A shore-based automatic deployment and recovery transport vehicle for unmanned boats

Abstract

The present invention belongs to the technical field of ship transport equipment, and specifically relates to a shore-based deployment, recovery and transportation device. A shore-based automatic deployment, recovery and transportation vehicle for unmanned boats, the technical solution of which is to include: a tractor head, a mobile bracket, and a self-tilting semi-trailer frame; the self-tilting semi-trailer frame is tilted under the action of a lifting hydraulic cylinder; the tail of the self-tilting semi-trailer frame is provided with a tailgate driven by a flipping hydraulic cylinder; the mobile bracket is moved under the action of a retracting winch; a contact switch and a depth sensor are provided on the mobile bracket; a control and drive system for reading the contact switch and depth sensor signals and controlling the actions of the flipping hydraulic cylinder, the retracting winch, and the lifting hydraulic cylinder; the unmanned boat is installed on the mobile bracket by automatically releasing the boat hook. The present invention also has the functions of automatically unhooking the hook, automatically adjusting the water entry angle, and automatically judging the deployment and recovery water depth, thereby realizing the shore-based automatic deployment and recovery of medium and large unmanned boats.

Description

Technical Field

[0001] The present invention belongs to the technical field of ship transport equipment, and in particular relates to a shore-based deployment, recovery and transport device. Background Art

[0002] Unmanned surface vessels have broad application prospects in both military and civilian applications. Due to range limitations, unmanned surface vessels are usually carried by mother ships or transport vehicles to designated areas, deployed on the water surface and begin autonomous operations; after the operation is completed, they are recovered by the recovery system and returned to the mother ship deck or transport vehicle.

[0003] At present, the shore-based deployment, recovery and transportation device is mainly suitable for small boats such as assault boats, kayaks, and yachts. It uses a manual boat hook and manually controls the deployment angle, and the degree of intelligence is low. For example, the integrated trailer for transporting assault boats and kayaks with Chinese patent application number CN202211546444.6 requires manual adjustment of the deployment rod to adjust the deployment angle, and manual hook to recover the boat.

[0004] For unmanned boats, when deploying and recovering them, according to the current plan, shore personnel need to wade into the water to complete manual hooking and unhooking, which is difficult and dangerous to operate; the depth of the boat cannot be estimated, and there is a risk of running aground. Especially for medium and large unmanned boats, which have a high waterline, this further increases the difficulty of operation and the risk of running aground. Summary of the invention

[0005] The purpose of the present invention is to provide a shore-based automatic deployment and recovery transport vehicle for unmanned boats in order to realize the shore-based automatic deployment and recovery of medium and large unmanned boats.

[0006] The technical solution of the present invention is: a shore-based automatic deployment and recovery transport vehicle for an unmanned boat, comprising:

[0007] A tractor head used to tow a transport vehicle on the road.

[0008] The self-tilting semi-trailer frame serves as a transportation, deployment and recovery platform for unmanned boats and forms a tractor with the tractor head; the self-tilting semi-trailer frame is tilted under the action of a lifting hydraulic cylinder; a tailgate driven by a flipping hydraulic cylinder is provided at the rear of the self-tilting semi-trailer frame.

[0009] After disassembling the tractor head, the mechanical legs are used to support the self-tipping semi-trailer frame.

[0010] A mobile bracket is installed on a self-tilting semi-trailer frame and is used to support an unmanned boat; the mobile bracket moves under the action of a retracting winch; a contact switch and a depth sensor are provided on the mobile bracket.

[0011] A control and drive system used to read contact switch and depth sensor signals, and control the actions of the tilting hydraulic cylinder, retracting winch, and lifting hydraulic cylinder.

[0012] The unmanned boat is mounted on a mobile bracket via an automatic release hook.

