LU101887B1

LU101887B1 - Intelligent ship recovery device

Info

Publication number: LU101887B1
Application number: LU101887A
Authority: LU
Inventors: Junfeng Xin; Fengru Yang; Penghao Ll; Haoyu Fan; Dingxing Hu
Original assignee: Qingdao Univ Of Science And Technology
Priority date: 2019-08-14
Filing date: 2019-09-30
Publication date: 2021-02-18
Also published as: WO2021027041A1; CN110498016A

Abstract

The present invention provides an intelligent ship recovery device. A launching system is lifted by an electric force arm to adjust the vertical launch angle of a projectile, the launch direction is rotated by 180° within the horizontal plane by using a stepping motor through a slewing support to find the direction of a mother ship, a steering gear is used as a trigger device, a short rope is tied to a steering arm of the steering gear and connected to a valve of the projectile, and the steering gear is controlled to rotate the steering arm to open the valve and release the projectile. The tail of the projectile is tied with a guide rope, the rear half part of the guide rope is a load bearing rope, and the tail end of the guide rope is connected to a hull. The guide rope is placed according to the situation of the hull. The projectile released carries the guide rope on the ship to the mother ship under the push of high-pressure gas, and the staff on the mother ship draws the intelligent ship close to the mother ship through the guide rope and hangs the load bearing rope of the hull to a hoister of the mother ship by using the guide rope, thus completing ship recovery. The present invention can recover the intelligent ship without direct contact between the staff and the hull and with low requirements for the mother ship, can adapt to various sea conditions, and has high safety.

Description

INTELLIGENT SHIP RECOVERY DEVICE 101887 Field of the Invention The present invention discloses an intelligent ship recovery device.

Background of the Invention In recent years, with the development of intelligent ship technology, domestic and foreign scientific research institutes have developed a number of intelligent ship models and put them into practical applications. After the work of intelligent ships is completed on the sea, workers cannot be launched to recover the ships due to the unpredictable sea conditions, and the shaking caused by wind and waves will increase the difficulty in the recovery of the ships. In order to protect the expensive intelligent ships from being damaged in the recovery process due to impact and the like, and to recover the ships safely, contacts with mother ships need to be established when the intelligent ships are recovered. The recovery schemes for ships are diverse, such as recovery of intelligent ship cloth, placement of hanging cages on the water surface to recover intelligent ships, and chute launching recovery.

The recovery of intelligent ship cloth is the earliest recovery method, which is mainly to place hooks by manpower directly for recovery. However, due to the heavy weight of the intelligent ships and the complicated environment such as wind and waves on the sea, no operators are on the intelligent ships in the emerging phase, so it is very difficult to hook, and the recovery operation easily results in damage to the intelligent ships and the mother ships, and even causes devastating accidents of the intelligent ships under extremely harsh sea conditions.

The placement of hanging cages on the water surface to recover intelligent ships is mainly based on the principle that a hanging cage placed on the water surface to recover an intelligent ship comprises a lifting appliance, a rigid frame body and buoyancy boxes, wherein the lifting appliance is above the rigid frame body and is connected to the rigid frame body by a sling; the left side, right side, front side and bottom surface of the rigid frame body are all connected by a rigid frame; the rear side and top surface of the rigid frame body are open; and a plurality of buoyancy boxes 101887 are mounted inside the rigid frame body. The intelligent ship can be driven in from the back of the rigid frame body or hoisted from the top. The buoyancy boxes inside the rigid frame body enable the hanging cage hoisted to the water surface to float in the water. The hanging cage itself is not easy to control during recovery and release, and it is troublesome to drive the intelligent ship into the hanging cage under bad sea conditions.

The chute launching recovery is a common method. Its principle is that an intelligent ship is directly driven to a chute slide of a mother ship, captured by a blocking net, and then transported to a fixed position on the mother ship by a hoisting device. It has the disadvantages of complex system, high requirement for the mother ship, unfitness for work under bad sea conditions, etc.

For most of the recovery devices, the hoisting device is connected to the intelligent ship and then transports it to a fixed position on the mother ship, but the connection is difficult to control under bad sea conditions.

Summary of the Invention In order to solve the technical problems in the prior art, the present invention discloses an intelligent ship recovery device, i.e., a device for recovering an intelligent ship with a mother ship in use of the intelligent ship.

