Foldable recovery rod device of unmanned underwater vehicle

Abstract

The invention provides an unmanned underwater vehicle foldable recovery rod device, which comprises a folding frame and a recovery rod, and is characterized in that the folding frame comprises a folding frame fixed end, a folding frame movable end, a folding frame supporting rod and a folding frame lock catch; the fixed end of the folding frame is fixed to the unmanned underwater vehicle, the movable end of the folding frame is rotationally connected with the fixed end of the folding frame through a pin shaft I, and the included angle between the movable end of the folding frame and the fixed end of the folding frame ranges from 0 degree to 90 degrees. The recovery rod is fixed to the folding frame movable end, the two ends of the folding frame supporting rod are simultaneously connected with the folding frame movable end and the folding frame fixed end through the pin shaft II and the pin shaft III respectively and move in the folding frame movable end sliding groove, and the folding frame lock catch is used for achieving in-place locking and unlocking of the folding frame supporting rod when the folding frame movable end is in a vertical state. The device is compact in spatial arrangement, small in occupied space and simple and reliable in structure.

Description

TECHNICAL FIELD

[0001] The present application relates to the underwater unmanned vehicle technical field, specifically relates to a kind of underwater unmanned vehicle foldable recovery rod device. BACKGROUND

[0002] Underwater unmanned vehicle (UUV) is a kind of unmanned submersible that does not rely on the power supply of mother ship, can realize operation by remote control or autonomous control, can be recycled and reused, can long-term underwater autonomous propulsion navigation or gliding. It has the advantages of low use risk, strong task reconstruction ability, good concealment, low manufacturing and use cost, high operation efficiency and flexible deployment and use, and has irreplaceable important significance in the fields of ocean resource development and utilization and military strategic layout.

[0003] Deployment and recovery are the core and key links in the complete use process of underwater unmanned vehicle, which directly affect its operation efficiency and task guarantee capability, so the related technology has always been the focus of industry research. Among them, the grab rod recovery technology as one of the important recovery methods of underwater unmanned vehicle involves underwater positioning, precise docking, load transfer and other technical difficulties, which puts high requirements on the structure design of underwater unmanned vehicle itself and mother ship and control accuracy.

[0004] In the prior art, the grab rod recovery structure of underwater unmanned vehicle usually adopts vertical extension type design, that is, the grab rod is extended along the vertical direction of the mother ship and is retracted into the interior of the mother ship along the vertical direction during recovery. This kind of structure design causes the grab rod to occupy a large space in the interior of the mother ship after recovery, which further limits the layout design and load configuration of the mother ship, and affects the overall use flexibility of the underwater unmanned vehicle and the comprehensive operation capability of the mother ship.

[0005] Based on the above-mentioned deficiencies of the prior art, a new type of underwater unmanned vehicle grab rod recovery structure is needed to solve the technical problem of large space occupation of the existing vertical grab rod recovery structure. SUMMARY

[0006] Therefore, the present application provides a kind of underwater unmanned vehicle foldable recovery rod device, and space arrangement is compact, and the land occupied is small, and structure is simple and reliable.

[0007] The technical scheme adopted by the present application is as follows: A kind of underwater unmanned vehicle foldable recovery rod device, including folding frame and recovery rod, folding frame includes folding frame fixed end, folding frame movable end, folding frame support rod and folding frame lock catch; The folding frame fixed end is fixed on the underwater unmanned vehicle, the folding frame movable end is rotatably connected with the folding frame fixed end through a pin shaft I, and the included angle between the folding frame movable end and the folding frame fixed end ranges from 0 to 90 degrees; the recovery rod is fixed on the folding frame movable end, the folding frame support rod is connected with the folding frame movable end and the folding frame fixed end through pin shafts II and III at both ends and moves in the sliding groove of the folding frame movable end, and the folding frame lock is used to realize the in-place locking and unlocking of the folding frame support rod when the folding frame movable end is in the vertical state.

[0008] Further, the folding frame movable end outer side is provided with a shell structure with an open top end, and a plurality of through mounting holes are arranged at intervals along the length direction of the shell structure. A plurality of through holes are arranged on the recovery rod, and the recovery rod is fixedly connected with the shell structure through bolts and nuts.

[0009] Further, the shell structure is a cuboid.

[0010] Further, the folding frame movable end and the folding frame fixed end are both concave structures, and when the included angle between the folding frame movable end and the folding frame fixed end is 0 degrees, the sliding groove end portion on the folding frame movable end is located outside the folding frame fixed end, and the sliding groove end portion is an end portion away from the hinge between the folding frame movable end and the folding frame fixed end.

[0011] Further, the pin shaft I, the pin shaft II and the pin shaft III are all axially limited through the hole.

[0012] Further, the folding frame fixed end, the folding frame movable end, the folding frame support rod and the folding frame lock are all made of stainless steel, and the recovery rod is made of aluminum alloy.

[0013] Further, the folding frame fixed end is added to the vehicle through an adapter plate.