[0013] The working process of this device is:

[0014] During transportation, the unmanned boat is placed on the mobile bracket and connected to the mobile bracket through an automatic release hook. After the transport vehicle drives to the designated waters, the following deployment steps are performed:

[0015] A. The rear of the transport vehicle is aligned with the deployment area and reversed into the area. The control and drive system controls the retraction of the flip hydraulic cylinder and the tailgate flips open.

[0016] B. The control and drive system controls the lifting hydraulic cylinder to rise to the maximum stroke, and the self-tilting semi-trailer frame flips to the maximum tilt state.

[0017] C. The control and drive system controls the retractable winch to release the rope. Under the action of gravity, the unmanned boat and the mobile bracket slide down into the water until the contact switch touches the bottom of the water, and the retractable winch stops automatically.

[0018] D. The control and drive system reads the depth sensor to determine whether the water depth meets the minimum deployment depth requirement for the unmanned boat.

[0019] If the water depth requirement is met, the control and drive system controls the automatic release hook to release, the unmanned boat reverses and separates from the mobile bracket, and then the unmanned boat is started to drive away from the carrier to complete the deployment. The automatic release hook returns to its original position.

[0020] If the water depth requirement is not met, the control and drive system controls the lifting hydraulic cylinder to retract a certain stroke and repeats step C until the water depth requirement is met. If the water depth still cannot meet the requirement after the lifting hydraulic cylinder is fully retracted, the retracting winch is controlled to retract the rope, the turning hydraulic cylinder is controlled to extend, the tailgate is closed, and the transport vehicle is driven to change position and then the deployment is attempted again.

[0021] When recycling, the following steps are performed:

[0022] A. The rear of the transport vehicle is aligned with the recycling water area and reversed into it. The control and drive system controls the retraction of the flip hydraulic cylinder and the tailgate flips open.

[0023] B. The control and drive system controls the lifting hydraulic cylinder to rise to the maximum stroke, and the self-tilting semi-trailer frame flips to the maximum tilt state.

[0024] C. The control and drive system controls the retractable winch to release the rope. Under the action of gravity, the mobile bracket slides down into the water until the contact switch touches the bottom of the water, and the retractable winch stops automatically.

[0025] D. The control and drive system reads the depth sensor to determine whether the water depth meets the minimum recovery depth requirement of the unmanned boat.

[0026] If the water depth requirement is not met, the control and drive system controls the lifting hydraulic cylinder to retract a certain stroke and repeats step C until the water depth requirement is met. If the water depth still cannot meet the requirement after the lifting hydraulic cylinder is fully retracted, the retracting winch is controlled to retract the rope, the turning hydraulic cylinder is controlled to extend, the tailgate is closed, and the transport vehicle is driven to change position and then the deployment is attempted again.

[0027] If the water depth requirement is met, the unmanned boat is driven close to the rear of the transport vehicle and aligned with the mobile bracket. The boat hook is automatically released and automatically flipped outward after contact with the mobile bracket to complete the locking. Then the retracting winch is started to recover the rope. Under the traction of the retracting winch, the unmanned boat and the mobile bracket rise. When they reach the top, the retracting winch is stopped, the lifting hydraulic cylinder is controlled to retract, and the self-tilting semi-trailer frame is flipped to a horizontal position. The flipping hydraulic cylinder is controlled to extend, and the tailgate is flipped and closed to complete the recovery.

[0028] When the unmanned boat needs to be stored in a warehouse, or the tractor head needs maintenance or other tasks, the mechanical legs can be rotated to raise the supporting self-tilting semi-trailer frame, and the articulated bolts between the lifting hydraulic cylinder and the tractor head can be removed.

[0029] On the basis of the above solution, the mobile bracket is further formed by welding metal steel sections, and the bottom is a V-shaped platform structure adapted to the bottom profile of the unmanned boat.

[0030] On the basis of the above scheme, further, a roller mounting seat is provided on the self-tilting semi-trailer frame; the movable bracket is provided with a roller group, and the roller group is inserted into the roller mounting seat through a roller shaft; the I-beams on both sides of the bottom of the movable bracket are stuck in the grooves on both sides of the self-tilting semi-trailer frame, so that the movable bracket can only move along the front and rear of the self-tilting semi-trailer frame.

