Dual-body unmanned ship launching and recovering device based on double-layer capsule body structure

Abstract

The invention relates to the technical field of catamaran unmanned ship recovery devices, and provides a catamaran unmanned ship launching and recovery device based on a double-layer capsule structure, which facilitates the launching and recovery operation of a catamaran unmanned ship, is more reasonable in structure, improves the operation safety coefficient and efficiency, is more practical, and comprises a launching and recovery cage and a double-layer capsule structure, the double-layer bag body structure comprises an outer-layer bag body structure and an inner-layer bag body structure, the whole laying and recycling cage is formed by correspondingly welding a plurality of sections of metal square pipes, hanging rings are installed above the corresponding metal square pipes and used for laying and recycling the laying and recycling cage during operation, and a double-body unmanned ship supporting structure is installed at the bottom of the inner side of the laying and recycling cage and used for supporting the laying and recycling cage. The outer-layer bag body structure and the inner-layer bag body structure are both installed in the laying and recycling cage, direct collision between the unmanned ship and the laying and recycling cage is prevented, the outer-layer bag body structure is composed of a water filling bag body, a water pump supporting plate and a two-way water pump, and the water pump supporting plate is fixed to a gap of a middle metal square pipe at the bottom of the laying and recycling cage.

Description

Technical Field

[0001] The present invention relates to the technical field of a catamaran unmanned boat recovery device, and in particular to a catamaran unmanned boat deployment and recovery device based on a double-layer bladder structure. Background Art

[0002] An unmanned ship is a fully automatic surface robot that can navigate on the water according to preset tasks with the help of precise satellite positioning and its own sensors. It has the characteristics of autonomy, safety and adaptability. It can adapt to various complex environments and tasks, and replace manual tasks in many dangerous environments. Among them, catamaran unmanned ships are increasingly widely used in water body detection, close-in reconnaissance of maritime targets and other fields due to their high stability, strong load-bearing capacity and high cruising efficiency.

[0003] At present, the deployment and recovery of catamaran unmanned boats are often achieved by installing a crane on the mother ship to lift the unmanned boat. This method requires manual connection of the crane hook to the unmanned boat, which can easily threaten the safety of personnel's lives in severe sea conditions. The overall operation is cumbersome and slow. 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 a catamaran unmanned boat deployment and recovery device based on a double-layer bladder structure, which facilitates the deployment and recovery operations of the catamaran unmanned boat, has a relatively reasonable structure, improves the operation safety factor and efficiency, and has good practicality.

[0006] (II) Technical solution

[0007] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a catamaran unmanned boat deployment and recovery device based on a double-layer bladder structure, comprising a deployment and recovery cage and a double-layer bladder structure installed thereon, the double-layer bladder structure comprising an outer bladder structure and an inner bladder structure, the deployment and recovery cage as a whole is formed by welding multiple sections of metal square tubes corresponding to each other, and a lifting ring is installed on the top of the corresponding metal square tubes for deploying and recovering the deployment and recovery cage during operation, a catamaran unmanned boat support structure is installed on the inner bottom of the deployment and recovery cage, and the outer bladder structure and the inner bladder structure are both installed in the deployment and recovery cage to prevent direct collision between the unmanned boat and the deployment and recovery cage.

[0008] Preferably, the outer bladder structure consists of a water-filled bladder, a water pump support plate and a two-way water pump. The water pump support plate is fixed in the gap of the middle metal square tube at the bottom of the recovery cage, and the two-way water pump is fixed on the water pump support plate. To ensure balance, the two water pump support plates and the two-way water pump are symmetrically placed at both ends of the gap of the middle metal square tube at the bottom of the recovery cage. The water-filled bladder is connected to the two-way water pump through a pipe.

[0009] Preferably, the inner layer sac structure includes an inflatable sac, an inflatable pipe structure, an air pump support plate and an air pump. The inflatable pipe structure is arranged inside the inflatable sac, and the pipe passes through the gap between the metal square tubes to be connected to the air pump. The air pump support plate is fixed at the gap between the top middle metal square tubes of the recovery cage, and the air pump is fixed on the air pump support plate. To ensure balance, two air pump support plates and two air pumps are symmetrically placed at both ends of the gap between the metal square tubes.

[0010] Preferably, the capacity of the inflatable bladder is much larger than that of the water-filled bladder, so that when the water-filled bladder is saturated, the inflatable bladder is relatively flat and does not hinder the entry of the unmanned boat. When the inflatable bladder is saturated, the position of the unmanned boat can be restricted.

[0011] Preferably, the catamaran unmanned boat support structure is customized according to the size of the corresponding unmanned boat, and holes are evenly spaced on the catamaran unmanned boat support structure to reduce the influence of buoyancy during use.

