A docking device for a catamaran and an underwater drone

Abstract

This utility model belongs to the field of waterborne vehicle technology, specifically disclosing a docking device for a catamaran and an underwater drone. The device includes a catamaran and an underwater drone. The catamaran comprises two hulls spaced apart on either side and a beam connecting the two hulls, forming an accommodating space at the bottom of the beam and between the two hulls. The underwater drone includes a body with multiple docking elements on its top. Two locking holes spaced apart on each side of the body are provided. Two locking blocks driven by a drive device are slidably connected to each of the two hulls, and these blocks can slide laterally into the locking holes on the same side of the body. This utility model achieves reliable connection and efficient separation between the catamaran and the underwater drone, enabling the underwater drone to follow the catamaran to waters far from the shore for operation, thus expanding the application range of underwater drones.

Description

Technical Field

[0001] This utility model relates to the field of watercraft technology, specifically to a docking device for a catamaran and an underwater drone. Background Technology

[0002] In underwater inspection applications, such as assessing the condition of bridge piers at the riverbed junction, traditional manual inspection methods pose significant safety risks. To reduce the dangers of human operation, we proposed using drones equipped with image acquisition devices to replace manual inspection. However, to ensure the flexibility of underwater drones, they are typically designed with a miniaturized structure, resulting in limited battery capacity and insufficient endurance. This makes it difficult to meet the needs of long-term, large-scale inspections.

[0003] To overcome this problem, we further proposed a solution using a catamaran to carry underwater drones. Catamarans offer better stability, can be equipped with high-capacity batteries, and can power the underwater drones via retractable cables, thus extending the drones' operational time. The key to this solution lies in how to achieve convenient and reliable docking and deployment between the catamaran and the underwater drones. Utility Model Content

[0004] The purpose of this invention is to provide a docking device for a catamaran and an underwater drone to address the above problems, thereby solving the connection and separation issues between the catamaran and the underwater drone.

[0005] To achieve the above objectives, this utility model discloses a catamaran and underwater drone docking device. The device includes a catamaran and an underwater drone. The catamaran comprises two hulls spaced apart on either side and a beam connecting the two hulls. The bottom of the beam and the space between the two hulls form an accommodating space for the underwater drone to enter. The underwater drone includes a body with multiple docking elements on its top. Multiple electromagnets are installed at the bottom of the beam. When the underwater drone docks with the catamaran, it enters the accommodating space, and the electromagnets attract the docking elements when energized. Two locking holes spaced apart on each side of the body are provided. Two locking blocks driven by a drive device are slidably connected to each of the two hulls. The locking blocks can slide into the locking holes on the same side of the body in the left-right direction. With the above structure, when the underwater drone docks with the catamaran, the drone enters the accommodating space, the electromagnet is energized to generate magnetic force, attracting the docking elements and securing the top of the drone. The drive device then drives the locking block to slide into the locking hole, securing the side of the drone. The electromagnet is then de-energized. When releasing the drone, the electromagnet is energized again, the drive device drives the locking block to slide into the disengagement locking hole, and finally the electromagnet is de-energized, completely releasing the drone. During docking, the electromagnet attracts the docking elements, providing initial positioning for the drone, while the locking block engages with the locking hole to lock the drone securely. The connection between the drone and the catamaran is relatively strong. Because the electromagnet is de-energized after the locking block engages with the locking hole, battery power consumption is reduced. When releasing the drone, the electromagnet is energized to attract the docking elements, reducing the force between the locking block and the upper edge of the locking hole, facilitating disengagement.

[0006] Furthermore, each of the two hulls has a drive device, which includes a driven wheel, a screw, and a movable mounting base. A power unit is mounted on the hull, and the driven wheel is rotatably mounted on the hull. The power unit is poweredly connected to the driven wheel. A threaded hole is located at the center of the driven wheel, and the screw extends in the left-right direction, threadedly engaging with the threaded hole. One end of the screw is fixedly connected to the movable mounting base. Two locking blocks on the same hull are each connected to their corresponding movable mounting bases. With this structure, the power unit drives the driven wheel to rotate. Under the action of the screw and the threaded hole, the screw moves in the left-right direction, thereby moving the movable mounting base left and right. Since the two locking blocks on the same hull are connected to the same movable mounting base, they can move simultaneously, enabling the two locking blocks to simultaneously engage or disengage from the two locking holes on the same side of the underwater drone.