[0031] On the basis of the above scheme, further, a mooring beam and a capture beam are provided at the head of the mobile bracket; the mooring beam is used to fix the cable of the retracting and releasing winch; the capture beam is used to lock the automatic release hook.

[0032] On the basis of the above scheme, further, the automatic boat release hook comprises: a baffle that can be remotely controlled to flip outward and reset; the baffle is installed on the automatic boat release hook through a pin shaft.

[0033] Beneficial effects:

[0034] (1) The present invention can perform shore-based transportation tasks for medium and large unmanned boats, and has the functions of automatically unhooking and hooking, automatically adjusting the water entry angle, and automatically judging the deployment and recovery water depth, thereby realizing the automatic shore-based deployment and recovery of medium and large unmanned boats.

[0035] (2) The automatic release hook of the present invention comprises a reversible baffle, which is reversible when subjected to an inward force and automatically returns to its original position after the force is removed; the outward reversal and reset can be remotely controlled.

[0036] (3) The movable bracket in the present invention is a V-shaped flat plate structure, which is adapted to the bottom line of the unmanned boat.

[0037] (4) The roller assembly in the present invention can swing left and right to adapt to mobile brackets of different linear shapes. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is the overall structure diagram of the present invention;

[0039] Figure 2 It is a diagram of the deployment and recovery state of the present invention;

[0040] Figure 3 It is a schematic diagram of the connection between the self-tilting semi-trailer frame and the mobile bracket of the present invention;

[0041] Figure 4 This is a structural diagram of the mobile bracket of the present invention;

[0042] Figure 5 This is a schematic diagram of the automatic release hook of the present invention;

[0043] Among them, 1-tail gate, 2-tilt hydraulic cylinder, 3-contact switch, 4-depth sensor, 5-self-tilt semi-trailer frame, 6-mechanical outriggers, 7-mobile bracket, 8-retractable winch, 9-lifting hydraulic cylinder, 10-control and drive system, 11-tractor head, 12-I-beam, 13-roller, 14-roller shaft, 15-roller support, 16-mooring beam, 17-capture beam, 18-blocking plate, 19-pin shaft, 20-automatic release boat hook. DETAILED DESCRIPTION

[0044] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0045] See attached Figure 1 , 3 4. A shore-based automatic deployment and recovery transport vehicle for an unmanned boat, comprising:

[0046] Tail gate 1, tilting hydraulic cylinder 2, contact switch 3, depth sensor 4, self-tipping semitrailer frame 5, mechanical outriggers 6, mobile bracket 7, retracting and releasing winch 8, lifting hydraulic cylinder 9, control and drive system 10, tractor head 11, I-beam 12, roller 13, roller shaft 14, roller support 15, mooring beam 16, capture beam 17, baffle 18, pin 19, automatic release boat hook 20.

[0047] Among them, the tailgate 1 is used for closing and opening the rear of the transport vehicle.

[0048] The tilting hydraulic cylinder 2 is used to drive the tailgate 1 to tilt.

[0049] The contact switch 3 is used to determine whether the rear end of the moving bracket 7 touches the bottom.

[0050] The depth sensor 4 is used to determine the depth of the rear end of the mobile bracket 7 entering the water.

[0051] The self-tilting semi-trailer frame 5 and the tractor head 11 form a tractor, which serves as a transportation, deployment and recovery platform for the unmanned boat.

[0052] The mechanical outrigger 6 is used to support the self-tilting semitrailer frame 5 after the tractor head 11 is disassembled.

[0053] The mobile bracket 7 is welded by metal steel, and the bottom is a V-shaped platform structure, which is adapted to the bottom line of medium and large unmanned boats and is used to support the unmanned boats.

