CN110126990B - Throwing device for underwater robot and water surface high-speed unmanned boat - Google Patents
Throwing device for underwater robot and water surface high-speed unmanned boat Download PDFInfo
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- CN110126990B CN110126990B CN201910351042.2A CN201910351042A CN110126990B CN 110126990 B CN110126990 B CN 110126990B CN 201910351042 A CN201910351042 A CN 201910351042A CN 110126990 B CN110126990 B CN 110126990B
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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
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
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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
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/16—Arrangement of ship-based loading or unloading equipment for cargo or passengers of lifts or hoists
- B63B2027/165—Deployment or recovery of underwater vehicles using lifts or hoists
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- Engineering & Computer Science (AREA)
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Abstract
A throwing device for an underwater robot and a water surface high-speed unmanned ship belongs to the field of throwing devices, and mainly aims to solve the problems that the throwing device consumes large resources and has low fault tolerance rate in the throwing process; the underwater robot and the water surface high-speed unmanned boat are mainly applied to the transportation from a salvage boat to water or on the water surface.
Description
Technical Field
The invention belongs to the field of throwing devices, and particularly relates to a throwing device for an underwater robot and a water surface high-speed unmanned boat.
Background
The underwater robot and the water surface high-speed unmanned boat are relatively advanced unmanned controllers, mostly used for activities such as marine surveying, marine accident search and rescue, ocean exploration and the like, along with the continuous development of science and technology in recent years, the fields of the underwater robot and the water surface high-speed unmanned boat are gradually developed, a plurality of underwater robots with complex profiles and water surface high-speed unmanned boats are successively appeared, the complex linearity of the surface shells of the underwater robot and the water surface high-speed unmanned boat is more suitable for the flow of seawater in underwater or water surface operation, so that the damage of the shells in the complex environment in underwater or water surface operation is reduced, but the improvement brings great challenge to the throwing of the underwater robot and the water surface high-speed unmanned boat, the traditional throwing mode mostly adopts steel wire suspension and the cooperation of a plurality of throwing boats, so that the underwater robot and the water surface high-speed unmanned boat are safely thrown into water, the launching mode wastes overlarge resources when ocean exploration launching is carried out, a plurality of launching ships work in a coordinated mode, manpower and material resources are greatly wasted, meanwhile, the fault tolerance rate is low in the launching process, if one launching ship is in misoperation in the launching process, risks in the whole launching process are possibly caused, the manufacturing cost of one underwater robot or a water surface high-speed unmanned ship is very expensive in terms of the current market condition, and once accidents occur in launching, the loss caused by the accidents is very huge.
Disclosure of Invention
The invention provides a launching device for an underwater robot and a water surface high-speed unmanned boat, aiming at solving the problems of large resource consumption and low fault tolerance rate in the launching process of the existing launching device.
