CN109353456A - A kind of unmanned boat hangs de- hook system and unhook, hook method automatically - Google Patents
A kind of unmanned boat hangs de- hook system and unhook, hook method automatically Download PDFInfo
- Publication number
- CN109353456A CN109353456A CN201811469155.4A CN201811469155A CN109353456A CN 109353456 A CN109353456 A CN 109353456A CN 201811469155 A CN201811469155 A CN 201811469155A CN 109353456 A CN109353456 A CN 109353456A
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- China
- Prior art keywords
- snap
- unmanned boat
- lock uint
- hawser
- hangs
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/02—Davits, i.e. devices having arms for lowering boats by cables or the like
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C1/00—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles
- B66C1/10—Load-engaging elements or devices attached to lifting or lowering gear of cranes or adapted for connection therewith for transmitting lifting forces to articles or groups of articles by mechanical means
- B66C1/22—Rigid members, e.g. L-shaped members, with parts engaging the under surface of the loads; Crane hooks
- B66C1/34—Crane hooks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C13/00—Other constructional features or details
- B66C13/02—Devices for facilitating retrieval of floating objects, e.g. for recovering crafts from water
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Toys (AREA)
Abstract
The present invention provides a kind of unmanned boats to hang de- hook system and method automatically.It includes: the first lock uint that the unmanned boat, which hangs de- hook system automatically, and the first lock uint includes the first snap-in structure and elastic construction, and the elastic force of elastic construction is applied to the first snap-in structure；Second lock uint, the second lock uint include the second snap-in structure；First lock uint and the second lock uint one of both are used to be connected with recycling matrix, and the two is another for being fixedly connected with unmanned boat；Second snap-in structure can overcome elastic force to fasten with the first snap-in structure, so that the first lock uint and the sealed connection of the second lock uint.Unmanned boat provided by the invention hangs de- hook system automatically, enormously simplifies the operation of operator, reduces operational risk.In addition, unmanned boat provided by the invention hangs the sealed operation of automatic de- hook system without electrical components, only can be realized by mechanical part, the reliability under the water environments such as ocean is also higher, and has saved production cost.
Description
Technical field
The present invention relates to unmanned boat technical fields, and in particular to a kind of unmanned boat hang de- hook system automatically and unhook,
Hook method.
Background technique
Unmanned boat has extremely wide application in fields such as marine charting, hydrographic survey and environmental monitorings, actually makes
The problems such as safety for hanging operation and the independence of de- hook system etc. are faced in.Currently, unmanned boat at sea carries out
When recycling operation, mostly it is to utilize someone's ship close, is recycled by manually carrying out hook connection, then by lash ship boom；Lay nothing
People's ship time also needs manually to be detached from hook, and which operator's operating risk is big, cumbersome, expends time and people
Power is more.
Summary of the invention
It is an object of the invention to lay the problems such as cumbersome and safety is poor in recycling operation for unmanned boat, mention
De- hook system and method automatically are hung for a kind of unmanned boat easy to operate and highly-safe, realizes that unmanned boat lays recycling
Safety and reliability.In order to which some aspects of the embodiment to disclosure have a basic understanding, it is shown below simple
Summarize.The summarized section is not extensive overview, nor to determine key/critical component or describe the guarantor of these embodiments
Protect range.Its sole purpose is that some concepts are presented with simple form, in this, as the preamble of following detailed description.
In order to realize the purpose, on the one hand, the present invention adopts the following technical scheme:
A kind of unmanned boat hangs de- hook system automatically characterized by comprising
First lock uint, first lock uint include the first snap-in structure and elastic construction, the bullet of the elastic construction
Property power is applied to first snap-in structure；
Second lock uint, second lock uint include the second snap-in structure；
First lock uint and the second lock uint one of both are used to be connected with recycling matrix, and the two is another to be used for
It is fixedly connected with unmanned boat；
Second snap-in structure can overcome the elastic force to fasten with first snap-in structure, so that described first
Lock uint and the sealed connection of the second lock uint.
Preferably, first lock uint and the second lock uint one of both include plug pin portion, and described first
Another both lock uint and second lock uint include receptacle portion, and first snap-in structure and the elastic construction are set
Be placed in the plug pin portion and the receptacle portion one of both, second snap-in structure be set to the plug pin portion and it is described insert
On both portions are another, the plug pin portion is inserted into the receptacle portion so that the second snap-in structure overcome the elastic force with
First snap-in structure fastens.
Preferably, first lock uint is with the recycling matrix for being connected, second lock uint for
The unmanned boat is fixedly connected, and first lock uint includes the receptacle portion, first snap-in structure and the elasticity
For structure setting in the receptacle portion, second lock uint includes the plug pin portion, and second snap-in structure is set to
In the plug pin portion,
Accommodating chamber is formed in the receptacle portion, the plug pin portion is inserted into the accommodating chamber, first snap-in structure
At least partly structure can extend into the accommodating chamber, thus with described second in the plug pin portion in the accommodating chamber
Snap-in structure fastens.
Preferably, first snap-in structure includes the first snap-latch surface and the first guiding surface, second snap-in structure
Including the second snap-latch surface and the second guiding surface, first guiding surface and second guiding surface cooperate to insert to described
Pin portion is inserted into the accommodating chamber and is oriented to, and first snap-latch surface and second snap-latch surface lean so that described first
Snap-in structure fastens with second snap-in structure.
Preferably, link mechanism, the elastic construction are provided between the elastic construction and first snap-in structure
Elastic force first snap-in structure can be driven to rotate by the link mechanism, the unmanned boat hang automatic de- hook
System further includes operation solution lock section, and the operation solution lock section is connected with the link mechanism, and the operation solution lock section can pass through
The link mechanism drives first snap-in structure to rotate backward.
