Anchoring device for unmanned ships
By employing a direct detection method using a first limiter, a second limiter, and a proximity switch in the unmanned vessel anchoring device, the problem of misjudgment in anchor hook detection in the prior art is solved, accurate judgment of the anchor hook recovery status is achieved, and the reliability of anchoring operation is improved.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SANYA GONGDAO MARINE ENG TECH CO LTD
- Filing Date
- 2026-05-11
- Publication Date
- 2026-07-07
AI Technical Summary
The existing anchor hook detection mechanism of unmanned vessel anchoring device adopts an indirect detection method, which is easily affected by environmental factors and may lead to misjudgment. It cannot accurately determine whether the anchor hook has been retracted, which affects the accuracy and reliability of the anchoring operation.
The direct detection method is adopted. The first limit component, the second limit component, and the proximity switch in the anchor cable retraction mechanism are used to directly determine the retraction status of the anchor hook by flipping the limit component to trigger the proximity switch, thus avoiding errors.
It enables direct and accurate judgment of the anchor hook recovery status, improves the reliability and accuracy of anchoring operations, and provides a reliable basis.
Smart Images
Figure CN224466063U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of unmanned vessel technology, and in particular to an anchoring device for unmanned vessels. Background Technology
[0002] Unmanned surface vessels (USVs) are fully automated surface robots that achieve autonomous navigation using satellite positioning and sensing systems. They can be equipped with devices such as infrared detectors to perform preset tasks and are used in environmental monitoring, underwater mapping, security patrols, and military applications.
[0003] Currently, the anchoring devices of unmanned surface vessels (USVs) mainly use encoders to indirectly determine the status of the anchor hook, i.e., whether the anchor hook has been truly retracted, by calculating the length of the anchor cable during deployment and retraction. However, due to the inevitable slippage of the anchor cable during deployment and retraction, there is a significant error between the length data recorded by the encoder and the actual length of the anchor cable deployed and retracted. This can easily lead to misjudgments, affecting the accuracy and reliability of the USV's anchoring operation and failing to provide accurate data for the anchoring operation of USVs.
[0004] In view of the above, this utility model is hereby proposed. Utility Model Content
[0005] The purpose of this invention is to provide an anchoring device for unmanned vessels, addressing the technical problem in existing anchoring devices that use indirect detection methods, making them susceptible to environmental factors and prone to misjudgment, thus failing to directly and accurately determine whether the anchor hook has truly been retracted. The various technical effects of the preferred solutions provided by this invention are detailed below.
[0006] To achieve the above objectives, the present invention provides the following technical solution:
[0007] This utility model provides an unmanned vessel anchoring device, including an anchor cable retraction mechanism and a detection mechanism. The detection mechanism includes a first limiting member, a second limiting member, and a proximity switch. The first limiting member is oscillatingly mounted on the anchoring frame of the anchor cable retraction mechanism and has a non-triggered position and a triggered position. The proximity switch is mounted on the anchoring frame, and its detection range covers the triggered position of the first limiting member. The second limiting member is mounted on the anchor hook of the anchor cable retraction mechanism. When the anchor hook is retracted into position, the second limiting member drives the first limiting member to flip from the non-triggered position to the triggered position, so that the first limiting member enters the detection range of the proximity switch to trigger the proximity switch. When the anchor hook is lowered, the second limiting member releases its restriction on the first limiting member, and the first limiting member flips back to the non-triggered position under the action of gravity.
[0008] Preferably, the first limiting member is a U-shaped rod structure, and the free ends of its two side rods are respectively provided with threaded sections. The anchoring frame is provided with a waist-shaped hole adapted to the side rod. A limiting nut is screwed onto the threaded section, and there is a gap between the limiting nut and the anchoring frame.
[0009] Preferably, the two side rods are connected by a limiting plate, and the limiting plate is arranged opposite to the main rod of the first limiting member so that a limiting space is formed between the limiting plate and the first limiting member, and the anchor cable of the anchor cable take-up and release mechanism passes through the limiting space.
[0010] Preferably, the detection mechanism further includes a rolling ring, which is rotatably fitted onto the side rod and the main rod located in the limiting space, and the anchor cable makes rolling contact with the outer peripheral surface of the rolling ring.
[0011] Preferably, the second limiting member includes a limiting plate and a limiting post. The limiting plate is connected to the anchor hook and its diameter is greater than the distance between the two side rods. The limiting post is vertically arranged on the limiting plate.