A throwing device for an underwater robot and a water surface high-speed unmanned boat comprises a supporting mechanism, a workbench, two pushing mechanisms and two lowering mechanisms;
the workbench is connected to the supporting mechanism in a sliding mode, the two pushing mechanisms are installed on the workbench and oppositely arranged in a back-to-back mode, and each lowering mechanism is fixedly connected to one pushing mechanism;
preferably, the supporting mechanism comprises a main bracket, a screw rod, an auxiliary bracket, a first motor, a coupler, a bearing seat with a bearing and four slideways;
the main support and the auxiliary support are arranged oppositely, a first motor is fixedly connected to the upper surface of the main support, the output end of the first motor faces the auxiliary support, a bearing seat with a bearing is fixedly connected to the upper surface of the auxiliary support, four slideways are arranged on the upper surfaces of the main support and the auxiliary support in parallel, one end of each slideway is fixedly connected with the upper surface of the main support, the other end of each slideway is fixedly connected with the upper surface of the auxiliary support, a lead screw is arranged between the four slideways which are parallel to each other, the lead screw and each slideway are arranged in parallel, one end of the lead screw is connected to the output end of the first motor through a coupling, and the other end of the lead screw is fixedly connected with a bearing inner ring in the bearing seat with the;
preferably, the workbench comprises a workbench, two auxiliary slide groups and two auxiliary sliding blocks;
the two auxiliary slide way groups are respectively arranged on one side wall of the working plate, one end of each auxiliary slide way group is fixedly connected with one side wall of the working plate, the other end of each auxiliary slide way group is fixedly connected with the side wall of one auxiliary sliding block, two parallel first slide ways are arranged on the lower surface of the working plate along the length direction of the working plate, a threaded through hole is arranged in the middle of the end wall of the working plate, a second slide way parallel to the first slide way is arranged on the lower surface of each auxiliary sliding block, a lead screw is arranged in the threaded through hole and is in threaded connection with the threaded through hole, the two slide ways in the middle are respectively arranged in the first slide way, each first slide way is in sliding connection with one slide way, the two slide ways on the outer side are respectively arranged in the second slide way, and each second slide way is in sliding connection with one slide way;
preferably, the pushing mechanism comprises an object stage, a hydraulic cylinder, an electromagnetic directional valve, a return pipe, an oil tank, an oil pipe and an oil pump;
two parallel third sliding chutes are arranged on the lower surface of the objective table along the width direction of the objective table;
a piston rod in the hydraulic cylinder is fixedly connected with the side wall of the objective table, one end of an oil pipe is connected with the output end of an oil pump, the other end of the oil pipe is connected with an oil inlet cavity of the hydraulic cylinder through an electromagnetic directional valve, the input end of the oil pump is connected with an oil tank, one end of a return pipe is connected with the oil tank, the other end of the return pipe is connected with an oil outlet cavity of the hydraulic cylinder through the electromagnetic directional valve, two auxiliary slideways in an auxiliary slideway group are respectively arranged in a third slideway, each auxiliary slideway is in sliding connection with the third slideway, the hydraulic cylinder, the electromagnetic directional valve, the return pipe, the oil tank, the oil pipe and the oil pump are all arranged on the upper surface of the working plate, and a cylinder body, the oil tank and;
preferably, the lowering mechanism comprises a steel wire rope rotating shaft assembly, a steel wire rope, a second motor, a protective cover, a hollow multistage expansion plate and a supporting arm;
one end of the steel wire rope rotating shaft component is provided with a motor connecting hole;
the output end of the second motor is installed in a motor connecting hole in the steel wire rope rotating shaft assembly, a protective cover is arranged outside the steel wire rope rotating shaft assembly, an outlet of the protective cover is fixedly connected with the root of the hollow multistage expansion plate, one end of the steel wire rope is wound on the outer surface of the steel wire rope rotating shaft assembly, the other end of the steel wire rope penetrates through the hollow multistage expansion plate to be fixedly connected with the supporting arm, a last-stage plate of the hollow multistage expansion plate is fixedly connected with the supporting arm, the steel wire rope rotating shaft assembly and the second motor are both arranged on the upper surface of the objective table, and the steel wire rope rotating shaft assembly and the second motor are both fixedly connected with;
preferably, a groove is formed in the joint of the upper surface of the main support and the first motor;
preferably, the vertical section of the object stage is L-shaped;
preferably, a rubber pad is arranged on the contact surface of the bracket arm and the thrown object.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a throwing device for an underwater robot and a water surface high-speed unmanned ship, which changes the traditional throwing mode that a plurality of throwing ships need to cooperatively operate, can realize the throwing process only by one salvage ship, improves the working efficiency, greatly reduces the resource loss, and saves the resources by at least 40 percent.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a left side view of the present invention;
FIG. 4 is a bottom view of the table of the present invention;
FIG. 5 is a top view of the pushing mechanism of the present invention;
FIG. 6 is a top view of the lowering mechanism of the present invention;
FIG. 7 is a front view of the lowering mechanism of the present invention;
FIG. 8 is a top view of the support mechanism of the present invention;
fig. 9 is a sectional view of a hollow multistage expansion plate according to the present invention.