Preferably, the receptacle portion includes the first wall portion and the second wall portion being oppositely arranged, the first snap-in structure phase
To there are two settings, two the first snap-in structure difference are mobilizable to be arranged in first wall portion and second wall portion
On, the receptacle portion further includes connecting the third wall portion of first wall portion and second wall portion, the link mechanism installation
It is connected in the third wall portion and respectively by two connecting shafts with two first snap-in structures.
Preferably, guide frame is provided in the third wall portion, the link mechanism includes the first rod piece, the second bar
Part, third rod piece and connector, wherein
One end of first rod piece is slidably connected by a connecting shaft and wherein 1 first snap-in structure, the other end
It is hinged with the connector；
One end of second rod piece is slidably connected by another connecting shaft and another first snap-in structure, the other end
It is hinged with the connector；
One end of the third rod piece and the connector are hinged, the other end be arranged in the guide frame and with the operation
Solution lock section is connected, and the elastic construction is set on the third rod piece, and be located at the guide frame and the connector it
Between, the other end of the third rod piece connects the operation solution lock section.
Preferably, the unmanned boat hangs de- hook system automatically and further includes guiding hawser and be connected with the guiding hawser
Buoyant member, the guiding hawser is arranged in first lock uint or the second sealed dress being fixedly connected with the unmanned boat
It sets, and second lock uint or the first lock uint being connected with the recycling matrix can be passed through, to described first
The sealed connection of lock uint and second lock uint is guided.
Preferably, it further includes the ejection dress for being fixedly connected with unmanned boat that the unmanned boat, which hangs automatic de- hook system,
It sets, the catapult-launching gear is for launching the buoyant member；And/or
It further includes the release device for being fixedly connected with the unmanned boat that the unmanned boat, which hangs automatic de- hook system, described
Release device is for the buoyant member to be released in water.
Preferably, it is that unmanned boat as claimed in claim 6 is hung automatically that the unmanned boat, which hangs de- hook system automatically,
De- hook system, the receptacle portion further include connect first wall portion and second wall portion and with the third wall portion phase
To the fourth wall of setting, the insert port that the accommodating chamber is penetrated for the guiding hawser, institute are provided in the fourth wall
It states and is provided with limiting structure at insert port, for the guiding hawser to be limited in the accommodating chamber, and for that will be inserted into
Mouth is opened so that the guiding hawser can be detached from the receptacle portion.
On the other hand, the present invention provides a kind of unhook methods that unmanned boat hangs automatic de- hook system, using as follows
Technical solution:
A kind of unmanned boat as described above hangs de- hook system, the unhook method automatically
(a) on recycling matrix, by the receptacle portion of the first lock uint being connected with the boom hawser of recycling matrix and with nobody
The plug pin portion for the second lock uint that ship is fixedly connected engages；
(b) unmanned boat is hung to by recycling matrix side by boom hawser, and unmanned boat is transferred to the water surface；
(c) continue to transfer boom hawser, so that at the second snap-in structure on the first snap-in structure and plug pin portion in receptacle portion
In relaxed state, then by pull operation solution lock section, so that receptacle portion and bolt portion are from control unmanned boat sails out of recycling base
Body.
In another aspect, the present invention adopts the following technical scheme:
It further includes guiding hawser that the unmanned boat, which hangs de- hook system automatically, and it is sealed that the guiding hawser is arranged in described second
Device, and first lock uint can be passed through, to the sealed of first lock uint and second lock uint
Connection is guided, and the hook method includes:
(a) for unmanned boat at the distance recycling certain safe distance of matrix, control discharges the guiding hawser on unmanned boat to the water surface,
And unmanned boat movement is controlled so that hawser expansion will be guided；
(b) the guiding hawser on the water surface is picked up；
(c) guiding hawser is passed through into the first lock uint, so that the first lock uint is snapped down to unmanned boat along guiding hawser；
(d) using the self weight of the first lock uint so that the plug pin portion card of the receptacle portion of the first lock uint and the second lock uint
It closes, unmanned boat is recycled to recycling matrix using the boom hawser of recycling matrix.
Unmanned boat provided by the invention is hung in de- hook system automatically, and the first lock uint includes elastic construction,
Elastic force is applied to the first snap-in structure, and the second snap-in structure in the second lock uint can overcome elastic force to engage with first
Structure fastens, and makes the first lock uint and the second lock uint be in sealed connection status under the action of elastic force,
To realize the automatic locking connection of two lock uints, realizes the automatic distributing and discharging recycling of unmanned boat, enormously simplify operator
Operation, reduce operational risk.In addition, the sealed operation that unmanned boat provided by the invention hangs automatic de- hook system is not necessarily to
Electrical components only can be realized by mechanical part, and the reliability under the water environments such as ocean is also higher, and save production
Cost.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only one recorded in the present invention
A little embodiments are also possible to obtain other drawings based on these drawings for those of ordinary skill in the art.
Fig. 1 shows unmanned boat provided by the invention and hangs automatic de- hook system and recycle the knot of matrix, unmanned boat cooperation
Structure schematic diagram；
Fig. 2 shows the present invention to provide the knot that unmanned boat in a specific embodiment hangs automatic de- hook system and unmanned boat cooperation
Structure schematic diagram；
Fig. 3 shows unmanned boat provided by the invention and hangs the vertical of an automatic angle for taking off the first lock uint in hook system
Body figure；
Fig. 4 is shown the structural schematic diagram after the explosion of the first rod piece in Fig. 3；
Fig. 5 shows unmanned boat provided by the invention and hangs automatic another angle for taking off the first lock uint in hook system
Perspective view；
Fig. 6 shows the top view for the first lock uint that unmanned boat provided by the invention is hung in automatic de- hook system；
Fig. 7 shows sectional view along A-A in Fig. 6；
Fig. 8 shows B-B direction cross-sectional view in Fig. 6；
Fig. 9 shows the present invention and provides unmanned boat in another specific embodiment and hang takes off hook system and unmanned boat cooperation automatically
Structural schematic diagram.
