Bionic sleeve twisting backpack type recovery system

Abstract

The invention relates to a bionic sleeve twisting backpack type recovery system. The system is composed of a profiling body, a tensioning umbilical cable, a telescopic sleeve support, a marine winch and a ground control station. The profiling body comprises a cable drawing mechanism, a front clamping mechanism, a rear clamping mechanism, a vertical propeller, a horizontal propeller, a head lighting module, a back lighting module, a head camera, a back camera, a control module, a battery, a shell and a driving motor. The system is suitable for positioning, capturing and recovering the marine special-shaped floating object, the floating object is positioned, fixed and dragged to a ship deck under the severe sea condition through the stages of cable drawing and sleeving, torsion alignment, segmented clamping, sleeve releasing, stranded cable recovery and the like, the situation that the object is damaged by suction and twisting of a propeller in the fishing process is avoided, the application working conditions of the floating object are widened, and the service life of the floating object is prolonged. Risks of manual operation on the sea are remarkably reduced, floating object fishing efficiency and quality are greatly improved, and the device has the advantages of being flexible in catching mode, reliable in positioning and clamping, rapid in recycling and fishing and the like.

Description

Technical Field

[0001] The invention relates to a method and system for positioning, capturing and recovering irregular floating objects at sea, in particular to a bionic sleeve-twisting backpack recovery system. Background Art

[0002] When recovering floating objects at sea, we often encounter complex hydrological and meteorological emergencies, which will greatly affect the progress of searching, locating, capturing and recovering floating objects. Delays in vehicle release or long salvage times will cause the floating objects to be damaged by seawater erosion. The different capture and recovery methods not only test the skills and experience of operators, but also limit the further application scenarios of floating objects.

[0003] The existing artificial netting method will inevitably cause irreversible damage to floating objects and is inefficient. The mainstream underwater robot end effector is suitable for small objects with easy-to-grasp surfaces. After the robot grabs the object, it uses its own power to drag it back home. The floating objects are shaken irregularly by the impact of the waves on the way, which not only affects the robot's ability to maintain its own stability, but also easily collides with each other. In addition, the standing surface platform is required to be stable and close to the water surface, otherwise it is easy to fall off and bump during the lifting. In addition, the method of using a ship to maneuver close to the floating object and then relying on a ship crane to recover it takes a long time to adjust, and when approaching the floating object, the object is easily sucked into the bottom of the ship by the propeller and damaged. Therefore, those skilled in the art provide a bionic torsion backpack recovery system to solve the problems raised in the above background technology. Summary of the invention

[0004] The purpose of the present invention is to provide a bionic twisting backpack recovery system to solve the problems raised in the above background technology.

[0005] To achieve the above object, the present invention provides the following technical solutions:

[0006] A bionic-shaped twisted backpack recovery system, which consists of a contoured body, a tensioning umbilical cable, a telescopic sleeve bracket, a ship winch and a ground control station; the tensioning umbilical cable is tied to a circular sleeve seat at the tail of the contoured body, and then passes through a hollow telescopic sleeve bracket fixed to the side hull in sequence and then bifurcates; the tensioning umbilical cable consists of a strength cable and a data transmission cable; the strength cable is recovered through the ship winch, and the data transmission cable is connected to the port of the ground control station to transmit remote control and telemetry data.

[0007] As a further solution of the present invention: the contour body is composed of a draw-rope mechanism, a front clamping mechanism, a rear clamping mechanism, a vertical thruster, a horizontal thruster, a head lighting module, a back lighting module, a head camera, a back camera, a back camera 2, a control module, a battery, a shell and a driving motor, which can draw ropes to tighten floating objects on the sea, and use the trapped floating objects as fulcrums to complete the positioning after the contour body is twisted, and finally the front clamping mechanism and the rear clamping mechanism are used to clamp the floating objects in sections; the floating objects are fixed at a predetermined position on the back of the contour body, and the center of gravity thereof is basically coincident with the center of gravity of the contour body. The battery and control module of the contour body are arranged inside the body, and the control module mainly collects various basic sensor data, including image, depth, pressure, temperature and humidity data, and outputs control instructions for the vertical thruster, horizontal thruster, draw-rope mechanism, front clamping mechanism and rear clamping mechanism, and also receives remote control telemetry data from the ground control station in the data transmission cable;