In the figure, a supporting mechanism 1, a main support 1-1, a slideway 1-2, a lead screw 1-3, an auxiliary support 1-4, a motor 1-5, a coupler 1-6, a bearing seat 1-7 with a bearing, a worktable 2-1, an auxiliary slideway 2-2, an auxiliary slider 2-3, a pushing mechanism 3-1, an objective table 3-1, a hydraulic cylinder 3-2, an electromagnetic reversing valve 3-3, a reflux pipe 3-4, an oil tank 3-5, an oil pipe 3-6, an oil pump 3-7, a steel wire rope 4-1, a steel wire rope 4-2, a motor 4-3, a protective cover 4-4, a hollow multi-stage expansion plate 4-5 and a supporting arm 4-6.
Detailed Description
The first embodiment is as follows: the present embodiment is described with reference to fig. 1 to 3, and the launching device for an underwater robot and a high-speed unmanned surface vehicle in the present embodiment includes a supporting mechanism 1, a workbench 2, two pushing mechanisms 3 and two lowering mechanisms 4;
the workbench 2 is connected on the supporting mechanism 1 in a sliding mode, the two pushing mechanisms 3 are installed on the workbench 2, the two pushing mechanisms 3 are oppositely arranged in a back direction, and each lowering mechanism 4 is fixedly connected onto one pushing mechanism 3.
The second embodiment is as follows: the embodiment is described with reference to fig. 8, in the embodiment, the support mechanism 1 includes a main support 1-1, a screw 1-3, an auxiliary support 1-4, a first motor 1-5, a coupling 1-6, a bearing seat 1-7 with a bearing, and four slideways 1-2;
the main bracket 1-1 and the auxiliary bracket 1-4 are oppositely arranged, a motor 1-5 is fixedly connected on the upper surface of the main bracket 1-1, the output end of the motor 1-5 faces the auxiliary bracket 1-4, a bearing seat 1-7 with a bearing is fixedly connected on the upper surface of the auxiliary bracket 1-4, four slide ways 1-2 are arranged on the upper surfaces of the main bracket 1-1 and the auxiliary bracket 1-4 in parallel, one end of each slide way 1-2 is fixedly connected with the upper surface of the main bracket 1-1, the other end of each slide way 1-2 is fixedly connected with the upper surface of the auxiliary bracket 1-4, a screw 1-3 is arranged among the four slide ways 1-2 which are parallel, and the screw 1-3 is arranged in parallel with each slide way 1-2, one end of a screw rod 1-3 is connected to the output end of a first motor 1-5 through a coupler 1-6, the other end of the screw rod 1-3 is fixedly connected with a bearing inner ring in a bearing seat 1-7 with a bearing, and other undisclosed connection modes are the same as those of the first embodiment mode.
According to the arrangement, the input end of the first motor 1-5 is connected with an external power supply, the input end of the first motor 1-5 can drive the screw rod 1-3 to rotate, the screw rod 1-3 is arranged between the two middle slide ways 1-2, so that the first motor can be matched with the workbench 2 to do sliding motion on the supporting mechanism, the screw rod 1-3 rotates for one circle to drive the workbench 2 to move on the slide ways 1-2 for the distance of a lead on the screw rod 1-3, the four slide ways 1-2 are arranged in parallel, so that the workbench 2 can slide on the supporting mechanism more stably, in order to better match with the structure of the workbench 2, the distances between the two middle slide ways 1-2 of the four slide ways 1-2 are smaller, and the distances between the slide ways 1-2 at two sides and the two middle slide ways 1-2.
