Integrated folding and unfolding device for small unmanned ship

Abstract

An integrated folding and unfolding device for a small unmanned ship comprises a track support, a walking structure connected to the track support and a capturing structure connected to one end of the walking structure. The catching structure comprises a hydraulic winch and a catching frame which is connected with a rope of the hydraulic winch and used for collecting and releasing the unmanned ship; the hydraulic winch realizes the movement of the catching frame between the water surface and a mother ship by winding and unwinding a rope; the walking structure moves and rotates along the track support to adjust the position of the capturing frame. According to the unmanned ship clustering system, the problems of space layout limitation, fixed structural parameters, special structure influence and the like when unmanned ship clustering operation is carried out on an existing ship are solved.

Description

TECHNICAL FIELD

[0001] The utility model belongs to the field of boat receiving and releasing, especially relates to a small unmanned ship integrated receiving and releasing device. BACKGROUND

[0002] With the continuous development of marine technology, unmanned ships as an important tool for marine exploration and operation have been widely used. Unmanned ship refers to a small ship that can autonomously navigate and perform specific tasks without direct human control. Through advanced navigation systems and sensor technology, such devices can be remotely monitored or automatically operated on preset paths, suitable for fields such as marine environment monitoring, hydrological investigation, security patrol, and military reconnaissance.

[0003] In recent years, in order to improve work efficiency and service range, unmanned ship technology has developed towards clusterization, which has become a trend. Unmanned ship clusterization refers to the coordinated work of multiple unmanned ships forming a whole network, sharing information through communication between each other, and adjusting their task allocation according to actual needs. This mode not only enhances the flexibility and adaptability of the unmanned ship system, but also effectively improves the speed and accuracy of data collection. However, to fully utilize the advantages of unmanned ship cluster, the first problem to be solved is how to efficiently manage and deploy these small devices.

[0004] Different types of ships have very different internal structural designs, and in many cases there is no special space reserved for storing unmanned ships. This makes it extremely difficult to implement modifications even if you want to. For old ships that have been in service for many years, their basic architecture such as the distance between the stern rudder shaft and other core parameters has already been determined. This means that if you want to add new boat receiving and releasing facilities to these ships, you may need to make major changes or even rebuild parts of the area. Some ships have helicopter decks or other superstructures at their stern, which further compresses the available space for installing conventional unmanned ship receiving and releasing systems. At the same time, considering safety and stability requirements, simple modification schemes often cannot meet actual needs. UTILITY MODEL CONTENTS

[0005] The utility model aims at providing a small unmanned ship integrated receiving and releasing device to solve the technical problems of realizing the integrated arrangement of unmanned ships in limited deck space and releasing and recovering via the side of the mother ship.

[0006] To achieve the above-mentioned purpose, the specific technical scheme of a small unmanned ship integrated receiving and releasing device of the utility model is as follows:

[0007] A small unmanned ship integrated receiving and releasing device includes a track bracket, a walking structure connected to the track bracket, and a capture structure connected to one end of the walking structure.

[0008] The capturing structure comprises a hydraulic winch and a capturing frame connected with a rope of the hydraulic winch for reeling and unreeling the unmanned ship; the hydraulic winch realizes the movement of the capturing frame between the water surface and the mother ship by reeling and unreeling the rope; the walking structure realizes the position adjustment of the capturing frame by moving and rotating along the track support.

[0009] As a further improvement of the utility model, the walking structure comprises a translation structure moving along the track support, a rotating structure connected below the translation structure, and a boom support connecting the rotating structure and the capturing structure.

[0010] As a further improvement of the utility model, the translation structure comprises a walking support and a walking driving device arranged on the walking support; the walking driving device drives the walking support to move along the track support.

[0011] As a further improvement of the utility model, the boom support is connected with the walking support through a rotating structure, and the rotating structure drives the boom support to rotate relative to the walking support; one end of the boom support is connected with the rotating structure through a luffing driving device, the other end is connected with the capturing structure, the middle part of the boom support is rotatably connected with the walking support, and the luffing driving device drives the boom support to rotate relative to the rotating structure.

[0012] As a further improvement of the utility model, the capturing structure further comprises an anti-swing device, the rope of the hydraulic winch is connected with the capturing frame after passing through the anti-swing device; the anti-swing device is telescopically connected with the boom support through a telescopic arm, a telescopic driving device is connected between the telescopic arm and the boom support, and the telescopic driving device drives the telescopic arm to telescopically extend and retract relative to the boom support.

