CN114655366A - Submersible cluster type distribution device - Google Patents
Submersible cluster type distribution device Download PDFInfo
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- CN114655366A CN114655366A CN202210403494.2A CN202210403494A CN114655366A CN 114655366 A CN114655366 A CN 114655366A CN 202210403494 A CN202210403494 A CN 202210403494A CN 114655366 A CN114655366 A CN 114655366A
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- 238000009826 distribution Methods 0.000 title abstract description 8
- 230000007246 mechanism Effects 0.000 claims abstract description 76
- 238000000034 method Methods 0.000 claims abstract description 18
- 230000008569 process Effects 0.000 claims abstract description 18
- 230000007306 turnover Effects 0.000 claims abstract description 13
- 230000009189 diving Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 238000009964 serging Methods 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 2
- 229920002635 polyurethane Polymers 0.000 description 10
- 239000004814 polyurethane Substances 0.000 description 10
- 230000033001 locomotion Effects 0.000 description 9
- 239000000463 material Substances 0.000 description 9
- 230000009471 action Effects 0.000 description 7
- 230000005484 gravity Effects 0.000 description 6
- 238000004891 communication Methods 0.000 description 4
- 238000003825 pressing Methods 0.000 description 4
- 230000003139 buffering effect Effects 0.000 description 3
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- 238000004519 manufacturing process Methods 0.000 description 3
- 239000007858 starting material Substances 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000005381 potential energy Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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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
- B63B27/19—Other loading or unloading equipment involving an intermittent action, not provided in groups B63B27/04 - B63B27/18
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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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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
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- Ocean & Marine Engineering (AREA)
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Abstract
The invention discloses a submersible clustered deployment device, relates to the technical field of underwater robots, and solves the problems of low deployment efficiency, high operation cost and high risk in deployment under severe sea conditions during the clustered deployment of submersible, wherein the technical scheme comprises the following key points: a main body provided with a sliding channel; the overturning locking mechanism is rotatably arranged on the main body at one end, and the other end of the overturning locking mechanism can rotate to the sliding channel; the power mechanism is arranged on the main body and is in transmission connection with the turnover locking mechanism; the scheme provides a structure capable of quickly locking and unlocking an underwater vehicle, and the underwater vehicle can be locked and unlocked through turning; the scheme can reduce the distribution operation time of the underwater diving device during cluster distribution through a simple and efficient distribution mode, and further improves the safety efficiency and the safety of the underwater diving device in the distribution operation process.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to a submersible cluster type distributing device.
Background
The underwater diving devices are widely applied to marine resource exploration, marine environment monitoring, marine scientific investigation and underwater operation, generally the existing underwater diving devices are usually arranged through simple structures such as ropes, lifting hooks, mechanical arms and the like in the arranging process, the underwater diving devices at each station can only be arranged one by one, but the arrangement efficiency of the underwater diving devices is low, and the operation cost is high; the effective operation window time is short when the underwater vehicles are deployed on the sea, and the operation time required by the clustered deployment of the plurality of underwater vehicles is long, so that the risk of the deployment on the sea is increased.
Disclosure of Invention
The invention aims to provide a submersible clustered deployment device, which is a structure capable of quickly locking and unlocking an underwater submersible, and can lock and unlock the underwater submersible through turning; the scheme reduces the laying operation time of a plurality of underwater diving devices through a simple and efficient laying mode, and then improves the safety of the laying operation process of the underwater diving devices.
The technical purpose of the invention is realized by the following technical scheme: a submersible clustered deployment apparatus, comprising:
the main body is provided with a sliding channel for the installation and sliding of the underwater diving device;
the overturning locking mechanism is rotatably arranged on the main body at one end, and the other end of the overturning locking mechanism can rotate to the sliding channel;
the power mechanism is arranged on the main body, is in transmission connection with the turnover locking mechanism and can drive the turnover locking mechanism to rotate to the sliding channel; enabling the overturning locking mechanism to rotate to the sliding path of the underwater vehicle on the sliding channel, and enabling the underwater vehicle to be locked on the sliding channel;
when the roll-over locking mechanism is rotated away from the slide channel, the underwater vehicle is unlocked from the slide channel.