[0008] As a further solution of the present invention: the cable drawing mechanism is composed of a composite rope, an arc elastic member, a winding motor, a hollow rocker arm tube and a rocker arm motor; the winding motor and the rocker arm motor are adjacent to and fixed to the bottom of the inner cavity of the contour body, the arc elastic member is located at the outer end of the hollow rocker arm tube extending out of the contour body, and the other end of the hollow rocker arm tube extending into the contour body is an internal gear, which is directly sleeved on the rotating shaft of the rocker arm motor and can reciprocate with the rocker arm motor; the composite rope passes through the interior of the rocker arm tube, one end passes through the inner rail of the arc elastic member, and the other end passes through the rocker arm motor The hole at the bottom of the arm tube is wound around the rotating shaft of the winding motor; the composite rope forms a circular ring with adjustable size at the arc elastic part under the elasticity of the circular arc elastic part and the tension of the winding motor; when the cable drawing mechanism is working, the rocker arm motor drives the rotating rocker arm tube to a certain angle, and the winding motor tightens or releases the composite rope, forming a circular ring at the end of the protruding contour body, and gradually tightens the composite rope after approaching and entrapping the floating object; when sailing, the cable drawing mechanism is retracted into the groove of the head to reduce the additional resistance caused by the external protrusion. The exposed part of the cable drawing mechanism, the front clamping mechanism and the rear clamping mechanism protruding from the contour body is covered with butyl synthetic rubber to form a complete seal, ensuring that the contour body cavity is watertight, and in addition, the connection between each component and the contour body can be properly movable.

[0009] As a further solution of the present invention: the grasping parts of the front clamping mechanism and the rear clamping mechanism are both arc-shaped claws, and the driving motor is fixed to the bottom platform of the inner cavity of the contoured body. The driving motor drives the connecting rod connected to it to move by forward and reverse rotation, thereby controlling the closing and clamping or opening and closing and relaxing of the arc-shaped claws.

[0010] As a further solution of the present invention: a limit plate is provided at the tail end of the contoured body, and the limit plate is slightly tilted upward due to the tension of the spring. After the draw-rope mechanism is adjusted to cover the floating object, the front clamping mechanism and the rear clamping mechanism clamp the floating object in turn to make it close to the back of the contoured body. The draw-rope mechanism continues to swing, pushing the floating object to its tail and gradually pressing the limit plate to keep it motionless, thereby achieving the dual effects of clamping and positioning the floating object.

[0011] As a further solution of the present invention: the horizontal thruster is two blade thrusters arranged in parallel in the vertical plane of the contoured body and symmetrically along the central axis, providing the main driving force for forward movement; the vertical thruster is composed of a total of four blade thrusters, which are symmetrically arranged front and back on the surface of the contoured body, and their rotation axes form a certain angle with the horizontal plane. Under the output instructions of the control module, the longitudinal swing, transverse swing, vertical swing, roll, pitch and bow pitch movements can be realized in three-dimensional space.

[0012] As a further solution of the present invention: the head lighting module is a ring light array, and the head camera is a visible light camera, all of which are arranged inside the transparent cover of the head of the contoured body to provide images in the forward direction; the back lighting module is four groups of strip light sources, which are arranged on the surface of the contoured body in a front-to-back tilted symmetrical manner, and the back camera and back camera 2 are arranged along the diagonal of the contoured body. After the two cameras are calibrated by binocular stereo vision, they take images above the surface of the contoured body to provide accurate posture data for adjusting the control of the drawing rope mechanism, the front clamping mechanism and the rear clamping mechanism, and can play an indicative role in guiding the positioning and clamping of floating objects.