[0007] Furthermore, both sides of the driven wheel are provided with cylindrical connecting parts, and the central holes of the two cylindrical connecting parts are connected to threaded holes. Two left and right limit bearing seats are fixedly installed on the hull, and limit bearings are installed on the two limit bearing seats. The two cylindrical connecting parts are connected to the limit bearings on the corresponding sides. With the above structure, the cylindrical connecting parts are rotatably connected to the limit bearing seats through the limit bearings. The limit bearing seats and limit bearings have an axial limiting effect on the driven wheel, ensuring that the screw can move in the left and right direction when the driven wheel rotates.

[0008] Furthermore, the power unit includes a servo motor fixedly mounted on the hull, with a drive gear mounted on the power output shaft of the servo motor, and the driven gear meshing with the drive gear. With this structure, using a servo motor as the power source and the meshing of the drive and driven gears to achieve transmission, accurate control of the movement range of the screw and locking block can be achieved.

[0009] Furthermore, the hull is equipped with a main cabin and an isolation cabin that are isolated from each other; the drive unit is located inside the isolation cabin; a portion of the inner wall of the hull forms the inner wall of the isolation cabin, and two clearance holes are provided on the inner wall of the isolation cabin for two locking blocks installed on the hull to pass through. With the above structure, the isolation cabin is isolated from the main cabin, ensuring that the main cabin does not take on water, and the catamaran can operate stably.

[0010] Furthermore, two guide sleeves are fixedly connected to the inner wall of the isolation chamber. The inner cavity of the guide sleeve is connected to the clearance hole, and the two locking blocks on the same hull are each inserted into one guide sleeve. With the above structure, the two guide sleeves guide the two locking blocks, and at the same time, the two guide sleeves limit the movement of the two locking blocks, thus preventing the rotation of the moving mounting base and the screw.

[0011] Furthermore, the inner wall of the hull is provided with protrusions, and the protrusions on both hulls together constitute a positioning structure for positioning the underwater drone. With the above structure, when the underwater drone docks with the catamaran, the protrusions have a positioning function for the underwater drone, enabling the underwater drone to enter the accurate docking position.

[0012] Furthermore, the front, rear, and lower sides of the boss are all guide slopes that gradually expand outward from the top to the bottom surface of the boss. With this structure, the guide slopes guide the underwater UAV as it enters the accommodating space, making it easier for the underwater UAV to reach the docking position.

[0013] Furthermore, the docking element is a buoyancy shield, which has a hollow structure containing buoyancy blocks and is equipped with water-permeable holes. With this structure, the buoyancy shield also serves as the docking element, thus enabling the docking of the underwater drone with the catamaran without altering the existing main structure of the underwater drone.

[0014] Furthermore, the underwater drone is equipped with four docking elements, and the catamaran is equipped with four electromagnets. The docking elements and electromagnets are positioned in a one-to-one correspondence, and the four docking elements and four electromagnets are arranged in a rectangular array. With the above structure, the four electromagnets arranged in a rectangular array attract the four docking elements, which can reliably attract and fix the underwater drone and accurately dock and position it.

[0015] In summary, the beneficial effects of this utility model are as follows: This utility model provides a docking device for a catamaran and an underwater drone, which realizes reliable connection and efficient separation between the catamaran and the underwater drone, enabling the underwater drone to follow the catamaran to waters far from the shore to work, thus expanding the application range of underwater drones. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of one embodiment of the catamaran in this utility model; Figure 2 This is a schematic diagram of the structure of one embodiment of the underwater drone in this utility model; Figure 3 This is a structural schematic diagram of the docking method between the catamaran and the underwater drone in this utility model; Figure 4 yes Figure 3 A schematic diagram of the structure of the catamaran and the underwater drone from the rear view. Figure 5 yes Figure 4 A schematic diagram of the structure after being cut along line AA in the middle; Figure 6 yes Figure 5 A magnified view of a portion of the image.