[0012] Preferably, sealing plates are provided at the connection between the bidirectional water pump and the pipeline, and at the connection between the water-filled bladder and the pipeline to improve air tightness. At the same time, the outer surface of the water-filled bladder is made of high-pressure resistant aramid fiber material to increase the strength of the water-filled bladder and reduce the occurrence of damage when it is in working state.

[0013] Preferably, the inflation pipe structure passes through the air-filled bladder and the water-filled bladder successively.

[0014] (III) Beneficial effects

[0015] Compared with the prior art, the present invention provides a double-layer capsule structure-based catamaran unmanned boat deployment and recovery device, which has the following beneficial effects:

[0016] 1. In the present invention, when deploying the unmanned boat, the inner bladder is not inflated, and the outer bladder is filled with water to increase the weight of the device and improve the stability of the device. When recovering the unmanned boat, the inner bladder is inflated to provide a certain buoyancy for the entire device, cooperate with the lifting of the unmanned boat, and reduce the influence of buoyancy and waves on the deployment and recovery of the unmanned boat.

[0017] 2. In the present invention, the parking position of the catamaran unmanned boat is constrained by a saturated bladder structure, so that the unmanned boat will not fall out of the recovery device during deployment and lifting. When the deployment is completed or ready for recovery, the waterproofing of the double-layer bladder structure is abandoned, so that the unmanned boat can freely enter and exit the recovery device, thereby realizing the posture constraint control of the unmanned boat.

[0018] 3. In the present invention, the double-layer bladder and the catamaran unmanned boat support structure provide flexible support for the bottom of the unmanned boat, which can effectively buffer the damage to the unmanned boat and the recovery cage caused by the collision, and achieve effective buffering when the unmanned boat collides with the recovery device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0020] Figure 2 It is a structural schematic diagram of the bottom of the present invention;

[0021] Figure 3 It is a schematic structural diagram of a cross section of a double-layer capsule of the present invention;

[0022] Figure 4 It is a three-dimensional structural schematic diagram of the catamaran unmanned boat support structure of the present invention.

[0023] Among them: 1-deployment and recovery cage, 1-1-cage body, 1-2 lifting ring, 2-double-layer bladder structure, 2-1-outer bladder structure, 2-2-inner bladder structure, 2-1-1-water-filled bladder, 2-1-2-water pump support plate, 2-1-3-bidirectional water pump, 2-2-1-inflatable bladder, 2-2-2 inflatable pipe structure, 2-2-3-air pump support plate, 2-2-4-air pump, 3-catamaran unmanned boat support structure. DETAILED DESCRIPTION

[0024] 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.

[0025] Example

[0026] See also Figure 1-Figure 4A double-layer capsule structure-based catamaran unmanned boat deployment and recovery device comprises a deployment and recovery cage 1 and a double-layer capsule structure 2 installed thereon, wherein the double-layer capsule structure 2 comprises an outer capsule structure 2-1 and an inner capsule structure, wherein the deployment and recovery cage 1 is formed by welding a plurality of sections of metal square tubes 1-1 corresponding to each other, and a lifting ring 1-2 is installed above the corresponding metal square tubes 1-1 for deployment and recovery of the deployment and recovery cage 1 during operation, and a catamaran unmanned boat support structure 3 is installed at the inner bottom of the deployment and recovery cage 1, and the outer capsule structure 2-1 and the inner capsule structure are both installed in the deployment and recovery cage 1 to prevent the unmanned boat from colliding with the deployment and recovery cage 1. The outer bladder structure 2-1 is composed of a water-filled bladder 2-1-1, a water pump support plate 2-1-2 and a two-way water pump 2-1-3. The water pump support plate 2-1-2 is fixed to the gap of the middle metal square tube 1-1 at the bottom of the recovery cage 1. The two-way water pump 2-1-3 is fixed on the water pump support plate 2-1-2. To ensure balance, the two water pump support plates 2-1-2 and the two-way water pump 2-1-3 are symmetrically placed at both ends of the gap of the middle metal square tube 1-1 at the bottom of the recovery cage 1. The water-filled bladder 2-1-1 is connected to the two-way water pump 2-1-3 through a pipeline.

