Unmanned ship recovery device

Abstract

The utility model relates to the field of marine equipment, and discloses an unmanned ship recovery device which comprises a recovery fixing frame, a transverse rod and a positioning clamping device. The transverse rod is rotationally arranged on the upper portion of the recycling fixing frame, and the positioning clamping device is connected to the end of the transverse rod and comprises a clamping claw set, a magnetic attraction device, a linkage fixing block, a movable sliding block and a driving rope. The clamping jaw group is provided with two clamping jaw units which are oppositely arranged; the magnetic attraction device is arranged on the linkage fixing block and can attract the unmanned ship to stabilize the butt joint position. The upper portion of the clamping jaw is hinged between the movable sliding block and the linkage fixing block, and the movable sliding block is connected to a driver of the transverse rod through a driving rope penetrating through the fixing block to drive the clamping jaw to be opened and closed. Preliminary butt joint with the unmanned ship is rapidly achieved through magnetic attraction, the alignment difficulty caused by water surface fluctuation is reduced, a stable reference is provided for subsequent clamping, and the recovery efficiency and reliability are improved.

Description

Technical Field

[0001] This utility model relates to the field of marine equipment, specifically an unmanned vessel recovery device. Background Technology

[0002] With the accelerated intelligent upgrading of my country's water conservancy infrastructure and the rapid construction of an integrated "sky-ground-hydraulic" monitoring and sensing system and digital twin system, unmanned surface vessels (USVs) are widely used in water operations such as farmland irrigation canal inspection, dam safety monitoring, and irrigation area water environment management due to their flexible operation, remote control, and high safety. Especially under the background of the comprehensive implementation of the river and lake chief system, higher requirements have been placed on the normalization and efficiency of river and lake management monitoring. Industry statistics show that by 2025, the market stock of dedicated monitoring USVs for inland rivers and near-shore shallow water areas in my country had exceeded 8,000, of which small USVs used for canal flow monitoring and dam seepage detection accounted for more than 60%. The continuous monitoring needs of approximately 4 million kilometers of farmland irrigation canals and 300,000 kilometers of dams nationwide have led to a continuous increase in demand for USVs and their supporting equipment from grassroots water conservancy stations, small and medium-sized environmental protection enterprises, and other operating units.

[0003] In the operational process of unmanned surface vessels (USVs), efficient and safe recovery is crucial for ensuring operational continuity, equipment integrity, and reducing operating costs. USVs are typically equipped with sophisticated monitoring equipment such as water level sensors, flow monitors, and water quality analyzers. These devices are extremely sensitive to vibration and impact, requiring a smooth and precise recovery process. However, the actual surface operating environment is complex. USVs are susceptible to natural factors such as water flow velocity, wind direction and force, and wave disturbances during recovery, resulting in lateral drift, longitudinal sway, and other positional deviations. This poses a significant challenge to the dynamic adaptability and capture reliability of the recovery device.

[0004] Currently, traditional unmanned vessel recovery devices mostly adopt fixed structures such as rigid docking, cage, or rail types, which have revealed the following main defects in practical applications: poor dynamic adaptability; equipment is easily damaged by hard collisions; complex structure, poor portability and deployment; high cost, and difficulty in popularization.

[0005] To address these issues, the industry has proposed several solutions, but limitations remain. For example:

[0006] Application CN202411250795.1 proposes an unmanned vessel recovery device based on openable and closable guide wheels, which uses a cylinder-driven mechanism to achieve the opening and closing of the guide wheels and attitude correction. However, this device relies on a pneumatic and sensor control system, which is complex in structure, costly, and has strict waterproof requirements. Furthermore, the correction is prone to failure under conditions of no power supply or extreme operating conditions.

[0007] Application number CN202311480871.3 proposes a method for driving the opening and closing of a door panel using a triangular support device and capturing an unmanned vessel using a traction trolley. This method relies on multiple sets of power and transmission components, requires high assembly precision, is prone to positioning deviations under windy and wave conditions, and requires electric drive throughout the process.