[0013] As a further solution of the present invention: the shell is shaped like a manta ray, with a length-to-width ratio of about 1.5, the two wings and the main body are cast by epoxy resin, and an aluminum alloy frame is built in. The transparent cover on the head is transitionally connected to the main body of the imitation body to maintain a good overall streamline shape and allow light to pass through. A circular ring sleeve seat is arranged in the center of the rear of the shell to facilitate the tying of the tensioning umbilical cable and connection with the control module and battery inside the imitation body. The metal dome cone is symmetrically arranged at the rear end of the imitation body. When the tensioning umbilical cable is recovered and contacts the telescopic sleeve bracket, the annular sleeves symmetrically arranged on the inner wall of the bottom sleeve of the telescopic sleeve bracket are pushed open and automatically clamped, thereby reducing the shaking of the entire imitation body.

[0014] As a further solution of the present invention: the telescopic sleeve bracket includes a plurality of box-type boxes, which are composed of individual boxes and can be lowered to lock together and stretch into a hollow thin-walled whole. The lowest box can unfold four guide plates along the edge to guide the contoured body during the recovery process of the contoured body until the dome cone is aligned with the snap-fitting annular sleeve. Two hydraulic struts are installed under the first box, and foot plates are hinged at the ends of the struts. During use, the plurality of box-type boxes are placed on the side of the ship, and the hydraulic support rods are unfolded. Under the deadweight of the telescopic sleeve bracket, the foot plates are tightly pressed against the side deck of the ship to form a floating support by friction.

[0015] As a further solution of the present invention, the draw rope released or tightened by the draw rope mechanism has a certain elasticity and rigidity, and forms a circular sleeve as required, and is tightened after entrapping the floating object; under the coupling action of the vertical propeller and the horizontal propeller, the shape-matching body uses the entrapping object as a fulcrum to maneuver to a certain range below it, tightens the front clamping mechanism and the rear clamping mechanism section by section, and fixes the floating object on the back of the shape-matching body to form a whole; after capturing the floating object, the shape-matching body stops power output, and is recovered as a whole by a marine winch;

[0016] The drawstring mechanism, front clamping mechanism and rear clamping mechanism are waterproofed by wrapping with butyl synthetic rubber and compressed with flanges at the body connection, so that they can move appropriately within a given range. The main body and two wings of the contoured body are cast with epoxy resin to reduce the overall weight.

[0017] Compared with the prior art, the present invention has the following beneficial effects:

[0018] 1. This system can release the vehicle to recover floating objects in complex sea conditions. The entire operation process can be operated only on the deck of the ship. It is highly applicable to objects with continuous and smooth surfaces. By holding and limiting, the center of gravity of the vehicle and the floating objects are basically coincident to prevent the interference torque between the two from having an adverse effect on the movement of the vehicle. The lowered folding bracket can prevent the floating objects from being sucked and damaged by the propeller after approaching the side. It has the characteristics of reliable positioning and clamping, and high release and recovery efficiency.

[0019] 2. This system is suitable for locating, capturing and recovering irregular floating objects at sea. Through the stages of cable tightening, twisting alignment, segmented clamping, sleeve release, cable recovery, etc., it can locate, fix and drag floating objects to the deck of the ship under severe sea conditions, avoid damage to the objects being salvaged by propellers, broaden the application conditions of floating objects, significantly reduce the risks of manual operations at sea, and greatly improve the efficiency and quality of catching floating objects. It has the characteristics of flexible capture method, reliable positioning and clamping, and rapid recovery and salvage. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1It is a structural schematic diagram of a bionic twisting backpack recovery system.

[0021] Figure 2 It is an overall three-dimensional structural diagram of a bionic twisting backpack recovery system.

[0022] Figure 3 This is a three-dimensional structural diagram of the rear part of a bionic twisting backpack recovery system.