[0027] The inner layer sac structure includes an inflatable sac 2-2-1, an inflatable pipe structure 2-2-2, an air pump support plate 2-2-3 and an air pump 2-2-4. The inflatable pipe structure 2-2-2 is arranged inside the inflatable sac 2-2-1. The pipe passes through the gap between the metal square tubes 1-1 and is connected to the air pump 2-2-4. The air pump support plate 2-2-3 is fixed at the gap between the top middle metal square tube 1-1 of the recovery cage 1. The air pump 2-2-4 is fixed on the air pump support plate 2-2-3. To ensure balance, two air pump support plates 2-2-3 and two air pumps 2-2-4 are symmetrically placed at both ends of the gap between the metal square tubes 1-1. The capacity of the inflatable sac 2-2-1 is much larger than that of the water-filled sac 2-1-1, so that when the water-filled sac 2-1-1 is saturated, the air pump 2-2-4 is filled. The airbag 2-2-1 is relatively flat and will not hinder the entry of the unmanned boat. When the inflatable bag 2-2-1 is saturated, the position of the unmanned boat can be restricted. The catamaran unmanned boat support structure 3 is customized according to the size of the corresponding unmanned boat, and the catamaran unmanned boat support structure 3 is evenly perforated to reduce the influence of buoyancy during use. The connection between the two-way water pump 2-1-3 and the pipeline and the connection between the water-filled bag 2-1-1 and the pipeline are both provided with sealing plates to improve air tightness. At the same time, the outer surface of the water-filled bag 2-1-1 is made of high-pressure resistant aramid fiber material to increase the strength of the water-filled bag 2-1-1 and reduce its damage in the working state. The inflatable pipe structure 2-2-2 successively passes through the inflatable bag 2-2-1 and the water-filled bag 2-1-1.

[0028] like Figure 2 As shown, a water pump support plate 2-1-2 and a two-way water pump 2-1-3 are symmetrically installed along the center of the bottom of the recovery cage 1 to ensure the balance of the overall recovery device. When the catamaran unmanned boat is deployed, the two-way water pump 2-1-3 at the bottom of the recovery cage 1 draws seawater through a pipeline into the water-filled bladder 2-1-1 when it contacts the water surface, increasing the weight of the deployed recovery device, thereby reducing the impact of waves and rapids on the deployed recovery device, and making the bottom of the recovery cage 1 lower than the bottom of the unmanned boat, so that when the water-filled bladder 2-1-2 is saturated, the unmanned boat can still enter the recovery cage 1. On the contrary, when the unmanned boat is recovered, the two-way water pump 2-1-3 reversely drains the water from the water-filled bladder 2-1-2, reducing the weight of the overall device and facilitating the crane lifting. Figure 3 As shown, the part of the inflation pipe structure 2-2-2 placed in the airbag is evenly perforated to ensure uniform inflation at all positions. The pipe connected to the air pump 2-2-4 is placed in the metal square tube 1-1 to prevent the unmanned boat from colliding with the pipe when entering and exiting the recovery cage, affecting the entry of gas. When the unmanned boat enters the recovery cage 1, the air pump 2-2-4 inflates the inflation bag 2-2-1 through the inflation pipe structure 2-2-2 to saturate it, and a water pressure layer is formed between the two layers of the bag. At this time, the continuously expanding and flexible bag structure guides the catamaran unmanned boat to stop at the specified position and constrains its posture. At the same time, the flexible bag structure can also buffer the collision between the catamaran unmanned boat and the recovery cage 1 during the lifting process. Figure 4 As shown, the bottom catamaran unmanned boat support structure 3 is customized according to the catamaran mechanism to ensure that the catamaran unmanned boat will not shake laterally and damage the hull when placed in the recovery cage 1; a number of through holes are processed inside to reduce the impact on buoyancy and hydrodynamics while ensuring structural strength, and flexible and smooth materials are used to prevent rigid collision with the unmanned boat. The connection between the double-layer bladder structure 2 and the remaining structures must be well sealed to adapt to the underwater working conditions when recovering the unmanned boat.

[0029] The specific operation method of the above embodiment is as follows:

[0030] In summary, the working principle of the double-layer bladder structure-based catamaran unmanned boat deployment and recovery device is as follows: when in use, the crane lowers the device from the mother ship into the water. When it touches the water surface, the two-way water pump 2-1-3 sucks seawater to saturate the water-filled bladder 2-1-1, and the recovery cage 1 is controlled at a specified water level. The size of the recovery cage 1 needs to be larger than the size of the unmanned boat so that the unmanned boat has enough space to enter the recovery cage 1. After entering, the air pump 2-2-4 inflates the inflatable bladder 2-2-1 to form a water pressure layer between the double-layer bladder structure. As the inner air bag is inflated, the strength of the water pressure layer is increased, which can effectively To cushion the collision, the double-layer bladder structure 2 is saturated to guide the unmanned boat to stop at the center of the recovery cage 1 and limit its position. At the same time, the inflation of the bladder can provide a certain buoyancy to help the device float up for the next step. After the position of the unmanned boat is stable, the crane lifts the device from the water and the two-way water pump 2-1-3 drains the seawater in the water-filled bladder 2-1-1, and lifts the device to the mother ship. In the non-working state, in order to avoid damage to the device itself or surrounding objects in an unexpected situation, the bladder structure is waterproofed and deflated in an empty state to prevent sharp objects from damaging the bladder, such as Figure 1 As shown, the air pump support plate 2-2-3 and the air pump 2-2-4 are symmetrically installed along the center of the top surface of the recovery cage 1 to ensure the balance of the overall recovery device.

