Rapid receiving and releasing device for unmanned ship

Abstract

The invention relates to a rapid docking and releasing device for an unmanned ship. The rapid docking and releasing device mainly comprises a docking mechanism on a crane, a six-degree-of-freedom platform on the unmanned ship and a hooking mechanism on the platform. The docking mechanism is provided with a cylindrical body and an internal net rack; the hooking mechanism is composed of a mechanical arm and a barb rod piece. The mechanical arm is vertically installed and telescopic, the extending end of the mechanical arm is provided with a supporting base, an internal hydraulic push rod penetrates through the base to move up and down, the top of the mechanical arm is hinged to a connecting rod, the other end of the connecting rod is hinged to the middle of a barb rod piece, the bottom of the barb rod piece is hinged to the supporting base, and the hydraulic push rod drives the connecting rod to enable the barb rod piece to swing to achieve opening and closing after extending into a net opening of the net frame. The mechanical arm firstly pushes the hooking mechanism to enter the net opening, the hydraulic push rod drives to complete hooking butt joint, the barb rod piece is rapidly closed and rapidly separated during separation, and the butt joint separation efficiency of the unmanned ship and the crane is improved.

Description

Technical Field

[0001] The present invention relates to a recovery device for unmanned surface vessels, and more particularly to a rapid docking device for unmanned vessels for releasing and receiving. Background Art

[0002] With the rapid development of science and technology, the application potential of unmanned surface vessels in fields such as navigation, patrol, detection, search and rescue, anti-submarine warfare, anti-ship warfare, electronic warfare, maritime interception, and mine countermeasures has become increasingly prominent. However, the problem of recovering unmanned vessels after completing tasks has become a key bottleneck restricting their further development. The complex and changeable sea conditions cause the unmanned vessels to swing violently on the sea surface, and at the same time, the mother ship is also difficult to maintain stability due to the influence of waves, making it extremely difficult to achieve a smooth recovery between the unmanned vessel and the mother ship.

[0003] Currently, the existing unmanned vessel recovery devices still rely on manual operations, including steps such as driving a small boat and unhooking. Such manual operations are not only inefficient but also extremely vulnerable to the influence of wind and waves. In severe sea conditions, manual operations may lead to equipment damage and personal injuries, and at the same time, they cannot meet the requirements of smooth, efficient, and precise automatic deployment and recovery of unmanned vessels under high sea conditions. In addition, the unmanned vessel is affected by the dual action of wave forces and sea currents, with a large movement amplitude, making it difficult to achieve smooth, efficient, and precise recovery of the unmanned vessel under complex sea conditions. Summary of the Invention

[0004] The present invention provides a rapid docking device for unmanned vessels, which can efficiently and stably achieve the deployment and recovery of unmanned vessels in a complex sea condition environment.

[0005] The rapid docking device for unmanned vessels described in the present invention includes a docking mechanism installed on a crane, a six-degree-of-freedom platform installed on the unmanned vessel, and a hook mechanism installed on the six-degree-of-freedom platform. The docking mechanism includes a cylindrical body and a grid frame arranged inside the body; the hook mechanism includes a telescopic robotic arm vertically installed on the six-degree-of-freedom platform and an inverted hook rod that can extend into the mesh opening of the grid frame and open to hook the grid frame. A support base is provided at the extending end of the robotic arm, and a hydraulic push rod that passes through the support base and moves up and down relative to the robotic arm is arranged inside the robotic arm. The top of the hydraulic push rod protruding from the robotic arm is hinged with a connecting rod, the other end of the connecting rod is hinged with the middle part of the inverted hook rod, and the bottom of the inverted hook rod is hinged with the support base. The hydraulic push rod drives the connecting rod to drive the inverted hook rod to swing, realizing the opening and closing of the inverted hook rod after it extends into the mesh opening of the grid frame.

[0006] The described rapid docking and releasing device for unmanned boats provides the hook mechanism with attitude adjustment capabilities through a six-degree-of-freedom platform. Even in complex situations where the unmanned boat fluctuates with the waves and has variable attitudes, it can ensure precise docking with the crane docking mechanism. At the same time, through the coordinated cooperation of the robotic arm, hydraulic push rod, connecting rod, and barbed hook rod, the barbed hook rod can accurately extend into the mesh opening of the grid and firmly hook it, thus quickly establishing a stable connection between the unmanned boat and the crane. Specifically, the robotic arm first pushes the hook mechanism into the mesh opening of the grid, and then the hydraulic push rod drives the connecting rod to drive the barbed hook rod to swing, quickly realizing the opening and closing actions of the barbed hook rod to complete the hooking and docking. When separating, the barbed hook rod can be quickly closed to achieve rapid detachment, improving the operating efficiency of docking and separation between the unmanned boat and the crane.