[0023] Figure 4 This is a partial enlarged view of the drawing mechanism and clamping mechanism in a bionic twisting backpack recovery system.

[0024] Figure 5 This is a schematic diagram of the three-dimensional structure of the telescopic sleeve bracket in a bionic-shaped twisting backpack recovery system.

[0025] Figure 6 This is a partial enlarged view of the lowermost box of the telescopic sleeve bracket of a bionic twisting backpack recovery system.

[0026] Figure 7 It is a partial enlarged view of the end of the contoured body of the draw-rope mechanism in a bionic-shaped twisted backpack recovery system.

[0027] Figure 8 This is an enlarged view of the local structure of the tail of the bionic body in a bionic twisting backpack recovery system.

[0028] Fig. 9 This is an overall structural diagram of the cable-drawing mechanism in a bionic-shaped twisting backpack recovery system.

[0029] In the figure: 1, contoured body, 2, tensioning umbilical cable, 3, telescopic sleeve bracket, 4, marine winch, 5, ground control station, 11, transparent cover, 12, head camera, 13, head lighting module, 14, vertical thruster, 15, limit plate, 16, back camera, 17, back lighting module, 18, cable-drawing mechanism, 19, back camera II, 20, dome cone, 21, circular ring seat, 22, front clamping mechanism, 23, rear clamping mechanism, 24, winding motor, 25, hollow rocker arm tube, 26, rocker arm motor, 27, horizontal thruster, 28, shell, 29, drive motor, 31, guide plate, 32, annular sleeve, 33, multi-section box, 34, hydraulic strut, 35, foot plate, 41, composite rope, 42, arc elastic member, 51, spring. DETAILED DESCRIPTION

[0030] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] See also Figures 1 to 9 In an embodiment of the present invention, a bionic torsional backpack recovery system is provided, which is composed of a contoured body 1, a tensioning umbilical cable 2, a telescopic sleeve bracket 3, a ship winch 4 and a ground control station 5; the tensioning umbilical cable 2 is tied to a circular sleeve seat 21 at the tail of the contoured body 1, and then passes through the hollow telescopic sleeve bracket 3 fixed to the side hull in sequence and then bifurcates, the tensioning umbilical cable 2 is composed of a strength cable and a data transmission cable, the strength cable is recovered through the ship winch 4, and the data transmission cable is connected to the port of the ground control station 5 to transmit remote control and telemetry data.

[0032] The shape-matching body 1 is composed of a draw-rope mechanism 18, a front clamping mechanism 22, a rear clamping mechanism 23, a vertical propeller 14, a horizontal propeller 27, a head lighting module 13, a back lighting module 17, a head camera 12, a back camera 16, a back camera 2 19, a control module, a battery, a housing 28 and a driving motor 29. The shape-matching body 1 can be used to draw ropes and tighten floating objects on the sea, and the shape-matching body 1 is positioned after being twisted with the captured floating objects as a fulcrum, and finally clamped in sections by the front clamping mechanism 22 and the rear clamping mechanism 23. The floating objects are fixed at a predetermined position on the back of the shape-matching body 1, and their center of gravity is basically coincident with the center of gravity of the shape-matching body 1.

[0033] The cable drawing mechanism 18 is composed of a composite rope 41, an arc elastic member 42, a winding motor 24, a hollow rocker arm tube 25 and a rocker arm motor 26; the winding motor 24 and the rocker arm motor 26 are adjacent to and fixed to the bottom of the inner cavity of the contour body 1, the arc elastic member 42 is located at the outer end of the hollow rocker arm tube 25 extending out of the contour body 1, and the other end of the hollow rocker arm tube 25 extending into the contour body 1 is an internal gear, which is directly sleeved on the rotating shaft of the rocker arm motor 26 and can reciprocate with the rocker arm motor 26; the composite rope 41 passes through the rocker arm tube 25, and one end passes through the arc elastic member 42. The arc elastic member 42 has an inner rail, and the other end passes through the hole at the bottom of the rocker tube 25 and is wound around the rotating shaft of the winding motor 24; the composite rope 41 forms a circular ring with adjustable size at the arc elastic member 42 under the elasticity of the circular arc elastic member 42 and the tension of the winding motor 24; when the cable-drawing mechanism is working, the rocker motor 26 drives the rotating rocker tube 25 to a certain angle, and the winding motor 24 tightens or releases the composite rope 41, forming a circular ring at the end of the protruding contour body 1, and gradually tightens the composite rope 41 after approaching and entrapping the floating object. When sailing, the cable-drawing mechanism 18 is retracted into the groove of the head to reduce the additional resistance caused by the external protrusion.