[0054] The retractable winch 8 is used to tow the mobile bracket 7 to complete the deployment and recovery of medium and large unmanned boats.

[0055] The lifting hydraulic cylinder 9 is used to lift the self-tilting semi-trailer frame 5 so that the self-tilting semi-trailer frame 5 can be tilted to facilitate the deployment and recovery of medium and large unmanned boats.

[0056] The control and drive system 10 is used to read the signals of the contact switch 3 and the depth sensor 4, and intelligently control the actions of the tilting hydraulic cylinder 2, the retracting winch 8, the lifting hydraulic cylinder 9 and other devices to find the optimal deployment angle.

[0057] The tractor head 11 is used to tow the transport vehicle to travel on the road.

[0058] The I-beam 12 is inserted into the groove of the self-tilting semi-trailer frame 5 to limit the up-down and left-right movement of the movable bracket 7.

[0059] The roller set 13 is used to support the movable bracket 7 to move forward and backward.

[0060] The roller shaft 14 is used to connect the roller assembly 13 and the roller mounting seat 15 .

[0061] The roller mounting seat 15 is used to mount the roller assembly 13 so that the angle of the roller assembly 13 can be adjusted left and right.

[0062] The mooring beam 16 is used to fix the cable of the retractable winch 8.

[0063] The catch beam 17 is used to lock the automatic release hook 20.

[0064] The blocking piece 18 is used for automatic locking and releasing.

[0065] The pin shaft 19 is used to support the baffle 18 .

[0066] The automatic release boat hook 20 is used for automatic release and recovery of the unmanned boat.

[0067] The connection relationship between the above components is:

[0068] The bottom of the tailgate 1 is hinged to the upper side of the tail of the self-tilting semi-trailer frame 5, one end of the tilting hydraulic cylinder 2 is hinged to the middle of the tailgate, and the other end is hinged to the lower side of the tail of the self-tilting semi-trailer frame 5. A limit switch 3 is installed at the tail of the mobile bracket 7, and a depth sensor 4 is installed on the outer side of the tail.

[0069] The top of the mechanical leg 6 is a screw rod, which is threadedly connected to the self-tilting semi-trailer frame 5. The mechanical leg 6 can be moved up and down by rotation; the mobile bracket 7 is placed on the self-tilting semi-trailer frame 5, and the I-beam 12 is welded to both sides of the bottom of the mobile bracket 7. The mobile bracket 7 is stuck in the grooves on both sides of the self-tilting semi-trailer frame 5 through the I-beam 12 on both sides, so that the mobile bracket 7 can only move along the front and rear of the self-tilting semi-trailer frame 5. The roller mounting seat 15 is welded on the self-tilting semi-trailer frame 5, and the roller group 13 is inserted into the roller mounting seat 15 through the roller shaft 14, which can swing left and right to adapt to the mobile brackets of different linear types.

[0070] The bottom of the retractable winch 8 is fixed on the bow platform of the self-tilting semi-trailer frame 5, and its traction rope is fixed on the top mooring beam 16 of the mobile bracket 7. The cylinder body of the lifting hydraulic cylinder 9 is fixed on the bow of the self-tilting semi-trailer frame 5, and the telescopic rod is hinged with the tractor head 11. The bottom of the control and drive system 10 is fixed on the tractor head 11. The mooring beam 16 and the capture beam 17 are welded to the bow of the mobile bracket 7. The baffle 18 passes through the pin 19 and is installed on the automatic release hook 20. The automatic release hook 20 is welded or fixed to the bow of the unmanned boat through a flange.

[0071] See attached Figure 2 , the working process of this device is:

[0072] During transportation, the unmanned boat is placed on the mobile bracket 7, and the unmanned boat is connected to the mobile bracket 7 through the automatic release hook 20. After the transport vehicle drives to the designated waters, the following deployment steps are performed:

[0073] A. The rear end of the transport vehicle is aligned with the deployment water area and reverses into it, and the control and drive system 10 controls the retraction of the flip hydraulic cylinder 2, and the tailgate 1 flips and opens.