[0008] Application number CN202510810571.X proposes a deployment and recovery device for a ship's observation equipment, which maintains equipment stability through mechanisms such as a tilting gantry. However, this device needs to be fixedly installed on the mother ship's deck, making deployment inflexible, occupying a large space, and also relying on electric power.

[0009] Application CN202420161518.2 proposes a recovery device for a mother ship and a workboat, which utilizes a cantilever crane and a lateral clamping mechanism for recovery. However, in complex sea conditions, the irregular swaying of the mother ship and the unmanned vessel can easily lead to difficulties in aligning the hook and the clamping mechanism, posing a risk of inaccurate positioning and fixation failure.

[0010] Application number CN202221013505.8 proposes a clamping-type deployment and recovery device for underwater monitoring equipment. This device may experience clamping and positioning deviations or insecure clamping, and its drive components cannot guarantee reliable limiting once power is lost or malfunctions, resulting in insufficient flexibility.

[0011] In summary, existing unmanned vessel recovery technologies either rely on complex electromechanical control systems, which are costly and difficult to maintain; or suffer from insufficient dynamic adaptability and low docking success rate; or have poor portability, making it difficult to meet the application needs of grassroots operating units for low cost, easy deployment, and high reliability. Utility Model Content

[0012] Therefore, in order to overcome the above-mentioned shortcomings, this utility model provides an unmanned vessel recovery device. By utilizing the attraction characteristics of magnets and the magnetic attraction structure of the unmanned vessel, the device can quickly dock with the unmanned vessel under water surface fluctuation conditions, providing a stable spatial reference for subsequent clamping operations and effectively reducing the difficulty of docking for unmanned vessel recovery in swaying environments.

[0013] Specifically, an unmanned vessel recovery device includes a recovery frame, a positioning clamping device, and a crossbar. The crossbar is rotatably mounted on the upper part of the recovery frame, and the positioning clamping device is mounted on the end of the crossbar.

[0014] The positioning and clamping device includes a clamping claw assembly, a magnetic attraction device, a clamping claw linkage fixing block, a fixing block, a rope-connecting slider, and a drive rope. The clamping claw assembly includes two clamping claw units arranged opposite to each other, each clamping claw unit having two parallel clamping claws. The fixing block is fixedly connected to the end of the crossbar and to the clamping claw linkage fixing block below it. The rope-connecting slider is movably installed between the clamping claw linkage fixing block and the fixing block. The upper part of the clamping claw is sequentially hinged to the rope-connecting slider and the clamping claw linkage fixing block. The up-and-down movement of the rope-connecting slider causes the clamping claw to rotate, so that the clamping claw assembly is in an open or closed state. The upper part of the rope-connecting slider is connected to a drive rope that passes through the fixing block. The drive rope is located inside the crossbar and its other end is connected to a drive rope driver installed on the crossbar. The clamping claw linkage fixing block is equipped with at least one of the magnetic attraction devices, which includes a magnet and a magnet support column. The magnet is fixedly installed below the clamping claw linkage fixing block through the magnet support column.

[0015] Optionally, the drive rope actuator includes a handle and a control housing.

[0016] The control device housing has a mounting groove, and a crossbar connecting part that is fixedly connected to the crossbar is provided at the end of the control device housing.

[0017] The handle is installed in the mounting slot and rotatably connected by a screw assembly. A drive rope connection part for connecting to the drive rope is provided on the upper part of the handle.

[0018] Pressing the handle moves the drive rope along the mounting groove and pulls the slider to move, causing the gripper assembly to be in a closed state. After releasing the handle, the drive rope retracts and the gripper assembly returns to its open state.