[0034] The grasping parts of the front clamping mechanism 22 and the rear clamping mechanism 23 are both arc-shaped claws. The driving motor 29 is fixed to the bottom platform of the inner cavity of the contoured body 1. The output end of the driving motor 29 is connected to a connecting rod. The driving motor 29 drives the connecting rod connected thereto to move by forward and reverse rotation, thereby controlling the closing and clamping or opening and closing and relaxing of the arc-shaped claws.

[0035] A limit plate 15 is provided at the tail end of the contoured body 1, and the limit plate 15 is slightly tilted upward by the tension of the spring 51. After the draw-rope mechanism 18 is adjusted to cover the floating object, the front clamping mechanism 22 and the rear clamping mechanism 23 clamp the floating object in sequence to make it close to the back of the contoured body 1. The draw-rope mechanism 18 continues to swing, pushing the floating object to its tail and gradually pressing the limit plate 15 to keep it motionless, thereby achieving the dual effects of clamping and positioning the floating object.

[0036] The draw rope mechanism 18, the front clamping mechanism 22 and the rear clamping mechanism 23 protrude from the exposed part of the contoured body 1, and are covered with butyl synthetic rubber to form a complete seal to ensure that the cavity of the contoured body 1 is watertight. In addition, the connection between each component and the contoured body 1 can move appropriately.

[0037] The horizontal propeller 27 is two blade propellers arranged in parallel in the vertical plane of the contoured body 1 and symmetrical along the central axis, providing the main driving force for forward movement. The vertical propeller 14 is composed of four blade propellers, which are arranged symmetrically on the surface of the contoured body 1 in front and back, and their rotation axes form a certain angle with the horizontal plane. Under the output command of the control module, the longitudinal, transverse, vertical, rolling, pitching and bowing movements can be realized in three-dimensional space.

[0038] The head lighting module 13 is a ring light array, and the head camera 12 is a visible light camera, which are both arranged inside the transparent cover 11 of the head of the shape-matching body 1 to provide images in the forward direction. The back lighting module 17 is four groups of strip light sources, which are arranged on the surface of the shape-matching body 1 in a symmetrical manner in front and back. The back camera 16 and the back camera 2 19 are arranged along the diagonal of the shape-matching body 1. After the two cameras are calibrated by binocular stereo vision, they take images above the surface of the shape-matching body 1 to provide accurate posture data for adjusting and controlling the drawstring mechanism 18, the front clamping mechanism 22 and the rear clamping mechanism 23, and can play an instructive role in guiding the positioning and clamping of floating objects.

[0039] The shell 28 is in the shape of a manta ray, with an aspect ratio of 1.5. The two wings and the main body are cast by epoxy resin, with an internal aluminum alloy frame. The transparent cover 11 on the head is transitionally connected to the main body of the shape-matching body 1 to maintain a good overall streamline shape and allow light to pass through. A circular ring seat 21 is arranged in the center of the tail of the shell 28 to facilitate the tying of the tensioning umbilical cable 2 and connect it to the control module and battery inside the shape-matching body 1. The metal dome cone 20 is symmetrically arranged at the tail end of the shape-matching body 1. When the tensioning umbilical cable 2 is recovered and contacts the telescopic sleeve bracket 3, the annular sleeve 32 symmetrically arranged on the inner wall of the bottom sleeve of the telescopic sleeve bracket 3 is pushed open and automatically clamped, thereby reducing the shaking of the overall shape-matching body 1.