Therefore, the scheme provides a structure capable of quickly locking and unlocking the underwater vehicle, the sliding channel is firstly inclined and lifted by means of an external lifting mechanism, and then the underwater vehicle can be locked and unlocked by turning over; when the underwater vehicle is mounted to the slide channel, one end of the flip lock mechanism is rotated to the slide channel, which enables the underwater vehicle to be locked to the slide channel; when one end of the turnover locking mechanism rotates out of the sliding channel, the underwater vehicle can be unlocked from the sliding channel; the underwater vehicle is quickly separated from the sliding channel under the action of gravity, so that the underwater vehicle is quickly laid, the laying efficiency of the underwater vehicle is improved, and the operation cost of laying operation is reduced; in addition, in consideration of severe offshore conditions possibly encountered during deep sea deployment operation, the scheme can reduce the deployment operation time through a simple and efficient deployment mode, and further improve the safety of the underwater vehicle deployment operation process.
In some embodiments, the tumble lock mechanism includes:
a front locking portion rotatable to the slide channel to block the underwater vehicle from sliding;
and the horizontal locking part is rotatably arranged on the main body at one end, and the other end of the horizontal locking part is connected with the front locking part.
From this, this scheme provides a upset locking mechanical system's embodiment, and horizontal locking portion can drive preceding locking portion and rotate to being located sliding channel, and then makes this scheme compress tightly the underwater vehicle and spacing in the space that horizontal locking portion, preceding locking portion, sliding channel enclose and cover and form through the effect of horizontal locking portion and preceding locking portion.
In some embodiments, the front locking portion is integrally provided with the horizontal locking portion.
Therefore, the scheme provides a concrete connection structure of the front locking part and the horizontal locking part, the integrated structure can facilitate large-batch production and manufacturing, and can effectively improve the mechanical property of the front locking part and the horizontal locking part when the underwater vehicle is locked, so that the joint of the front locking part and the horizontal locking part is not easy to damage.
In some embodiments, the front locking portion includes an arc portion and a straight portion, one end of the arc portion being connected to the horizontal locking portion, and the other end of the arc portion being connected to the straight portion.
Therefore, the scheme provides a specific structure of the front locking part, the straight line part can be abutted by the front locking part, and the arc-shaped part can effectively avoid the impact damage of the underwater vehicle with larger weight to the front locking part through the elastic potential energy of the structure of the arc-shaped part, so that the strength of the front locking part in the process of locking the underwater vehicle is improved.
In some embodiments, the front locking portion has a first resilient buffer layer capable of reducing damage to the underwater vehicle during a locking process, and the slide channel has a second resilient buffer layer capable of reducing damage to the underwater vehicle during a sliding process.
In this way, in the present embodiment, the front locking portion is made of the polyurethane material, and therefore, the damage of the underwater vehicle due to the impact of the sea surface shaking on the front locking portion during the marine transportation can be effectively reduced by utilizing the elastic buffering performance of the polyurethane material.
In the scheme, the sliding channel can be better applied to the sea condition operation environment with complex sea conditions by utilizing the impact load absorption capacity and the excellent buffering and damping performance of the polyurethane material, so that the damage of the underwater vehicle on the collision of the front locking part due to the sea surface shaking in the marine transportation process is reduced.
In some embodiments, the power mechanism comprises:
the first linear moving device is provided with a first fixed end and a first movable end, the first fixed end is rotatably arranged on the main body, the first movable end is rotatably connected with the turnover locking mechanism, and the first movable end drives the turnover locking mechanism to rotate in the direction away from or close to the sliding channel.
Therefore, the first linear moving device provides power for overturning of the overturning locking mechanism so as to realize quick overturning of the overturning locking mechanism.
