An automatic deployment device for an unmanned boat stern slide type ocean detection system

Abstract

The present invention relates to an automatic deployment device for an unmanned boat stern slideway type ocean detection system, comprising a detection device, a turning frame, a release mechanism, a fixed base, a detection cable, a detection cable storage mechanism and a deployment control system; the detection cable storage mechanism is located at the front end of the fixed base, both of which are fixedly connected to the rear of the unmanned boat, and the detection cable storage mechanism is used to store and automatically deploy the detection cable during the deployment process; the bottom tail end of the turning frame is hinged with the tail end of the fixed base, and the bottom front end of the turning frame is fixedly connected to the front end of the fixed base at different heights through fasteners, so that the turning frame and the fixed base have different angles; the detection device is limited inside the turning frame through a release mechanism, and is connected to the detection cable storage mechanism through the detection cable; the deployment control system is used to control the release mechanism to release the limit on the detection device, and the detection device slides out of the turning frame by its own gravity. The present invention can realize the automated and unmanned deployment of ocean detection equipment.

Description

Technical Field

[0001] The invention relates to the technical field of automatic deployment of ocean detection equipment, and in particular to an automatic deployment device for an unmanned boat stern slideway type ocean detection system. Background Art

[0002] At present, most of the deployment systems in China only have a single retracting and releasing function, and the deployment operation is completed with rigging. Because there are many detection devices and cables connecting the devices, the deployment steps are cumbersome and it is easy for the connecting cables to be entangled in the equipment. The biggest disadvantage of this method is that multiple links in the deployment of the detection instrument require manual intervention, that is, before deployment, the equipment fixing device needs to be manually released to put it in the deployment state. The detection instrument cabin weighs at least several hundred kilograms and at most tons. Therefore, this type of operation requires at least 2 to 3 people. When the load of the detection instrument cabin is large and the sea conditions are complex, more people are needed to carry out, and the safety of personnel and equipment cannot be effectively guaranteed.

[0003] With the changes in combat methods, unmanned boats, as small surface and underwater sports platforms that can autonomously navigate in marine environments and perform various fast and high-risk tasks, are increasingly valued by navies of various countries because of their small size, strong maneuverability, good stealth performance, and high combat cost-effectiveness. Therefore, unmanned boat marine detection equipment deployment technology that can achieve full process automation and unmanned operation has become an urgent need at present. Summary of the invention

[0004] In view of this, the present invention provides an automatic deployment device for an unmanned boat stern slideway type ocean detection system, which realizes the automated and unmanned deployment of ocean detection equipment.

[0005] The present invention is achieved through the following technical solutions: an automatic deployment device for an unmanned boat stern slide-type ocean detection system, comprising a detection device, a turning frame, a releasing mechanism, a fixed base, a detection cable, a detection cable storage mechanism and a deployment control system; the detection cable storage mechanism is located at the front end of the fixed base, and both are fixedly connected to the stern of the unmanned boat, and the detection cable storage mechanism is used to store and automatically deploy the detection cable during the deployment process; the bottom tail end of the turning frame is hinged to the tail end of the fixed base, and the bottom front end of the turning frame is fixedly connected to the front end of the fixed base at different heights by fasteners, so that the turning frame and the fixed base have different angles; the detection device is limited inside the turning frame by the releasing mechanism, and the detection device is connected to the detection cable storage mechanism by the detection cable; the deployment control system can be used to control the releasing mechanism to release the limit on the detection device, and the detection device slides out of the turning frame by its own gravity.

[0006] Furthermore, the detection equipment includes a communication cable, a communication buoy, a detection instrument cabin and a plurality of detection instruments; the head of the detection instrument cabin is connected to the communication buoy through the communication cable, and the tail of the detection instrument cabin is connected to the detection cable; the flip frame is composed of upper and lower frames and a trapezoidal support frame, the upper frame is fixed to the top of the lower frame through the trapezoidal support frame, so that the angle between the upper frame and the fixed base is greater than the angle between the lower frame and the fixed base; the communication buoy and the detection instrument cabin are located in the lower frame; and the plurality of detection instruments are all located in the upper frame.