[0007] As a preferred embodiment of the present invention, the main body is a conical barrel that is narrower at the top and wider at the bottom.

[0008] As a preferred embodiment of the present invention, there are four barbed hook rods.

[0009] As a preferred embodiment of the present invention, a conical docking mechanism base is further provided between the docking mechanism and the crane, and the conical docking mechanism base is detachably installed on the crane.

[0010] As a preferred embodiment of the present invention, high-definition cameras are embedded at the top of the hydraulic push rod and on the conical docking mechanism base.

[0011] As a preferred embodiment of the present invention, the robotic arm is a foldable and telescopic two-degree-of-freedom robotic arm.

[0012] As a preferred embodiment of the present invention, it further includes a robotic arm base installed on the six-degree-of-freedom platform.

[0013] As a preferred embodiment of the present invention, the robotic arm includes a sleeve and a telescopic rod that moves up and down relative to the sleeve. A hydraulic push rod is sleeved inside the telescopic rod, and a fixed rod for supporting and passing through the bottom of the telescopic rod is also provided inside the sleeve.

[0014] As a preferred embodiment of the present invention, a strengthening base is further provided between the robotic arm and the support base. The support base is installed on the strengthening base, and a spring is also connected between the strengthening base and the barbed hook rod. One end of the spring is connected to the middle of the barbed hook rod, and the other end of the spring is connected to the edge of the strengthening base.

[0015] As a preferred embodiment of the present invention, hanging rings for hooking the end of the spring are provided at the middle of the barbed hook rod and the edge of the strengthening base. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of a rapid docking and releasing device for an unmanned boat.

[0017] Figure 2 It is a schematic structural diagram of the docking mechanism.

[0018] Figure 3 It is a schematic structural diagram of the hooking mechanism.

[0019] Figure 4 It is a schematic diagram of the open state of the hooking rod of the hooking mechanism.

[0020] Figure 5 It is a schematic structural diagram of the middle part of the robotic arm of the hooking mechanism with a motor installed.

[0021] Figure 6 It is a schematic diagram of the folded state of the middle part of the robotic arm of the hooking mechanism with a motor installed. Specific implementation manners

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts shall fall within the protection scope of the present invention.

[0023] It should be noted that if there are directional indications (such as up, down, left, right, front, back, top, bottom, inside, outside, vertical, horizontal, longitudinal, counterclockwise, clockwise, circumferential, radial, axial...) involved in the embodiments of the present invention, then the directional indications are only used to explain the relative position relationship and movement conditions between components in a certain specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0024] In the description of the present invention, it should be noted that unless otherwise clearly specified and limited, the terms "installation", "setting", "provided with", "connected", and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0025] If the description of "first" or "second" etc. is involved in the embodiments of the present invention, the description of "first" or "second" etc. is only for descriptive purposes and cannot be construed as indicating or implying its relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "several" is more than one, the meaning of "multiple" is more than two, and "above", "below", "within" etc. are all understood to include the base number. In addition, the technical features of each embodiment can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0026] As Figure 1-6 shown, a rapid docking and releasing device for an unmanned boat includes a docking mechanism 2 installed on a crane 1, a six-degree-of-freedom platform 4 installed on the unmanned boat 3, and a hooking mechanism 5 installed on the six-degree-of-freedom platform 4. The docking mechanism 2 includes a cylindrical body 201 and a grid frame 202 arranged inside the body. Specifically, the grid frame is a reticulated metal steel frame structure, providing a hooking support point for the barbed hook and also playing a supporting role for the body. The hooking mechanism 5 includes a telescopic robotic arm 501 vertically installed on the six-degree-of-freedom platform and a barbed hook rod 502 that can extend into the mesh opening of the grid frame and open to hook the grid frame. A support base 503 is provided at the extending end of the robotic arm. Inside the robotic arm, there is a hydraulic push rod 504 that passes through the support base and moves up and down relative to the robotic arm. The hydraulic push rod exposes the top of the robotic arm and is hinged with a connecting rod 505. The other end of the connecting rod is hinged to the middle of the barbed hook rod, and the bottom of the barbed hook rod is hinged to the support base. The hydraulic push rod drives the connecting rod to drive the barbed hook rod to swing, realizing the opening and closing of the barbed hook rod after it extends into the mesh opening of the grid frame. The rapid docking and releasing device for the unmanned boat provides the hooking mechanism with the ability to adjust the attitude through the six-degree-of-freedom platform. Even in complex situations where the unmanned boat fluctuates with the waves and has variable postures, it can ensure the accurate docking with the docking mechanism of the crane. At the same time, by the coordinated cooperation of the robotic arm, the hydraulic push rod, the connecting rod, and the barbed hook rod, the barbed hook rod can accurately extend into the mesh opening of the grid frame and firmly hook it, thus quickly establishing a stable connection between the unmanned boat and the crane. Specifically, the robotic arm first pushes the hooking mechanism into the mesh opening of the grid frame, and then the hydraulic push rod drives the connecting rod to drive the barbed hook rod to swing, quickly realizing the opening and closing actions of the barbed hook rod to complete the hooking docking. When separating, the barbed hook rod can be quickly closed to realize rapid detachment, improving the operation efficiency of the docking and separation between the unmanned boat and the crane.

