are large, the deployment and recovery operations are difficult and there is a risk of collision between the underwater vehicle and the mother ship.

[0007] (iii) It takes a long time and is inefficient. Summary of the Invention

[0008] The purpose of this invention is to overcome the shortcomings of existing technologies, such as high cost, low safety, and low efficiency, and to provide an underwater unmanned vehicle deployment and recovery device and method based on a rotary scissor mechanism.

[0009] To solve the above-mentioned technical problems, the present invention is achieved through the following technical solution:

[0010] First, this invention provides an underwater unmanned vehicle deployment and retrieval device based on a rotary scissor mechanism, as detailed below:

[0011] The underwater unmanned vehicle deployment and recovery device based on the rotary scissor mechanism includes a buoyancy cylinder, a frame, a scissor mechanism, a docking cone, a docking guidance assembly, a rotary mechanism, an electric cylinder, a rotary drive assembly, and a control assembly.

[0012] There are at least two buoyancy cylinders, which are fixedly connected to the frame;

[0013] The two ends of the rotating mechanism are rotatably mounted on the frame;

[0014] The lower end of the scissor mechanism is fixedly connected to the rotating mechanism on one side and slidably connected to the rotating mechanism on the other side; a support plate is provided at the upper end of the scissor mechanism, and the upper end of the scissor mechanism is fixedly connected to the support plate on one side and slidably connected to the support plate on the other side.

[0015] The electric cylinder includes a cylinder body and a push rod. The cylinder body is fixedly connected to the rotating mechanism, and the push rod is connected to the sliding connection side of the lower end of the scissor mechanism.

[0016] The rotary drive assembly is fixed to the frame, and its output end is connected to one end of the rotary mechanism.

[0017] The docking cone is fixedly connected to the support plate;

[0018] The docking guidance component is mounted on the docking cone to enable automatic docking of the underwater unmanned vehicle with the docking cone.

[0019] The control component is used to control the workflow of the take-up and take-down device.

[0020] Preferably, the docking cone is also provided with a wireless charging component for charging the underwater unmanned vehicle.

[0021] Preferably, the rotating mechanism includes a rotating frame and rotating shafts fixed to both ends of the rotating frame.

[0022] Preferably, the frame is a hollow structure consisting of a front plate, a rear plate, a left side plate, and a right side plate; both the front plate and the rear plate have through-holes.

[0023] Preferably, the scissor lift mechanism includes a scissor lift arm with two rods hinged together, an active slider hinged to the lower sliding side of the scissor lift arm, and a driven slider hinged to the upper sliding side of the scissor lift arm; the active slider is slidably connected to the rotating mechanism, and the driven slider is slidably connected to the support plate.

[0024] Preferably, the rotating mechanism is provided with lugs for connecting the cylinder body.

[0025] Preferably, there are two buoyancy cylinders, and semicircular seats are provided on both sides of the frame. The two buoyancy cylinders are respectively installed on the semicircular seats on both sides by ring hoops.

[0026] Furthermore, the present invention also provides a method for launching and recovering an underwater unmanned vehicle, as detailed below:

[0027] A method for launching and recovering an underwater unmanned vehicle, employing the underwater unmanned vehicle launch and recovery device described above, includes the following steps:

[0028] S1, the underwater unmanned vehicle is loaded into the docking cone;

[0029] S2, the control component controls the movement of the electric cylinder to drive the scissor mechanism to fold, and retracts the docking cone and the underwater unmanned vehicle onto the rotating mechanism;

[0030] S3, the control component controls the rotation drive component to drive the rotation mechanism to rotate;

[0031] S4, the docking cone and the underwater unmanned vehicle rotate 180 degrees and then turn to the position directly below, completely submerged in the water;

[0032] S5, the control component controls the electric cylinder to move in the opposite direction, driving the scissor mechanism to unfold and extend the docking cone and underwater unmanned vehicle to the underwater deployment position;

[0033] S6, the underwater unmanned vehicle reverses and exits the docking cone, completing the deployment;

[0034] S7, recover the underwater unmanned vehicle, and control the docking guidance component to carry out docking guidance of the underwater unmanned vehicle through the control component;

[0035] S8, the underwater unmanned vehicle fully enters the docking cone;

[0036] S8, the control component controls the movement of the electric cylinder, drives the scissor mechanism to fold, and retracts the docking cone and the underwater unmanned vehicle onto the rotating mechanism;

[0037] S9, the control component controls the rotation drive component to drive the rotation mechanism to rotate, so that the docking cone and the underwater unmanned vehicle rotate 180 degrees to the position directly above.