Wherein, 1, unmanned boat；2, matrix is recycled；21, boom；22, boom hawser；3, the first lock uint；31, the first card
Close structure；311, the first snap-latch surface；312, the first guiding surface；313, claw-like structures are hooked；32, elastic construction；321, spring；
33, receptacle portion；331, the first wall portion；332, the second wall portion；333, third wall portion；334, fourth wall；3341, insert port；
3342, limiting slot；335, accommodating chamber；336, interconnecting piece；34, connecting shaft；35, limiting structure；351, spring；352, bar is limited；
4, the second lock uint；41, the second snap-in structure；411, the second snap-latch surface；412, the second guiding surface；413, truncated cone-shaped knot
Structure；414, annular groove；42, plug pin portion；5, link mechanism；51, the first rod piece；52, the second rod piece；53, third rod piece；54, even
Fitting；55, sliding slot；6, solution lock section is operated；7, guide frame；81, hawser is guided；82, buoyant member；91, catapult-launching gear；92, it releases
Put device.
Specific embodiment
The following description and drawings fully show specific embodiments of the present invention, to enable those skilled in the art to
Practice them.Other embodiments may include structure, logic, it is electrical, process and other change.Embodiment
Only represent possible variation.Unless explicitly requested, otherwise individual components and functionality is optional, and the sequence operated can be with
Variation.The part of some embodiments and feature can be included in or replace part and the feature of other embodiments.This hair
The range of bright embodiment includes equivalent obtained by the entire scope of claims and all of claims
Object.Herein, each embodiment individually or can be indicated generally with term " invention ", and it is convenient that this is used for the purpose of,
And if in fact disclosing the invention more than one, the range for being not meant to automatically limit the application is any single invention
Or inventive concept.Herein, relational terms such as first and second and the like be used only for by an entity or operation with
Another entity or operation distinguish, and without requiring or implying, there are any actual relationships between these entities or operation
Or sequence.Moreover, the terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, thus
So that process, method or equipment including a series of elements not only include those elements, but also including being not explicitly listed
Other element, or further include for this process, method or the intrinsic element of equipment.In the feelings not limited more
Under condition, the element that is limited by sentence "including a ...", it is not excluded that in process, method or equipment including the element
In there is also other identical elements.Each embodiment herein is described in a progressive manner, and each embodiment stresses
Be the difference from other embodiments, the same or similar parts in each embodiment may refer to each other.For implementing
For method, product etc. disclosed in example, since it is corresponding with method part disclosed in embodiment, so the comparison of description is simple
Single, reference may be made to the description of the method.
Technical solution and technical effect in order to better understand the present invention, below with reference to Fig. 1-Fig. 9 to specific reality
The mode of applying is described in detail.
De- hook system automatically is hung to unmanned boat provided by the invention with reference to the accompanying drawing and carries out further details of theory
It is bright.It is understood that the orientation such as "upper" described herein, "lower", "top", "bottom" refer to that unmanned boat hangs automatic take off
Hook system is in orientation when normal operating conditions.
As depicted in figs. 1 and 2, present embodiments provide a kind of unmanned boat and hang de- hook system automatically, for by nobody
Ship 1 is laid from the recycling such as lash ship of matrix 2, or unmanned boat 1 is recycled to recycling matrix 2.The unmanned boat is hung certainly
Moving de- hook system includes:
First lock uint 3, the first lock uint 3 include the first snap-in structure 31 and elastic construction 32, the bullet of elastic construction 32
Property power is applied to the first snap-in structure 31；
Second lock uint 4, the second lock uint 4 include the second snap-in structure 41；First lock uint 3 and the second lock uint
4 one of both are used to be connected with recycling matrix 2, and the two is another for being fixedly connected with unmanned boat 1；
Second snap-in structure 41 can overcome elastic force to fasten with the first snap-in structure 31 so that the first lock uint 3 with
The sealed connection of second lock uint 4.
By the cooperation of two snap-in structures, the connection between recycling matrix 2, such as lash ship and unmanned boat 1 can establish,
And two lock uints that the elastic force that elastic construction 32 provides is used to be guaranteed at fastening state will not be because other external force be (such as nothing
The gravity of people's ship 1, lash ship etc. recycle the vibration etc. in 21 operation process of boom on matrix 2) it loosens, such as the bullet in the present embodiment
Property power be by being provided in the spring 321 of compressive state, it is stably and controllable, it is only necessary to which that mechanical realization is that can guarantee lock uint
Reliability.
First lock uint 3 and 4 one of both of the second lock uint include plug pin portion 42,3 He of the first lock uint
Another both second lock uints 4 include receptacle portion 33, and the first snap-in structure 31 and elastic construction 32 are set to 42 He of plug pin portion
In 33 one of both of receptacle portion, the second snap-in structure 41 be set to both plug pin portion 42 and receptacle portion 33 it is another on, plug pin portion 42
It is inserted into receptacle portion 33, so that the second snap-in structure 41 overcomes elastic force to fasten with the first snap-in structure 31, it is preferable that insert
Pin portion 42 carries out mutual engaging with receptacle portion 33 in a vertical direction, in this way, facilitating using plug pin portion 42 or socket 33 certainly
The gravity of body realizes the automatic fastening of the two.In the embodiment shown in Fig. 2 to 5, the first snap-in structure 31 and elastic construction 32
It is arranged in receptacle portion 33, corresponding second snap-in structure 41 is arranged in plug pin portion 42, when unmanned boat 1 recycles operation, needs
Unmanned boat 1 is established by the first lock uint 3 and the second lock uint 4 and recycles the connection between matrix 2, then can just be led to
Unmanned boat 1 is recovered on recycling matrix 2 by the boom 21 crossed on recycling matrix 2, and the process of this connection is exactly plug pin portion 42
It is inserted into then process that receptacle portion 33 locks the mated condition of the two, plug pin portion 42 needs to overcome elastic construction during this
32 are applied to the elastic force on the first lock uint 3, and after plug pin portion 42 is fully inserted into receptacle portion 33, elastic construction 32
The elastic force of generation has reformed into the retentivity for preventing plug pin portion 42 from deviating from from receptacle portion 33, and elastic mechanism 32 is to plug pin portion 42
Cooperation with receptacle portion 33 is further locked.It can be greatly simplified using this construction and be established between unmanned boat 1 and recycling matrix 2
The process of connection, while ensure that the reliability of connection.