[0019] Optionally, the recycling frame includes a tripod, a crossbar sleeve, and a bearing mounting base. The crossbar is fixedly installed on the crossbar sleeve, which is rotatably installed on the bearing mounting base via a bearing and rotates in the vertical plane. The bearing mounting base is rotatably installed on the upper end of the tripod via another bearing and rotates in the horizontal plane.

[0020] Optionally, a guide rod is installed at the corner of the crossbar, and a through hole is provided at the upper end of the guide rod. The guide rod is fixedly installed to the crossbar by screws.

[0021] Optionally, the crossbar includes several unit bars, adjacent unit bars are fixedly connected by fasteners, and one of the unit bars near the drive rope driver is connected to the crossbar bushing of the recovery fixing frame.

[0022] This utility model has the following advantages:

[0023] This invention relates to an unmanned surface vessel (USV) recovery device. Utilizing the magnetic attraction properties of magnets and the USV's magnetic structure, the device can quickly dock with the USV even in undulating water conditions. This provides a stable spatial reference for subsequent clamping operations, effectively reducing the difficulty of docking in swaying environments and ensuring the accuracy of the recovery operation. It is particularly suitable for recovering USVs in grassroots water conservancy monitoring scenarios, contributing to the further advancement of smart water conservancy construction.

[0024] The tripod described in this invention is retractable, and the crossbar is detachable, combining convenience and portability. When folded, it occupies little space, facilitating storage and transportation. Furthermore, the structure employs a lightweight design and simple assembly, significantly reducing installation complexity. The operation is completed manually, requiring no additional power supply, offering advantages in terms of environmental friendliness and ease of operation, making it suitable for the low-cost, high-efficiency operational needs of unmanned surface vessel (USV) recovery scenarios. Attached Figure Description

[0025] Figure 1 This is a front view of the unmanned vessel recovery device.

[0026] Figure 2 This is an overall oblique view of the unmanned vessel recovery device;

[0027] Figure 3 This is a schematic diagram of the positioning and clamping device;

[0028] Figure 4 This is a schematic diagram of the disassembled structure of the positioning and clamping device;

[0029] Figure 5 This is a schematic diagram of the magnetic attraction device;

[0030] Figure 6 yes Figure 5 A magnified view of part A in the diagram;

[0031] Figure 7 This is a schematic diagram of the structure (disassembled state) of the drive rope actuator;

[0032] Figure 8 This is a structural diagram of the recycling fixture;

[0033] Figure 9 This is a structural diagram of a telescopic tripod;

[0034] Figure 10 This is a schematic diagram of the structure of the ground-fixed support legs;

[0035] Figure 11 This is a structural diagram of the crossbar;

[0036] Figure 12 This is a schematic diagram of the guide rod disassembly;

[0037] Figure 13 This is a structural diagram of a fastener;

[0038] Figure 14 This is a schematic diagram of the disassembled fastener structure;

[0039] Figure 15 This is a schematic diagram of the unmanned vessel recovery device in its retracted state;

[0040] In the diagram: 1. Recycling support frame; 11. Ground support leg; 111. Support leg body; 112. Anchor foot; 12. Support leg; 13. Bearing B; 14. Bearing mounting seat; 15. Bearing A; 16. Crossbar bushing;

[0041] 2. Positioning and clamping device; 21. Clamping claw; 211. Low-profile through hole; 212. High-profile through hole; 22. Magnetic attraction device; 221. Magnet; 2211. Protruding structure; 222. Magnet support column; 2221. Recessed structure; 223. Lower washer; 224. Upper washer; 225. Screw; 23. Rotating pin; 24. Clamping claw linkage fixing block; 241. Pin hole A; 242. Screw hole; 25. Fixing block; 251. Rope hole; 26. Rope-connected slider; 261. Pin hole B; 27. Drive rope;

[0042] 3. Crossbar; 31. Unit bar; 32. Fastener; 311. Snap buckle; 3111. Striped structure; 3112. Hole; 3113. Protrusion; 312. Fastening screw assembly; 313. Pressure block; 314. Sleeve; 3141. Lug hole; 3142. Square hole; 331. Guide rod screw; 332. Guide rod washer; 333. Protrusion; 334. Guide rod; 351. Screw assembly; 352. Handle; 3521. Handle hole; 3522. Drive rope connection; 353. Control device housing; 3531. Crossbar connection; 3532. Mounting groove; 3533. Circular hole;

[0043] 4. Unmanned boats. Detailed Implementation

[0044] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain this application, and should not be construed as limiting this application.