The third concrete implementation mode: the embodiment is described with reference to fig. 4, in which the working platform 2 includes a working plate 2-1, two auxiliary slide groups 2-2, and two auxiliary sliding blocks 2-3;
two auxiliary slide way groups 2-2 are respectively arranged on one side wall of a working plate 2-1, one end of each auxiliary slide way group 2-2 is fixedly connected with one side wall of the working plate 2-1, the other end of each auxiliary slide way group 2-2 is fixedly connected with the side wall of an auxiliary slide block 2-3, the lower surface of the working plate 2-1 is provided with two parallel first sliding grooves 2-1-1 along the length direction of the working plate 2-1, the middle part of the end wall of the working plate 2-1 is provided with a threaded through hole 2-1-2, the lower surface of each auxiliary slide block 2-3 is provided with a second sliding groove 2-3-1 parallel to the first sliding grooves, a screw rod 1-3 is arranged in the threaded through hole 2-1-2, and the screw rod 1-3 is in threaded connection with the threaded through hole 2-1-2, the two slideways 1-2 positioned in the middle are respectively arranged in the first slideway 2-1-1, each first slideway 2-1-1 is connected with one slideway 1-2 in a sliding manner, the two slideways 1-2 positioned on the outer side are respectively arranged in the second slideway 2-3-1, each second slideway 2-3-1 is connected with one slideway 1-2 in a sliding manner, and other undisclosed connecting manners are the same as those of the first embodiment.
By the arrangement, the auxiliary sliding blocks 2-3 are additionally arranged on the two sides of the working plate 2-1, so that the working table 2 can move on the supporting mechanism 1 more stably, and meanwhile, the working plate 2-1 and the auxiliary sliding blocks 2-3 are connected through the auxiliary sliding way set 2-2, so that a good supporting effect can be achieved for the object stage 3-1 in the pushing mechanism 3, and the object stage 3-1 can reciprocate on the auxiliary sliding way set 2-2 under the action of the hydraulic cylinder 3-2.
The fourth concrete implementation mode: the embodiment is described with reference to fig. 5, in the embodiment, the pushing mechanism 3 includes an object stage 3-1, a hydraulic cylinder 3-2, an electromagnetic directional valve 3-3, a return pipe 3-4, an oil tank 3-5, an oil pipe 3-6 and an oil pump 3-7;
the lower surface of the objective table 3-1 is provided with two parallel third sliding chutes 3-1-1 along the width direction of the objective table 3-1;
a piston rod in a hydraulic cylinder 3-2 is fixedly connected with the side wall of an objective table 3-1, one end of an oil pipe 3-6 is connected with the output end of an oil pump 3-7, the other end of the oil pipe 3-6 is connected with an oil inlet cavity of the hydraulic cylinder 3-2 through an electromagnetic directional valve 3-3, the input end of the oil pump 3-7 is connected with an oil tank 3-5, one end of a return pipe 3-4 is connected with the oil tank 3-5, the other end of the return pipe 3-4 is connected with an oil outlet cavity of the hydraulic cylinder 3-2 through the electromagnetic directional valve 3-3, two auxiliary slideways in an auxiliary slideway group 2-2 are respectively arranged in a third slideway 3-1-1, each auxiliary slideway is connected with the third slideway 3-1-1 in a sliding manner, the hydraulic cylinder 3-2, the electromagnetic directional valve 3-3, The return pipe 3-4, the oil tank 3-5, the oil pipe 3-6 and the oil pump 3-7 are all arranged on the upper surface of the working plate 2-1, the cylinder body of the hydraulic cylinder 3-2, the oil tank 3-5 and the oil pump 3-7 are all fixedly connected with the upper surface of the working plate 2-1, and other connection modes which are not disclosed are the same as those of the first embodiment mode.