[0014] Beneficial effects: 1. The folding recovery rod device can be erected when performing underwater recovery process and folded when lifting recovery operation on the shore, so that the problem of occupying too much space when the vehicle carries the recovery device on the ship or on the shore is solved.

[0015] 2. The length of the recovery rod can be adjusted to adapt to different recovery manipulators.

[0016] 3. The folding frame fixed end, the folding frame movable end, the folding frame support rod and the folding frame lock are all made of stainless steel, and the recovery rod is made of aluminum alloy, so that high structural strength, light weight and corrosion resistance can be achieved.

[0017] 4. The fixed end of the folding frame of this invention is attached to the aircraft via an adapter plate, without the need for prior design of the installation interface, and can be mounted on aircraft of various sizes and shapes. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall assembly of the present invention.

[0019] Figure 2 is a schematic diagram of the structure of the present invention, wherein (a) is a schematic diagram of the structural composition, (b) is a top view of the structure, and (c) is a schematic diagram of the folding frame.

[0020] Figure 3 is a schematic diagram of the invention in different states, where (a) is a schematic diagram of the folding frame with the recovery rod standing upright, and (b) is a schematic diagram of the folding frame with the recovery rod folded down.

[0021] Figure 4 shows different states during the recovery process of the present invention, where (a) is a top view of the recovery of the No. 1 UUV recovery robot arm, (b) is a schematic diagram of the recovery of the No. 1 UUV recovery robot arm, (c) is a schematic diagram of the No. 1 UUV recovery robot arm sliding up along the No. 2 recovery rod, and (d) is a schematic diagram of the No. 1 UUV detaching from the No. 2 UUV.

[0022] Among them, 1-fixed end of folding frame, 2-support rod of folding frame, 3-locking buckle of folding frame, 4-movable end of folding frame, 5-recovery rod, 6-nut, 7-bolt, 8-pin II, 9-hole pin, 10-folding frame, 11-underwater unmanned vehicle, 12-recovery manipulator. Detailed Implementation

[0023] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0024] This invention provides a foldable recovery boom device for underwater unmanned vehicles, such as... Figure 1 As shown in Figure 3, the device includes a folding frame 10 and a recovery rod 5. The folding frame 10 is fixed to the underwater unmanned vehicle 11. When it is in the water, it is in a vertical state, and when it is on land, it is in a folded state.

[0025] The folding frame 10 includes a fixed end 1, a movable end 4, a support rod 2, and a latch 3. The folding frame fixed end 1 is fixed on the underwater unmanned vehicle 11, the folding frame movable end 4 is rotatably connected with the folding frame fixed end 1 through a pin shaft I, the folding frame movable end 4 rotates around the pin shaft I, and the included angle between the folding frame movable end 4 and the folding frame fixed end 1 ranges from 0 to 90 degrees; the recovery rod 5 is fixed on the folding frame movable end 4, the folding frame support rod 2 is connected with the folding frame movable end 4 and the folding frame fixed end 1 through pin shaft II 8 and pin shaft III at both ends, and moves in the sliding groove of the folding frame movable end 4, and the folding frame lock catch 3 is used for realizing the locking and unlocking of the folding frame support rod 2 in the vertical state of the folding frame movable end 4. The pin shaft I, the pin shaft II 8 and the pin shaft III are all axially limited through the hole pin 9.

[0026] The outer side of the folding frame movable end 4 is provided with a shell structure with an open top end, a plurality of through mounting holes are arranged at intervals along the length direction of the shell structure, a plurality of through holes are arranged on the recovery rod 5, the recovery rod 5 is fixedly connected with the shell structure through bolts 7 and nuts 6, and the through mounting holes correspond to the through holes.

[0027] Preferably, the shell structure is a cuboid, and the cross section is a square, and the length of the cross section is consistent with the diameter of the recovery rod 5. Thus, further shaking of the recovery rod 5 in the shell structure is avoided.

[0028] The folding frame movable end 4 and the folding frame fixed end 1 are both concave structures; when the included angle between the folding frame movable end 4 and the folding frame fixed end 1 is 0 degrees, the end part of the sliding groove on the folding frame movable end 4 is located outside the folding frame fixed end 1, and the end part is away from the hinge part between the folding frame movable end 4 and the folding frame fixed end 1. That is to say, the length of the end part from the hinge part is greater than the length of the end part of the folding frame fixed end 1 from the hinge part.

[0029] The folding frame fixed end 1, the folding frame movable end 4, the folding frame support rod 2 and the folding frame lock catch 3 are all made of stainless steel, and the recovery rod 5 is made of aluminum alloy, so that high structural strength, light weight and corrosion resistance can be achieved.

[0030] In order to be mounted on underwater unmanned vehicles 11 of various sizes and shapes, it is not necessary to design an installation interface in advance, and an adapter plate can be added as needed, and the adapter plate is provided with an installation interface which is adapted to the inherent interface of the underwater unmanned vehicle 11 and the interface of the folding frame fixed end 1.

[0031] The folding frame can also be adapted to the size of the recovery manipulator 12, and the diameter and length of the recovery rod 5 can be changed to adapt to manipulators of different sizes and shapes. Of course, the size of the shell structure on the outer side of the folding frame movable end 4 is also adjusted accordingly.

