CN111017166B

CN111017166B - Intelligent underwater net grabbing device

Info

Publication number: CN111017166B
Application number: CN201911416735.1A
Authority: CN
Inventors: 胡静; 朱连利; 李世雄; 赵欣; 刘先越
Original assignee: Chinese People's Armed Police Force Sea Police Academy
Current assignee: Chinese People's Armed Police Force Sea Police Academy
Priority date: 2019-12-31
Filing date: 2019-12-31
Publication date: 2021-02-19
Anticipated expiration: 2039-12-31
Also published as: CN111017166A

Abstract

The underwater intelligent net grabbing device comprises a grabbing net (2), wherein the grabbing net (2) comprises a closed head end and an openable open end, a main pull rope (4) is tied at the head end of the grabbing net (2), at least 4 branch pull ropes are tied at the open end and are uniformly distributed along the open end, each branch pull rope is connected with a trawl self-propelling device (19) which can automatically advance in water and is shaped like a torpedo, and the grabbing net is provided with a tightening mechanism for tightening a port of the grabbing net (2); the underwater moving target intelligent grabbing device manufactured by the underwater intelligent grabbing network device can grab an underwater moving target in moving.

Description

Intelligent underwater net grabbing device

Technical Field

The invention belongs to the technical field of underwater operation, and relates to an underwater intelligent net grabbing device.

Background

With the progress of technology, people move under water more and more frequently. Due to the widespread use of underwater propellers and underwater robotics, small underwater mobile devices propelled by various underwater propellers are beginning to emerge more and more in the underwater environment. For these underwater moving objects, it is obviously not suitable for a person to directly approach it without knowing anything. When people fall into water or the small underwater mobile device is lost due to loss of control, the people falling into the water or the small underwater mobile device randomly runs at a speed close to or slightly lower than the flow speed of fluid under the action of water flow, so that the safety of other normally running aircrafts in a water area can be threatened, the loss of lives and properties can be caused, and a targeted grabbing device and a targeted grabbing method are lacked at present. The grabbing technology of underwater moving targets needs to be solved.

Disclosure of Invention

The invention aims to solve the technical problem of providing an underwater intelligent net grabbing device aiming at the technical current situation. The invention relates to an underwater intelligent grabbing network device which is a main component of an underwater moving target grabbing device.

The technical scheme adopted by the invention for solving the technical problems is as follows:

the utility model provides an intelligence snatchs net device under water, is including snatching net (2), snatch net (2) including closed head end and the open end that can open, its characterized in that, the head end system of snatching net (2) has total stay cord (4), and the open end has 4 branch stay cords (6) along the open end equipartition at least, and every divides stay cord (6) to connect the trawl self-propelled ware (19) of the shape like the torpedo that can advance by oneself in aqueous, it is provided with the tight mechanism of tying up of snatching net (2) port to snatch the net. The trawl self-propelled device (19) comprises a machine body (193), the tail end of the machine body (193) is fixedly connected with a flow guide cover (192), a propeller (191) extends out of the machine body (193) and is positioned in the flow guide cover (192), and a high-speed propulsion motor (196) is arranged in the machine body (193) and drives the propeller (191) through a rotating shaft (197) of the high-speed propulsion motor; the outer side of the machine body (193) is provided with a steering rudder (200), a double-shaft steering engine (198) is further arranged in the machine body (193), and steering engine rotating shafts (199) on two sides of the double-shaft steering engine 198 are connected with the steering rudder (200).

The following are further schemes, respectively:

the tightening mechanism is arranged as follows: wherein, the branch pull ropes (6) of 2 trawl self-propelled devices (19) which are positioned at opposite positions are two ropes which are respectively combined by penetrating through two ends of a half circle of the opening end of the grabbing net (2) and are convenient for fastening the port of the grabbing net (2) after being pulled tightly.