[0013] As a further improvement of the utility model, the luffing driving device comprises a luffing cylinder and a luffing telescopic rod, the luffing cylinder is arranged on the rotating structure, the luffing telescopic rod is connected with the boom support at the extending end, and the luffing telescopic rod telescopically extends and retracts relative to the luffing cylinder to realize the rotation of the boom support relative to the rotating structure; the telescopic driving device comprises a telescopic cylinder and a telescopic rod, the telescopic cylinder is arranged on the boom support, the telescopic rod is connected with the capturing frame at the extending end, and the telescopic rod telescopically extends and retracts relative to the telescopic cylinder to realize the telescopic extension and retraction of the anti-swing device relative to the boom support.

[0014] As a further improvement of the utility model, the hydraulic winch is arranged on the telescopic arm or the boom support.

[0015] As a further improvement of the utility model, the walking driving device comprises a hydraulic motor, a reduction gear box and a walking shaft connected in sequence, and the walking shaft rotates to realize the movement of the translation structure along the track support.

[0016] As a further improvement of the utility model, the track support is provided with a rack, the walking shaft is provided with a gear wheel matched with the rack, and the gear wheel rolls along the rack to realize the movement of the translation structure on the track support.

[0017] As a further improvement of the utility model, the device further comprises a power system and a control system, the control system realizes the electrical control of the folding and unfolding device, and the power system provides hydraulic drive for the folding and unfolding device.

[0018] Beneficial effects:

[0019] The design scheme combining the track support and the walking structure enables the whole device to be flexibly installed on various types of mother ships, and even on ships with limited internal space or special structure, and a suitable installation position can be found. In addition, the combination of translation and rotation movements further enhances the application range for different ship types.

[0020] The rotation connection between the translation structure and the boom support and the luffing function of the boom support itself enable the capturing structure to achieve a wide working range and accurately position the small boat to be folded and unfolded in both horizontal and vertical directions. This flexibility greatly improves the support capability of the system for unmanned ships of different sizes and weight levels.

[0021] The design of the rotating structure not only allows the boom support to rotate relative to the walking support, but also enables the ship to enter and exit from both sides of the track support. This design greatly expands the operation range and flexibility of the system, enabling the unmanned ship to be quickly and safely folded and unfolded from different sides of the mother ship, adapting to different operating environments and task requirements. With the support of the rotating structure, the system can arrange and place the unmanned ship below the track support. This can fully utilize the deck space and efficiently store multiple unmanned ships even in limited space. This not only improves storage efficiency, but also ensures the safety and stability of the unmanned ship, especially in rough sea conditions. Since the unmanned ship can be directly arranged and placed below the track support without complex handling process or additional auxiliary equipment, the folding and unfolding process of the unmanned ship is greatly simplified. This feature has significant significance for improving operation efficiency, reducing labor demand and reducing operation risk.

[0022] The walking driving device adopts a hydraulic motor cooperating with a gear and a rack transmission mode, ensuring stability and accuracy during movement; meanwhile, the application of the rotating structure and the amplitude changing driving device enables the capturing frame to freely adjust the posture in the three-dimensional space, so as to more accurately position on the target unmanned ship and improve the recovery efficiency.

[0023] The introduction of the anti-swing device effectively reduces the influence of shaking caused by sea waves and other factors on the operation, and ensures smooth transition of the unmanned ship from the water surface to the deck; and the telescopic arm design can adjust the length according to actual needs, further improving the flexibility and safety of the device.

[0024] Through the rapid and reliable deployment and recovery of a single unmanned ship, an effective cooperation network is formed among multiple unmanned ships, so as to realize larger-scale task execution. This has important significance for improving the accuracy of ocean monitoring and speeding up data collection. BRIEF DESCRIPTION OF DRAWINGS

[0025] Figure 1 It is a structural schematic view of a small unmanned ship integrated deployment and recovery device.

[0026] Figure 2 It is an upper view of the walking structure.

[0027] Figure 3 It is a lower view of the walking structure.

[0028] Figure 4 It is a telescopic schematic view of the capturing structure.

[0029] Figure 5 It is a rotating schematic view of the lifting arm support.

[0030] Figure 6 It is a schematic view of the ship recovery.

[0031] Mark explanation in the figure: 100, track support; 200, translation structure; 210, walking support; 220, walking driving device; 221, hydraulic motor; 222, reduction gear box; 223, walking shaft; 300, lifting arm support; 310, amplitude changing driving device; 311, amplitude changing cylinder; 312, amplitude changing telescopic rod; 400, rotating structure; 410, rotating driving device; 420, rotating support; 500, capturing structure; 510, hydraulic winch; 520, capturing frame; 530, anti-swing device; 540, telescopic arm; 550, telescopic driving device; 551, telescopic cylinder; 552, telescopic rod; 600, power system; 700, control system; 800, ship. DETAILED DESCRIPTION

[0032] In order to deepen the understanding of the utility model, the utility model will be further described in combination with embodiments and drawings below, and the embodiments are only used to explain the utility model and do not constitute the limitation on the protection scope of the utility model.