[0040] The telescopic sleeve bracket 3 includes a multi-section box 33, which is composed of boxes one by one, which can be lowered and locked together to stretch into a hollow thin-walled whole. The bottom box can unfold four guide plates 31 along the edge to guide the contoured body 1 during the recovery process of the contoured body 1 until the dome cone 20 is aligned with the snap-fit ​​annular sleeve 32. Two hydraulic struts 34 are installed under the first box, and the ends of the struts are hinged with foot plates 35. During use, the multi-section box 33 is placed on the side of the ship, and the hydraulic support rods 34 are unfolded. Under the deadweight of the telescopic sleeve bracket 3, the foot plates 35 are tightly pressed against the side deck of the ship to form a floating support in a frictional manner.

[0041] The cable released or tightened by the cable mechanism 18 has a certain elasticity and rigidity, and forms a circular sleeve as needed, which is tightened after entrapping the floating object. Under the coupling action of the vertical propeller 14 and the horizontal propeller 27, the contoured body 1 uses the entrapping object as a fulcrum to maneuver to a certain range below it, tightens the front clamping mechanism 22 and the rear clamping mechanism 23 section by section, and fixes the floating object on the back of the contoured body 1 to form a whole. After capturing the floating object, the contoured body 1 stops power output and is recovered as a whole by a marine winch.

[0042] The battery and control module of the shape-matching body 1 are arranged inside the body. The control module is mainly used to collect various basic sensor data, including image, depth, pressure, temperature and humidity data, and output control instructions for the vertical thruster 14, horizontal thruster 27, cable drawing mechanism 18, front clamping mechanism 22 and rear clamping mechanism 23. In addition, it also receives remote control and telemetry data from the ground control station 5 in the data transmission cable.

[0043] The draw-rope mechanism 18, the front clamping mechanism 22 and the rear clamping mechanism 23 are waterproofed by wrapping with butyl synthetic rubber, and are compressed by flanges at the body connection, so that they can move appropriately within a given range. The main body and the two wings of the contoured body 1 are cast and molded by epoxy resin to reduce the overall weight.

[0044] The telescopic sleeve bracket 3 adopts a multi-section box 33 structure design, which can be automatically unfolded along the side of the ship as the contour body 1 is lowered. The foot plate 35 hinged by the hydraulic support rod 34 is close to the side hull to form a floating support by friction. When the contour body 1 approaches the side of the ship and is pulled up, the telescopic sleeve bracket 3 is synchronously folded and recovered. The guide plate 31 at the end guides the dome cone 20 at the tail of the contour body 1 to cooperate and be clamped in the annular sleeve 32 during the recovery.

[0045] When the system is working, the recovery of floating objects is divided into five steps: drawing the rope to tighten, twisting and positioning, segmented clamping, releasing the sleeve, and cable recovery.

[0046] In the first step, the rope is tightened. After the rocker motor 26 drives the rocker tube 25 to rise to the specified angle, the winding motor 24 releases the wound composite rope, which is gradually stretched into a circular sleeve of appropriate size under the action of the arc elastic member. The rocker motor 26, the vertical thruster 14 and the horizontal thruster 27 are adjusted. After the floating object is trapped, the winding motor 24 acts to tighten the composite rope.

[0047] The second step is to twist the alignment, using the enclosed floating object as a fulcrum, and under the stereoscopic imaging screen of the back camera 16 and the back camera 17, control the vertical propeller 14 and the horizontal propeller 27 to maneuver so that the back of the contour body 1 is aligned with the bottom of the floating object, and the vertical propeller 14 rotates to use the suction effect to suck the floating object to the back of the contour body 1.