[0038] S10, the control component controls the movement of the electric cylinder, drives the scissor mechanism to unfold, and extends the docking cone and the underwater unmanned vehicle out of the water surface;

[0039] S11, the underwater unmanned vehicle extends its antenna assembly to transmit data; the control assembly simultaneously activates the wireless charging assembly to start charging the underwater unmanned vehicle, completing the recovery of the underwater unmanned vehicle.

[0040] Compared with the prior art, the present invention has the following advantages:

[0041] 1) Effectively improves the safety of deployment and recovery: The recovery process described in this invention is completed underwater, thus avoiding interference from sea waves on and near the sea surface, as well as avoiding wake and currents around the mother ship during the recovery process;

[0042] 2) Effectively improves the efficiency of deployment and recovery: The underwater unmanned vehicle deployment and recovery method based on the rotary scissor mechanism described in this invention is mostly completed automatically, and data transmission and energy replenishment are carried out wirelessly. Therefore, the complicated process of hoisting the underwater unmanned vehicle onto the mother ship is avoided.

[0043] 3) Effectively improves the speed and mobility of deployment and recovery: The underwater unmanned vehicle deployment and recovery device based on the rotary scissor mechanism described in this invention has a compact structure, a high degree of automation, and is fast and mobile.

[0044] 4) Effectively reduces deployment and recovery costs: The underwater unmanned vehicle deployment and recovery device of the present invention does not require special hoisting equipment and professional technicians, and can automatically complete the deployment and recovery of underwater unmanned vehicles, thus reducing costs. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram of the structure of the present invention;

[0047] Figure 2 This is a schematic diagram of the framework structure;

[0048] Figure 3 This is a schematic diagram of the assembly of the rotating mechanism and the scissor mechanism;

[0049] Figure 4 This is a schematic diagram showing the state of the extended antenna assembly of an underwater unmanned vehicle.

[0050] Figure 5 This is a schematic diagram of the deployment process of the present invention;

[0051] Figure 6 This is a schematic diagram of the recycling process of the present invention.

[0052] In all the accompanying drawings, the same reference numerals are used to denote the same elements or structures, including: 1. Buoyancy cylinder, 2. Frame, 3. Scissor mechanism, 4. Docking cone, 5. Wireless charging assembly, 6. Docking guidance assembly, 7. Underwater unmanned vehicle, 8. Rotation mechanism, 9. Electric cylinder, 10. Rotation drive assembly, 11. Control assembly, 12. Ring, 13. Left side plate, 14. Front plate, 15. Semicircular seat, 16. Right side plate, 17. Rear plate, 18. Rotating shaft, 19. Rotating frame, 20. Active slider, 21. Push rod, 22. Cylinder body, 23. Support lug, 24. Support plate, 25. Driven slider, 26. Scissor arm, 27. Shaft hole, 28. Antenna assembly. Detailed Implementation

[0053] To more clearly illustrate the objectives, technical solutions, and advantages of the present invention, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described below are merely some embodiments of the present invention, and not all embodiments. Based on the embodiments described below, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0054] Meanwhile, in order to keep the following description of the embodiments of the present invention clear and concise, detailed descriptions of known functions and known components are omitted.

[0055] Example 1

[0056] As shown in the attached figure, the underwater unmanned vehicle deployment and retrieval device based on the rotary scissor mechanism includes a buoyancy cylinder 1, a frame 2, a scissor mechanism 3, a docking cone 4, a docking guide assembly 6, a rotary mechanism 8, an electric cylinder 9, a rotary drive assembly 10, and a control assembly 11.

[0057] At least two buoyancy cylinders 1 are fixedly connected to the frame 2; they provide buoyancy for the entire device.

[0058] The two ends of the rotating mechanism 8 are rotatably mounted on the frame 2;

[0059] The lower end of the scissor mechanism 3 is fixedly connected to the rotating mechanism 8 on one side and slidably connected to the rotating mechanism 8 on the other side; a support plate 24 is provided at the upper end of the scissor mechanism 3, and the upper end of the scissor mechanism 3 is fixedly connected to the support plate 24 on one side and slidably connected to the support plate 24 on the other side.

[0060] The electric cylinder 9 includes a cylinder body 22 and a push rod 21. The cylinder body 22 is fixedly connected to the rotating mechanism 8, and the push rod 21 is connected to the sliding connection side of the lower end of the scissor mechanism 3.

[0061] The rotary drive assembly 10 is fixedly connected to the frame 2, and its output end is connected to one end of the rotary mechanism 8; the rotary drive assembly 10 may be a geared motor, etc.

[0062] The docking cone 4 is fixedly connected to the support plate 24;

[0063] The docking guidance component 6 is mounted on the docking cone 4 to enable automatic docking of the underwater unmanned vehicle 7 with the docking cone 4;

[0064] The control component 11 is used to control the operation of the take-up and take-down device.

[0065] As a further improvement to this embodiment, the docking cone 4 is also provided with a wireless charging component 5 for charging the underwater unmanned vehicle 7.