[0017] In the diagram: 1. Hull, 2. Beam frame, 3. Accommodation space, 4. Engine body, 5. Connecting element, 6. Electromagnet, 7. Lock hole, 8. Lock block, 10. Drive gear, 11. Driven wheel, 12. Screw, 13. Moving mounting base, 15. Threaded hole, 16. Cylindrical connecting part, 17. Limit bearing seat, 18. Limit bearing, 19. Servo motor, 20. Main cabin, 21. Isolation compartment, 22. Clearance hole, 23. Guide sleeve, 24. Boss, 25. Guide ramp. Detailed Implementation

[0018] The specific embodiments of this utility model will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this utility model, but are not intended to limit its scope.

[0019] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4 In some embodiments of this utility model, the catamaran and underwater drone docking device includes a catamaran and an underwater drone. The catamaran includes two hulls 1 spaced apart on the left and right, and a beam 2 connecting the two hulls 1. The bottom of the beam 2 and the space between the two hulls 1 form an accommodating space 3 for the underwater drone to enter. The underwater drone includes a body 4. The top of the body 4 is provided with multiple docking elements 5, and the bottom of the beam 2 is equipped with multiple electromagnets 6. When the underwater drone docks with the catamaran, the underwater drone enters the accommodating space 3. The electromagnets 6 are used to attract the docking elements 5 when energized. The left and right sides of the body 4 are provided with two locking holes 7 spaced apart front and back. Two locking blocks 8 driven by a driving device are slidably connected to each of the two hulls 1. The locking blocks 8 can slide into the locking holes 7 on the same side of the body 4 in the left and right direction.

[0020] When the underwater drone docks with the catamaran, the drone enters the receiving space 3. The electromagnet 6 is energized, generating magnetic force that attracts the docking element 5, securing the top of the drone. The drive mechanism then moves the locking block 8 to the locking hole 7, securing the side of the drone. The electromagnet 6 is then de-energized. To release the drone, the electromagnet 6 is energized again, and the drive mechanism moves the locking block 8 to the disengagement locking hole 7. Finally, the electromagnet 6 is de-energized, completely releasing the drone. During docking, the electromagnet 6 attracts the docking element 5, providing initial positioning for the drone. The locking block 8, in conjunction with the locking hole 7, locks the drone securely. The docking of the drone and the catamaran is relatively stable. Because the electromagnet 6 is de-energized after the locking block 8 engages with the locking hole 7, battery power consumption is reduced. When the underwater drone is released, the electromagnet 6 is energized to attract the docking element 5, thereby reducing the force between the locking block 8 and the upper edge of the locking hole 7, making it easier for the locking block 8 to disengage from the locking hole 7.

[0021] Reference Figure 5 , Figure 6In some embodiments of this utility model, each of the two hulls 1 has a driving device, which includes a driven wheel 11, a screw 12, and a movable mounting base 13. A power unit is provided on the hull 1. The driven wheel 11 is rotatably mounted on the hull 1, and the power unit is poweredly connected to the driven wheel 11. A threaded hole 15 is provided at the center of the driven wheel 11. The screw 12 extends in the left-right direction and is threadedly engaged with the threaded hole 15. One end of the screw 12 is fixedly connected to the movable mounting base 13. Two locking blocks 8 on the same hull 1 are connected to the corresponding movable mounting base 13. The power unit drives the driven wheel 11 to rotate. Under the action of the screw 12 and the threaded hole 15, the screw 12 moves in the left-right direction, thereby causing the movable mounting base 13 to move left and right. Since the two locking blocks 8 on the same hull 1 are connected to the same movable mounting base 13, they can be driven to move simultaneously, realizing the simultaneous engagement or disengagement of the two locking blocks 8 with the two locking holes 7 on the same side of the underwater drone.