In order to achieve the above objective, the technical solution adopted by the present invention is as follows: An intelligent ship recovery device comprises a slewing mechanism, a bracket is connected to the slewing mechanism through a connecting shaft, a launch cylinder is mounted on the bracket and charged with a projectile, and the angle between the bracket and the slewing mechanism is adjusted through a lifting device; a trigger device is disposed at a non-launching end of the launch cylinder, and the trigger device triggers the projectile in the launch cylinder to project.

As a further technical solution, the trigger device is in signal communication with a remote controller.

As a further technical solution, the trigger device is a micro steering gear, the (101687 projectile is charged with compressed gas, the tail of the projectile is provided with a jet hole, a valve is mounted at the jet hole, and the micro steering gear controls the valve to be opened.

Further, a steering arm of the micro steering gear is connected to the valve of the projectile through a connecting rope, and the steering gear is controlled to rotate the steering arm to open the valve and release the projectile.

As a further technical solution, the projectile is provided with a guide rope pile, the guide rope pile is used to connect a guide rope, one end of the guide rope is fixed to an intelligent ship, and the other end is fixed to the guide rope pile, so that the projectile can fly to a mother ship with the guide rope.

As a further technical solution, the lifting device 1s an electric push rod.

As a further technical solution, a cylinder part of the electric push rod is connected to a connecting shaft, both ends of the connecting shaft are mounted on the slewing mechanism through support seats, and a push rod connector for the electric push rod is connected to the bracket.

As a further technical solution, the bracket comprises a rectangular frame, and the rectangular frame is provided with support rings for fixing the launch cylinder.

As a further technical solution, the slewing mechanism comprises a slewing support, a turntable, and a stepping motor, the stepping motor drives the slewing support to rotate, the turntable is mounted on the slewing bearing, the slewing bearing drives the turntable to rotate, and the bracket is mounted on the slewing support.

Beneficial effects of the present invention: The launching system is lifted by the lifting device to adjust the launch angle of the gas cylinder, the launch direction is rotated 180° within an xoy plane by using the slewing support to find the direction of the mother ship, the valve at the tail of the projectile is opened by the trigger device to release the projectile, the gas cylinder is released, then the hull guide rope is thrown to the mother ship under the push of the high-pressure gas, the staff on the mother ship drags the ship close to the mother ship through the guide rope and hangs a load bearing rope of the hull to a hoister of the

| mother ship by using the guide rope, thus completing ship recovery. 101887 Brief Description of the Drawings The accompanying drawings constituting a part of the present application are intended to provide a further understanding of the present application, and the illustrative embodiments of the present application and the descriptions thereof are intended to interpret the present application and do not constitute improper limitations to the present application. | Fig. 1, Fig. 2, Fig. 3, and Fig. 4 are overall structural diagrams according to an embodiment of the present invention; Fig. 5 is a structural schematic diagram of a trigger device according to an embodiment of the present invention; Fig. 6 is a structural schematic diagram of a projectile according to an embodiment of the present invention; Fig. 7 is a structural schematic diagram of a launch cylinder according to an embodiment of the present invention; Fig. 8 is a side view of a turntable and a slewing support according to an embodiment of the present invention; Fig. 9 is a three-dimensional diagram of the turntable and the slewing support according to an embodiment of the present invention; Fig. 10 is a top view of the turntable and the slewing support according to an embodiment of the present invention; Fig. 11 is an overall structural diagram according to an embodiment of the present invention; Fig. 12 and Fig. 13 are schematic structural diagrams of a bracket according to an embodiment of the present invention; Fig. 14 is a schematic diagram of a lifting device according to an embodiment of the present invention; Fig. 15 and Fig. 16 are schematic structural diagrams of the bracket; Fig. 17 is a schematic diagram of installation of the projectile and a pneumatic device;

Fig. 18 is an analysis diagram of a physical model of a thrown recovery device; (101887 Fig. 19 is a schematic diagram of rising and falling simulations of a bow; In the figures: 1 turntable, 2 micro steering gear, 3 bracket, 4 launch cylinder, 5 projectile, 6 lifting device, 7 rear seat, 8 slewing support, 9 steering arm, 10 valve, 11 5 guide rope pile. Detailed Description of Embodiments It should be noted that the following detailed descriptions are exemplary and are intended to provide further descriptions of the present application. All technical and scientific terms used herein have the same meanings as commonly understood by those of ordinary skill in the art to which the present application belongs, unless specified otherwise.