It is understood that in alternate embodiments, the first snap-in structure 31 and elastic construction 32 also can be set
In plug pin portion 42, it is equipped with the spring in compressive state inside plug pin portion 42, is connected with the first snap-in structure 31, plug pin portion 42 is inserted
During entering receptacle portion 33, with protruding into for plug pin portion 42, the further compression under the effect of external force of the first snap-in structure 31
Spring, when plug pin portion 42 reaches cooperation position, the first snap-in structure 31 is popped up to outside under the action of the spring, with the second card
The corresponding construction for closing structure 41 is fastened togather, and the elastic force that spring provides at this time, which can be changed to, prevents plug pin portion 42 from receptacle portion
The retentivity deviate from 33.
Preferably, as depicted in figs. 1 and 2, the first lock uint 3 is connected with recycling matrix 2, and the second lock uint 4 is used for
It is fixedly connected with unmanned boat 1, the first lock uint 3 includes receptacle portion 33, and the first snap-in structure 31 and elastic construction 32 are set to
In receptacle portion 33, the second lock uint 4 includes plug pin portion 42, and the second snap-in structure 41 is set in plug pin portion 42, receptacle portion 33
It is inside formed with accommodating chamber 335, plug pin portion 42 is inserted into accommodating chamber 335, at least partly structure energy of the first snap-in structure 31
It enough protrudes into accommodating chamber 335, to fasten with the second snap-in structure 41 in the plug pin portion 42 in accommodating chamber 335.
Specifically, as depicted in figs. 1 and 2, the first lock uint 3 includes receptacle portion 33, on the recycling such as lash ship of matrix 2
The boom hawser 22 of boom 21 link together, specifically, as shown in figure 3, the top of receptacle portion 33 is provided with interconnecting piece
336, interconnecting piece 336 is connect with boom hawser 22, and interconnecting piece is preferably in n shape, and bottom opening is for accommodating plug pin portion 42, and second
Lock uint 4 includes that plug pin portion 42 is then fixed on unmanned boat 1.As shown in Fig. 3 to 8, the setting of the first snap-in structure 31 exists
In receptacle portion 33, it is the bascule with locking function, is connected with elastic construction 32, the first card under the action of elastic force
Structure 31 is closed to be under the normality of the internal latch and lock D of accommodating chamber 335.Second snap-in structure 41 is arranged in plug pin portion 42, bolt
When portion 42 is inserted into receptacle portion 33, the second snap-in structure 41 can overcome the elastic force of elastic construction 32 and 31 phase card of the first snap-in structure
It closes；For example, being configured to the weight of the first lock uint 3, make it that can overcome the bullet of elastic mechanism 32 using self gravity
Power makes plug pin portion 42 be inserted into receptacle portion 33.First snap-in structure 31 and the second snap-in structure 41 can be for example protrusion and card slot
The structure of cooperation or the structure etc. of two card bases cooperation.
Further, the first snap-in structure 31 includes the first snap-latch surface 311 and the first guiding surface 312, the second engaging knot
Structure 41 include the second snap-latch surface 411 and the second guiding surface 412, the first guiding surface 312 and the second guiding surface 412 cooperation with
It is inserted into accommodating chamber 335 to plug pin portion 42 to be oriented to, the first snap-latch surface 311 and the second snap-latch surface 411 lean so that first
Snap-in structure 31 fastens with the second snap-in structure 41.For example, in the embodiment shown in Figure 2, the top of plug pin portion 42 is circle
Platform shape structure 413, truncated cone-shaped structure 413 constitute the second snap-in structure 41, annular groove 414 are arranged below truncated cone-shaped structure 413,
The side of truncated cone-shaped structure 413 constitutes the second guiding surface 412, and the bottom surface of truncated cone-shaped structure 413 constitutes the second snap-latch surface
411, in the embodiment shown in fig. 7, the first snap-in structure 31 includes hooking claw-like structures 313, hooks the medial surface of claw-like structures 313
For the first snap-latch surface 311, the inclined-plane of 31 lower part of the first snap-in structure is the first guiding surface 312, and plug pin portion 42 is inserted into socket
When portion 33, the truncated cone-shaped structure 413 of 42 top of plug pin portion can overcome the elastic force of elastic construction 32, by the first snap-in structure 31
It gradually pushes open, when eventually arriving at cooperation position, the first snap-in structure 31 is caught under truncated cone-shaped structure 413 under the action of elastic force
In the annular groove 414 of side, and plug pin portion 42 is locked in the accommodating chamber 335 of receptacle portion 33, structure is simple, high reliablity.The
One guiding surface 312 and the cooperation of the second guiding surface 412 can not only make plug pin portion 42 more accurately enter accommodating chamber 335, together
When plug pin portion 42 can be made to be easier the resistance for overcoming elastic construction 32 to be applied on the first snap-in structure 31, plug pin portion 42 is final
When reaching cooperation position, the hook claw-like structures 313 of the first snap-in structure 31 are caught in the annular groove 414 of 413 lower section of truncated cone-shaped structure
In, so that plug pin portion 42 is locked in accommodating chamber 335, elastic force at this time can prevent plug pin portion 42 from deviating from because of external force.When
So, it is to be understood that truncated cone-shaped structure 413 also could alternatively be pyramidal structure etc., and other facilitate to form the second guiding surface
412 structure.