[0007] Furthermore, the release mechanism includes a main frame, a hook, a rocker arm, a sliding tongue and an electromagnet; the main frame is fixed in the flip frame; the hook is an L-shaped structure, and the hook rotates with the main frame with the inflection point of the L-shaped structure as a fulcrum; the rocker arm adopts a labor-saving lever to rotate with the main frame, the rocker arm and the hook are connected in series to form a secondary lever, and the long arm end of the rocker arm is connected to the electromagnet through the sliding tongue; the deployment control system is also used to control the electromagnet to drive the sliding tongue to extend and retract to drive the secondary lever to rotate, the sliding tongue extends and corresponds to the vertical part of the hook to cooperate with the lifting ring provided on the detection equipment, and limits the lifting ring in the main frame; the sliding tongue retracts and corresponds to the vertical part of the hook to release the limit on the lifting ring.

[0008] Furthermore, the detection cable storage mechanism includes a drum shaft I, a cable release and tensioning device I and a cable length sensor; the detection cable is wound on the drum shaft, one end of the detection cable is fixedly connected to the drum shaft I, and the other end of the detection cable is fixedly connected to the tail of the detection instrument cabin; one end of the drum shaft I is equipped with a cable release and tensioning device I for providing cable release resistance; the other end of the drum shaft I is equipped with a cable length sensor for monitoring the laying length of the detection cable and transmitting it to the laying control system.

[0009] Furthermore, a communication cable storage mechanism is provided, which includes a drum shaft II and a cable-releasing and tensioning device II. Two strands of the communication cable are wound around the drum shaft II, one end of the communication cable is fixedly connected to the communication buoy, and the other end of the communication cable is fixedly connected to the head of the detection instrument cabin; one end of the drum shaft II is equipped with a cable-releasing and tensioning device II for providing cable-releasing resistance.

[0010] Furthermore, the cable-releasing and tensioning device I and the cable-releasing and tensioning device II adopt a friction plate torque limiter, and the cable length sensor adopts an absolute multi-turn encoder.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. The present invention can adjust the deployment angle of the ocean detection equipment through the flip frame, limit the detection equipment in the flip frame through the release mechanism, and the deployment control system can automatically release the limit to release the detection equipment. The detection cable storage mechanism can automatically deploy the detection cable. The entire release and deployment process does not require human intervention, thereby realizing automated and unmanned deployment of unmanned boat ocean detection equipment.

[0013] 2. The angle between the upper frame and the fixed base of the flip frame of the present invention is greater than the angle between the lower frame and the fixed base, which ensures that the large-mass detection instrument cabin slides out safely and stably while facilitating the sliding out of the light-mass detection instrument.

[0014] 3. The detection cable storage mechanism and the communication cable storage mechanism of the present invention are both provided with a friction plate torque limiter for providing cable release resistance so that the detection cable and the communication cable are always in a straightened state, thereby avoiding the situation in which the detection cable and the communication cable are entangled in peripheral equipment due to the drum shaft I and the drum shaft II being quickly released in multiple turns due to excessive torque.

[0015] 4. The release mechanism of the present invention adopts a two-stage lever structure, which has a higher force reduction multiple. The electromagnet drives the sliding tongue to drive the two-stage lever to rotate, thereby releasing the limit on the detection device. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the deployment of detection equipment.

[0017] Figure 2 Schematic diagram of the general assembly of the present invention, wherein (a) is a schematic diagram of the initial state (there is no angle between the flip frame and the fixed base), and (b) is a schematic diagram when the flip frame and the fixed base are at a certain angle.

[0018] Figure 3 This is a diagram of the release mechanism.

[0019] Figure 4 This is the diagram of the detection cable storage mechanism.

[0020] Figure 5 This is the structure diagram of the communication cable storage mechanism.

[0021] Among them, 1-communication buoy, 2-communication cable, 3-detection instrument cabin, 4-detection instrument, 5-detection cable, 6-position indicating buoy, 7-counterweight, 8-turn frame, 9-fixed base, 10-detection cable storage mechanism, 11-deployment control system, 12-hook, 13-rocker, 14-sliding tongue, 15-electromagnet, 16-absolute multi-turn encoder, 17-reel shaft I, 18-friction torque retainer. DETAILED DESCRIPTION

[0022] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0023] The present invention provides an automatic deployment device for an unmanned boat stern slide type ocean detection system, which is used to deploy ocean detection equipment for underwater resource detection, such as Figure 2As shown, the automatic deployment device includes a detection device, a release mechanism, a flip frame 8, a fixed base 9, a detection cable 5, a detection cable storage mechanism 10 and a deployment control system 11.