The hydraulic transmission is one of the most common transmission modes, the hydraulic transmission has excellent performances such as stability, reliability, low failure rate and the like, the hydraulic transmission is the reason for selecting the hydraulic system in the pushing mechanism 3, the screw rod sliding rail mechanism is also a common device in linear reciprocating motion, the rotation of the screw rod is driven by the motor to be converted into the linear motion of the objective table on the sliding rail, but the screw rod transmission needs the screw rod to be arranged between two auxiliary sliding ways in the auxiliary sliding way group 2-2 in consideration of the actual device to be carried on the objective table 3-1, the movement of the lowering mechanism 4 can be caused by stroke interference, the function realization of the device is not facilitated, the failure of the device is caused, the structural shape of the underwater robot to be thrown in or the high-speed unmanned underwater robot on the water surface is complicated and changeable and is not an axisymmetric figure, therefore, two pushing systems 3 are adopted, and the hydraulic cylinders 3-2 between the two pushing systems, in order to better match the shape of the thrown object, the throwing achieves the effects of accuracy and high efficiency.
The fifth concrete implementation mode: the present embodiment will be described with reference to fig. 6, and the launching device for an underwater robot and a high-speed unmanned surface vehicle according to the present embodiment is characterized in that: the lowering mechanism 4 comprises a steel wire rope rotating shaft assembly 4-1, a steel wire rope 4-2, a second motor 4-3, a protective cover 4-4, a hollow multistage expansion plate 4-5 and a support arm 4-6;
one end of the steel wire rope rotating shaft component 4-1 is provided with a motor connecting hole;
the output end of a second motor 4-3 is arranged in a motor connecting hole in a steel wire rope rotating shaft component 4-1, a protective cover 4-4 is arranged outside the steel wire rope rotating shaft component 4-1, the outlet of the protective cover 4-4 is fixedly connected with the root part of a hollow multistage expansion plate 4-5, one end of a steel wire rope 4-2 is wound on the outer surface of the steel wire rope rotating shaft component 4-1, the other end of the steel wire rope 4-2 penetrates through the hollow multistage expansion plate 4-5 to be fixedly connected with a support arm 4-6, the last stage plate of the hollow multistage expansion plate 4-5 is fixedly connected with the support arm 4-6, the steel wire rope rotating shaft component 4-1, the second motor 4-3 and the protective cover 4-4 are all arranged on the upper surface of an object stage 3-1, and the steel wire rope rotating shaft component 4, The second motor 4-3 and the protective cover 4-4 are fixedly connected with the upper surface of the objective table 3-1, and other connection modes which are not disclosed are the same as those of the first specific embodiment.
The steel wire rope rotating shaft component 4-1 comprises a steel wire rope rotating shaft and two fixing plates, the two fixing plates are fixedly connected to one end of the steel wire rope rotating shaft respectively, the hollow multistage expansion plate 4-5 is similar to a common expansion rod structure in life, each expansion plate is of a hollow structure, two adjacent expansion plates are mutually clamped through bulges on the wall of the expansion plate, the steel wire rope 4-2 is arranged in the hollow multistage expansion plate 4-5 so as to overcome the defects that the weather is severe when the steel wire rope is thrown on the sea and the sea wind with high wind power influences the throwing process, the hollow multistage expansion plate 4-5 can play a certain role in preventing wind and protecting the steel wire rope, and because the connection between the steel wire rope 4-2 and the supporting arm 4-6 is point contact, an unstable phenomenon occurs during movement, the last stage of the hollow multistage expansion plate 4-5 is fixedly connected with the upper surface of the supporting arm 4-6, when the steel wire rope 4-2 is wound on the steel wire rope rotating shaft assembly 4-1, the steel wire rope 4-2 drives the support arm 4-6 to move upwards, and simultaneously drives the last stage of the hollow multi-stage expansion plate 4-5 fixedly connected with the support arm 4-6 to gradually contract to the root of the hollow multi-stage expansion plate 4-5, when the steel wire rope 4-2 is separated from the wire rope rotating shaft 4-1, the steel wire rope 4-2 can drive the support arm 4-6 to move downwards, and simultaneously drives the last stage of the hollow multi-stage expansion plate 4-5 fixedly connected with the support arm 4-6 to gradually stretch out of the root of the hollow multi-stage expansion plate 4-5 until the hollow multi-stage expansion plate 4-5 reaches the limit length.