It should be noted that terms used herein are intended to describe specific embodiments only, rather than to limit the exemplary embodiments according to the present application. As used herein, unless otherwise clearly stated in the context, singular forms are also intended to include plural forms. In addition, it should also be understood that when the terms “contain” and/or “comprise” are used in the description, it indicates the presence of features, steps, operations, devices, ingredients, and/or combinations thereof.

For the convenience of description, the terms “upper”, “lower”, “left” and “right” in the present invention only indicate the upper, lower, left and right directions of the drawings, do not limit the structure, are only for the convenience of description and the simplification of description, do not indicate or imply that the devices or elements must have specific directions or be constructed and operated in specific directions, and therefore cannot be understood as limitations to the present invention. Interpretation of terms: the terms “mounted”, “coupled”, “connected”, “fixed” and the like in the present invention should be generally understood, for example, the “connected” may be fixedly connected, detachably connected, integrated, mechanically connected, electrically connected, directly connected, indirectly connected by a medium, internally connected between two elements, or interact between two elements, and the specific meanings of the terms in the present invention 101887 may be understood by those of ordinary skill in the art according to specific circumstances.

As described in the background, there are shortcomings in the prior art.

In order to solve the above technical problems, the present application proposes an intelligent ship recovery device.

In a typical embodiment of the present application, before an intelligent ship recovery device is designed, all aspects of data of an experimental ship should be comprehensively measured and analyzed first, and the method of intelligent ship recovery before this design and the corresponding principle should be learned and combined with new ideas to design a novel thrown intelligent ship recovery device.

Due to the conditions such as the draft of the intelligent ship and the area allowed to be occupied, the intelligent ship recovery device must be designed reasonably, not only considering the availability of throwing, but also considering its own weight to prevent overload of the ship, corrosion resistance of the device to prevent aging of an air valve, water proofing at the junction of the device and the ship, etc.

A specific embodiment disclosed in the present invention will be described in detail below in conjunction with the drawings.

A physical model of the thrown recovery device disclosed in this embodiment is shown in Fig. 18. The intelligent ship recovery device mainly relies on a thrower to recover an intelligent ship.

When the intelligent ship needs to be recovered, the operator may adjust the horizontal angle and vertical angle of the thrower through a remote controller in his hand to find an appropriate direction, adjust a launch cylinder to an appropriate position, and then trigger a micro steering gear in back of the thrower to trigger the thrower for projecting.

According to the model, the intelligent ship recovery device disclosed in this embodiment, as shown in Figs. 1, 2, 3, and 4, includes a slewing mechanism, a bracket 3 is connected to the slewing mechanism through a connecting shaft, a launch cylinder 4 is mounted on the bracket 3 and charged with a projectile 5, and the angle between the bracket 3 and the slewing mechanism is adjusted through a lifting device

6. A trigger device is disposed at a non-launching end of the launch cylinder 4, the u101887 trigger device triggers the projectile 5 in the launch cylinder to project, and the trigger device is in signal communication with a remote controller. The intelligent ship recovery device mainly relies on a thrower to recover an intelligent ship. When the intelligent ship needs to be recovered, the operator may adjust the horizontal angle and vertical angle of the thrower through the remote controller in his hand to find an appropriate direction, adjust the launch cylinder to an appropriate position, and then trigger a micro steering gear in back of the thrower to trigger the projectile for projecting.

In this embodiment, the trigger device is the existing micro steering gear 2, the projectile 5 is charged with compressed gas, the tail of the projectile 5 is provided with a jet hole, a valve 10 is mounted at the jet hole, and the micro steering gear 2 controls the valve 10 to be opened. In this embodiment, the micro steering gear is fixed to the bottom of the bracket, and it is not difficult to understand that the micro steering gear may also be fixed on a rotary disk in other embodiments.

The micro steering gear controls the valve as follows: The steering gear is used as a trigger device, a short rope is tied to a steering arm of the steering gear and connected to the valve of the projectile, and the steering gear is controlled to rotate the steering arm to open the valve and release the projectile.

Further, the projectile 5 is provided with a guide rope pile 11, the guide rope pile 11 is used to connect a guide rope, one end of the guide rope is fixed to the intelligent ship, and the other end is fixed to the guide rope pile, so that the projectile can fly to a mother ship with the guide rope; and preferably, the guide rope pile is fixed to the rear end of the projectile.