[0045] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus.

[0046] As described in the background section, existing unmanned vessel recovery technologies either rely on complex electromechanical control systems, which are costly and difficult to maintain; or suffer from insufficient dynamic adaptability and low docking success rate; or have poor portability, making it difficult to meet the application needs of grassroots operating units for low cost, easy deployment, and high reliability.

[0047] For the reasons mentioned above, such as Figures 1-15 As shown, this embodiment provides an unmanned vessel recovery device, including a recovery fixing frame 1, a positioning clamping device 2, and a crossbar 3. The crossbar is rotatably mounted on the upper part of the recovery fixing frame, and the positioning clamping device is mounted on the end of the crossbar.

[0048] The positioning and clamping device, such as Figures 2-6 As shown, the device includes a gripper assembly, a magnetic suction device 22, a gripper linkage fixing block 24, a fixing block 25, a rope-connecting slider 26, and a drive rope 27. The gripper assembly includes two gripper units arranged opposite to each other, and each gripper unit has two parallel gripper claws 21. The fixing block 25 is fixedly connected to the end of the crossbar and to the gripper linkage fixing block 24 below it. The rope-connecting slider 26 is movably installed between the gripper linkage fixing block 24 and the fixing block 25.

[0049] The shape of the clamping claw 21 is adapted to the shape of the hull slope, and the clamping range is 50-80cm in width. The upper part of the clamping claw 21 is hinged to the rope-connecting slider 26 and the claw linkage fixing block 24 in sequence by two rotating pins 23. The rope-connecting slider 26 has a pin hole B261 that matches the rotating pin, and the claw linkage fixing block 24 has a pin hole A241 that matches the rotating pin. The clamping claw 21 has a high through hole 212 and a low through hole 211 for installing the rotating pin. The up and down movement of the rope-connecting slider 26 drives the clamping claw to rotate, so that the clamping claw assembly is in an open or closed state. The upper part of the rope-connecting slider 26 is connected to a drive rope 27 that passes through the fixing block 25. The fixing block 25 has a rope hole 251 that matches the drive rope. The drive rope is located inside the crossbar and its other end is connected to the drive rope driver installed on the crossbar.

[0050] The gripper linkage fixing block 24 is equipped with at least one magnetic attraction device, which includes a magnet 221, a magnet support column 222, a lower washer 223, an upper washer 224, and a screw 225. The screw 225 passes through the upper washer 224 and connects to the gripper linkage fixing block 24. The gripper linkage fixing block 24 has screw holes 242 for installing the screw 225, thus fixing the magnet support column. The upper washer 224 fits against the upper surface of the gripper linkage fixing block 24, serving to fill gaps and prevent loosening. The gripper linkage fixing block 24 is sleeved on the outside of the magnet support column, and its lower surface is fitted with the lower washer 223. During clamping contact, the lower washer 223 on the lower surface of the gripper linkage fixing block 24 can buffer contact impact. The magnet 221 is installed at the lower end of the magnet support column 222. Figure 8 As shown, the magnet has a diameter of 4.5 cm. The upper end of magnet 221 has a protruding structure 2211, which fits into the recessed structure 2221 at the lower end of the magnet support column 222. This precise engagement of the protrusion and recess restricts the relative displacement of magnet 221 in the axial and radial directions of the magnet support column 222, effectively preventing shaking during operation and ensuring a stable assembly of magnet 221 and magnet support column 222. When the clamping structure approaches the target unmanned surface vessel (USV), magnet 221 attracts the USV or the magnet mounted on the USV, completing the pre-clamping docking.