[0024] The detection cable storage mechanism 10 is used to store and automatically deploy the detection cable 5 during the deployment process. The detection cable storage mechanism 10 is located at the front end of the fixed base 9 (the end away from the tail of the unmanned boat), and the fixed base 9 and the detection cable storage mechanism 10 are fixed to the tail of the unmanned boat by screws. The deployment control system 11 is fixed to the top of the detection cable storage mechanism 10 through a vibration isolator, and the detection equipment is limited inside the flip frame 8 by the release mechanism. The deployment control system 11 can be used to release the limit of the release mechanism on the detection equipment, and the detection equipment uses its own gravity to slide out of the flip frame 8 and conduct detection in the ocean.

[0025] like Figure 1 As shown, the detection equipment is mainly composed of a communication buoy 1, a communication cable 2, a detection instrument cabin 3, several detection instruments 4 and a position indicating buoy 6. The head of the detection instrument cabin 3 is connected to the communication buoy 1 through the communication cable 2 to realize communication with the shore station; the detection instrument cabin 3 is connected to the detection cable storage mechanism 10 through the detection cable 5, and the tail of the detection instrument cabin 3 is connected to the extended end of the detection cable 5 through a load-bearing joint; when laying, the detection instrument cabin 3 and the communication buoy 1 are first released together, the communication buoy 1 floats out of the sea, and the detection instrument cabin 3 drives the detection cable 5 to sink into the ocean together, and then several detection instruments 4 are released in sequence according to the laying position, and finally, after all the cable lengths of the detection cable 5 are laid, the position indicating buoy 6 with a counterweight 7 installed at the tail is released, and the position indicating buoy 6 can be used to mark the position of the tail of the detection cable 5 on the seabed.

[0026] The bottom tail end of the flip frame 8 (the end near the tail of the unmanned boat) is hinged to the tail end of the fixed base 9, which is used to adjust the different angles between the flip frame 8 and the fixed base 9. The bottom front end of the flip frame 8 is fixed to the front end of the fixed base 9 at different heights by hand screws, which is used to fix the two after the angle adjustment is completed. In this embodiment, the bottom tail end of the flip frame 8 is connected to the tail end of the fixed base 9 through a hydraulic rod, and the bottom of the flip frame 8 is hinged to the top tail end of the fixed base 9 near the tail end. The flip frame 8 is rotated around the hinge point by the extension and retraction of the hydraulic rod, so that the angle between the flip frame 8 and the fixed base 9 is changed.

[0027] Specifically, the flip frame 8 is composed of an upper frame, a lower frame and a trapezoidal support frame. The upper frame is fixed to the top of the lower frame through the trapezoidal support frame, so that the front end of the upper frame is higher than the rear end, and there is a certain angle between the upper frame and the lower frame, that is, the angle between the upper frame and the fixed base 9 is greater than the angle between the lower frame and the fixed base 9; the lower frame is provided with a slide. In other embodiments, the trapezoidal support frame is fixed to the top of the lower frame, the rear end of the bottom of the upper frame is hinged to the rear end of the trapezoidal support frame, and the front end of the bottom of the upper frame is fixed to the front end of the trapezoidal support frame at different heights through fasteners, so that the angle between the upper frame and the lower frame is adjustable.

[0028] The communication buoy 1 and the detection instrument cabin 3 are located in the lower frame; a plurality of detection instruments 4 and the position indicating buoy 6 are located in the upper frame. Placing the heavy detection instrument cabin 3 in the lower frame and the light detection instrument 4 and the position indicating buoy 6 in the upper frame not only facilitates the detection equipment to slide out in sequence, but also the angle between the upper frame and the fixed base 9 is greater than the angle between the lower frame and the fixed base 9, ensuring that the large-mass detection instrument cabin 3 slides out safely and stably while facilitating the light-mass detection instrument 4 to slide out.

[0029] The detection cable storage mechanism 10 adopts a winch without a power source, and its cable release power is the drag force of the detection instrument cabin 3 and the detection cable 5 during navigation. The detection cable storage mechanism 10 includes a drum shaft Ⅰ17, a cable release and tensioning device Ⅰ and a cable length sensor; the detection cable 5 is wound on the drum shaft Ⅰ17, one end of the detection cable 5 is fixedly connected to the drum shaft Ⅰ17, and the other end of the detection cable 5 is fixedly connected to the tail of the detection instrument cabin 3.