The main pull rope (4), at least part of net ropes for grabbing nets and each branch pull rope (6) are internally provided with a power line, a signal line, a propulsion motor (196) in a machine body (193) connected with each trawl self-propelled device (19) and a double-shaft steering engine (198) in a flow guide cover (192).

The underwater intelligent net grabbing device is provided with 6 trawl self-propelled devices (19), the grabbing net (2) is provided with 6 branch pull ropes (6), and the trawl self-propelled devices (19) are respectively connected.

A trawl hook is arranged outside the air guide sleeve (192), and the branch pull ropes (6) are tied on the trawl hook (195).

The tail end of the air guide sleeve (192) is provided with a retaining ring (194).

The grabbing net (2) is made of corrosion-resistant and light materials; the diameter of the net rope is not less than 1mm and not more than 5mm, and the mesh is not less than 25cm²And not more than 100cm²Or the diameter of the net rope is large and the net holes are largeThe size is determined according to the size of the object to be grabbed.

The underwater moving target grabbing device manufactured by the underwater intelligent grabbing network device can grab a moving target in moving, has simple structure and high reliability, is convenient to use, can be conveniently installed on an underwater vehicle such as an underwater robot and the like, and can also be used by being held by a diver.

Drawings

Fig. 1 is a schematic view of a closed state of a grabbing unit group of an underwater moving target intelligent grabbing device;

FIG. 2 is a schematic view of a single grasping unit;

FIG. 3 is a schematic cross-sectional view of a single grasping unit;

FIG. 4 is a schematic view of a trawl self-propelled machine;

FIG. 5 is a partial schematic view of a trawl self-propelled machine;

FIG. 6 is a schematic cross-sectional view of a trawl self-propelled apparatus;

FIG. 7 is a schematic view of the orientation of the latch mechanism;

FIG. 8 is a schematic view of the second orientation of the latch mechanism;

FIG. 9 is a perspective view of the latch mechanism;

FIG. 10 is a schematic diagram illustrating an opened state of a grabbing unit group of the intelligent grabbing device for underwater moving objects;

FIG. 11 is a schematic view of the open state of the underwater intelligent net grabbing device of the present invention;

FIG. 12 is a schematic diagram showing a state in which a trawl self-propelled device drives a grabbing net to open and grab a target object after a grabbing unit group of the intelligent grabbing device for underwater moving targets opens;

fig. 13 is a schematic view of the state that the port of the grabbing net (2) is tightened after the underwater moving target intelligent grabbing device grabs a target object.

Detailed Description

The following description will explain the embodiments of the present invention by taking the preferred embodiments shown in fig. 1 to 13 as examples.

The utility model provides an intelligent snatch net device under water, as shown in fig. 11, including snatching net 2, snatch net 2 and include closed head end and the open end that can open, the head end system that snatchs net 2 has total stay cord 4, and the open end is tied at least and has 4 branch stay cords 6 along the open end equipartition, and every branch stay cord 6 is connected can be in the aquatic trawl from moving ware 19 of the shape like the torpedo of advancing by oneself. Suitably, the open end is tied with 6 branch ropes 6 and each is connected with 6 trawl self-propelled devices 19. The grabbing net is provided with a tightening mechanism for tightening the port of the grabbing net 2.

As shown in fig. 11, the underwater intelligent net grabbing device is provided with 6 trawl self-propelled devices 19, and the grabbing net 2 is provided with 6 branch pulling ropes 6 which are respectively connected with the trawl self-propelled devices 19. The tightening mechanism may be arranged as follows: wherein, the branch pulling ropes 6 of 2 trawl self-propelled devices 19 which are positioned at opposite positions are two ropes which are respectively combined by penetrating through two ends of a half circle of the open end of the grabbing net 2 and are convenient for tightening the port of the grabbing net 2 after being tightened. The main pull rope 4, at least part of the net ropes for grabbing the net and each branch pull rope 6 are internally provided with a power line and a signal line which are connected with a propulsion motor 196 in a machine body 193 of each trawl self-walking device 19 and a double-shaft steering engine 198 in a flow guide cover (192). The outside of the air guide sleeve 192 is provided with a trawl hook 195, and each branch pulling rope 6 is tied on the trawl hook 195. The shroud 192 terminates in a retaining ring 194. The grabbing net (2) is made of corrosion-resistant and light materials; the diameter of the net rope is not less than 1mm and not more than 5mm, and the mesh is not less than 25cm²And not more than 100cm²Or the diameter of the net rope and the size of the net hole are determined according to the size of the grabbed object.