[0012] Preferably, the anchor cable winding mechanism further includes a motor, a worm gear reducer, and a reel. The reel is rotatably mounted on the anchoring frame, the anchor cable is wound around the reel, and the motor is connected to the reel via the worm gear reducer.
[0013] Preferably, the center of mass of the first limiting member is located below the central axis of the scroll.
[0014] Preferably, the reel is provided with an ear plate for fixing the end of the anchor cable.
[0015] The preferred technical solution of this utility model can also produce at least the following technical effects:
[0016] This invention effectively solves the technical problem in the prior art where the anchor hook detection mechanism of the anchoring device adopts an indirect detection method, which is easily affected by environmental factors and may lead to misjudgment, making it impossible to directly and accurately determine whether the anchor hook has been truly retracted.
[0017] This invention provides an anchoring device for an unmanned vessel, comprising an anchor cable retraction mechanism and a detection mechanism. The detection mechanism includes a first limiting member, a second limiting member, and a proximity switch. The first limiting member is pivotally mounted on the anchoring frame of the anchor cable retraction mechanism and has a non-triggered position and a triggered position. The proximity switch is mounted on the anchoring frame, and its detection range covers the triggered position of the first limiting member. The second limiting member is mounted on the anchor hook of the anchor cable retraction mechanism. When the anchor hook is retracted into position, the second limiting member drives the first limiting member to flip from the non-triggered position to the triggered position, bringing the first limiting member into the detection range of the proximity switch to trigger it. When the anchor hook is lowered, the second limiting member releases its restriction on the first limiting member, and the first limiting member flips back to the non-triggered position under gravity.
[0018] This invention employs a direct detection method. Only when the anchor hook moves to the retracted position will the second limiting component on the anchor hook drive the first limiting component to swing and trigger the proximity switch. This avoids errors caused by various factors in the indirect detection method and can directly and accurately determine the retraction status of the anchor hook, providing a reliable basis for the anchoring operation of unmanned vessels. Attached Figure Description
[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0020] Figure 1 This is a structural schematic diagram of an anchoring device for an unmanned vessel provided by this utility model;
[0021] Figure 2 This is a structural schematic diagram from another perspective of the unmanned vessel anchoring device provided by this utility model;
[0022] Figure 3 This is a structural schematic diagram of the side rod, limiting nut, and anchoring frame of an unmanned vessel anchoring device provided by this utility model.
[0023] In the picture:
[0024] 1. Anchoring frame; 11. Waist-shaped hole; 2. First limiting component; 21. Side rod; 211. Threaded section; 22. Main rod; 23. Limiting plate; 24. Limiting nut; 25. Rolling ring; 3. Second limiting component; 31. Limiting disc; 32. Limiting post; 33. Connecting component; 4. Proximity switch; 5. Motor; 6. Worm gear reducer; 7. Reel; 71. Ear plate; 8. Anchor hook. Detailed Implementation
[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.
[0026] like Figures 1 to 3 As shown, this utility model provides an anchoring device for an unmanned vessel, including an anchor cable retraction mechanism and a detection mechanism. The detection mechanism includes a first limiting member 2, a second limiting member 3, and a proximity switch 4. The first limiting member 2 is swayably mounted on the anchoring frame 1 of the anchor cable retraction mechanism and has a non-triggered position and a triggered position. The proximity switch 4 is mounted on the anchoring frame 1, and its detection range covers the triggered position of the first limiting member 2. The second limiting member 3 is mounted on the anchor hook 8 of the anchor cable retraction mechanism. When the anchor hook 8 is retracted into place, the second limiting member 3 drives the first limiting member 2 to flip from the non-triggered position to the triggered position, so that the first limiting member 2 enters the detection range of the proximity switch 4 to trigger the proximity switch 4. When the anchor hook 8 is lowered, the second limiting member 3 releases its restriction on the first limiting member 2, and the first limiting member 2 flips back to the non-triggered position under the action of gravity.
[0027] Furthermore, the proximity switch 4 is electrically connected to the control system of the unmanned vessel. The specific circuit connection between the proximity switch 4 and the control system is existing technology and will not be elaborated here.
[0028] This invention adopts a direct detection method. Only when the anchor hook 8 moves to the retracted position will the second limiting member 3 on the anchor hook 8 drive the first limiting member 2 to flip and trigger the proximity switch 4. This avoids the errors caused by various factors in the indirect detection method and can directly and accurately determine the retraction status of the anchor hook 8, providing a reliable basis for the anchoring operation of the unmanned vessel.