[0033] Implementation example:

[0034] As shown in Figure 1 A small unmanned ship integrated retraction device includes a track support 100 fixed on the deck of the mother ship and a walking structure connected to the track, and the track support 100 is open on both sides towards the mother ship side wall opening or the open deck outer side wall. The ship 800 is captured from the water surface and placed under the track support 100, arranged along the ship width direction, or the ship 800 under the track support 100 is released to the water surface. The walking structure includes a translation structure 200, a rotating structure 400 and a boom support 300, the track support 100 is the track for the translation structure 200 to walk along the deck transversely, the translation structure 200 moves along the track support between the mother ship and the water surface, and is connected with the capture structure 500 through the boom support 300. The capture structure 500 captures or releases the ship 800 at the specified position under the adjustment of the boom support 300, reasonably uses the area on the ship deck or the cabin space, and is integratedly arranged and released and recovered through the mother ship side. The translation structure 200 is also provided with a control system 700 for realizing the electrical control of the retraction device, and a power system 600 for providing hydraulic drive for the retraction device. The mother ship provides one power input for the retraction device, the cable is connected into the electrical control box of the control system 700, and the control circuit is connected to the pump station motor of the power system 600. The motor operation makes the device hydraulic power system start to establish pressure, provides power guarantee for the subsequent hydraulic actuator action.

[0035] As shown in Figure 2 And 3 The translation structure 200 includes a walking driving device 220 arranged on the walking support 210, the walking driving device 220 includes a hydraulic motor 221, a speed reducer gear box 222 and a walking shaft 223 connected in sequence, and in the embodiment, the walking shaft 223 is provided with a gear, and the upper end of the track support 100 is embedded with a rack. The gear rolls on the rack to realize the movement of the walking driving device 220 driving the walking support 210 along the track support 100.

[0036] The lower end of the walking support 210 is connected with a rotating driving device 410, the rotating driving device 410 includes a rotating motor and a rotating reducer, the rotating motor is the power source of the rotating action, the torque is amplified through the rotating reducer, and the output acts on the rotating support 420, so that the boom support 300 connected to the rotating support 420 rotates relative to the walking support 210. The rotating structure 400 supports the boom support 300 to rotate in multiple directions, realizes the quick and safe retraction of the unmanned ship from both sides or the lower side of the track.

[0037] The boom support 300 is a frame body with one end bent and the other end extending outward, the connection part is rotatably connected with the rotating support 420, the bent end is connected with the rotating support 420 through the luffing drive device 310, and the extending end is connected with the capturing structure 500, as shown in the figure. Figure 5 In the embodiment, the luffing drive device 310 is a hydraulic cylinder structure, the luffing cylinder 311 is fixed on the rotating support 420, the luffing telescopic rod 312 is connected with the boom support 300 at the extending end, and the luffing telescopic rod 312 is telescopic in the luffing cylinder 311 to realize the rotation of the boom support 300, change the initial lifting height, and move the capturing structure 500 up and down, transport the ship after lifting in the cabin, and appropriately reduce the distance between the ship and the water surface outside the cabin, so that the anti-swing device 550 is in continuous contact with the equipment, and the risk caused by the swing is reduced.

[0038] The capturing structure 500 is connected with the boom support 300 through the telescopic arm 540, one end of the telescopic arm 540 is arranged in the boom support 300, the other end extends outward from the boom support 300, and the extending end is connected with the anti-swing device 530. Figure 4 In the embodiment, the telescopic drive device 550 is a hydraulic cylinder structure, the telescopic cylinder 551 is fixed on the boom support 300, the extending end of the telescopic rod 552 is connected with the telescopic arm 540, and the telescopic rod 552 is telescopic in the telescopic cylinder 551 to realize the telescopic of the telescopic arm 540 relative to the boom support 300. The telescopic arm 540 extends outward, which can increase the span and further reduce the height of the lifting point from the water surface, thereby improving the safety of the collecting and releasing process; the telescopic arm 540 is retracted, which can reduce the equipment storage space and improve the adaptability of the cabin turning. The hydraulic winch 510 is arranged on the upper end face of the telescopic arm 540 in the boom support 300, releases the rope to the capturing frame 520, the rope passes through the anti-swing device 530 and is connected with the capturing frame 520, and the forward and reverse rotation of the hydraulic winch 510 drives the release and recovery of the rope on the winch, that is, the lifting and lowering of the capturing frame 520 connected therewith. The capturing frame 520 is a hollow frame body, which can be opened and closed when capturing and releasing the ship 800, and realizes the clamping and protection of the ship 800 during the transportation process. The anti-swing device 530 and the hydraulic winch 510 ensure the stability and safety during the collecting and releasing process, and the interface form of the anti-swing joint adopts a simple box structure, which is convenient for connecting different capturing frames 520 to meet the ability of releasing and recovering different capturing objects.