As shown in fig. 3, 4, 5 and 6, the trawl self-propelled device 19 comprises a machine body 193, the tail end of the machine body 193 is fixedly connected with a diversion cover 192, a propeller 191 extends out of the machine body 193 and is positioned in the diversion cover 192, a high-rotation-speed propulsion motor 196 is arranged in the machine body 193 and drives the propeller 191 through a rotating shaft 197 of the high-rotation-speed propulsion motor 196, and the idling rotation speed of the high-rotation-speed propulsion motor 196 is not lower than 3000 revolutions per minute; the outer side of the machine body 193 is provided with a steering rudder 200, a double-shaft steering engine 198 is further arranged in the machine body 193, and steering engine rotating shafts 199 on two sides of the double-shaft steering engine 198 are connected with the steering rudder 200. The steering rudder 200 is driven by a double-shaft steering engine 198 to rotate, so that the trawl self-propelled device 19 can automatically steer.

The underwater intelligent grabbing network device and the matched grabbing unit group can be assembled into an underwater moving target intelligent grabbing device, and as shown in figure 1, the underwater moving target intelligent grabbing device can effectively grab an underwater moving target in moving.

The grabbing unit group comprises a base 3 and 6 independent grabbing units 1, a power supply and a controller are arranged in the base 3, each grabbing unit 1 comprises two sections of connecting arms which are connected with each other, each section of connecting arm can rotate around the connecting end of the connecting arm, the connecting end of each connecting arm is provided with a joint steering engine and a rotating frame driven by the joint steering engine, the controller can control each joint steering engine to rotate the connecting arm, the connecting end of each connecting arm is fixedly connected with the base 3 into an octopus shape, a first joint steering engine 11 is fixed on the base 3, the rotating shaft of each steering engine is fixed on a first rotating frame 12, the middle position of the first rotating frame 12 is fixedly connected with a first connecting arm 13, the tail end of the first connecting arm 13 is provided with a first protective cover 14, a second joint steering engine 15 is fixedly connected on the first protective cover 14, the rotating shaft of the second joint steering engine 15 is fixed on a second joint rotating frame 16, the middle, a second protective cover 18 is fixedly arranged at the tail end of the second connecting arm 17. The outer end of the second link arm, i.e. between the inside of the second hood 18 and the trawl self-propelled device 19, is provided with a locking mechanism.

The locking mechanism is arranged as follows: as shown in FIG. 5, a retaining ring 194 is provided at the end of the pod 192 of the trawl bicycle 19. As shown in fig. 7, 8 and 9, a lock catch steering engine 201, a bracket 202, a rotating arm 203, a transmission shaft 204, a transmission connecting rod 205, a push rod 206 and a push rod slot 207 are arranged at the outer end of the connecting arm; two lock catch slot holes 24 are arranged on the chassis 22 for the lock catch ring 194 to pass through; the support 202 is fixed on the top surface of the second protective cover 18, the latch steering gear 201 is fixed under the support 202, the rotating arms 203 are distributed on two sides of the latch steering gear 201 and hinged with the transmission shaft 204, the transmission shaft 204 is connected with the push rod 206 through the transmission connecting rod 205, and the rotating arms 203, the transmission shaft 204, the transmission connecting rod 205 and the push rod 206 form a connecting rod mechanism together; a push rod slot 207 is formed on the bracket 202, and the push rod 206 can reciprocate in the push rod slot 207 under the action of the lock catch steering engine 201 and the link mechanism, so as to lock and unlock the lock buckle 194. The outer end of the connecting arm of the locking mechanism is further fixed with a base support 23, the base support 23 is composed of 4 upright columns and is distributed in a circumferential array, the base 22 is fixedly arranged at the top of the