Elastic construction 32 can act directly on the first snap-in structure 31, it is preferable that elastic construction 32 engages with first
Link mechanism 5 is provided between structure 31, the elastic force of elastic construction 32 can drive the first snap-in structure by link mechanism 5
31 rotations, the sealed torque that elastic construction 32 can be made to be applied on the first snap-in structure 31 by link mechanism 5 is bigger, reliably
Property is also just higher.
Further, it further includes operation solution lock section 6 that unmanned boat, which hangs de- hook system automatically, operates solution lock section 6 and connecting rod
Mechanism 5 is connected, and operation solution lock section 6 can drive the first snap-in structure 31 to rotate backward by link mechanism 5.In the present embodiment
Operation solution lock section 6 is traction rope, and when laying unmanned boat 1, unmanned boat 1 is placed on specific bit by boom hawser 22 by boom 21
It postpones, when boom hawser 22 is in relaxed state, traction rope is pulled by the operator on such as lash ship of recycling matrix 2, is led to
Crossing link mechanism 5 drives the first snap-in structure 31 to be turned out, so that the first snap-in structure 31 and the second snap-in structure 41 are mutually
It disengages, the unlock of the first snap-in structure 31 and the second snap-in structure 41 can be completed, receptacle portion 33 can divide from plug pin portion 42
It leaves, and receptacle portion 33 is taken away into unmanned boat 1 by boom hawser 22, complete deployment, greatly simplify the work of operator
Amount, reduces operational risk height.
It is understood that receptacle portion 33 is not limited to what recycling matrix 2 was connected, when plug pin portion 42 and recycling 2 phase of matrix
Lian Shi, receptacle portion 33 are fixed on unmanned boat 1.And the first snap-in structure 31 and elastic construction 32 are arranged in plug pin portion 42
On, the truncated cone-shaped structure of plug pin portion 42 may be configured as bascule, and elastic construction 32 is connect by link mechanism with bascule,
It is maintained at bascule to external distracted locked state, and the second snap-in structure 41 is arranged in receptacle portion 33, receptacle portion
33 accommodating chamber includes two parts, and channel is cylindrical hole, and top is circular cone pass structure, and the diameter in channel is less than the cone of plug pin portion
The plane of the intersection of the basal diameter of forming head basal diameter and the circular cone pass structure on receptacle portion top, cylindrical hole and conical bore
As the second snap-latch surface, practical operation is similar to the above embodiments, repeats no more.
Further specifically, as shown in figure 3, receptacle portion 33 includes the first wall portion 331 and the second wall portion being oppositely arranged
332, there are two the first snap-in structure 31 is oppositely arranged, two the first snap-in structures 31 distinguish mobilizable be arranged in the first wall portion
331 and second in wall portion 332, and receptacle portion 33 further includes connecting the third wall portion 333 of the first wall portion 331 and the second wall portion 332, even
Linkage 5 is installed on third wall portion 333 and is connected respectively by two connecting shafts 34 with two the first snap-in structures 31.This implementation
In example, mounting hole is provided in the first wall portion 331 and the second wall portion 332, the mobilizable setting of the first snap-in structure 31 is being pacified
It fills in hole, the outside of the third wall portion 333 of receptacle portion 33 is arranged in link mechanism 5, as shown in figure 8, link mechanism 5 passes through third
Two via holes in wall portion 333 are connected with two the first snap-in structures 31 respectively, specifically, as shown in figure 8, connecting shaft 34 and
One snap-in structure 31 is fixedly connected or is integrally formed on the first snap-in structure 31, and connecting shaft 34 passes through via hole and link mechanism
5 are connected.
Further, as shown in figures 3 and 8, it is provided with guide frame 7 in third wall portion 333, link mechanism 5 includes the
One rod piece 51, the second rod piece 52, third rod piece 53 and connector 54, wherein one end of the first rod piece 51 passes through a connecting shaft 34
Be slidably connected with wherein one first snap-in structure 31, the opposite connecting shaft 34 of the first rod piece 51 slided, the other end with
Connector 54 is hinged；One end of second rod piece 52 is slidably connected by another connecting shaft 34 and another first snap-in structure 31, is made
Obtaining the second rod piece 52 can slide with respect to another connecting shaft 34, and the other end and connector 54 are hinged；One end of third rod piece 53
Hinged with connector 54, the other end is arranged in guide frame 7 and is connected with operation solution lock section 6, such as spring of elastic construction 32
321 are set on third rod piece 53, and between guide frame 7 and connector 54.Preferably, as shown in figure 4, connecting shaft 34
The preferably rounded rectangle in cross section, be provided with sliding slot 55 on the first rod piece 51 and the second rod piece 52, sliding slot 55 is preferably in circle
Angular moment shape, connecting shaft 34 be arranged in sliding slot 55 and can along the chute 55 length direction sliding.Connector 54 is substantially in triangle
Shape, the first rod piece 51, the second rod piece 52 and third rod piece 53 are hinged with three corners of the connector of triangle 54 respectively.It leads
It is used to be oriented to the movement of third rod piece 53 to structure 7, such as can be the sleeve being set in outside third rod piece 53, then
For example, as shown in figure 3, guide frame 7 is the plate structure that 333 outside of third wall portion of receptacle portion 33 is arranged in, plate structure
On be provided with limit hole, 53 one end of third rod piece and connector 54 are hinged, the limit hole on plate structure that other end passes through
It is connect with operation solution lock section 6, spring 3231 is set on third rod piece 53, is under the limitation of plate structure and connector 54
Compressive state, elastic force needed for thus providing lock uint, the long-range such as traction rope of pull operation solution lock section 6 of operator are
The rotation of the first snap-in structure 31 can be driven by link mechanism 5, complete unlock operation.