[0029] Specifically, when the anchor hook 8 is not retracted, the anchor hook 8 is in an unretracted state, the second limit member 3 is located below the first limit member 2, at this time, the first limit member 2 is in a non-triggered position, and the proximity switch 4 is not triggered.
[0030] When the anchor hook 8 needs to be retrieved, the anchor cable drives the anchor hook 8 to gradually move towards the retrieved position, and the second limiting member 3 moves synchronously with the anchor hook 8. During the movement, the second limiting member 3 contacts the first limiting member 2 and drives the first limiting member 2 to flip from the non-triggered position to the triggered position. When the anchor hook 8 moves to the retrieved position, the first limiting member 2 flips to the triggered position and enters the detection range of the proximity switch 4, thus triggering the proximity switch 4. The proximity switch 4 transmits a signal to the control system to determine that the anchor hook 8 has been successfully retrieved.
[0031] As an optional implementation, such as Figure 2 , Figure 3 As shown, the first limiting member 2 is a U-shaped rod structure, and the free ends of the side rods 21 on both sides are respectively provided with threaded sections 211. The anchoring frame 1 is provided with waist-shaped holes 11 that are adapted to the side rods 21. A limiting nut 24 is screwed onto the threaded section 211, and there is a gap between the limiting nut 24 and the anchoring frame 1.
[0032] Furthermore, the oblong hole 11 extends vertically, and the diameter of the threaded section 211 is smaller than the width of the oblong hole 11, while the width of the limiting nut 24 is greater than the width of the oblong hole 11. Due to the guiding effect of the oblong hole 11, the first limiting member 2 can swing within the oblong hole 11. At the same time, through the gap between the limiting nut 24 and the anchoring frame 1, the first limiting member 2 can slightly deflect in the horizontal direction.
[0033] Limiting nuts 24 are screwed onto both sides of the threaded section 211 located in the waist-shaped hole 11 to limit the range of motion of the first limiting member 2, so that the first limiting member 2 can move flexibly to trigger the proximity switch 4 without detaching from the anchoring frame 1, thereby improving the stability and reliability of the detection mechanism.
[0034] Without external force, the first limiting member 2 swings under its own weight, and one end of the main rod 22 hangs down naturally, causing the ends of the side rods 21 on both sides to tilt upward. At this time, the side rods 21 are in the non-trigger position and completely move out of the detection range of the proximity switch 4.
[0035] When the anchor hook 8 needs to be retrieved, during the movement, the second limiting member 3 contacts the first limiting member 2 and applies a force to the first limiting member 2, driving the first limiting member 2 to swing within the oblong hole 11. When the anchor hook 8 moves to the retrieved position, the side rod 21 swings to the trigger position, entering the detection range of the proximity switch 4, thereby triggering the proximity switch 4. The proximity switch 4 transmits a signal to the control system to determine that the anchor hook 8 has been successfully retrieved.
[0036] As an optional implementation, such as Figure 1As shown, the detection mechanism also includes a limiting plate 23, which is connected to the two side rods 21 respectively and is arranged opposite to the main rod 22 of the first limiting member 2, so that a limiting space is formed between the limiting plate 23 and the first limiting member 2, and the anchor cable of the anchor cable take-up and release mechanism is inserted into the limiting space.
[0037] The anchor cable on the reel 7 of the anchor cable winding mechanism passes through the limiting space and connects to the anchor hook 8. This limits the range of motion of the anchor cable. During the winding process, the first limiting member 2 can gently press the anchor cable, assisting in cable routing and preventing it from jumping out of the trench.
[0038] As an optional implementation, such as Figure 1 , Figure 2 As shown, the detection mechanism also includes multiple rolling rings 25, which are rotatably fitted onto the side rod 21 and the main rod 22 located in the limiting space position, and the anchor cable rolls in contact with the outer circumferential surface of the rolling ring 25.
[0039] With this configuration, when the anchor cable moves within the restricted space, it will roll relative to the rolling ring 25 and will not directly slide against the first limiting member 2, thus reducing the wear of the anchor cable and providing a certain degree of protection for it.
[0040] As an optional implementation, such as Figure 1 , Figure 2 As shown, the second limiting member 3 includes a limiting disc 31 and a limiting post 32. The limiting disc 31 is connected to the anchor hook 8, and its diameter is larger than the distance between the two side rods 21. The limiting post 32 is vertically arranged on the limiting disc 31. When the anchor hook 8 moves to the retracted position, the limiting disc 31 abuts against the first limiting member 2, and the limiting post 32 is inserted into the limiting space.
[0041] Furthermore, the limiting plate 31 is connected to the top of the anchor hook 8 via the connector 33.