[0051] like Figure 7 As shown, the drive rope actuator includes a screw assembly 351, a handle 352, and a control device housing 353. The control device housing has a mounting groove 3532 and a circular hole 3533. A crossbar connecting part 3531, which is fixedly connected to the crossbar, is provided at the end of the control device housing.

[0052] The handle has a handle hole 3521, and the handle is installed in the mounting groove 3532. A screw assembly 351 with a hinge structure passes through the handle hole 3521 of the handle 352 and the circular hole 3533 of the control device housing 353 in sequence to complete the hinged fixation of the handle 352 and the control device housing 353. A drive rope connection part 3522 for connecting with the drive rope is provided on the upper part of the handle. The end of the drive rope 27 is fixedly connected to the drive rope connection part 3522. When the handle 352 is pressed backward, the drive rope 27 is pulled to move along the direction of the mounting groove, and the drive rope pulls the slider 26 to move upward, and the clamping claw rotates, so that the clamping claw assembly is in a closed state. After the handle is released, the drive rope retracts, and the clamping claw assembly returns to the open state.

[0053] In use, once the unmanned surface vessel (USV) enters the appropriate area, the positioning and clamping device is positioned above the USV by rotating and swinging the crossbar, with the clamping claws in an open state. The drive rope actuator, which lifts the crossbar downwards, brings the positioning and clamping device closer to the USV. Upon reaching the designated position, the magnet attracts the USV. A magnetic block can be installed on the USV to engage with the magnet, or the USV can be directly attracted by a magnet. Pressing the handle of the drive rope actuator moves the drive rope along the mounting groove, causing the slider to move and the clamping claws to close, thus completing the gripping of the USV. After gripping the USV, the crossbar is controlled to move the USV to a designated position for the operator to remove, thus achieving the recovery of the USV.

[0054] The aforementioned technical features utilize the attraction characteristics of magnets and the magnetic attraction structure of unmanned vessels to quickly dock the device with the unmanned vessel under conditions of water surface ripples, providing a stable spatial reference for subsequent clamping operations and effectively reducing the difficulty of docking for unmanned vessel recovery in swaying environments.

[0055] For example, such as Figures 8-10 As shown, the recycling frame 1 includes a tripod, a crossbar sleeve 16, and a bearing mounting seat 14. The crossbar is fixedly installed on the crossbar sleeve. The crossbar sleeve 16 is rotatably installed on the bearing mounting seat 14 via bearing A15 and rotates in the vertical plane. The bearing mounting seat 14 is rotatably installed on the upper end of the tripod via bearing B13 and rotates in the horizontal plane.

[0056] The tripod is adopted as follows: Figure 9 The existing telescopic tripod shown has a ground-fixed foot 11 at the bottom of the supporting leg 12. The ground-fixed foot 11 is bolted to the lower end of the supporting leg 12, forming the ground contact end of the support structure. The ground-fixed foot 11 includes a triangular foot body 111. The upper part of the foot body is hinged to the supporting leg by screws. To improve grip, an anchor foot 112 is installed at the bottom of the foot body 111 by screws. In use, the anchor foot 112 is fixed in the ground and its angle can be adjusted to adapt to different terrains such as cement ground and soil, ensuring the ground support stability of the device.

[0057] For example, such as Figure 11 As shown, the crossbar 3 includes several unit bars 31, adjacent unit bars are fixedly connected by fasteners 32, one of the unit bars near the drive rope driver is connected to the crossbar bushing of the recovery fixing frame 1, and a guide rod 334 is installed at the corner of the unit bar, such as... Figure 12As shown, the upper end of the guide rod 334 has a through hole, and the guide rod 334 is fixed to the unit rod or the protrusion 333 of the unit rod by the guide rod screw 331 and the guide rod washer 332.