[0066] As a specific technical solution in this embodiment, the rotating mechanism 8 includes a rotating frame 19 and rotating shafts 18 fixedly connected to both ends of the rotating frame 19.

[0067] As a specific technical solution in this embodiment, the frame 2 is a hollow structure consisting of a front plate 14, a rear plate 17, a left side plate 13, and a right side plate 16; both the front plate 14 and the rear plate 17 have through shaft holes 27; during assembly, the shaft holes 27 are used for the rotational installation of the rotating shaft 18.

[0068] As a specific technical solution in this embodiment, the scissor mechanism 3 includes a scissor arm 26 with two rods hinged together, an active slider 20 hinged to the lower sliding side of the scissor arm 26, and a driven slider 25 hinged to the upper sliding side of the scissor arm 26; the active slider 20 is slidably connected to the rotating mechanism 8, and the driven slider 25 is slidably connected to the support plate 24.

[0069] As a specific technical solution in this embodiment, the rotating mechanism 8 is provided with a lug 23 for connecting the cylinder body 22, so as to facilitate the quick assembly and disassembly of the electric cylinder 9.

[0070] As a specific technical solution in this embodiment, there are two buoyancy cylinders 1, and semicircular seats 15 are provided on both sides of the frame 2. The two buoyancy cylinders 1 are respectively installed on the semicircular seats 15 on both sides by ring clamps 12. Obviously, the number of buoyancy cylinders can be increased, and other common installation methods can also be adopted.

[0071] Since this invention is used for underwater operations, the rotary drive components, electric cylinders, etc. used in this invention are all products that meet the requirements for waterproof rating.

[0072] Example 2

[0073] A method for launching and recovering an underwater unmanned vehicle (UAV), employing the underwater UAV 7 launch and recovery device as described above, includes the following steps:

[0074] S1, the underwater unmanned vehicle 7 is loaded into the docking cone 4;

[0075] S2, the electric cylinder 9 is controlled by the control component 11 to move, driving the scissor mechanism 3 to fold, and the docking cone 4 and the underwater unmanned vehicle 7 are retracted onto the rotating mechanism 8;

[0076] S3, the control component 11 controls the rotation drive component 10 to drive the rotation mechanism 8 to rotate;

[0077] S4, the docking cone 4 and the underwater unmanned vehicle 7 rotate 180 degrees and then turn to the position directly below, completely submerged in the water;

[0078] S5, the electric cylinder 9 is controlled to move in the opposite direction by the control component 11, driving the scissor mechanism 3 to unfold and extend the docking cone 4 and the underwater unmanned vehicle 7 to the underwater deployment position.

[0079] S6, the underwater unmanned vehicle 7 reverses and exits the docking cone 4, completing the deployment;

[0080] S7, recover the underwater unmanned vehicle 7, and control the docking guidance component 6 through the control component 11 to carry out docking guidance of the underwater unmanned vehicle 7;

[0081] S8, the underwater unmanned vehicle 7 fully enters the docking cone 4;

[0082] S8, the control component 11 controls the movement of the electric cylinder 9, drives the scissor mechanism 3 to fold, and retracts the docking cone 4 and the underwater unmanned vehicle 7 onto the rotating mechanism 8;

[0083] S9, the control component 11 controls the rotation drive component 10 to drive the rotation mechanism 8 to rotate, so that the docking cone 4 and the underwater unmanned vehicle 7 rotate 180 degrees to the position directly above.

[0084] S10, the control component 11 controls the movement of the electric cylinder 9, drives the scissor mechanism 3 to unfold, and extends the docking cone 4 and the underwater unmanned vehicle 7 out of the water surface;

[0085] S11, the underwater unmanned vehicle 7 extends its antenna assembly 28 to transmit data; the control assembly 11 simultaneously activates the wireless charging assembly 5 to start charging the underwater unmanned vehicle 7, thus completing the recovery of the underwater unmanned vehicle 7.

[0086] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, any modifications, equivalent substitutions, and improvements made to the technical solutions or some technical features described in the above specific embodiments within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A deployment and recovery device for an underwater unmanned vehicle based on a rotary scissor mechanism, characterized in that: It includes a buoyancy cylinder (1), a frame (2), a scissor mechanism (3), a docking cone (4), a docking guide assembly (6), a rotating mechanism (8), an electric cylinder (9), a rotating drive assembly (10), and a control assembly (11). There are at least two buoyancy cylinders (1), which are fixed to the frame (2); The two ends of the rotating mechanism (8) are rotatably mounted on the frame (2); The lower end of the scissor mechanism (3) is fixedly connected to the rotating mechanism (8) on one side and slidably connected to the rotating mechanism (8) on the other side; a support plate (24) is provided at the upper end of the scissor mechanism (3), and the upper end of the scissor mechanism (3) is fixedly connected to the support plate (24) on one side and slidably connected to the support plate (24) on the other side. The electric cylinder (9) includes a cylinder body (22) and a push rod (21). The cylinder body (22) is fixedly connected to the rotating mechanism (8), and the push rod (21) is connected to the sliding connection side of the lower end of the scissor mechanism (3). The rotary drive assembly (10) is fixed to the frame (2), and its output end is connected to one end of the rotary mechanism (8); The docking cone (4) is fixed to the support plate (24); The docking guidance component (6) is mounted on the docking cone (4) to enable automatic docking of the underwater unmanned vehicle (7) with the docking cone (4); The control component (11) is used to control the workflow of the take-up and release device.