The sixth specific implementation mode: the embodiment is described with reference to fig. 8, in the embodiment, a groove 1-1-1 is formed at a connection position of the upper surface of the main bracket 1-1 and the first motor 1-5, and other undisclosed connection modes are the same as those of the second embodiment.
With the arrangement, in order to ensure that the output ends of the first motors 1-5 are on a uniform horizontal line when being connected with the screw rods 1-3, the phenomenon that the distance between the screw rods 1-3 and the slide ways 1-2 is too large due to the overhigh motors, so that the height of the workbench 2 is increased, the weight of the workbench 2 is increased, and a large bearing load is brought to the supporting mechanism 1 is avoided.
The seventh embodiment: the present embodiment will be described with reference to fig. 3, in which the vertical cross section of the stage 3-1 is L-shaped, and other connection means not disclosed are the same as those of the fourth embodiment.
The specific implementation mode is eight: in the present embodiment, a rubber pad is provided on the contact surface between the bracket arms 4 to 6 and the object to be thrown in, as described with reference to fig. 7. Other undisclosed connection modes are the same as the fifth embodiment mode.
According to the arrangement, in order to protect the surface quality of the thrown underwater robot or the water surface rapid unmanned ship, the contact friction force between the bracket arms 4-6 and the underwater robot or the water surface rapid unmanned ship is increased.
Principle of operation
The invention provides a throwing device for an underwater robot and a water surface high-speed unmanned boat, which has the following main components:
firstly, the invention is arranged on a salvage ship, a main support 1-1 is fixedly connected with one side close to a cab of the salvage ship, an auxiliary support 1-4 is arranged at an outer opening of the salvage ship, a motor 1-5 is controlled to enable a screw rod 1-3 to rotate forwards, a workbench 2 arranged on the screw rod 1-3 is enabled to slide on a slideway on the upper surface of a support structure 1, when the invention does not work, a steel wire rope 4-2 is wound around a steel wire rope rotating shaft component 4-1, meanwhile, a hollow multistage expansion plate 4-5 returns to the root part of the hollow multistage expansion plate 4-5 under the action of the steel wire rope 4-2, the shortest compression state is kept, when the workbench 2 moves to the position above an underwater robot to be thrown or a high-speed unmanned boat on the water surface, a hydraulic cylinder 3-2 is controlled to push an object carrying platform 3-1 to slide on the auxiliary slideway group 2-2 to the, controlling a second motor 4-3 to enable a steel wire rope 4-2 below a steel wire rope rotating shaft component 4-1, enabling the steel wire rope 4-2 to drive a support arm 4-6 to move downwards, simultaneously driving a hollow multistage expansion plate 4-5 to extend step by step, controlling a hydraulic cylinder 3-2 to bring back to a carrying platform 3-1 when the support arm 4-6 moves downwards to clamp an underwater robot or a water surface high-speed unmanned boat, enabling the support arm 4-6 to be clamped at two sides of the underwater robot or the water surface high-speed unmanned boat, controlling a first motor 1-5 to drive a screw rod 1-3 to rotate reversely when the support arm 4-6 is additionally provided with a rubber pad protection device, enabling the working platform 2 to move towards an opening of a salvage boat when the support arm 4-6 clamps the underwater robot or the water surface high-speed unmanned boat, the workbench 2 can drive the pushing mechanism 3, the lowering mechanism 4 and the underwater robot or the water surface high-speed unmanned ship clamped on the lowering mechanism 4 to move together, the lowering mechanism 4 is controlled to continue lowering when the underwater robot or the water surface high-speed unmanned ship moves to a throwing area, the underwater robot or the water surface high-speed unmanned ship is immersed in water or floats on the water surface, the hydraulic cylinder 3-2 is controlled to push the objective table 3-1 to enable the bracket arm 4-6 to be far away from the clamped underwater robot or the water surface high-speed unmanned ship, and meanwhile, the second motor 4-3 is controlled to drive the steel wire rope rotating shaft assembly to rewind the steel wire rope 4-2, so that the underwater robot or the water surface high-speed unmanned ship returns to.