[0027] The body 201 is a conical barrel that is narrower at the top and wider at the bottom. Specifically, it can be a frustum-shaped structure formed by bending a steel plate, such that the flared opening of the body can be made very large, facilitating the smooth insertion of the barbed hook member of the hooking mechanism into the mesh opening of the wire mesh within the body during the docking process. In addition, the conical sidewall also has a guiding function, guiding the barbed hook member to accurately hook onto the wire mesh, ensuring the accuracy and reliability of the connection, and simultaneously enhancing the adaptability in complex environments.

[0028] There are four barbed hook members 504. Further, the barbed hook members are distributed at the four corners, with an adjacent interval of 90 degrees, forming a four-corner barbed hook, significantly enhancing the stability and reliability of the connection, and making the connection between the unmanned boat and the crane more secure.

[0029] A frustum docking mechanism base 6 is also provided between the docking mechanism 2 and the crane 1. The frustum docking mechanism base is detachably installed on the crane. The frustum docking mechanism base can flexibly adjust the installation form according to different crane models and has wide applicability.

[0030] High-definition cameras 7 are embedded at the top of the hydraulic push rod and the frustum docking mechanism base. The position of the unmanned boat is monitored in real time through the high-definition camera on the hydraulic push rod, and the operator can quickly move the crane directly above the hooking mechanism of the unmanned boat and drive the docking mechanism to descend accordingly; at the same time, another crew member on the mother ship can remotely control the hooking mechanism of the unmanned boat, unfold and straighten the robotic arm, and observe the positions of both sides by using the high-definition cameras on the hydraulic push rod and the frustum docking mechanism base. After quickly aligning, the hydraulic push rod is pushed to drive the connecting rod, and the barbed hook member is driven to extend into the mesh opening of the wire mesh within the body to complete the hooking, realizing visual operation, improving the docking efficiency and accuracy, and enhancing the convenience of docking and separation between the unmanned boat and the crane.

[0031] The robotic arm 501 is a foldable and telescopic two-degree-of-freedom robotic arm. Specifically, the robotic arm includes a sleeve 506 and a telescopic rod 507 that moves up and down relative to the sleeve. A motor M can be installed in the middle of the sleeve of the robotic arm, and the motor divides the sleeve of the robotic arm into two foldable sections. When the motor operates, it drives the sleeve of the robotic arm to fold. When not in use, the hooking mechanism can be folded and stored to save space, as Figure 5 and Figure 6 shown.

[0032] It also includes a robotic arm base 8 installed on a six-degree-of-freedom platform. The robotic arm base can be fixed to the six-degree-of-freedom platform by welding and serves to support and fix the robotic arm.

[0033] The robotic arm 501 includes a sleeve 506 and a telescopic rod 507 that moves up and down relative to the sleeve. A hydraulic push rod is sleeved inside the telescopic rod. A fixed rod 9 for supporting and passing through the bottom of the telescopic rod is also provided inside the sleeve. After the telescopic rod retracts relative to the sleeve, the fixed rod passes through the bottom of the telescopic rod, which can play a role in supporting and stabilizing the telescopic rod.