In this embodiment, the lifting device 6 is an electric push rod, a cylinder part of the electric push rod is connected to a connecting shaft, both ends of the connecting shaft are mounted on the slewing mechanism through support seats, and a push rod connector for the electric push rod is connected to the bracket; the specific connector may be of the structure as shown in the figures, and two corresponding launch cylinders are provided in this embodiment, so the structure of the corresponding connector is: the connector comprises a first connecting rod, a second connecting rod, 101887 and a third connecting rod, the first connecting rod is connected to the push rod, and the second connecting rod and the third connecting rod are perpendicular to the first connecting rod respectively; the second connecting rod and the third connecting rod | 5 are parallel to each other; the second connecting rod is connected to the first launch cylinder, and the third connecting rod is connected to the second launch cylinder. It is not difficult to understand that in other embodiments, when one launch cylinder is provided, the third connecting rod is removed from the structure of the connector; when more than two launch cylinders are provided, a fourth connecting rod, a fifth connecting rod, etc. are added; and the number of connecting rods added is equal to the number of launch cylinders added. As a further technical solution, the bracket comprises a rectangular frame, and the rectangular frame is provided with support rings for fixing the launch cylinder. Taking two launch cylinders as an example in this embodiment, the rectangular frame is provided with four support rings, and the four support rings are divided into two columns for supporting the two launch cylinders. It is not difficult to understand that one launch cylinder or two or more launch cylinders may also be set according to actual needs in other embodiments. A valve and a micro steering gear for controlling the valve are disposed in back of each launch cylinder. Further, a rear seat is disposed at the rear end of each launch cylinder to support the launch cylinder. As a further technical solution, the slewing mechanism comprises a slewing support 8, a turntable 1, and a stepping motor, the stepping motor drives the slewing support 8 to rotate, the turntable is mounted on the slewing bearing 8, the slewing bearing drives the turntable 1 to rotate, and the bracket is mounted on the slewing support 8. Specifically, the stepping motor drives the slewing support to rotate, the slewing support drives the turntable to rotate, and the electric push rod, the bracket and the like are all mounted on the turntable. The following describes the present invention with a specific embodiment:

1. Overall design parameters |

Table I Design indexes lu101887 Item Data Body weight <6kg Body size LxBxH=500mmx*290mmx380mm Volume of working chamber 0.5L Working pressure 30~200bar Projection angle (no waves) 30°~60° The main members may be made of aluminum alloy and coated on the surfaces to prevent seawater corrosion. In order to ensure the range and safety of the device, the volume of the working chamber is 0.5 L, the working pressure is adjustable from 30 to 200 bar, the projection angle is adjustable from 30° to 60°, and the size of the launch cylinder is 345 mmx@71 mm on the basis of size coordination.

2. Design of lifting device In order to reduce the structural complexity of the ship deck and prevent mechanical failure of the thrower under external force, the intelligent ship recovery device is folded on the ship deck when the ship is in operation, and is lifted and expanded by the lifting device when the ship is recovered. If the pitch angle of the ship is a, the lifting angle is B, and the launch angle is y, it can be obtained: y=a+p The lifting angle of the projectile itself relative to the ship is in a range (30°, 60°), and the throwing angle changes with the change of rising and falling degrees of the bow. Taking a five-hull ship designed by the Sea Wolf Yacht Studio at the wave height of

0.65 to 0.95 m as an example (Fig. 19), the range of launch angles is (37.4065°,

65.676°), obtained from the pitch angle (see Table 3.2) of the hull. Table 2 Rising and falling angles of bow Wav e heigh t 0.65m 0.7m 0.75m 0.8m 0.85m 0.9m 0.95m Risin g and fallin g 5.0676 5.4574 5.8472 6.2371 6.6269 7.0167 7.4065 angle 44255 63044 81833 00622 19411 38199 56988

The electric push rod (see Table 3.3 for specific data of the push rod) is used as a 101887 lifting arm, so a large enough force can be obtained while a small space is occupied, to lift the thrower. Table 3 Parameter table of lifting arm © Total Lifting Lifting = Standard Dutyeycle journey speed force voltage Ss mm mm/s N V 100 24 500 12 On120 Off1080 When the push rod acts in the system structure, the folding structure of a double support lever is used, a fixed shaft is disposed on each of the thrower and the deck, a rotating shaft is designed on the top of the push rod and connected with a double-supported bracket, and the bracket is connected with the bottom of the push rod and the two fixed shafts. When the push rod is operating, the push rod is lifted due to the interaction of force, to increase the elevation angle of the thrower, so that the thrower enters a state to be launched.