Further, unmanned boat hangs de- hook system automatically and further includes guiding hawser 81 and be connected with guiding hawser 81
Buoyant member 82, buoyant member 82 can be the arbitrary structures that can be swum on the water surface, such as can be ball, guide hawser 81
It is arranged in the first lock uint 3 or the second lock uint 4 being fixedly connected with unmanned boat 1, and can be passed through and recycling 2 phase of matrix
The second lock uint 4 or the first lock uint 3 even, with to the first lock uint 3 and the second lock uint 4 it is sealed connect into
Row guiding.Through-hole is provided among plug pin portion 42 in the present embodiment, guiding hawser 81 is arranged in the through-hole of plug pin portion 42, nothing
It when people's ship 1 recycles operation, is picked up with fishing rod by hawser 81 is guided, guiding hawser 81 is passed through into receptacle portion 33, receptacle portion 33 is
The plug pin portion 42 that can be accurately located under the guiding of guiding hawser 81 on unmanned boat 1, under the action of receptacle portion 33 is self-possessed
Complete the locking connection of the two.
Further, in the embodiment shown in Figure 2, unmanned boat hang de- hook system automatically further include for nobody
The catapult-launching gear 91 that ship 1 is fixedly connected, catapult-launching gear 91 is for launching buoyant member 82, the catapult-launching gear in the present embodiment
91 settings are in bow, and when unmanned boat 1 is close to such as lash ship preparation recycling of recycling matrix 2, operator is remotely controlled catapult-launching gear 91
Buoyant member 82 is launched away, so that guiding hawser 81 is unfolded on the water surface, is salvaged convenient for operator by fishing rod；
Alternatively, in the embodiment shown in fig. 9, it further includes for solid with unmanned boat 1 that unmanned boat, which hangs de- hook system automatically,
Surely the release device 92 connected, for release device 92 for the buoyant member 82 to be released in water, release device 92 for example can be with
For motor switch.When recycling operation, when unmanned boat 1 is close to lash ship, operator's remote control releasing device 92 releases buoyant member 82
It is placed on the water surface, with slowly moving for unmanned boat 1, guides hawser 81 and be deployed on the water surface, operator is by fishing rod
Guiding hawser 81 can be picked up, it is easy to operate, it is highly-safe.
Further, as shown in figure 5, receptacle portion 33 further includes the first wall portion 331 of connection and second wall portion 332, simultaneously
The fourth wall 334 being oppositely arranged with third wall portion 333 is provided in fourth wall 334 and penetrates accommodating chamber for guiding hawser 81
335 insert port 3341 is provided with limiting structure 35 at insert port 3341, is limited in accommodating chamber 335 for that will guide hawser 81
It is interior, and for insert port 3341 to be opened so that guiding hawser 81 can be detached from receptacle portion 33.In the present embodiment, limitation
Structure 35 includes spring 351 and limitation bar 352, and one end of limitation bar 352 is hinged with receptacle portion 33, and articulated position is located at insertion
The side of mouth 3341, the other side of insert port 3341 are equipped with limiting slot 3342, one end of spring 351 and the fixed company of receptacle portion 33
It connects, and link position is located at the ipsilateral of insert port 3341, the other end and limitation bar 352 of spring 351 with articulated position above-mentioned
It is connected, the other end that bar 352 is limited under normality is limited in limiting slot 3342 by spring 351, to prevent guiding hawser 81 calm
Receive and slip in chamber 335, operator will guide after hawser 81 picks up, break limitation bar 352 into two with one's hands, and will guiding hawser 81 through insert port
3341 are sent into accommodating chamber 335, then unclamp limitation bar 352, and the end of limitation bar 352 is reset under the action of spring 351
In limiting slot 3342, so that guiding hawser 81 is limited in accommodating chamber 335.
De- hook system automatically is hung for above-mentioned unmanned boat, present invention also provides the methods for breaking off relations and linking up with, wherein
Unhook method includes:
(a) on recycling matrix 2, by the receptacle portion 33 of the first lock uint 3 being connected with the boom hawser 22 of recycling matrix 2 and
The plug pin portion 42 for the second lock uint 4 being fixedly connected with unmanned boat 1 engages；
(b) unmanned boat 1 is hung to by recycling 2 side of matrix by boom hawser 22, and unmanned boat 1 is transferred to the water surface；
(c) continue to transfer boom hawser 22, so that the first snap-in structure 31 in receptacle portion 33 and the second card in plug pin portion 42
It closes structure 41 and is in relaxed state, then by pull operation solution lock section 6, so that receptacle portion 33 is separated with plug pin portion 42, control
Unmanned boat 1 sails out of recycling matrix 2, to complete laying for unmanned boat 1.
Hook method includes:
(a) for unmanned boat 1 at the distance recycling certain safe distance of matrix 2, control discharges the guiding hawser 81 on unmanned boat 1 extremely
The water surface, for example, in the embodiment shown in Figure 2, control catapult-launching gear 91 launches away buoyant member 82, to drive guiding cable
81 release of rope is to the water surface, for another example in the embodiment shown in fig. 9, control release device 92 is by buoyant member 82 and guides hawser
81 discharge to the water surface, and control the movement of unmanned boat 1 and be unfolded with that will guide hawser 81；
(b) the guiding hawser 81 on the water surface is picked up, for example, control lash ship is close to swim in water when recycling matrix 2 is lash ship
Guiding hawser 81 on face, and picked up by fishing rod by hawser 81 is guided；
(c) guiding hawser 81 is passed through into the first lock uint 3, specifically, limitation bar 352 is broken into two with one's hands, and guiding hawser 81 is passed through
Insert port 3341 is sent into accommodating chamber 335, and limitation bar 352 is then unclamped, and limits the end of bar 352 under the action of spring 351
It is reset in limiting slot 3342, to guiding hawser 81 is limited in accommodating chamber 335, so that the first lock uint 3 is along leading
Pull-cord 81 is snapped down to unmanned boat 1；
(d) using the self weight of the first lock uint 3 so that the receptacle portion 33 of the first lock uint 3 and the second lock uint 4 it is slotting
Pin portion 42 engages, and unmanned boat 1 is recycled to recycling matrix 2 using the boom hawser 22 of recycling matrix 2, such as be recycled to lash ship first
Plate.