[0030] One end of the drum shaft Ⅰ17 is equipped with a cable tensioning device, such as Figure 4 As shown, in this embodiment, a friction plate torque limiter 18 is used to provide cable release resistance, so that the detection cable 5 is always in a straightened state, avoiding the problem of rapid multiple-turn cable release of the drum shaft I due to excessive torque. A cable guide mechanism can also be installed on the fixed base 8 to guide the detection cable 5 during the laying process. The friction plate of the friction plate torque limiter 18 is made of the best chemical fiber to achieve long-term, constant torque slipping operation, and can achieve no-load parking (no-load parking means that when the detection cable 5 wound on the drum shaft I 17 during navigation is completely laid, the drum shaft I 17 no longer rotates); a cable length sensor is installed at the other end of the drum shaft I 17. In this embodiment, an absolute value multi-turn encoder 16 is used to monitor the laying length of the detection cable 5 according to the number of rotations of the drum shaft I 17 and transmit it to the laying control system 11. The laying control system 11 releases the detection instrument 4 and the position buoy 6 according to the length of the detection cable 5 laid.

[0031] In addition, a communication cable storage mechanism is provided for storing and automatically laying the communication cable 2 during the laying process. Figure 5As shown, the communication cable storage mechanism includes a drum shaft II and a cable release and tensioning device II, and the communication cable 2 is wound on the drum shaft II; the communication cable 2 is wound on the communication cable storage mechanism in a double-strand winding manner, so that the drum shaft II rotates and the two ends connected to the communication buoy 1 and the head of the detection instrument cabin 3 are released at the same time. Double-strand winding means that the middle part of the communication cable 2 is fixed to the middle part of the drum shaft II, one end of the communication cable 2 is wound clockwise from the middle part of the drum shaft II to one end of the drum shaft II and is fixed to the communication buoy 1, and the other end of the communication cable 2 is wound counterclockwise from the middle part of the drum shaft II to the other end of the drum shaft II and is fixed to the head of the detection instrument cabin 3. A cable release and tensioning device II is installed at one end of the drum shaft II, and the cable release and tensioning device I adopts the same principle as the friction plate torque limiter 18 to provide cable release resistance.

[0032] The release mechanism adopts a two-stage series connecting rod structure, which has a high force reduction multiple, which is conducive to the release of the detection equipment. Specifically, Figure 3 As shown, the release mechanism includes a main frame, a hook 12, a swing rod 13, a sliding tongue 14 and an electromagnet 15; the main frame is fixed on the flip frame 8;

[0033] The hook 12 is an L-shaped structure, and the hook 12 rotates with the main frame with the inflection point of the L-shaped structure as a fulcrum. The vertical part of the L-shaped structure is used to limit the ocean detection equipment to be deployed, and the horizontal part of the L-shaped structure is used to cooperate with the rocker 13; the rocker 13 adopts a labor-saving lever structure to rotate with the main frame, and the rocker 13 and the hook 12 are connected in series to form a secondary lever (the short arm end of the rocker 13 abuts against the horizontal part of the L-shaped structure), which is used to increase the force reduction multiple of the release mechanism; the long arm end of the rocker 13 is connected to the electromagnet 15 through the sliding tongue 14; the electromagnet 15 is used to drive the sliding tongue 14 to drive the secondary lever to move when the power is on.

[0034] The deployment control system 11 is also used to control whether the electromagnet 15 is energized. When the electromagnet 15 is not energized, the corresponding sliding tongue 14 is pushed out, and the vertical part of the hook 12 cooperates with the lifting ring provided on the ocean detection equipment to limit it in the flip frame 8; when the electromagnet 15 is energized, the corresponding sliding tongue 14 is retracted, so that the swing rod 13 rotates to drive the hook 12 to rotate, and the vertical part of the hook 12 releases the limit on the ocean detection equipment.

[0035] In this embodiment, the swing rod 13 is a lever of a straight-line structure, the upper part of the short arm end of the swing rod 13 abuts against the lower part of the horizontal part of the hook 12, the bottom of the sliding tongue 14 abuts against the upper part of the long arm end of the swing rod 13, and the electromagnet 15 is energized to attract and drive the sliding tongue 14 to retract, so that the swing rod 13 rotates and drives the hook 12 to rotate. Preferably, the horizontal part of the hook 12 is longer than the vertical part, so that the hook 12 is a labor-saving lever, further increasing the force reduction multiple of the secondary lever.