Claims (4)
1. A throwing device for an underwater robot and a water surface high-speed unmanned boat comprises a supporting mechanism (1), a workbench (2), two pushing mechanisms (3) and two lowering mechanisms (4);
the workbench (2) is connected to the supporting mechanism (1) in a sliding manner, the two pushing mechanisms (3) are arranged on the workbench (2), the two pushing mechanisms (3) are oppositely arranged in a back direction, and each lowering mechanism (4) is fixedly connected to one pushing mechanism (3);
the method is characterized in that: the workbench (2) comprises a working plate (2-1), two auxiliary slide way groups (2-2) and two auxiliary sliding blocks (2-3);
two auxiliary slide way groups (2-2) are respectively arranged on one side wall of the working plate (2-1), one end of each auxiliary slide way group (2-2) is fixedly connected with one side wall of the working plate (2-1), the other end of each auxiliary slide way group (2-2) is fixedly connected with the side wall of one auxiliary sliding block (2-3), the lower surface of the working plate (2-1) is provided with two parallel first sliding grooves (2-1-1) along the length direction of the working plate (2-1), the middle part of the end wall of the working plate (2-1) is provided with a threaded through hole (2-1-2), the lower surface of each auxiliary sliding block (2-3) is provided with a second sliding groove (2-3-1) parallel to the first sliding groove, the screw rod (1-3) is arranged in the threaded through hole (2-1-2), the screw rod (1-3) is in threaded connection with the threaded through hole (2-1-2), two slideways (1-2) positioned in the middle are respectively arranged in a first slideway (2-1-1), each first slideway (2-1-1) is in sliding connection with one slideway (1-2), two slideways (1-2) positioned on the outer side are respectively arranged in a second slideway (2-3-1), and each second slideway (2-3-1) is in sliding connection with one slideway (1-2);
the supporting mechanism (1) comprises a main support (1-1), a screw rod (1-3), an auxiliary support (1-4), a first motor (1-5), a coupler (1-6), a bearing seat (1-7) with a bearing and four slideways (1-2);
the main support (1-1) and the auxiliary support (1-4) are arranged oppositely, a first motor (1-5) is fixedly connected on the upper surface of the main support (1-1), the output end of the first motor (1-5) faces the auxiliary support (1-4), a bearing seat (1-7) with a bearing is fixedly connected on the upper surface of the auxiliary support (1-4), four slideways (1-2) are arranged on the upper surfaces of the main support (1-1) and the auxiliary support (1-4) in parallel, one end of each slideway (1-2) is fixedly connected with the upper surface of the main support (1-1), the other end of each slideway (1-2) is fixedly connected with the upper surface of the auxiliary support (1-4), a screw rod (1-3) is arranged among the four slideways (1-2) which are parallel, the screw rod (1-3) and each slideway (1-2) are arranged in parallel, one end of the screw rod (1-3) is connected to the output end of a first motor (1-5) through a coupler (1-6), and the other end of the screw rod (1-3) is fixedly connected with a bearing inner ring in a bearing seat (1-7) with a bearing;
the pushing mechanism (3) comprises an object stage (3-1), a hydraulic cylinder (3-2), an electromagnetic directional valve (3-3), a return pipe (3-4), an oil tank (3-5), an oil pipe (3-6) and an oil pump (3-7);
the lower surface of the objective table (3-1) is provided with two parallel third sliding chutes (3-1-1) along the width direction of the objective table (3-1);