Above-mentioned unmanned boat hangs the unhook of automatic de- hook system and links up with the related description of method with reference to the nothing in Fig. 1-9
People's ship hangs the related description of automatic de- hook system, does not repeat one by one herein.
In the instructions provided here, numerous specific details are set forth.It is to be appreciated, however, that implementation of the invention
Example can be practiced without these specific details.In some instances, well known method, structure is not been shown in detail
And technology, so as not to obscure the understanding of this specification.
Similarly, it should be understood that in order to simplify the disclosure and help to understand two or two in each inventive aspect with
On, in the above description of the exemplary embodiment of the present invention, each feature of the invention is grouped together into individually sometimes
In embodiment, figure or descriptions thereof.However, the disclosed method should not be interpreted as reflecting the following intention: being wanted
Ask protection the present invention claims features more more than feature expressly recited in each claim.
It should be noted that above-described embodiment is that illustrate the present invention rather than limit it, and
Those skilled in the art can be designed alternative embodiment without departing from the scope of the appended claims.In claim
In, any reference symbol between parentheses should not be configured to limitations on claims.Word "comprising" is not excluded for depositing
In elements or steps etc. not listed in the claims.Word "a" or "an" located in front of the element does not exclude the presence of more
A such element.The present invention can be by means of including the hardware of several different elements and by means of properly programmed calculating
Machine is realized.If several in these systems can be by same in the unit claim for listing dry systems
Hardware branch embodies.The use of word first, second and third etc. does not indicate any sequence.These words can be explained
For title.
Claims (10)
1. a kind of unmanned boat hangs de- hook system automatically characterized by comprising
First lock uint, first lock uint include the first snap-in structure and elastic construction, the bullet of the elastic construction
Property power is applied to first snap-in structure；
Second lock uint, second lock uint include the second snap-in structure；
First lock uint and the second lock uint one of both are used to be connected with recycling matrix, and the two is another to be used for
It is fixedly connected with unmanned boat；
Second snap-in structure can overcome the elastic force to fasten with first snap-in structure, so that described first
Lock uint and the sealed connection of the second lock uint.
2. unmanned boat according to claim 1 hangs de- hook system automatically, which is characterized in that first lock uint
It include plug pin portion with the second lock uint one of both, both first lock uint and second lock uint are another
One includes receptacle portion, first snap-in structure and the elastic construction be set to both the plug pin portion and the receptacle portion it
On one, second snap-in structure be set to both the plug pin portion and the receptacle portion it is another on, the plug pin portion is inserted into institute
It states in receptacle portion, so that the second snap-in structure overcomes the elastic force to fasten with first snap-in structure；
Wherein, for being connected with the recycling matrix, second lock uint is used for and the nothing first lock uint
People's ship is fixedly connected, and first lock uint includes the receptacle portion, and first snap-in structure and the elastic construction are set
It is placed in the receptacle portion, second lock uint includes the plug pin portion, and second snap-in structure is set to described insert
In pin portion,
Accommodating chamber is formed in the receptacle portion, the plug pin portion is inserted into the accommodating chamber, first snap-in structure
At least partly structure can extend into the accommodating chamber, thus with described second in the plug pin portion in the accommodating chamber
Snap-in structure fastens.
3. unmanned boat according to claim 2 hangs de- hook system automatically, which is characterized in that first snap-in structure
Including the first snap-latch surface and the first guiding surface, second snap-in structure includes the second snap-latch surface and the second guiding surface, institute
The first guiding surface is stated to cooperate with second guiding surface to be inserted into the accommodating chamber to the plug pin portion and be oriented to, it is described
First snap-latch surface leans with second snap-latch surface so that first snap-in structure mutually blocks with second snap-in structure
It closes.
4. unmanned boat according to claim 2 hangs de- hook system automatically, which is characterized in that the elastic construction and institute
It states and is provided with link mechanism between the first snap-in structure, the elastic force of the elastic construction can be driven by the link mechanism
The first snap-in structure rotation, it further includes operation solution lock section that the unmanned boat, which hangs de- hook system automatically, the operation solution
Lock section is connected with the link mechanism, and the operation solution lock section can drive first snap-in structure by the link mechanism
It rotates backward.
5. unmanned boat according to claim 4 hangs de- hook system automatically, which is characterized in that the receptacle portion includes phase
To the first wall portion and the second wall portion of setting, there are two first snap-in structure is oppositely arranged, two the first engaging knots
Structure difference is mobilizable to be arranged in first wall portion and second wall portion, and the receptacle portion further includes connection described first
The third wall portion of wall portion and second wall portion, the link mechanism are installed on the third wall portion and respectively by two connections
Axis is connected with two first snap-in structures；
Wherein, guide frame is provided in the third wall portion, the link mechanism includes the first rod piece, the second rod piece, third
Rod piece and connector, wherein
One end of first rod piece is slidably connected by a connecting shaft and wherein 1 first snap-in structure, the other end
It is hinged with the connector；
One end of second rod piece is slidably connected by another connecting shaft and another first snap-in structure, the other end
It is hinged with the connector；
One end of the third rod piece and the connector are hinged, the other end be arranged in the guide frame and with the operation
Solution lock section is connected, and the elastic construction is set on the third rod piece, and be located at the guide frame and the connector it
Between, the other end of the third rod piece connects the operation solution lock section.