In some embodiments, the body comprises:
the sliding channel is arranged on the supporting seat;
the number of the vertical supporting parts is a plurality, and the vertical supporting parts are provided with supporting vacant positions;
the transverse supporting parts are arranged in the supporting vacant positions and abut against the inner walls of the two sides of the vertical supporting parts;
the one end rotary type of upset locking mechanical system sets up in vertical supporting part, and power unit sets up in vertical supporting part.
From this, this scheme provides a concrete structure of main part, and it just can realize the construction of main part through the fast assembly of supporting seat, vertical supporting part, horizontal supporting part, and the structure of pin-connected panel can be convenient for on the marine carrier of adaptation different grade type.
In some embodiments, a plurality of the vertical supporting portions are uniformly distributed along the axial direction of the sliding channel, and a space is reserved between every two adjacent vertical supporting portions.
From this, the interval of leaving between the vertical supporting part can reduce the weight of main part self to in the whole weight of this scheme of reduction.
In some embodiments, the sliding channel has a sliding opening for disengaging the submersible vehicle, and a submersible clustered deployment apparatus further comprises:
one end of the main body is rotatably arranged at one end of the base close to the sliding opening, and the other end of the main body is abutted against one end of the base far away from the sliding opening;
one end of the lifting mechanism is arranged on the base, and the other end of the lifting mechanism is connected with one end of the main body, which is far away from the sliding opening;
under the drive of the lifting mechanism, one end of the main body, which is far away from the sliding opening, is lifted, so that an inclined angle can be formed between the main body and the base.
Therefore, when the base is provided with the plurality of main bodies, each main body corresponds to one underwater vehicle, when the overturning locking mechanism unlocks the underwater vehicles and the lifting mechanism lifts one end of the base, each unlocked underwater vehicle can be quickly separated from the sliding channel under the action of gravity, and therefore large-batch laying of the underwater vehicles is achieved, and laying efficiency of the underwater vehicles is improved conveniently.
In some embodiments, the lift mechanism comprises:
a support link;
one end of the first supporting arm is rotatably connected with the base;
one end of each second support arm is rotatably connected with the support arm, the other end of each second support arm is rotatably connected with the main body, the number of the second support arms is two, and the adjacent second support arms are connected through support connecting rods;
the second linear moving device is provided with a second fixed end and a second movable end, the second fixed end is rotatably connected with the base, and the second movable end is rotatably connected with the supporting connecting rod;
under the drive of the second movable end, the second supporting arm provides a driving force for the main body to move towards the direction far away from the base.
From this, this scheme provides a elevating system's embodiment, and this scheme is through the supporting role with the help of first support arm and second support arm, and it is through utilizing lever action so that realize raising and lowering functions laborsavingly more.
In some embodiments, an underwater vehicle, which can be applied to a submersible cluster deployment device, has an underwater sliding wing assembly, a sliding channel is provided with a sliding groove matched with the underwater sliding wing assembly, and a turning locking mechanism is provided with a through groove matched with the underwater sliding wing assembly.
By adopting the technical scheme, aiming at the underwater vehicle with the underwater sliding wing assembly, considering that the underwater sliding wing assembly can protrude out of the outer peripheral side of the underwater vehicle, the scheme pertinently arranges the sliding groove on the sliding channel, so that the underwater sliding wing assembly can smoothly slide away from the sliding channel; in the scheme, the through groove formed in the overturning locking mechanism can enable the underwater sliding wing assembly to penetrate through the through groove, so that the underwater vehicle can be better locked.
In conclusion, the invention has the following beneficial effects: the scheme provides a structure capable of quickly locking and unlocking an underwater vehicle, and the underwater vehicle can be locked and unlocked through turning; the scheme can reduce the laying operation time of a plurality of underwater vehicles through a simple and efficient laying mode, and further improves the safety of the cluster laying operation process of the underwater vehicles.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural view from another perspective of the present invention;
FIG. 3 is an enlarged view at A in FIG. 2;
FIG. 4 is a schematic view of the submersible vehicle of the present invention in connection with a main body and a lifting mechanism;
FIG. 5 is an enlarged view at B in FIG. 4;
FIG. 6 is a schematic view of the submersible vehicle of the present invention in connection with another perspective of the main body and the lifting mechanism;
fig. 7 is a schematic diagram of the connection relationship of the control system of the present invention.