[0074] B. The control and drive system 10 controls the lifting hydraulic cylinder 9 to rise to the maximum stroke, and the self-tilting semi-trailer frame 5 flips to the maximum tilting state.

[0075] C. The control and drive system 10 controls the retractable winch 8 to release the rope. Under the action of gravity, the unmanned boat and the mobile bracket 7 slide down into the water until the contact switch 3 touches the bottom of the water, and the retractable winch 8 stops automatically.

[0076] D. The control and drive system 10 reads the depth sensor 4 to determine whether the water depth meets the minimum deployment depth requirement of the unmanned boat.

[0077] If the water depth requirement is met, the control and drive system 10 controls the baffle 18 in the automatic release hook 20 to flip outward, the unmanned boat reverses and separates from the mobile bracket 7, and then the unmanned boat is started to drive away from the carrier vehicle to complete the deployment. The baffle 18 flips inward to return to its original position.

[0078] If the water depth requirement is not met, the control and drive system 10 controls the lifting hydraulic cylinder 9 to retract a certain stroke, and repeats step C until the water depth requirement is met. If the water depth still cannot meet the requirement after the lifting hydraulic cylinder 9 is fully retracted, the retracting winch 8 is controlled to retract the rope, the turning hydraulic cylinder 2 is controlled to extend, the tailgate 1 is closed, and the transport vehicle is driven to change position and then the deployment is attempted again.

[0079] When recycling, the following steps are performed:

[0080] A. The rear of the transport vehicle is aligned with the recycling water area and reverses into it. The control and drive system 10 controls the retraction of the flip hydraulic cylinder 2, and the tailgate 1 flips and opens.

[0081] B. The control and drive system 10 controls the lifting hydraulic cylinder 9 to rise to the maximum stroke, and the self-tilting semi-trailer frame 5 flips to the maximum tilting state.

[0082] C. The control and drive system 10 controls the retractable winch 8 to release the rope. Under the action of gravity, the movable bracket 7 slides down into the water until the contact switch 3 touches the bottom of the water, and the retractable winch 8 stops automatically.

[0083] D. The control and drive system 10 reads the depth sensor 4 to determine whether the water depth meets the minimum recovery depth requirement of the unmanned boat.

[0084] If the water depth requirement is not met, the control and drive system 10 controls the lifting hydraulic cylinder 9 to retract a certain stroke, and repeats step C until the water depth requirement is met. If the water depth still cannot meet the requirement after the lifting hydraulic cylinder 9 is fully retracted, the retracting winch 8 is controlled to retract the rope, the turning hydraulic cylinder 2 is controlled to extend, the tailgate 1 is closed, and the transport vehicle is driven to change position and then the deployment is attempted again.

[0085] If the water depth requirement is met, the unmanned boat is driven close to the rear of the transport vehicle and aligned with the mobile bracket 7. The baffle 18 of the boat hook 20 that is automatically released hits the capture beam 17 and then flips inward. After the capture beam 17 enters the boat hook, the baffle 18 automatically flips outward to complete the locking. Then the retracting winch 8 is started to retract the rope. Under the traction of the retracting winch 8, the unmanned boat and the mobile bracket 7 rise. After reaching the top, the retracting winch 8 is stopped, and the lifting hydraulic cylinder 9 is controlled to retract, and the self-tilting semi-trailer frame 5 is flipped to a horizontal position. The flipping hydraulic cylinder 2 is controlled to extend, and the tailgate 1 is flipped and closed to complete the recovery.

[0086] When the unmanned boat needs to be stored in a warehouse, or the tractor head 11 needs maintenance or other tasks, the mechanical legs 6 can be rotated to lift and support the self-tilting semi-trailer frame 5, and the articulated bolts between the lifting hydraulic cylinder 9 and the tractor head 11 can be removed.