[0048] The third step is segmented clamping. Under the rotation of the driving motor 29, the front clamping mechanism 22 and the rear clamping mechanism 23 operate in sequence, and the arc-shaped claws close to clamp the floating object to fix it on the back of the contoured body. The draw-rope mechanism 18 continues to swing until the floating object presses the limit plate 15. At this time, the floating object has completed positioning and clamping, and its center of gravity basically coincides with the center of gravity of the contoured body 1.

[0049] The fourth step is to release the sleeve, and the multi-section box 33 is automatically unfolded along the side as the contoured body 1 is lowered, and the foot plate 35 hinged to the hydraulic support rod 34 is close to the side hull to form a floating support with the ship in a frictional manner.

[0050] The fifth step is to recover the cable. After the contoured body 1 has completed the positioning and clamping of the floating object, the contoured body 1 is driven by the marine winch to recover the contoured body 1 by the marine winch. When it is recovered to the end of the telescopic sleeve bracket 3 close to the side of the ship, it moves along the guide plate 31. The dome cone 20 at the rear end of the contoured body 1 pushes open the annular sleeve 32 of the telescopic sleeve bracket 3 and is clamped. The contoured body 1 is tightened by the marine winch, driving the telescopic sleeve bracket 3 to be folded and recovered synchronously, thus completing the recovery of the floating object.

[0051] Under complex hydrological and meteorological conditions, this system can release the vehicle from the ship deck, search for and sneak to the predetermined location of floating objects, deploy the traction rope and trap the object, then position and clamp it, and finally use the ship winch to recover the vehicle, floating objects, and bracket together, eliminating the mutual influence of torque between the floating objects and the vehicle, and solving the problem of floating objects being sucked and entangled by propellers when they are close to the ship.

[0052] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A bionic twisting backpack recovery system, characterized in that: The system is composed of a contoured body (1), a tensioning umbilical cable (2), a telescopic sleeve bracket (3), a ship winch (4) and a ground control station (5); The tensioning umbilical cable (2) is tied to the circular ring seat (21) at the tail of the contoured body (1), and then passes through the hollow telescopic sleeve bracket (3) fixed to the side hull in sequence and then bifurcates; The tensioning umbilical cable (2) is composed of a strength cable and a data transmission cable, the strength cable is recovered by a ship winch (4), and the data transmission cable is connected to a port of a ground control station (5) to transmit remote control and telemetry data; A limiting plate (15) is provided at the rear end of the contoured body (1).

2. The bionic twisting backpack recovery system according to claim 1, characterized in that: The shape-matching body (1) is composed of a draw-rope mechanism (18), a front clamping mechanism (22), a rear clamping mechanism (23), a vertical propeller (14), a horizontal propeller (27), a head lighting module (13), a back lighting module (17), a head camera (12), a back camera (16), a second back camera (19), a control module, a battery, a housing (28) and a driving motor (29). The shape-matching body (1) can be used to draw ropes and tighten floating objects on the sea. With the trapped floating objects as fulcrums, the shape-matching body (1) is twisted to complete positioning. Finally, the shape-matching body (1) is clamped in sections by using the front clamping mechanism (22) and the rear clamping mechanism (23). The floating objects are fixed at a predetermined position on the back of the shape-matching body (1), and the center of gravity of the floating objects is kept substantially coincident with the center of gravity of the shape-matching body (1).