Reference numerals: 1. an underwater vehicle; 11. an underwater planing wing assembly; 2. a base; 3. a main body; 31. A supporting seat; 32. a vertical support portion; 321. supporting the vacant site; 33. a lateral support portion; 34. a slide channel; 341. a slide opening; 342. a chute; 343. a second elastic buffer layer; 4. a roll-over locking mechanism; 41. a front locking portion; 411. an arc-shaped portion; 412. a straight line portion; 413. a first elastic buffer layer; 42. a horizontal locking portion; 422. pressing the cushion block; 423. a through groove; 5. a power mechanism; 51. a first linear motion device; 511. a first fixed end; 512. a first movable end; 6. a lifting mechanism; 61. a first support arm; 62. a second support arm; 63. a support link; 64. a second linear moving device; 641. A second fixed end; 642. a second movable end.
Detailed Description
In the following, the present invention will be described in further detail with reference to the accompanying drawings, and in order to better describe a submersible vehicle cluster deployment device, reference is made to the concept of X, Y, Z axes, taking three mutually orthogonal spatial axes as X-axis, Y-axis and Z-axis, as shown in the coordinate axes of fig. 1 to 6, defining the-X-axis direction as the direction in which the submersible vehicle 1 slides along the sliding channel 34 out of the sliding opening 341, and defining the-Z-axis as the gravity direction. The movement in the back-and-forth or up-and-down direction or the movement in the X-axis, Y-axis, and Z-axis directions in the embodiments are not limited to the movement in the vertical, horizontal, or parallel direction, and the movement having an inclination angle may be calculated as long as there is a component movement in the direction.
Example one
A submersible cluster deployment apparatus, which is disposed aft (i.e., -X axis) of an unmanned ship, as shown in fig. 1 to 6, comprising: base 1, main part 3, power unit 5, upset locking mechanical system 4, control system specifically as follows:
wherein the main body 3 includes: the supporting seat 31, the vertical supporting portion 32 and the horizontal supporting portion 33 are as follows as shown in fig. 1 and fig. 2:
a support seat 31, wherein the support seat 31 of the main body 3 is provided with a sliding channel 34 for the submersible water device 1 to be installed and slide; the slide passage 34 has a slide opening 341 through which the submersible vessel 1 can be detached. The material of the supporting seat 31 is polyurethane.
A plurality of vertical supporting portions 32 having supporting empty positions 321; a plurality of vertical supporting parts 32 are evenly distributed along the axial direction of the sliding channel 34, and a space is reserved between the adjacent vertical supporting parts 32. The material of the supporting seat 31 is polyurethane.
Therefore, the damage to the supporting seat caused by the impact or abrasion of the underwater vehicle 1 due to sea surface shaking in the marine transportation process can be effectively reduced by utilizing the elastic buffering performance of the polyurethane material. The interval of leaving between the vertical supporting part can reduce the weight of main part self to in the whole weight of this scheme of reduction.
A horizontal support part 33 disposed in the support vacancy 321 and abutting against the inner walls of both sides of the vertical support part 32; the vertical support portion 32 and the horizontal support portion 33 are both of a metal plate-shaped structure, and are connected by welding.
A flip lock mechanism 4 having one end rotatably provided to the main body 3 and the other end rotatable to the slide passage 34;
the tumble lock mechanism 4 includes a front lock portion 41 and a horizontal lock portion 42, as follows:
a front lock 41 that can be turned to the slide channel 34 to block the underwater vehicle 1 from sliding; a horizontal locking portion 42 is rotatably provided at one end thereof to the main body 3, and the other end thereof is connected to the front locking portion 41. Therefore, the scheme provides a specific implementation mode of the turnover locking mechanism 4, the horizontal locking part 42 can drive the front locking part 41 to rotate to be located in the sliding channel 34, and then the scheme compresses and limits the underwater vehicle 1 in a space formed by the horizontal locking part 42, the front locking part 41 and the sliding channel 34 in a shielding manner under the action of the horizontal locking part 42 and the front locking part 41.