[0022] Reference Figure 5 , Figure 6 In some embodiments of this utility model, cylindrical connecting portions 16 are provided on both the left and right sides of the driven wheel 11. The central holes of the two cylindrical connecting portions 16 are connected to the threaded holes 15. Two left and right limit bearing seats 17 are fixedly installed on the hull 1. Limit bearings 18 are installed on the two limit bearing seats 17. The two cylindrical connecting portions 16 are connected to the limit bearings 18 on the corresponding sides. The cylindrical connecting portions 16 are rotatably connected to the limit bearing seats 17 through the limit bearings 18. The limit bearing seats 17 and the limit bearings 18 have an axial limiting effect on the driven wheel 11, ensuring that the screw 12 can move in the left and right direction when the driven wheel 11 rotates.

[0023] Reference Figure 5 , Figure 6 In some embodiments of this utility model, the power unit includes a servo motor 19 fixedly mounted on the hull 1. A drive gear 10 is mounted on the power output shaft of the servo motor 19, and the driven wheel 11 is a driven gear. The drive gear 10 meshes with the driven gear. By using the servo motor 19 as the power source and the drive gear 10 meshing with the driven gear to achieve transmission, accurate control of the movement range of the screw 12 and the locking block 8 can be achieved.

[0024] Reference Figure 1 , Figure 5 , Figure 6In some embodiments of this utility model, the hull 1 is provided with a main cabin 20 and an isolation cabin 21 that are isolated from each other; the drive device is located inside the isolation cabin 21; a part of the inner wall of the hull 1 forms the inner wall of the isolation cabin 21, and two clearance holes 22 are provided on the inner wall of the isolation cabin 21, through which two locking blocks 8 provided on the hull 1 pass. The isolation cabin 21 is isolated from the main cabin 20, which can ensure that the main cabin 20 does not take in water, and the catamaran can operate stably.

[0025] Reference Figure 5 , Figure 6 In some embodiments of this utility model, two guide sleeves 23 are fixedly connected to the inner wall of the isolation chamber 21. The inner cavity of the guide sleeve 23 is connected to the clearance hole 22. Two locking blocks 8 on the same hull 1 are each inserted into one guide sleeve 23. The two guide sleeves 23 guide the two locking blocks 8, and at the same time, the two guide sleeves 23 limit the two locking blocks 8, thus preventing the rotation of the movable mounting base 13 and the screw 12.

[0026] Reference Figure 1 , Figure 3 , Figure 5 In some embodiments of this utility model, a boss 24 is provided on the inner wall of the hull 1, and the bosses 24 on both hulls 1 together constitute a positioning structure for positioning the underwater drone. When the underwater drone docks with the catamaran, the bosses 24 have a positioning function for the underwater drone, enabling the underwater drone to enter the accurate docking position.

[0027] Reference Figure 1 , Figure 3 , Figure 5 In some embodiments of this utility model, the front, rear, and lower sides of the boss 24 are all guide slopes 25 that gradually expand outward from the top to the bottom surface of the boss 24. During the process of the underwater drone entering the accommodating space 3, the guide slopes 25 have a guiding function, making it easier for the underwater drone to reach the docking position.

[0028] Reference Figure 1 , Figure 2 In some embodiments of this utility model, the docking element 5 is a buoyancy shield, which has a hollow structure with buoyancy blocks inside and water-permeable holes. The buoyancy shield also serves as the docking element 5, thus enabling the underwater drone to dock with the catamaran without changing the main structure of the existing underwater drone.

[0029] Reference Figure 1 , Figure 2In some embodiments of this invention, the underwater drone is equipped with four docking elements 5, and the catamaran is equipped with four electromagnets 6. The positions of the docking elements 5 and the electromagnets 6 correspond one-to-one, and the four docking elements 5 and the four electromagnets 6 are arranged in a rectangular array. The four electromagnets 6 arranged in a rectangular array attract the four docking elements 5, which can reliably attract and fix the underwater drone and accurately dock and position it.

[0030] The above description is only a preferred embodiment of the present utility model. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of the present utility model, and these improvements and substitutions should also be considered within the protection scope of the present utility model.