[0087] On the basis of the above solution, further, the movable bracket 7 is welded by metal steel sections, and the bottom is a V-shaped platform structure adapted to the bottom profile of the unmanned boat.

[0088] On the basis of the above scheme, further, a roller mounting seat 15 is provided on the self-tipping semi-trailer frame 5; the movable bracket 7 is provided with a roller group 13, and the roller group 13 is inserted into the roller mounting seat 15 through a roller shaft 14; the I-beams 12 on both sides of the bottom of the movable bracket 7 are stuck in the grooves on both sides of the self-tipping semi-trailer frame 5, so that the movable bracket 7 can only move along the front and rear of the self-tipping semi-trailer frame 5.

[0089] On the basis of the above solution, further, a mooring beam 16 and a catching beam 17 are provided at the head of the movable bracket 7; the mooring beam 16 is used to fix the cable of the retracting winch 8; and the catching beam 17 is used to lock the automatic release hook 20.

[0090] On the basis of the above solution, further, the automatic boat release hook 20 comprises: a baffle 18 which can be remotely controlled to flip outward and reset; the baffle 18 is installed on the automatic boat release hook 20 through a pin shaft 19.

[0091] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A shore-based automatic deployment and recovery transport vehicle for an unmanned boat, characterized in that: include: A tractor head (11) for towing the transport vehicle on the road; A self-tilting semi-trailer frame (5) serving as a transport and deployment recovery platform for unmanned boats and forming a tractor with the tractor head (11); the self-tilting semi-trailer frame (5) is tilted under the action of a lifting hydraulic cylinder (9); a tailgate (1) driven by a tilting hydraulic cylinder (2) is provided at the rear of the self-tilting semi-trailer frame (5); After the tractor head (11) is disassembled, a mechanical support leg (6) is provided to support the self-tipping semi-trailer frame (5); A movable bracket (7) is installed on the self-tilting semi-trailer frame (5) and is used to support the unmanned boat; the movable bracket (7) is moved under the action of a retractable winch (8); a contact switch (3) and a depth sensor (4) are provided on the movable bracket (7); A control and drive system (10) for reading signals from the contact switch (3) and the depth sensor (4) and controlling the actions of the tilting hydraulic cylinder (2), the retracting winch (8) and the lifting hydraulic cylinder (9); The unmanned boat is mounted on the mobile bracket (7) via an automatically released boat hook (20).

2. The shore-based automatic deployment and recovery transport vehicle for an unmanned boat as claimed in claim 1, characterized in that: The movable bracket (7) is welded from metal steel sections, and the bottom is a V-shaped platform structure adapted to the bottom profile of the unmanned boat.

3. The shore-based automatic deployment and recovery transport vehicle for an unmanned boat as claimed in claim 1 or 2, characterized in that: The self-tipping semi-trailer frame (5) is provided with a roller mounting seat (15); the movable bracket (7) is provided with a roller group (13), and the roller group (13) is inserted into the roller mounting seat (15) through a roller shaft (14); the I-beams (12) on both sides of the bottom of the movable bracket (7) are stuck in the grooves on both sides of the self-tipping semi-trailer frame (5), so that the movable bracket (7) can only move along the front and rear ends of the self-tipping semi-trailer frame (5).

4. The shore-based automatic deployment and recovery transport vehicle for an unmanned boat as claimed in claim 1 or 2, characterized in that: The front part of the movable bracket (7) is provided with a mooring beam (16) and a catching beam (17); the mooring beam (16) is used to fix the cable of the retracting winch (8); and the catching beam (17) is used to lock the automatic release hook (20).

5. The shore-based automatic deployment and recovery transport vehicle for an unmanned boat as claimed in claim 4, characterized in that: The automatic boat release hook (20) comprises: a baffle (18) capable of being remotely controlled to flip outward and reset; the baffle (18) is mounted on the automatic boat release hook (20) via a pin shaft (19).

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