In the present embodiment, the front locking portion 41 and the horizontal locking portion 42 are integrally provided, that is, the front locking portion 41 and the horizontal locking portion 42 are integrally formed during the forming process. Therefore, the scheme provides a specific connection structure of the front locking part 41 and the horizontal locking part 42, the integrated structure can facilitate mass production and manufacturing, and secondly, the integrated structure can effectively improve the mechanical property of the front locking part 41 and the horizontal locking part 42 when the underwater vehicle 1 is locked, so that the joint of the front locking part 41 and the horizontal locking part 42 is not easy to damage.
The front locking portion 41 includes an arc-shaped portion 411 and a linear portion 412, one end of the arc-shaped portion 411 is connected to the horizontal locking portion 42, and the other end of the arc-shaped portion 411 is connected to the linear portion 412. Therefore, the scheme provides a specific structure of the front locking part 41, the straight part 412 can be abutted by the front locking part 41, and the arc part 411 can effectively avoid the impact damage of the heavy underwater vehicle 1 to the front locking part 41 through the elastic potential energy of the structure of the arc part 411, so that the strength of the front locking part 41 in the process of locking the underwater vehicle 1 is improved.
The front locking portion 41 has a first resilient buffer 413 to reduce damage to the underwater vehicle 1 during the locking process, and the slide channel 34 has a second resilient buffer 343 to reduce damage to the underwater vehicle 1 during the sliding process. Thus, in this embodiment, the front locking portion 41 is made of a polyurethane material, and therefore, by utilizing the elastic buffer performance of the polyurethane material itself, damage to the front locking portion 41 due to the impact of the sea surface shake during the marine transportation of the underwater vehicle 1 can be effectively reduced. Since the slide channel 34 is made of polyurethane, the slide channel 34 can be preferably applied to a sea work environment with complicated sea conditions by utilizing the impact load absorbing ability and the excellent shock absorbing performance of the polyurethane itself, so that the damage of the underwater vehicle 1 due to the impact of the sea surface shake on the front locking portion 41 during the marine transportation can be reduced.
The horizontal locking part 42 is provided with a pressing cushion block 422 matched with the outer contour of the underwater vehicle 1, and the pressing cushion block 422 can further lock the underwater vehicle 1; in this embodiment, the pressing pad 422 is made of an elastic buffer material, which can prevent the underwater vehicle 1 from being damaged.
The power mechanism 5 is arranged on the main body 3, is in transmission connection with the turnover locking mechanism 4, and can drive the turnover locking mechanism 4 to rotate to the sliding channel 34; enabling the roll-over locking mechanism 4 to rotate to the sliding path of the underwater vehicle 1 on the sliding channel 34, and locking the underwater vehicle 1 on the sliding channel 34; when the roll-over locking mechanism 4 is rotated to be away from the slide channel 34, the underwater vehicle 1 is unlocked from the slide channel 34.
The power mechanism 5 includes a first linear moving device 51, which includes the following specific components:
the first linear moving device 51 has a first fixed end 511 and a first movable end 512, the first fixed end 511 is rotatably disposed on the main body 3, the first movable end 512 is rotatably connected to the tilt-locking mechanism 4, and the first movable end 512 drives the tilt-locking mechanism 4 to rotate in a direction away from or close to the sliding channel 34. Thus, the first linear moving device 51 powers the inversion of the tumble lock mechanism 4 so as to achieve the quick inversion of the tumble lock mechanism 4. The first fixed end 511 is a cylinder barrel part structure of the lifting cylinder, and the first movable end 512 is a piston rod structure of the lifting cylinder.