[0036] In the deployment preparation stage, according to the specific conditions of the detection equipment, the angle between the flip frame 8 and the fixed base 9 is automatically adjusted by the hydraulic rod and then manually fixed. During the deployment operation, the detection instrument cabin 3 and the communication buoy 1 are first released together. The communication buoy 1 floats on the water surface under its own buoyancy, and the detection instrument cabin 3 sinks to the seabed under its own gravity. During the process, the two ends of the communication cable 2 wrapped by the reel shaft II are respectively subjected to the reaction force of the buoyancy of the communication buoy 1 and the gravity of the detection instrument cabin 3, so that the detection instrument cabin 3 rotates to lay the communication cable 2; at the same time, the detection cable 5 connected to the tail of the detection instrument cabin 3 drags the reel shaft I, so that the reel shaft I rotates to lay the detection cable 5; then the detection instrument 4 and the position buoy 6 are released in turn through the deployment control system 11 to complete the deployment task.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An automatic deployment device for an unmanned boat stern slideway ocean detection system, characterized in that: It includes detection equipment, turning frame, release mechanism, fixed base, detection cable, detection cable storage mechanism and deployment control system; The detection cable storage mechanism is located at the front end of the fixed base, and both are fixed to the rear of the unmanned boat. The detection cable storage mechanism is used to store and automatically lay out the detection cable during the laying process; the bottom tail end of the turning frame is hinged to the tail end of the fixed base, and the bottom front end of the turning frame is fixed to the front end of the fixed base at different heights through fasteners, so that the angle between the turning frame and the fixed base is different; The detection device is limited inside the flip frame by a release mechanism, and the detection device is connected to the detection cable storage mechanism through a detection cable; the deployment control system can be used to control the release mechanism to release the limit on the detection device, and the detection device slides out of the flip frame using its own gravity.

2. The automatic deployment device of the unmanned boat stern slide type ocean detection system according to claim 1, characterized in that: The detection equipment includes a communication cable, a communication buoy, a detection instrument cabin and several detection instruments; the head of the detection instrument cabin is connected to the communication buoy through the communication cable, and the tail of the detection instrument cabin is connected to the detection cable; The flip frame is composed of an upper frame, a lower frame and a trapezoidal support frame. The upper frame is fixed to the top of the lower frame through the trapezoidal support frame, so that the angle between the upper frame and the fixed base is greater than the angle between the lower frame and the fixed base; the communication buoy and the detection instrument cabin are located in the lower frame; and several detection instruments are located in the upper frame.

3. The automatic deployment device of the unmanned boat stern slide type ocean detection system according to claim 2, characterized in that: The release mechanism includes a main frame, a hook, a swing rod, a sliding tongue and an electromagnet; the main frame is fixed in the flip frame; The hook is an L-shaped structure, and the hook rotates with the main frame with the inflection point of the L-shaped structure as the fulcrum; the swing arm adopts a labor-saving lever to rotate with the main frame, and the swing arm and the hook are connected in series to form a secondary lever, and the long arm end of the swing arm is connected to the electromagnet through a sliding tongue; The deployment control system is also used to control the electromagnet to drive the sliding tongue to extend and retract, driving the secondary lever to rotate. The sliding tongue extends and the corresponding vertical part of the hook cooperates with the lifting ring on the detection equipment to limit the lifting ring within the main frame; the sliding tongue retracts and the corresponding vertical part of the hook releases the limit on the lifting ring.

4. The automatic deployment device of the unmanned boat stern slide type ocean detection system according to any one of claims 1 to 3, characterized in that: The detection cable storage mechanism includes a drum shaft I, a cable release and tensioning device I and a cable length sensor; the detection cable is wound on the drum shaft, one end of the detection cable is fixedly connected to the drum shaft I, and the other end of the detection cable is fixedly connected to the tail of the detection instrument cabin; one end of the drum shaft I is equipped with a cable release and tensioning device I for providing cable release resistance; the other end of the drum shaft I is equipped with a cable length sensor for monitoring the laying length of the detection cable and transmitting it to the laying control system.

5. The automatic deployment device of the unmanned boat stern slide type ocean detection system according to claim 4, characterized in that: A communication cable storage mechanism is also provided, which includes a drum shaft II and a cable releasing and tensioning device II. Two strands of the communication cable are wound around the drum shaft II. One end of the communication cable is fixedly connected to the communication buoy, and the other end of the communication cable is fixedly connected to the head of the detection instrument cabin. A cable releasing and tensioning device II is installed at one end of the drum shaft II to provide cable releasing resistance.

6. The automatic deployment device of the unmanned boat stern slide type ocean detection system according to claim 5, characterized in that: The cable-releasing and tensioning equipment I and the cable-releasing and tensioning equipment II adopt friction plate torque limiters, and the cable length sensor adopts an absolute multi-turn encoder.

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