[0032] The folding frame lock catch 3 can realize self-locking of the folding frame movable end 4 in the vertical state, and unlocking can be realized through manual switching.

[0033] Specifically, the folding frame lock 3 can adopt an existing button type folding lock, including a latch and an unlocking button. The latch is connected with the folding frame support rod 2 through a pin shaft II 8, and a latch slot is arranged on the folding frame movable end 4 in correspondence with the latch, which is adapted to the shape of the latch and accurately aligned, used for receiving the protrusion of the latch to limit the rotation of the folding frame support rod 2. When the folding frame movable end 4 is perpendicular to the folding frame fixed end 1, the latch is limited in the latch slot. When unlocking is needed, the unlocking button is pressed to drive the latch through a lever or connecting rod structure to make it disengage from the limiting of the latch slot, at this time the folding frame support rod 2 can rotate freely around the pin shaft II 8 to achieve folding.

[0034] The combination structure of the folding frame fixed end 1, the folding frame movable end 4 (excluding the shell structure), the folding frame support rod 2 and the folding frame lock 3 can adopt an existing triangular folding support structure, such as the triangular folding support structures disclosed in CN212280454U and CN220916841U.

[0035] Method for use: as shown in FIG. 4, before deploying the No. 2 UUV on the shore or the mother ship, the folding frame 10 is fixed to the No. 2 UUV, and the folding frame movable end 4 is adjusted to be perpendicular to the folding frame fixed end 1 by adjusting the folding frame lock 3, and then the recovery rod 5 is fixed to the folding frame movable end 4 through the bolt 7 and the nut 6 to ensure firm fixation without shaking. The recovery manipulator 12 is arranged on the No. 1 UUV (the underwater unmanned vehicle to be recovered).

[0036] First, the No. 2 UUV is deployed in water to move forward at a slow speed under water at a distance of 5 m, and then the No. 1 UUV is deployed in water to move along the track of the No. 2 UUV at a fast speed under water at a distance of 4 m. After a period of time, the recovery manipulator 12 on the No. 1 UUV can grab the recovery rod 5 on the No. 2 UUV to complete the docking and recovery.

[0037] Then the speeds of the two UUVs are set to zero, and the No. 1 UUV can realize upward floating through its positive buoyancy to complete the separation of the recovery manipulator 12 from the recovery rod 5 and realize the separation of the two UUVs.

[0038] The No. 1 UUV and the No. 2 UUV are recovered and hoisted, wherein when the No. 2 UUV is recovered and hoisted, the folding frame lock 3 is manually pressed to fold the folding frame 10, thereby completing the deployment and recovery process.

[0039] Thus, the underwater autonomous rod grabbing and recovery process of the underwater unmanned vehicle can be realized without human intervention.

[0040] In summary, the above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater unmanned vehicle foldable recovery pole apparatus, comprising: The folding frame comprises a folding frame fixed end, a folding frame movable end, a folding frame support rod and a folding frame lock catch. The folding frame fixed end is fixed on the underwater unmanned vehicle, the folding frame movable end is rotatably connected with the folding frame fixed end through a pin shaft I, and the angle between the folding frame movable end and the folding frame fixed end ranges from 0 to 90 degrees; the recovery rod is fixed on the folding frame movable end, the folding frame support rod is connected with the folding frame movable end and the folding frame fixed end through pin shafts II and III at both ends and moves in a sliding groove of the folding frame movable end, and the folding frame lock catch is used to lock and unlock the folding frame support rod when the folding frame movable end is in a vertical state.

2. The underwater unmanned vehicle collapsible recovery mast apparatus of claim 1, wherein, The outer side of the folding frame movable end is provided with a shell structure with an open top end, and a plurality of through mounting holes are arranged at intervals along the length direction of the shell structure. A plurality of through holes are arranged on the recovery rod and fixedly connected with the shell structure through bolts and nuts.

3. The underwater unmanned vehicle collapsible recovery mast apparatus of claim 2, wherein, The shell structure is a cuboid.

4. The underwater unmanned vehicle collapsible recovery mast apparatus of claim 2 or 3, wherein, The folding frame movable end and the folding frame fixed end are both concave structures, and the angle between the folding frame movable end and the folding frame fixed end is 0 degrees; the end part of the sliding groove on the folding frame movable end is located outside the folding frame fixed end, and the end part is away from the hinge part of the folding frame movable end and the folding frame fixed end.

5. The underwater unmanned vehicle collapsible recovery mast apparatus of claim 1, wherein, The pin shaft I, the pin shaft II and the pin shaft III are all axially limited through the hole.

6. The underwater unmanned vehicle collapsible recovery mast apparatus of claim 1, wherein, The folding frame fixed end, the folding frame movable end, the folding frame support rod and the folding frame lock catch are all made of stainless steel, and the recovery rod is made of aluminum alloy.

7. The underwater unmanned vehicle collapsible recovery mast apparatus of claim 1, wherein, The folding frame fixed end is connected to the vehicle through an adapter plate.

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