2. The underwater unmanned vehicle deployment and retrieval device based on a rotary scissor mechanism according to claim 1, characterized in that: The docking cone (4) is also provided with a wireless charging component (5) for charging the underwater unmanned vehicle (7).

3. The underwater unmanned vehicle deployment and retrieval device based on a rotary scissor mechanism according to claim 1 or 2, characterized in that: The rotating mechanism (8) includes a rotating frame (19) and a rotating shaft (18) fixed to both ends of the rotating frame (19).

4. The underwater unmanned vehicle deployment and retrieval device based on a rotary scissor mechanism according to claim 1 or 2, characterized in that: The frame (2) is a hollow structure consisting of a front plate (14), a rear plate (17), a left side plate (13), and a right side plate (16); both the front plate (14) and the rear plate (17) have through shaft holes (27).

5. The underwater unmanned vehicle deployment and recovery device based on a rotary scissor mechanism according to claim 1 or 2, characterized in that: The scissor mechanism (3) includes a scissor arm (26) with two rods hinged together, an active slider (20) hinged to the lower sliding side of the scissor arm (26), and a driven slider (25) hinged to the upper sliding side of the scissor arm (26); the active slider (20) is slidably connected to the rotating mechanism (8), and the driven slider (25) is slidably connected to the support plate (24).

6. The underwater unmanned vehicle deployment and retrieval device based on a rotary scissor mechanism according to claim 1 or 2, characterized in that: The rotating mechanism (8) is provided with lugs (23) for connecting the cylinder (22).

7. The underwater unmanned vehicle deployment and recovery device based on a rotary scissor mechanism according to claim 1 or 2, characterized in that: There are two buoyancy cylinders (1), and semicircular seats (15) are provided on both sides of the frame (2). The two buoyancy cylinders (1) are respectively installed on the semicircular seats (15) on both sides by ring hoops (12).

8. A method for launching and recovering an underwater unmanned vehicle, characterized in that... The underwater unmanned vehicle (7) deployment and retrieval device as described in claim 2 includes the following steps: S1, the underwater unmanned vehicle (7) is loaded into the docking cone (4); S2, the electric cylinder (9) is controlled by the control component (11) to move, and the scissor mechanism (3) is driven to fold, so that the docking cone (4) and the underwater unmanned vehicle (7) are gathered onto the rotating mechanism (8); S3, the control component (11) controls the rotation drive component (10) to drive the rotation mechanism (8) to rotate; S4, the docking cone (4) and the underwater unmanned vehicle (7) rotate 180 degrees and then turn to the position directly below, completely submerged in the water; S5, the electric cylinder (9) is controlled to move in the opposite direction by the control component (11), driving the scissor mechanism (3) to unfold, and extending the docking cone (4) and the underwater unmanned vehicle (7) to the underwater deployment position; S6, the underwater unmanned vehicle (7) reverses and exits the docking cone (4) to complete the deployment; S7, recover the underwater unmanned vehicle (7), control the docking guidance component (6) through the control component (11) to carry out docking guidance of the underwater unmanned vehicle (7); S8, the underwater unmanned vehicle (7) fully enters the docking cone (4); S8, the control component (11) controls the movement of the electric cylinder (9) to drive the scissor mechanism (3) to fold, and retract the docking cone (4) and the underwater unmanned vehicle (7) onto the rotating mechanism (8); S9, the control component (11) controls the rotation drive component (10) to drive the rotation mechanism (8) to rotate, so that the docking cone (4) and the underwater unmanned vehicle (7) rotate 180 degrees to the position directly above; S10, the control component (11) controls the movement of the electric cylinder (9) to drive the scissor mechanism (3) to unfold and extend the docking cone (4) and the underwater unmanned vehicle (7) out of the water; S11, the underwater unmanned vehicle (7) extends the antenna assembly (28) to transmit data; the control assembly (11) simultaneously activates the wireless charging assembly (5) to start charging the underwater unmanned vehicle (7) and complete the recovery of the underwater unmanned vehicle (7).

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