One end of the turning locking mechanism 4 is rotatably arranged on the vertical supporting part 32, and the power mechanism 5 is arranged on the vertical supporting part 32. From this, this scheme provides a concrete structure of main part 3, and it just can realize the construction of main part 3 through the fast assembly of supporting seat 31, vertical supporting part 32, horizontal supporting part 33, and the structure of pin-connected panel can be convenient for on the marine carrier of adaptation different grade type.
One end of the main body 3 is rotatably disposed at one end of the base 2 close to the sliding opening 341, and the other end of the main body 3 abuts against one end of the base 2 far from the sliding opening 341;
a lifting mechanism 6, wherein one end of the lifting mechanism 6 is arranged on the base 2, and the other end of the lifting mechanism 6 is connected with one end of the main body 3 far away from the sliding opening 341; under the driving of the lifting mechanism 6, one end of the main body 3 away from the sliding opening 341 is lifted, so that an inclined angle can be formed between the main body 3 and the base 2.
Therefore, as shown in fig. 6, when a plurality of main bodies 3 are arranged on the base 2, each main body 3 corresponds to one underwater vehicle 1, and when the underwater vehicle 1 is unlocked by the turnover locking mechanism 4 and one end of the base 2 is lifted by the lifting mechanism 6, each unlocked underwater vehicle 1 can be quickly separated from the sliding channel 34 under the action of gravity, so that mass distribution of a plurality of underwater vehicles 1 is realized, and the distribution efficiency of the underwater vehicles 1 is improved.
The lifting mechanism 6 includes:
a support link 63;
a first support arm 61, one end of which is rotatably connected to the base 2;
a second support arm 62, one end of which is rotatably connected to the support arm and the other end of which is rotatably connected to the main body 3;
as shown in fig. 5, the second linear moving device 64 has a second fixed end 641 and a second movable end 642, the second fixed end 641 is rotatably connected to the base 2, and the second movable end 642 is rotatably connected to the second supporting arm 62; the second fixed end 641 is a cylinder barrel portion structure of the lift cylinder, and the second movable end 642 is a piston rod structure of the lift cylinder.
In the present embodiment, every two second supporting arms 62, two first supporting arms 61, and one second linear movement device 64 form a set of lifting mechanism 6, and two adjacent second supporting arms 62 are connected by a supporting connecting rod 63; preferably, the present embodiment further includes an inclination angle limit switch capable of detecting an angle at which the main body 3 is inclined. The first support arm 61 and the second support arm 62 are provided with empty slots for reducing the self weight. The shape of the second support arm 62 is triangular, so that the second support arm 62 can form a stable force-bearing structure.
The second supporting arm 62 provides a driving force for the main body 3 to move away from the base 2 under the driving of the second movable end 642. This embodiment of the lifting mechanism 6 thus provides a more labour-saving lifting function by using leverage through the support effect of the first support arm 61 and the second support arm 62.
As shown in fig. 7, in the present embodiment, the first linear-motion device 51 and the second linear-motion device 64 are both hydraulic cylinders, but the present invention is not limited thereto, and may be any other linear-motion device commonly used in the art. The first linear moving device 51 and the second linear moving device 64 are both powered by a hydraulic station, a motor starter is responsible for starting and stopping the single-phase asynchronous motor, a start and stop button is responsible for manually controlling the starting and stopping of the single-phase asynchronous motor, and the start and stop button is mainly used in debugging and emergency situations. The servo motor driver is electrically connected with the servo motor, the servo motor is electrically connected with the hydraulic station, and the servo motor is used for controlling power output of the hydraulic station. The intermediate relay group is electrically connected with the electromagnetic valve group, and the electromagnetic valve group is used for controlling a hydraulic loop output by the hydraulic station. The working state indicator light is used for indicating whether the automatic submersible laying device works normally at present or not, and sending out an alarm signal when a fault occurs. The switching power supply supplies direct current to the whole system.