3. The bionic twisting backpack recovery system according to claim 2, characterized in that: The cable drawing mechanism (18) is composed of a composite rope (41), an arc elastic member (42), a winding motor (24), a hollow rocker arm tube (25) and a rocker arm motor (26); the winding motor (24) and the rocker arm motor (26) are adjacent to and fixed to the bottom of the inner cavity of the contour body (1); the arc elastic member (42) is located at the outer end of the hollow rocker arm tube (25) extending out of the contour body (1); the other end of the hollow rocker arm tube (25) extending into the interior of the contour body (1) is an internal gear, which is directly sleeved on the rotating shaft of the rocker arm motor (26) and can reciprocate with the rocker arm motor (26); the composite rope (41) passes through the interior of the rocker arm tube (25); One end passes through the inner rail of the circular arc elastic member (42), and the other end passes through the hole at the bottom of the rocker arm tube (25) and is wound around the rotating shaft of the winding motor (24); under the elasticity of the circular arc elastic member (42) and the pulling force of the winding motor (24), the composite rope (41) forms a circular ring with adjustable size at the circular arc elastic member (42); when the rope drawing mechanism is working, the rocker arm motor (26) drives the rotating rocker arm tube (25) to be lifted to a certain angle, and the winding motor (24) tightens or releases the composite rope (41), so that a circular ring is formed at the end of the protruding contour body (1), and the composite rope (41) is gradually tightened after approaching and entrapping the floating object.

4. The bionic twisting backpack recovery system according to claim 1, characterized in that: The grasping parts of the front clamping mechanism (22) and the rear clamping mechanism (23) are arc-shaped claws, and the driving motor (29) is fixed on the bottom platform of the inner cavity of the contoured body (1).

5. The bionic twisting backpack recovery system according to claim 2, characterized in that: The horizontal propeller (27) is two blade propellers arranged in parallel in the vertical plane of the contoured body (1) and symmetrical along the central axis; the vertical propeller (14) is composed of four blade propellers in total, and the four blade propellers are arranged symmetrically on the surface of the contoured body (1) in front and back directions, and their rotation axes form a certain angle with the horizontal plane, so that under the output command of the control module, the longitudinal, transverse, vertical, roll, pitch and bow movements can be realized in three-dimensional space.

6. The bionic twisting backpack recovery system according to claim 2, characterized in that: The head lighting module (13) is a ring light array, and the head camera (12) is a visible light camera, which are both arranged inside the transparent cover (11) of the head of the contoured body (1) to provide images in the forward direction; the back lighting module (17) is four groups of strip light sources, which are arranged symmetrically on the surface of the contoured body (1) in a front-to-back tilted manner, and the back camera (16) and the second back camera (19) are arranged along the diagonal of the contoured body (1). The two cameras capture images above the surface of the contoured body (1), provide accurate posture data for adjusting and controlling the draw-rope mechanism (18), the front clamping mechanism (22) and the rear clamping mechanism (23), and can play an indicative role in guiding, positioning and clamping floating objects.

7. The bionic twisting backpack recovery system according to claim 2, characterized in that: The shell (28) is shaped like a manta ray, with a length-to-width ratio of 1.

5. The two wings and the main body are cast by epoxy resin, and an aluminum alloy frame is built in. A circular ring seat (21) is arranged in the center of the tail of the shell (28), and a metal dome cone (20) is symmetrically arranged at the tail end of the imitation body (1).

8. The bionic twisting backpack recovery system according to claim 1, characterized in that: The telescopic sleeve bracket (3) comprises a multi-section box (33), which is composed of boxes one by one and can be lowered to lock together and stretch to form a hollow thin-walled whole. The bottom box can unfold four guide plates (31) along the edge.

9. The bionic twisting backpack recovery system according to claim 1, characterized in that: The battery and control module of the shape-matching body (1) are arranged inside. The control module mainly collects various basic sensor data and outputs control instructions for the vertical thruster (14), the horizontal thruster (27), the cable-drawing mechanism (18), the front clamping mechanism (22) and the rear clamping mechanism (23). In addition, the control module also receives remote control and telemetry data from the ground control station (5) transmitted via the data transmission cable.

10. The bionic twisting backpack recovery system according to claim 2, characterized in that: The draw-rope mechanism (18), the front clamping mechanism (22) and the rear clamping mechanism (23) are waterproofed by wrapping with butyl synthetic rubber; the main body and the two wings of the contoured body (1) are cast and molded by epoxy resin to reduce the overall weight.

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