[0039] As shown in the figure, Figure 6As shown, when the boat is released, the translation structure 200 moves on the track support 100 to the boat storage position, the amplitude drive device 310 is driven to lower the capture frame 520 to the boat capture position, and the boat 800 is firmly connected; then the amplitude telescopic rod 312 is driven to retract, the capture frame 520 is raised, and the boat 800 is lifted off the deck storage bracket; the translation structure 200 moves on the track support 100 to move the boat to the side release position, the telescopic arm 540 is driven to extend, the span is increased, the hydraulic winch 510 rotates to release the capture frame 520 to the specified water surface, and the capture frame 520 is opened to complete the release of the boat 800. The recovery process is opposite to the release process. When the boat 800 needs to be released in sequence, the rotation structure 400 adjusts the position of the capture frame 520 through the rotation of the hoist arm support 300, so that the boat 800 can be placed in sequence, and the boat 800 can also be released from the two sides of different directions.

[0040] The device can effectively utilize the space on the ship which is usually difficult to fully utilize, and can realize integrated arrangement and side release of multiple boats, has good loading adaptability, can be loaded on a mother ship flat deck or cabin, can be adapted to multiple small boats or vehicles, is suitable for various types of ships, can realize function expansion without major modification of the original ship body, only needs to add special equipment compared with overall modification of the ship body, reduces initial investment cost, and is convenient for future upgrade and maintenance.

[0041] It can be understood that the utility model is described through some embodiments, and those skilled in the art know that various changes or equivalent replacements can be made to these features and embodiments without departing from the spirit and scope of the utility model. In addition, under the guidance of the utility model, these features and embodiments can be modified to adapt to specific conditions and materials without departing from the spirit and scope of the utility model. Therefore, the utility model is not limited by the specific embodiments disclosed herein, and all embodiments falling within the scope of the claims of the present application belong to the scope protected by the utility model.

Claims

1. A compact unmanned surface vehicle integrated launch and recovery device, characterized by, The application relates to a track support, a walking structure connected to the track support, and a capturing structure connected to one end of the walking structure. The capturing structure comprises a hydraulic winch and a capturing frame connected to the hydraulic winch through a rope for receiving and releasing an unmanned ship; the hydraulic winch moves the capturing frame between the water surface and the mother ship through the rope; and the walking structure adjusts the position of the capturing frame through movement and rotation along the track support. The walking structure comprises a translation structure moving along the track support, a rotating structure connected below the translation structure, and a boom support connecting the rotating structure and the capturing structure. The translation structure comprises a walking support and a walking driving device arranged on the walking support. The walking driving device drives the walking support to move along the track support. The boom support is connected to the walking support through a rotating structure, and the rotating structure drives the boom support to rotate relative to the walking support. One end of the boom support is connected to the rotating structure through a luffing driving device, the other end is connected to the capturing structure, the middle part of the boom support is rotatably connected to the walking support, and the luffing driving device drives the boom support to rotate relative to the rotating structure. The capturing structure further comprises an anti-swing device, and the rope of the hydraulic winch is connected to the capturing frame through the anti-swing device. The anti-swing device is telescopically connected to the boom support through a telescopic arm, a telescopic driving device is arranged between the telescopic arm and the boom support, and the telescopic driving device drives the telescopic arm to telescope relative to the boom support. The luffing driving device comprises a luffing cylinder and a luffing telescopic rod, the luffing cylinder is arranged on the luffing driving device, the luffing telescopic rod is connected to the boom support at the extending end, and the luffing telescopic rod telescopically moves relative to the luffing cylinder to drive the boom support to rotate relative to the rotating structure. The telescopic driving device comprises a telescopic cylinder and a telescopic rod, the telescopic cylinder is arranged on the boom support, the telescopic rod is connected to the capturing frame at the extending end, and the telescopic rod telescopically moves relative to the telescopic cylinder to drive the anti-swing device to telescope relative to the boom support.

2. The compact USV integrated launch and recovery apparatus of claim 1, wherein, The hydraulic winch is arranged on the telescopic arm or the boom support.

3. The compact USV integrated launch and recovery apparatus of claim 1, wherein, The walking driving device comprises a hydraulic motor, a reduction gear box and a walking shaft which are sequentially connected, and the walking shaft rotates to drive the translation structure to move along the track support.

4. The compact USV integrated launch and recovery apparatus of claim 3, wherein, A rack is arranged on the track support, a gear wheel is arranged on the walking shaft and matched with the rack, and the gear wheel rolls along the rack to drive the translation structure to move along the track support.

5. The compact USV integrated launch and recovery apparatus of claim 1, wherein, The application further comprises a power system and a control system, the control system realizes electric control of the receiving and releasing device, and the power system provides hydraulic driving for the receiving and releasing device.

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