The control system comprises a PLC controller, an inclination angle limit switch, a motor starter, a start and stop button, an intermediate relay group, a switching power supply and an external communication interface. One end of the controller is respectively connected with the upper computer (PC end) and the switch power supply in a communication way, and the other end of the controller is respectively connected with the motor starter,
The external communication interface comprises various peripheral interfaces such as extensible I/O, PWM, RS485, Ethernet and the like. The PLC controller is communicated with a control system of the marine carrier in an RS485 or Ethernet mode, and a free protocol mode is adopted as a communication protocol.
The laying working process comprises the following steps:
the PLC controller sends a control signal to the second linear moving device 64, so that the second movable end 642 of the second linear moving device 64 moves in the + X-axis direction, and drives the + X-axis end of the first support arm 61 and the second support arm 62 to rise in the + Z-axis direction, thereby driving the main body 3 to rise in the + Z-axis direction to an angle limited by the tilt angle limit switch;
next, the PLC controller sends a control signal to the first linear motion device 51 corresponding to the underwater vehicle 1, so that the first movable end 512 of the first linear motion device 51 moves in the + X axis direction, and drives the horizontal locking portion 42 and one end of the front locking portion 41 to rise in the + Z axis direction, thereby unlocking the underwater vehicle 1 by the flip locking mechanism 4;
finally, the underwater vehicle 1 which has been unlocked slides along the sliding channel 34 under the action of gravity until sliding off the sliding opening 341, and finally the underwater vehicle 1 is quickly deployed on the sea surface.
Example two
An underwater vehicle 1, which can be applied to a submersible vehicle cluster deployment device according to an embodiment, includes an underwater sliding wing assembly 11, a sliding channel 34 is provided with a sliding groove 342 matching with the underwater sliding wing assembly 11, a horizontal locking portion 42 of a flip locking mechanism 4 is provided with a through groove 423 matching with the underwater sliding wing assembly 11, and specifically, the underwater sliding wing assembly 11 is a wing plate portion structure of the underwater submersible vehicle.
For the underwater vehicle 1 with the underwater sliding wing assembly 11, considering that the underwater sliding wing assembly 11 protrudes out of the outer periphery of the underwater vehicle 1, the sliding channel 34 is purposefully provided with the sliding groove 342, so that the underwater sliding wing assembly 11 can smoothly slide away from the sliding channel 34; in consideration of the convex arrangement of the underwater sliding wing assembly 11, the through groove 423 formed in the turnover locking mechanism 4 can allow the underwater sliding wing assembly 11 to pass through, so as to better lock the underwater vehicle 1.
Advantageous effects
Therefore, the scheme provides a structure capable of quickly locking and unlocking the underwater vehicle 1, the sliding channel 34 is firstly inclined and lifted by the aid of the lifting mechanism 6, and then the underwater vehicle 1 can be locked and unlocked by turning; when the underwater vehicle 1 is mounted to the slide channel 34, one end of the flip lock mechanism 4 is rotated to the slide channel 34, which enables the underwater vehicle 1 to be locked to the slide channel 34; when one end of the roll-over locking mechanism 4 is rotated out of the slide channel 34, it can unlock the underwater vehicle 1 from the slide channel 34; the underwater vehicle 1 is quickly separated from the sliding channel 34 under the action of gravity, so that the underwater vehicle 1 is quickly deployed, the deployment efficiency of the underwater vehicle 1 is improved, and the operation cost of deployment operation is reduced; in addition, in consideration of severe offshore conditions possibly encountered during deep sea deployment, the scheme can improve the safety of the deployment process of the underwater vehicle 1 by reducing the deployment operation time in a simple and efficient deployment mode.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. A submersible clustered deployment apparatus, comprising:
the main body is provided with a sliding channel for the installation and sliding of the underwater diving device;
the overturning locking mechanism is rotatably arranged on the main body at one end, and the other end of the overturning locking mechanism can rotate to the sliding channel;
the power mechanism is arranged on the main body, is in transmission connection with the turnover locking mechanism and can drive the turnover locking mechanism to rotate to the sliding channel; enabling the roll-over locking mechanism to rotate to a sliding path of the underwater vehicle on the sliding channel to lock the underwater vehicle to the sliding channel;
when the roll-over locking mechanism is rotated out of the way on the slide channel, the underwater vehicle is unlocked from the slide channel.