Claims

1. A catamaran and underwater drone docking device, comprising a catamaran and an underwater drone, wherein the catamaran comprises two hulls (1) spaced apart from each other and a beam (2) connecting the two hulls (1), the bottom of the beam (2) and the space between the two hulls (1) forming an accommodating space (3) for the underwater drone to enter; the underwater drone comprises a body (4), and the top of the body (4) is provided with a plurality of docking elements (5), characterized in that, Multiple electromagnets (6) are installed at the bottom of the beam frame (2). When the underwater drone docks with the catamaran, the underwater drone enters the accommodating space (3). The electromagnets (6) are used to attract the docking element (5) when energized. The left and right sides of the body (4) are provided with two lock holes (7) spaced back and forth. Each of the two hulls (1) is slidably connected with two lock blocks (8) driven by a drive device. The lock blocks (8) can slide into the lock holes (7) on the same side of the body (4) in the left and right direction.

2. The catamaran and underwater drone docking device of claim 1, wherein, Each of the two hulls (1) has a drive device, which includes a driven wheel (11), a screw (12) and a movable mounting base (13). The hull (1) is equipped with a power device. The driven wheel (11) is rotatably mounted on the hull (1). The power device is poweredly connected to the driven wheel (11). The center of the driven wheel (11) is provided with a threaded hole (15). The screw (12) extends in the left and right direction. The screw (12) is threadedly engaged with the threaded hole (15). One end of the screw (12) is fixedly connected to the movable mounting base (13). The two locking blocks (8) on the same hull (1) are both connected to the corresponding movable mounting base (13).

3. The catamaran and underwater drone docking device as described in claim 2, characterized in that, The driven wheel (11) is provided with cylindrical connecting parts (16) on both the left and right sides. The central holes of the two cylindrical connecting parts (16) are connected to the threaded holes (15). Two left and right limit bearing seats (17) are fixedly installed on the hull (1). Limit bearings (18) are installed on the two limit bearing seats (17). The two cylindrical connecting parts (16) are connected to the limit bearings (18) on the corresponding sides.

4. The catamaran and underwater drone docking device as described in claim 2, characterized in that, The power unit includes a servo motor (19) fixedly installed on the hull (1). A drive gear (10) is installed on the power output shaft of the servo motor (19). The driven wheel (11) is a driven gear, and the drive gear (10) meshes with the driven gear.

5. The catamaran and underwater unmanned aerial vehicle docking device as described in any one of claims 1 to 4, characterized in that, The hull (1) is provided with a main cabin (20) and an isolation cabin (21) that are isolated from each other; the drive device is located in the isolation cabin (21); a part of the inner wall of the hull (1) forms the inner wall of the isolation cabin (21), and two clearance holes (22) are provided on the inner wall of the isolation cabin (21), through which two locking blocks (8) provided on the hull (1) pass.

6. The catamaran and underwater drone docking device as described in claim 5, characterized in that, Two guide sleeves (23) are fixedly connected to the inner wall of the isolation chamber (21). The inner cavity of the guide sleeve (23) is connected to the clearance hole (22). Two locking blocks (8) on the same hull (1) are each inserted into a guide sleeve (23).

7. The catamaran and underwater drone docking device as described in claim 1, characterized in that, The inner wall of the hull (1) is provided with a boss (24), and the bosses (24) on the two hulls (1) together constitute a positioning structure for positioning underwater drones.

8. The catamaran and underwater drone docking device as described in claim 7, characterized in that, The front, rear and lower sides of the boss (24) are all guide slopes (25) that gradually expand outward from the top surface to the bottom surface of the boss (24).

9. The catamaran and underwater drone docking device as described in claim 1, characterized in that, The docking element (5) is a buoyancy shield, which is a hollow structure with a buoyancy block inside and a water-permeable hole on the buoyancy shield.

10. The catamaran and underwater drone docking device as described in claim 1, characterized in that, The number of docking elements (5) on the underwater drone is four, and the number of electromagnets (6) on the catamaran is four. The positions of the docking elements (5) and the electromagnets (6) correspond one-to-one. The four docking elements (5) and the four electromagnets (6) are arranged in a rectangular array.

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