6. unmanned boat according to one of claims 1 to 5 hangs de- hook system automatically, which is characterized in that it is described nobody
It further includes the buoyant member for guiding hawser and being connected with the guiding hawser that ship, which hangs automatic de- hook system, and the guiding hawser is worn
Set on first lock uint being fixedly connected with the unmanned boat or the second lock uint, and can pass through and the recycling
Matrix connected second lock uint or the first lock uint, to first lock uint and the second sealed dress
The sealed connection set is guided.
7. unmanned boat according to claim 6 hangs de- hook system automatically, which is characterized in that the unmanned boat is hung certainly
Dynamic de- hook system further includes the catapult-launching gear for being fixedly connected with unmanned boat, and the catapult-launching gear is used for the buoyant member
It is launched；And/or
It further includes the release device for being fixedly connected with the unmanned boat that the unmanned boat, which hangs automatic de- hook system, described
Release device is for the buoyant member to be released in water.
8. unmanned boat according to claim 6 hangs de- hook system automatically, which is characterized in that the unmanned boat is hung certainly
Dynamic de- hook system is that unmanned boat as claimed in claim 5 hangs de- hook system automatically, and the receptacle portion further includes connection
First wall portion and second wall portion and the fourth wall being oppositely arranged with the third wall portion, in the fourth wall
It is provided with the insert port for penetrating the accommodating chamber for the guiding hawser, is provided with limiting structure at the insert port, being used for will
The guiding hawser is limited in the accommodating chamber, and for insert port to be opened so that the guiding hawser can be with institute
State receptacle portion disengaging.
9. a kind of unhook method that unmanned boat as described in claim 4 or 5 hangs automatic de- hook system, which is characterized in that
The unhook method includes:
(a) on recycling matrix, by the receptacle portion of the first lock uint being connected with the boom hawser of recycling matrix and with nobody
The plug pin portion for the second lock uint that ship is fixedly connected engages；
(b) unmanned boat is hung to by recycling matrix side by boom hawser, and unmanned boat is transferred to the water surface；
(c) continue to transfer boom hawser, so that at the second snap-in structure on the first snap-in structure and plug pin portion in receptacle portion
In relaxed state, then by pull operation solution lock section, so that receptacle portion and bolt portion are from control unmanned boat sails out of recycling base
Body.
10. a kind of hook method that unmanned boat as described in claim 4 or 5 hangs automatic de- hook system, which is characterized in that
It further includes guiding hawser that the unmanned boat, which hangs de- hook system automatically, and the guiding hawser is arranged in the described second sealed dress
It sets, and first lock uint can be passed through, with the sealed company to first lock uint and second lock uint
Capable guiding is tapped into, the hook method includes:
(a) for unmanned boat at the distance recycling certain safe distance of matrix, control discharges the guiding hawser on unmanned boat to the water surface；
(b) the guiding hawser on the water surface is picked up；
(c) guiding hawser is passed through into the first lock uint, so that the first lock uint is snapped down to unmanned boat along guiding hawser；
(d) using the self weight of the first lock uint so that the plug pin portion card of the receptacle portion of the first lock uint and the second lock uint
It closes, unmanned boat is recycled to recycling matrix using the boom hawser of recycling matrix.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811469155.4A CN109353456A (en) | 2018-11-28 | 2018-11-28 | A kind of unmanned boat hangs de- hook system and unhook, hook method automatically |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811469155.4A CN109353456A (en) | 2018-11-28 | 2018-11-28 | A kind of unmanned boat hangs de- hook system and unhook, hook method automatically |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109353456A true CN109353456A (en) | 2019-02-19 |
Family
ID=65330856
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811469155.4A Pending CN109353456A (en) | 2018-11-28 | 2018-11-28 | A kind of unmanned boat hangs de- hook system and unhook, hook method automatically |
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| CN109928299A (en) * | 2019-04-04 | 2019-06-25 | 哈尔滨工程大学 | It is a kind of can the remote control type UUV of automatic coupling and unhook lay recovering mechanism and method |
| CN110143258A (en) * | 2019-05-10 | 2019-08-20 | 李治国 | A kind of unmanned boat release recyclable device and unmanned boat discharge recovery method |
| CN110498016A (en) * | 2019-08-14 | 2019-11-26 | 青岛科技大学 | Intelligent ship recyclable device |
| CN110921494A (en) * | 2019-10-31 | 2020-03-27 | 中国航天空气动力技术研究院 | UUV hoisting accessory |
| CN112078727A (en) * | 2020-09-03 | 2020-12-15 | 珠海云洲智能科技有限公司 | Cable guide and navigation equipment |
| CN113401790A (en) * | 2021-06-25 | 2021-09-17 | 飞马滨(青岛)智能科技有限公司 | Automatic unhooking cloth releasing and recycling device and method |
| CN113774868A (en) * | 2021-10-13 | 2021-12-10 | 中国电建集团中南勘测设计研究院有限公司 | Underwater connecting device and method for deepwater ground anchor and longitudinal cable |
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| CN113401790A (en) * | 2021-06-25 | 2021-09-17 | 飞马滨(青岛)智能科技有限公司 | Automatic unhooking cloth releasing and recycling device and method |
| CN113774868B (en) * | 2021-10-13 | 2022-10-25 | 中国电建集团中南勘测设计研究院有限公司 | Underwater connecting device and method for deepwater ground anchor and longitudinal cable |
| CN113774868A (en) * | 2021-10-13 | 2021-12-10 | 中国电建集团中南勘测设计研究院有限公司 | Underwater connecting device and method for deepwater ground anchor and longitudinal cable |
| CN114228920A (en) * | 2021-11-30 | 2022-03-25 | 哈尔滨工业大学（威海） | Self-falling binding device |
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