[0042] When the anchor hook 8 rises, the second limiting member 3 moves synchronously. Due to the complex movement of the anchor hook 8, the second limiting member 3 may exhibit different angles and heights during its ascent, causing the limiting disc 31 and limiting post 32 to approach the first limiting member 2 at an angle. If the anchor hook 8 is upright, the limiting post 32 directly inserts into the limiting space of the first limiting member 2, and the upper surface of the limiting disc 31 abuts against the lower surface of the first limiting member 2, pushing the first limiting member 2 to swing until it moves to the trigger position, i.e., the side rod 21 enters the detection range of the proximity switch 4, triggering the proximity switch 4.
[0043] If the anchor hook 8 tilts, since the diameter of the limiting disc 31 is larger than the width of the first limiting member 2, the disc surface of the limiting disc 31 will contact either side rod 21, main rod 22, or limiting plate 23, applying a force to the first limiting member 2 and causing it to swing slightly. As the anchor hook 8 continues to move upward, the limiting disc 31 pushes the first limiting member 2 to swing until the side rod 21 swings to the trigger position, triggering the proximity switch 4.
[0044] With the cooperation of the limiting post 32 and the limiting space, even if the anchor hook 8 is tilted, when the limiting post 32 enters the limiting space, the limiting post 32 generates an interaction force with the side rod 21, the main rod 22 or the limiting plate 23, which guides the limiting plate 31 and the first limiting member 2 to cooperate better.
[0045] As an optional implementation, such as Figure 1 , Figure 2 As shown, the anchor cable winding and unwinding mechanism also includes a motor 5, a worm gear reducer 6, and a reel 7. The reel 7 is rotatably mounted on the anchoring frame 1, and the anchor cable is wound on the reel 7. The motor 5 is connected to the reel 7 through the worm gear reducer 6.
[0046] Furthermore, motor 5 includes a waterproof motor equipped with a multi-turn absolute encoder to improve its waterproof performance. The encoder is used to roughly record the length of the anchor cable.
[0047] Existing unmanned surface vessel (USV) anchoring devices often employ gearboxes or planetary reducers for their deceleration mechanisms. These transmission mechanisms typically possess bidirectional reversible transmission characteristics, meaning power can be transmitted from motor 5 to reel 7, and vice versa. When anchor jamming occurs, the lack of unidirectional isolation means the reverse force can be transmitted back to motor 5, easily causing damage or even burnout. This invention, however, utilizes a worm gear reducer 6 with self-locking characteristics, ensuring torque is transmitted unidirectionally from motor 5 to reel 7. In the event of anchor jamming, the reverse impact force is physically isolated by the worm gear reducer 6 and cannot be transmitted to motor 5, preventing anchor jamming and potential machine burnout.
[0048] The anchoring frame 1 and the reel 7 are made of stainless steel, which has good strength and corrosion resistance and can adapt to the complex working environment at sea.
[0049] The anchor cable is made of nylon rope, preferably a high-strength nylon rope with a diameter of 8mm and a breaking strength of ≥28kN. This type of nylon rope not only has a small bending radius, making it easy to handle, but also has extremely strong corrosion resistance, making it suitable for marine environments. Compared with metal anchor cables, nylon rope effectively solves the corrosion problem in marine applications.
[0050] The motor 5 serves as the power source, transmitting power to the reel 7 via the worm gear reducer 6, thereby driving the reel 7 to rotate and enabling the winding and unwinding of the anchor cable and anchor hook 8.
[0051] In addition, the first limiting member 2 provides guidance and anti-jump function for the anchor cable, so that the anchor cable winding and unwinding mechanism does not need to be equipped with a cable laying mechanism, which simplifies the design to the greatest extent and improves stability.
[0052] As an optional implementation, such as Figure 1 , Figure 2 As shown, the first limiting member 2 is located below the scroll 7, and the center of mass of the first limiting member 2 is located below the central axis of the scroll 7.
[0053] This configuration allows the first limiting member 2 to automatically reset to the non-trigger position under its own gravity.
[0054] As an optional implementation, such as Figure 1 , Figure 2 As shown, the spool 7 is provided with an ear plate 71 for fixing the end of the anchor cable.
[0055] With this configuration, the end of the anchor cable is wrapped around the ear plate 71 and tied with a knot, ensuring a secure connection between the anchor cable and the reel 7 to meet the needs of long-term anchoring operations.