[0031] 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. A double-layer capsule structure-based catamaran unmanned boat deployment and recovery device, characterized in that: The invention comprises a deployment recovery cage (1) and a double-layer capsule structure (2) installed thereon, wherein the double-layer capsule structure (2) comprises an outer capsule structure (2-1) and an inner capsule structure, wherein The deployment and recovery cage (1) is formed as a whole by welding a plurality of sections of metal square tubes (1-1) corresponding to each other. A lifting ring (1-2) is installed above the corresponding metal square tube (1-1) for deploying and recovering the deployment and recovery cage (1) during operation. A catamaran unmanned boat support structure (3) is installed at the inner bottom of the deployment and recovery cage (1). The outer capsule structure (2-1) and the inner capsule structure are both installed in the deployment and recovery cage (1) to prevent direct collision between the unmanned boat and the deployment and recovery cage (1).

2. According to claim 1, a double-layer capsule structure-based catamaran unmanned boat deployment and recovery device is characterized in that: The outer bladder structure (2-1) is composed of a water-filled bladder (2-1-1), a water pump support plate (2-1-2) and a bidirectional water pump (2-1-3); the water pump support plate (2-1-2) is fixed to the gap between the middle metal square tube (1-1) at the bottom of the recovery cage (1); the bidirectional water pump (2-1-3) is fixed to the water pump support plate (2-1-2); to ensure balance, the two water pump support plates (2-1-2) and the bidirectional water pump (2-1-3) are symmetrically placed at the two ends of the gap between the middle metal square tube (1-1) at the bottom of the recovery cage (1); the water-filled bladder (2-1-1) and the bidirectional water pump (2-1-3) are connected via a pipeline.

3. The double-layer capsule structure-based catamaran unmanned boat deployment and recovery device according to claim 2 is characterized in that: The inner layer sac structure comprises an inflatable sac (2-2-1), an inflatable pipe structure (2-2-2), an air pump support plate (2-2-3) and an air pump (2-2-4); the inflatable pipe structure (2-2-2) is arranged inside the inflatable sac (2-2-1); the pipe passes through the gap between the metal square tubes (1-1) and is connected to the air pump (2-2-4); the air pump support plate (2-2-3) is fixed at the gap between the top middle metal square tubes (1-1) of the recovery cage (1); the air pump (2-2-4) is fixed on the air pump support plate (2-2-3); in order to ensure balance, two air pump support plates (2-2-3) and two air pumps (2-2-4) are symmetrically placed at both ends of the gap between the metal square tubes (1-1).

4. The double-layer capsule structure-based catamaran unmanned boat deployment and recovery device according to claim 3 is characterized in that: The capacity of the inflatable sac (2-2-1) is much greater than the capacity of the water-filled sac (2-1-1), so that when the water-filled sac (2-1-1) is saturated, the inflatable sac (2-2-1) is relatively flat and will not hinder the entry of the unmanned boat. When the inflatable sac (2-2-1) is saturated, the position of the unmanned boat can be restricted.

5. The double-layer capsule structure-based catamaran unmanned boat deployment and recovery device according to claim 4 is characterized in that: The catamaran unmanned boat support structure (3) is custom designed according to the size of the corresponding unmanned boat, and holes are evenly spaced on the catamaran unmanned boat support structure (3) to reduce the influence of buoyancy during use.

6. The double-layered capsule structure-based catamaran unmanned boat deployment and recovery device according to claim 5 is characterized in that: Sealing plates are provided at the connection points between the bidirectional water pump (2-1-3) and the pipeline, and at the connection points between the water-filled bladder (2-1-1) and the pipeline to improve air tightness. At the same time, the outer surface of the water-filled bladder (2-1-1) is made of high-pressure resistant aramid fiber material to increase the strength of the water-filled bladder (2-1-1) and reduce the occurrence of damage when it is in working state.

7. The double-layer capsule structure-based catamaran unmanned boat deployment and recovery device according to claim 6 is characterized in that: The inflation pipe structure (2-2-2) successively passes through the inflation bladder (2-2-1) and the water-filled bladder (2-1-1).

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