a piston rod in a hydraulic cylinder (3-2) is fixedly connected with the side wall of an objective table (3-1), one end of an oil pipe (3-6) is connected with the output end of an oil pump (3-7), the other end of the oil pipe (3-6) is connected with an oil inlet cavity of the hydraulic cylinder (3-2) through an electromagnetic directional valve (3-3), the input end of the oil pump (3-7) is connected with an oil tank (3-5), one end of a return pipe (3-4) is connected with the oil tank (3-5), the other end of the return pipe (3-4) is connected with an oil outlet cavity of the hydraulic cylinder (3-2) through the electromagnetic directional valve (3-3), two auxiliary slideways in an auxiliary slideway group (2-2) are respectively arranged in a third slideway (3-1-1), and each auxiliary slideway is connected with the third slideway (3-1-1) in a sliding manner, the hydraulic cylinder (3-2), the electromagnetic directional valve (3-3), the return pipe (3-4), the oil tank (3-5), the oil pipe (3-6) and the oil pump (3-7) are all arranged on the upper surface of the working plate (2-1), and the cylinder body of the hydraulic cylinder (3-2), the oil tank (3-5) and the oil pump (3-7) are all fixedly connected with the upper surface of the working plate (2-1);
the lowering mechanism (4) comprises a steel wire rope rotating shaft assembly (4-1), a steel wire rope (4-2), a second motor (4-3), a protective cover (4-4), a hollow multi-stage expansion plate (4-5) and a support arm (4-6);
one end of the steel wire rope rotating shaft component (4-1) is provided with a motor connecting hole;
the output end of a second motor (4-3) is arranged in a motor connecting hole in a steel wire rope rotating shaft component (4-1), a protective cover (4-4) is arranged outside the steel wire rope rotating shaft component (4-1), the outlet of the protective cover (4-4) is fixedly connected with the root of a hollow multistage expansion plate (4-5), one end of a steel wire rope (4-2) is wound on the outer surface of the steel wire rope rotating shaft component (4-1), the other end of the steel wire rope (4-2) penetrates through the hollow multistage expansion plate (4-5) to be fixedly connected with a support arm (4-6), the last stage plate of the hollow multistage expansion plate (4-5) is fixedly connected with the support arm (4-6), the steel wire rope rotating shaft component (4-1), the second motor (4-3) and the protective cover (4-4) are all arranged on the upper surface of a carrying platform (3-1), and the steel wire rope rotating shaft assembly (4-1), the second motor (4-3) and the protective cover (4-4) are fixedly connected with the upper surface of the objective table (3-1).
2. A launch device for underwater robots and high speed unmanned surface vehicles according to claim 1, characterised in that: a groove (1-1-1) is arranged at the joint of the upper surface of the main bracket (1-1) and the first motor (1-5).
3. A launch device for underwater robots and high speed unmanned surface vehicles according to claim 2, characterised in that: the vertical section of the objective table (3-1) is L-shaped.
4. A launch device for underwater robots and high speed unmanned surface vehicles according to claim 3, characterised in that: and a rubber pad is arranged on the contact surface of the bracket arm (4-6) and the thrown object.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110847282A (en) * | 2019-11-21 | 2020-02-28 | 上海工程技术大学 | Self-adaptive rainwater collecting and transporting device |
| CN110901858B (en) * | 2019-12-10 | 2021-12-17 | 鹏城实验室 | AUV cluster surface of water recovery unit |
| CN111986827B (en) * | 2020-08-19 | 2024-04-12 | 吉林大学 | Underwater cleaning device applied to deep water |
| CN113401323A (en) * | 2021-07-19 | 2021-09-17 | 中国科学院沈阳自动化研究所 | Modular slideway clamping type recovery device for autonomously recovering underwater robot |
| CN115806022B (en) * | 2022-12-13 | 2024-04-30 | 威海水利工程集团有限公司 | Precise positioning device for underwater surveying and mapping and positioning method thereof |
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