base support

23, and 4 angle square support pieces 21 are fixedly arranged on the upper surface of the base 22 and are distributed in a circumferential array and are used for embedding the tail end of a flow guide cover 192 of the trawl self-propelled device 19.

As shown in fig. 2 and 3, a power line and a signal line are connected from the base 3 and respectively reach the first joint steering engine 11, the second joint steering engine 15 and the lock catch steering engine 201 through the inside of the first connecting arm 13 and the second connecting arm 17, so that the rotation control of the controller on each steering engine is respectively realized. The steering engine in the invention does not refer to a traditional machine for controlling ship steering, but is a small-sized position and angle servo driver, and is suitable for control systems which need to change and maintain the angle constantly. The steering engine can be purchased from the market.

As shown in fig. 1, when the underwater moving target intelligent gripping device is not opened, the underwater moving target intelligent gripping device is in a closed state, and a first joint steering engine 11 and a first steering engine rotating frame 12, and a second joint steering engine 15 and a second steering engine rotating frame 16 are in a small-angle static state. The grabbing net 2 is positioned in the space enclosed by the grabbing units 1. As shown in fig. 7, each trawl bicycle 19 is connected to the top end of the second hood 18 through its hood 192, the hood 192 of the trawl bicycle 19 is located at the end of the chassis 22 and is embedded in the space enclosed by the 4-piece square support plate 21, and the retaining ring 194 at the end of the hood 192 of the trawl bicycle 19 passes through the locking slot 24 and extends into the space of the push rod slot 207 through which the push rod 206 can pass. Under the drive of a link mechanism consisting of a rotating arm 203, a transmission shaft 204 and a transmission link 205, a push rod 206 passes through a buckle 194 and is inserted into a push rod slot 207, so that the trawl self-propelled device 19 is connected to the top end of the second protection cover 18 through a diversion cover 192 thereof, as shown in fig. 7.

When the robot is underwater and is close to a target object 5 by about 2 meters, the controller 32 in the base 3 sends out a joint steering engine rotation instruction, the central axis of the base 3 is used as a reference axis, the first joint steering engine 11 and the second joint steering engine 15 rotate outwards to drive the first steering engine rotating frame 12 and the second steering engine rotating frame 16 to rotate outwards, the 6 grabbing units 1 are gradually opened, when the robot reaches the position shown in fig. 10, the first joint steering engine 11 and the second joint steering engine 15 stop rotating, and the whole robot is in an opened state. Keeping the emission direction of each grabbing unit group 1 to form a certain angle with the central axis of the base 3, wherein the angle can be between 0 degree and 60 degrees according to the distance from the target object 5 and the size of the target object 5, and the closer the grabbing unit group is to the target object 5, the smaller the angle is, and the farther the grabbing unit group is, the larger the angle is; the larger the size of the object 5, the larger the angle, and the smaller the size, the smaller the angle.

As shown in fig. 10, after the underwater moving target intelligent gripping device is opened, the underwater moving target intelligent gripping device faces the target 5 and is in a state before gripping, at this time, the controller in the base 3 sends a starting instruction to each gripping unit 1, the latch steering engine 201 rapidly rotates to drive the link mechanism to move, and through the transmission of the rotating arm 203, the transmission shaft 204 and the transmission link 205, the push rod 206 is pulled out from the push rod slot 207, so that the latch 194 is in a free state, as shown in fig. 8 and 9. The controller in the base 3 sends a start command to the 6 trawl bicycle 19, and the propeller 191 is driven by the propulsion motor 196 in the trawl bicycle 19 to rotate at a high speed, so that each trawl bicycle 19 is separated from the second protection cover 18 and starts to move in the forward direction, i.e. the 6 trawl bicycles 19 start to approach rapidly towards the target 5. The trawl self-propelled devices 19 drive the grabbing net 2 to move forward rapidly through the respective branch pulling ropes 6, and simultaneously drive the grabbing net 2 to open and gradually approach to the target object 5 in a surrounding state, as shown in fig. 12.