[0058] Furthermore, when the unit rods are joined with the same diameter, the fastener is an existing clamp; if adjacent unit rods have different diameters, when using a set, a fastener such as... Figure 13 and Figure 14 The structure shown is that the fastener 32 includes a snap fastener 311, a fastening screw assembly 312, a clamping block 313, and a sleeve 314. The snap fastener 311 is hinged to the sleeve 314 via the fastening screw assembly 312. The fastening screw assembly 312 passes through the hole 3112 on the snap fastener 311 and the lug hole 3141 on the sleeve 314. The clamping block 313 is disposed within the internal cavity of the sleeve 314 and is kept inside the sleeve 314 by means of the inner wall constraint and its own structural limitation. The operating end face of the snap fastener 311 is provided with a striped structure 3111 adapted for finger operation, and its upper surface is provided with a protrusion 3113 that can pass through the square hole 3142 opened on the sleeve 314. When a downward force is applied to the snap fastener 311, it rotates around a fixed axis, thereby pressing the lower clamping block 313, thus pressing the unit rod, and the clamping force achieves the fixing effect of the lower unit rod.

[0059] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An unmanned vessel recovery device, characterized in that: It includes a recycling frame, a positioning clamping device, and a crossbar, wherein the crossbar is rotatably mounted on the upper part of the recycling frame, and the positioning clamping device is mounted on the end of the crossbar; The positioning and clamping device includes a clamping claw assembly, a magnetic attraction device, a clamping claw linkage fixing block, a fixing block, a rope-connecting slider, and a drive rope. The clamping claw assembly includes two clamping claw units arranged opposite to each other, each clamping claw unit having two parallel clamping claws. The fixing block is fixedly connected to the end of the crossbar and to the clamping claw linkage fixing block below it. The rope-connecting slider is movably installed between the clamping claw linkage fixing block and the fixing block. The upper part of the clamping claw is sequentially hinged to the rope-connecting slider and the clamping claw linkage fixing block. The up-and-down movement of the rope-connecting slider causes the clamping claw to rotate, so that the clamping claw assembly is in an open or closed state. The upper part of the rope-connecting slider is connected to a drive rope that passes through the fixing block. The drive rope is located inside the crossbar and its other end is connected to a drive rope driver installed on the crossbar. The clamping claw linkage fixing block is equipped with at least one of the magnetic attraction devices, which includes a magnet and a magnet support column. The magnet is fixedly installed below the clamping claw linkage fixing block through the magnet support column.

2. The unmanned vessel recovery device according to claim 1, characterized in that: The drive rope actuator includes a handle and a control device housing. The control device housing has a mounting groove, and a crossbar connecting part that is fixedly connected to the crossbar is provided at the end of the control device housing. The handle is installed in the mounting slot and rotatably connected by a screw assembly. A drive rope connection part for connecting to the drive rope is provided on the upper part of the handle. Pressing the handle moves the drive rope along the mounting groove and pulls the slider to move, causing the gripper assembly to be in a closed state. After releasing the handle, the drive rope retracts and the gripper assembly returns to its open state.

3. The unmanned vessel recovery device according to claim 1, characterized in that: The recycling frame includes a tripod, a crossbar sleeve, and a bearing mounting base. The crossbar is fixedly installed on the crossbar sleeve, which is rotatably installed on the bearing mounting base via a bearing and rotates in the vertical plane. The bearing mounting base is rotatably installed on the upper end of the tripod via another bearing and rotates in the horizontal plane.

4. The unmanned vessel recovery device according to claim 1, characterized in that: A guide rod is installed on the crossbar, and a through hole is provided at the upper end of the guide rod. The guide rod is fixedly installed on the crossbar by screws.

5. The unmanned vessel recovery device according to claim 1, characterized in that: The crossbar comprises several unit bars, adjacent unit bars are fixedly connected by fasteners, and one of the unit bars near the drive rope driver is connected to the recycling fixture.

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