3. Design of steering device The intelligent ship works on the sea, the sea conditions are very complicated, the bow cannot be accurately pointed at the mother ship, and the thrower cannot throw the projectile to the mother ship accordingly, so it is extremely important to design a steering device under the thrower. It is proposed below that a slewing support and a turntable fixed to the upper deck are designed below the lifting device, the turntable is driven to rotate by the slewing support, the slewing support is driven by a stepping motor in the hull, and the current is controlled by a remote controller to control the rotation of the stepping motor so as to control the rotation of the thrower.

4. Design of pneumatic system The intelligent ship recovery device must reach a target jet distance and does not affect the operation of other systems of the recovery device, and the device used on the power system must be convenient and easy to operate. A pneumatic driving device is simple and convenient to mount and overhaul, and its external equipment is relatively light, so the pneumatic device is used. The projectile needs to output certain force to drive the active precession. In order to ensure output of large force and more precise control, the pneumatic system includes \u101887 a projectile, a launching rack, and a trigger device.

According to the principle of aerodynamics, the force of air is a mechanical force, which is generated by the contact and interaction between an object and a fluid (air). When an object turns the airflow, lift is generated.

According to Newton's third law of motion, when the airflow is turned to a direction, lift or thrust is generated in the opposite direction.

After the valve of the projectile is opened by the trigger device, the compressed gas inside the projectile is ejected from the jet hole at the tail, and the ejected gas provides thrust in the opposite direction to the projectile, so that the projectile can fly to the mother ship with the guide rope.

Described above are merely preferred embodiments of the present application, and the present application is not limited thereto.

Various modifications and variations may be made to the present application for those skilled in the art.

Any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present application shall fall within the scope of the present application.

Claims

Claims lu101887

1. An intelligent ship recovery device, comprising a slewing mechanism, wherein a bracket is connected to the slewing mechanism through a connecting shaft, a launch cylinder is mounted on the bracket, a projectile and a pneumatic device are mounted in the launch cylinder, and the angle between the bracket and the slewing mechanism is adjusted through a lifting device; a trigger device is disposed at a non-launching end of the launch cylinder, the trigger device triggers the pneumatic device, and the pneumatic device drives the projectile in the launch cylinder to project.

2. The intelligent ship recovery device according to claim 1, wherein the trigger device is in signal communication with a remote controller.

3. The intelligent ship recovery device according to claim 1 or 2, wherein the trigger device is a micro steering gear.

4. The intelligent ship recovery device according to claim 3, wherein the projectile is charged with compressed gas, the tail of the projectile is provided with a jet hole, a valve is mounted at the jet hole, and the micro steering gear controls the valve to be opened.

5. The intelligent ship recovery device according to claim 4, wherein a steering arm of the micro steering gear is connected to the valve of the projectile through a connecting rope, and the steering gear is controlled to rotate the steering arm to open the valve and release the projectile.

6. The intelligent ship recovery device according to claim 1, wherein the projectile is provided with a guide rope pile, the guide rope pile is used to connect a guide rope, one end of the guide rope is fixed to an intelligent ship, and the other end is fixed to the guide rope pile, so that the projectile can fly to a mother ship with the guide rope.

7. The intelligent ship recovery device according to claim 1, wherein the lifting device is an electric push rod.

8. The intelligent ship recovery device according to claim 1, wherein a cylinder part of the electric push rod is connected to a connecting shaft, both ends of the connecting shaft are mounted on the slewing mechanism through support seats, and a push rod connector for the electric push rod is connected to the bracket. (101887

9. The intelligent ship recovery device according to claim 1, wherein the bracket comprises a rectangular frame, and the rectangular frame is provided with support rings for fixing the launch cylinder.

10. The intelligent ship recovery device according to claim 1, wherein the slewing mechanism comprises a slewing support, a turntable, and a stepping motor, the stepping motor drives the slewing support to rotate, the turntable is mounted on the slewing bearing, the slewing bearing drives the turntable to rotate, and the bracket is mounted on the slewing support.