[0056] The working principle of this utility model is as follows:
[0057] When the anchor hook 8 is not being retracted, it is in an unretracted state, and the second limiting member 3 is located below the first limiting member 2. At this time, the main rod 22 of the first limiting member 2 hangs down naturally under its own weight, while the side rod 21 swings upward and is in a non-triggered position, that is, the side rod 21 does not enter the detection range of the proximity switch 4.
[0058] When the anchor hook 8 needs to be retrieved, the motor 5 rotates, driving the reel 7 to rotate via the worm gear reducer 6. This causes the anchor cable to move the anchor hook 8 gradually towards the retrieval position, and the second limiting member 3 moves synchronously with the anchor hook 8. During this movement, the second limiting member 3 contacts the first limiting member 2 and applies a force to it, driving the first limiting member 2 to swing from the non-triggered position to the triggered position within the oblong hole 11. When the anchor hook 8 reaches the retrieval position, the side rod 21 of the first limiting member 2 swings to the triggered position, entering the detection range of the proximity switch 4, thus triggering the proximity switch 4. The proximity switch 4 transmits a signal to the control system to determine that the anchor hook 8 has been successfully retrieved.
[0059] When the anchor hook 8 needs to be lowered, the motor 5 rotates, which drives the reel 7 to rotate via the worm gear reducer 6. This causes the anchor cable to move the anchor hook 8 downwards. The second limiting member 3 moves downwards synchronously with the anchor hook 8, gradually releasing the force on the first limiting member 2. Under its own weight, the first limiting member 2 automatically resets and flips to the non-triggered position, preparing for the next triggering operation.
[0060] It is understood that the same or similar parts in the above embodiments can be referred to each other, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.
[0061] In the description of this utility model, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," "front end," "rear end," "head," "tail," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, the terms "first," "second," "third," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
[0062] In the description of this utility model, it should also be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0063] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "a particular example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0064] The above description is merely a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the protection scope of the claims.
Claims
1. An anchoring device for an unmanned vessel, characterized in that, The device includes an anchor cable reeling and deployment mechanism and a detection mechanism. The detection mechanism includes a first limiting member, a second limiting member, and a proximity switch. The first limiting member is oscillatingly mounted on the anchoring frame of the anchor cable reeling and deployment mechanism and has a non-triggering position and a triggering position. The proximity switch is mounted on the anchoring frame, and the detection range of the proximity switch covers the triggering position of the first limiting member. The second limiting member is disposed on the anchor hook of the anchor cable take-up and release mechanism; when the anchor hook is retracted into place, the second limiting member drives the first limiting member to flip from the non-trigger position to the trigger position, so that the first limiting member enters the detection range of the proximity switch to trigger the proximity switch; When the anchor hook is lowered, the second limiting member releases its restriction on the first limiting member, and the first limiting member flips back to the non-trigger position under the action of gravity.
2. The unmanned vessel anchoring device according to claim 1, characterized in that, The first limiting member is a U-shaped rod structure, and the free ends of its two side rods are respectively provided with threaded sections. The anchoring frame is provided with a waist-shaped hole that matches the side rod. A limiting nut is screwed onto the threaded section, and there is a gap between the limiting nut and the anchoring frame.
3. The unmanned vessel anchoring device according to claim 2, characterized in that, The side rods on both sides are connected by a limiting plate. The limiting plate is arranged opposite to the main rod of the first limiting member so that a limiting space is formed between the limiting plate and the first limiting member. The anchor cable of the anchor cable take-up and release mechanism passes through the limiting space.
4. The unmanned vessel anchoring device according to claim 3, characterized in that, The detection mechanism also includes a rolling ring, which is rotatably fitted onto the side rod and the main rod located in the limiting space, and the anchor cable makes rolling contact with the outer peripheral surface of the rolling ring.
5. An anchoring device for an unmanned vessel according to claim 3, characterized in that, The second limiting component includes a limiting plate and a limiting post. The limiting plate is connected to the anchor hook, and the diameter of the limiting plate is greater than the distance between the two side rods. The limiting post is vertically arranged on the limiting plate.
6. The anchoring device for an unmanned vessel according to claim 1, characterized in that, The anchor cable winding and unwinding mechanism also includes a motor, a worm gear reducer, and a reel. The reel is rotatably mounted on the anchoring frame, and the anchor cable is wound around the reel. The motor is connected to the reel via the worm gear reducer.
7. An anchoring device for an unmanned vessel according to claim 6, characterized in that, The center of mass of the first limiting member is located below the central axis of the scroll.
8. An anchoring device for an unmanned vessel according to claim 6, characterized in that, The reel is provided with ear plates for fixing the end of the anchor cable.