When the target object 5 is completely surrounded, the controller in the base 3 sends an instruction to each trawl self-walking device 19, so that 4 trawl self-walking devices 19 stop moving and are in a free suspension state, the trawl self-walking devices 19 of the rest 2 block nets continuously move at a higher running speed to drive the branch pulling ropes 6 of the block nets to oppositely draw each other, the port of the grabbing net 2 is tightened, the target object 5 is wrapped, and the grabbing operation of the target object 5 is completed. After the grabbing operation is completed, the control of the object 5 is realized under the traction of the grabbing net connecting main pull rope 4, as shown in fig. 13.

Claims

1. An underwater intelligent net grabbing device comprises a grabbing net (2), wherein the grabbing net (2) comprises a closed head end and an openable open end, and is characterized in that a main pull rope (4) is tied at the head end of the grabbing net (2), at least 4 branch pull ropes (6) are tied at the open end and are uniformly distributed along the open end, each branch pull rope (6) is connected with a trawl self-walking device (19) which can automatically advance in water and is shaped like a torpedo, and the grabbing net is provided with a tightening mechanism for tightening the port of the grabbing net (2); the trawl self-propelled device (19) comprises a machine body (193), the tail end of the machine body (193) is fixedly connected with a flow guide cover (192), a propeller (191) extends out of the machine body (193) and is positioned in the flow guide cover (192), and a high-speed propulsion motor (196) is arranged in the machine body (193) and drives the propeller (191) through a rotating shaft (197) of the high-speed propulsion motor; a steering rudder (200) is arranged on the outer side of the machine body (193), a double-shaft steering engine (198) is further arranged in the machine body (193), and steering engine rotating shafts (199) on two sides of the double-shaft steering engine (198) are connected with the steering rudder (200).

2. An underwater intelligent net grabbing device according to claim 1, wherein the tightening mechanism is arranged in such a way that: wherein, the branch pull ropes (6) of 2 trawl self-propelled devices (19) which are positioned at opposite positions are two ropes which are respectively combined by penetrating through two ends of a half circle of the opening end of the grabbing net (2) and are convenient for fastening the port of the grabbing net (2) after being pulled tightly.

3. An underwater intelligent net grabbing device according to claim 1, wherein a propulsion motor (196) and a double-shaft steering engine (198) are arranged in the main pull rope (4), at least part of net ropes of the grabbing net and each branch pull rope (6), and power lines and signal lines are connected with the body (193) of each trawl self-propelled device (19).

4. An underwater intelligent net grabbing device according to claim 1, wherein 6 trawl jacks (19) are arranged, and the grabbing net (2) is provided with 6 branch pulling ropes (6) which are respectively connected with the trawl jacks (19).

5. The underwater intelligent net grabbing device as claimed in claim 1, wherein a trawl hook is arranged outside the air guide sleeve (192), and the branch pulling ropes (6) are respectively tied on the trawl hook (195).

6. The underwater intelligent net grabbing device of claim 1, wherein the end of the air guide sleeve (192) is provided with a retaining ring (194).

7. An underwater intelligent net grabbing device according to claim 1, wherein the grabbing net (2) is made of a corrosion-resistant and light material; the diameter of the net rope is not less than 1mm and not more than 5mm, and the mesh is not less than 25cm²And not more than 100cm²Or the diameter of the net rope and the size of the net hole are determined according to the size of the grabbed object.