[0034] A strengthening base 10 is also provided between the robotic arm and the supporting base. The supporting base is installed on the strengthening base. A spring 11 is also connected between the strengthening base and the barbed rod. One end of the spring is connected to the middle of the barbed rod, and the other end of the spring is connected to the edge of the strengthening base. The setting of the strengthening base provides an installation space for the spring, enabling the spring to stably connect the barbed rod and the strengthening base, enhancing the stability of the entire device. When the hook rod is in the closed state, the spring remains in a stretched and tightened state. During docking, the hydraulic push rod expands and contracts to drive the connecting rod to move. After the barbed rod extends into the mesh opening of the grid, the restoring elastic force of the spring can cause the barbed rod to quickly open and hook the grid to complete the docking. After the docking is completed, under the action of the spring, the barbed rod can be kept in the open state stably for a long time, improving the docking stability between the unmanned boat and the crane.

[0035] Hanging rings 12 for hooking the end of the spring are provided at the middle of the barbed rod and the edge of the strengthening base. The hanging ring not only provides a reliable fixing point for the end of the spring but also facilitates the quick hooking and disassembly of the spring.

[0036] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structural transformation made under the inventive concept of the present invention, or direct / indirect application in other related technical fields, is included in the patent protection scope of the present invention. In the description of the present invention, the reference to terms such as "one embodiment", "some embodiments", "embodiment", "schematic embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. It is explicitly and implicitly understood by those skilled in the art that, without conflict, the embodiments described herein can be combined with other embodiments, and the features of the embodiments of the present invention can be combined with each other.

Claims

1. A rapid docking and releasing device for an unmanned boat, comprising a docking mechanism (2) installed on a crane (1), a six-degree-of-freedom platform (4) installed on the unmanned boat (3), and a hooking mechanism (5) installed on the six-degree-of-freedom platform (4), characterized in that, The docking mechanism (2) includes a cylindrical body (201) and a grid frame (202) arranged inside the body; the hooking mechanism (5) includes a telescopic robotic arm (501) vertically installed on the six-degree-of-freedom platform and a barbed rod (502) that can extend into the mesh opening of the grid frame and open to hook the grid frame. A support base (503) is provided at the extending end of the robotic arm. A hydraulic push rod (504) that passes through the support base and moves up and down relative to the robotic arm is arranged inside the robotic arm. A connecting rod (505) is hingedly installed at the top of the hydraulic push rod exposed from the top of the robotic arm. The other end of the connecting rod is hinged to the middle of the barbed rod, and the bottom of the barbed rod is hinged to the support base. The hydraulic push rod drives the connecting rod to drive the barbed rod to swing, realizing the opening and closing of the barbed rod after it extends into the mesh opening of the grid frame.

2. The unmanned boat quick receiving and releasing device according to claim 1, characterized in that, The body (201) is a conical barrel with a narrower upper part and a wider lower part.

3. The unmanned boat quick receiving and releasing device according to claim 1, characterized in that, There are four barbed rods (502).

4. The unmanned boat quick receiving and releasing device according to claim 1, characterized in that, A frustum docking mechanism base (6) is further provided between the docking mechanism (2) and the crane (1), and the frustum docking mechanism base is detachably installed on the crane.

5. The unmanned boat rapid receiving and releasing device according to claim 4, characterized in that, High-definition cameras (7) are embedded and installed at the top of the hydraulic push rod and the frustum docking mechanism base.

6. The unmanned boat quick receiving and releasing device according to claim 1, characterized in that, The robotic arm (501) is a two-degree-of-freedom robotic arm that can be folded and telescoped.

7. The unmanned boat rapid receiving and releasing device according to claim 1, characterized in that It further includes a robotic arm base (8) installed on the six-degree-of-freedom platform.

8. The unmanned boat quick receiving and releasing device according to claim 1, characterized in that, The robotic arm (501) includes a sleeve (506) and a telescopic rod (507) that moves up and down relative to the sleeve. The telescopic rod is sleeved with a hydraulic push rod, and a fixing rod (9) for supporting by passing through the bottom of the telescopic rod is further arranged inside the sleeve.

9. The unmanned boat quick receiving and releasing device according to claim 1, characterized in that, A strengthening base (10) is further provided between the robotic arm and the support base. The support base is installed on the strengthening base. A spring (11) is also connected between the strengthening base and the barbed rod. One end of the spring is connected to the middle of the barbed rod, and the other end of the spring is connected to the edge of the strengthening base.

10. The unmanned boat quick receiving and releasing device according to claim 9, characterized in that, Hanging rings (12) for hooking the end of the spring are provided at the middle of the barbed rod and the edge of the strengthening base.

Images