2. A submersible clustered deployment apparatus as recited in claim 1 wherein the roll-over locking mechanism comprises:
a front locking portion rotatable to the slide channel to block sliding of the underwater vehicle;
and the horizontal locking part is rotatably arranged on the main body at one end, and the other end of the horizontal locking part is connected with the front locking part.
3. A submersible clustered deployment apparatus as recited in claim 2 wherein the front locking portion is integrally formed with the horizontal locking portion.
4. A submersible clustered deployment apparatus as recited in claim 2 wherein the front locking portion includes an arcuate portion and a linear portion, one end of the arcuate portion being connected to the horizontal locking portion and the other end of the arcuate portion being connected to the linear portion.
5. A submersible cluster deployment apparatus according to claim 2 wherein the front lock has a first resilient bumper layer to reduce damage to the submersible vehicle during a locking process and the slide channel has a second resilient bumper layer to reduce damage to the submersible vehicle during a sliding process.
6. A submersible clustered deployment apparatus as claimed in claim 1 wherein the power mechanism comprises:
first straight line mobile device, it has first stiff end and first expansion end, first stiff end rotary type set up in the main part, first expansion end with upset locking mechanical system rotates to be connected, first expansion end drive upset locking mechanical system is toward keeping away from or being close to sliding channel's direction rotates.
7. A submersible cluster deployment apparatus as recited in claim 1 wherein the body comprises:
the sliding channel is arranged on the supporting seat;
the number of the vertical supporting parts is a plurality, and the vertical supporting parts are provided with supporting vacant positions;
the transverse supporting part is arranged in the supporting vacancy and is abutted against the inner walls of two sides of the vertical supporting part;
one end rotary type of upset locking mechanical system set up in vertical supporting part, power unit set up in vertical supporting part.
8. A submersible cluster deployment apparatus as recited in claim 7 wherein a plurality of vertical supports are spaced axially along the sliding channel with a space between adjacent vertical supports.
9. A submersible cluster deployment apparatus as recited in claim 1 wherein the slide channel has slide openings for removal of submersible vehicles, the submersible cluster deployment apparatus further comprising:
one end of the main body is rotatably arranged at one end, close to the sliding opening, of the base, and the other end of the main body abuts against one end, far away from the sliding opening, of the base;
one end of the lifting mechanism is arranged on the base, and the other end of the lifting mechanism is connected with one end of the main body, which is far away from the sliding opening;
under the driving of the lifting mechanism, one end of the main body, which is far away from the sliding opening, is lifted, so that an inclined angle can be formed between the main body and the base.
10. A submersible clustered deployment apparatus as claimed in claim 9 wherein the lifting mechanism comprises:
a support link;
one end of the first supporting arm is rotatably connected with the base;
one end of each second support arm is rotatably connected with the support arm, the other end of each second support arm is rotatably connected with the main body, the number of the second support arms is two, and the adjacent second support arms are connected through the support connecting rods;
the second linear moving device is provided with a second fixed end and a second movable end, the second fixed end is rotatably connected with the base, and the second movable end is rotatably connected with the supporting connecting rod;
under the driving of the second movable end, the second supporting arm provides the main body with a driving force moving away from the base.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210403494.2A CN114655366A (en) | 2022-04-18 | 2022-04-18 | Submersible cluster type distribution device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210403494.2A CN114655366A (en) | 2022-04-18 | 2022-04-18 | Submersible cluster type distribution device |
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| CN114655366A true CN114655366A (en) | 2022-06-24 |
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| CN202210403494.2A Pending CN114655366A (en) | 2022-04-18 | 2022-04-18 | Submersible cluster type distribution device |
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