CN-224225248-U - Unmanned ship recovery unit

Abstract

The utility model relates to the field of marine equipment, and discloses an unmanned ship recovery device which comprises a recovery fixing frame, a cross rod and a positioning and clamping device. The horizontal pole rotates to locate and retrieves mount upper portion, and location clamping device connects in the horizontal pole tip, and it includes gripper jaw group, magnetism and inhale device, linkage fixed block, movable slide and drive rope. The clamping claw group is provided with two clamping claw units which are oppositely arranged, and the magnetic attraction device is arranged on the linkage fixed block and can attract the unmanned ship to stabilize the butt joint position. The upper parts of the clamping jaws are hinged between the movable sliding blocks and the linkage fixed blocks, and the movable sliding blocks are connected to a driver of the cross rod through driving ropes penetrating through the fixed blocks to drive the clamping jaws to open and close. The utility model can quickly realize preliminary docking with the unmanned ship through magnetic attraction, reduce alignment difficulty caused by water surface fluctuation, provide stable reference for subsequent clamping, and improve recovery efficiency and reliability.

Inventors

• HOU YUJIE
• Fan Shengyang
• ZHANG YUNKE
• XIE GUO

Assignees

• 四川大学

Dates

Publication Date

20260512

Application Date

20260410

Claims (5)

1. 1. The unmanned ship recovery device is characterized by comprising a recovery fixing frame, a positioning clamping device and a cross rod, wherein the cross rod is rotatably arranged at the upper part of the recovery fixing frame, and the positioning clamping device is arranged at the end part of the cross rod; The positioning clamping device comprises a clamping jaw set, a magnetic attraction device, a clamping jaw linkage fixed block, a rope linkage sliding block and a driving rope, wherein the clamping jaw set comprises two clamping jaw units, the two clamping jaw units are oppositely arranged, each clamping jaw unit is provided with two clamping jaws which are arranged in parallel, the fixed block is fixedly connected to the end part of a cross rod and is fixedly connected with the clamping jaw linkage fixed block below, the rope linkage sliding block is movably arranged between the clamping jaw linkage fixed block and the fixed block, the upper parts of the clamping jaws are sequentially hinged to the rope linkage sliding block and the clamping jaw linkage fixed block, the clamping jaws are driven to rotate by up-and-down movement of the rope linkage sliding block, the clamping jaw set is in an open or closed state, the upper parts of the rope linkage sliding block are connected with driving ropes penetrating through the fixed blocks, the driving ropes are positioned in the cross rod, the other ends of the driving ropes are connected with driving rope drivers arranged on the cross rod, the clamping jaw linkage fixed block is at least provided with one magnetic attraction device, and the magnetic attraction device comprises a magnet and a support column which is fixedly arranged below the clamping jaw linkage fixed column.
2. 2. The unmanned ship recovery apparatus according to claim 1, wherein the driving rope driver comprises a handle and a control housing, The control device shell is provided with a mounting groove, the end part of the control device shell is provided with a cross rod connecting part fixedly connected with the cross rod, The handle is arranged in the mounting groove and is rotationally connected through a screw assembly, and a driving rope connecting part used for being connected with a driving rope is arranged at the upper part of the handle; the handle is pressed to drive the driving rope to move along the direction of the mounting groove, and the driving rope drives the sliding block to move, so that the clamping jaw set is in a closed state, after the handle is released from being pressed, the driving rope is retracted, and the clamping jaw set is reset to be in an open state.
3. 3. The unmanned ship recovery device of claim 1, wherein the recovery fixing frame comprises a tripod, a cross rod shaft sleeve and a bearing fixing seat, the cross rod is fixedly arranged on the cross rod shaft sleeve, the cross rod shaft sleeve is rotatably arranged on the bearing fixing seat through a bearing and rotates on a vertical plane, and the bearing fixing seat is rotatably arranged at the upper end of the tripod through another bearing and rotates on a horizontal plane.
4. 4. The unmanned ship recovery device of claim 1, wherein the cross bar is provided with a guide bar, the upper end of the guide bar is provided with a through hole, and the guide bar is fixedly arranged on the cross bar through a screw.
5. 5. The unmanned ship recovery device of claim 1, wherein the cross bar comprises a plurality of unit bars, adjacent unit bars are fixedly connected through fasteners, and one unit bar close to the driving rope driver is connected with the recovery fixing frame.

Description

Unmanned ship recovery unit Technical Field The utility model relates to the field of marine equipment, in particular to an unmanned ship recovery device. Background Along with the acceleration of the intelligent upgrading process of the water conservancy infrastructure in China and the acceleration construction of a sky and land hydraulic engineering integrated monitoring sensing system and a digital twin system, the unmanned ship is widely applied to the water area operation fields such as farmland ditch inspection, dyke safety monitoring, irrigation area water environment treatment and the like by virtue of the characteristics of flexible operation, remote control and high safety. Particularly, under the background of comprehensively promoting the growth of the river and the lake, higher requirements are put forward on the normalization and the high efficiency of the river and the lake treatment monitoring. Industry statistics data show that the market conservation quantity of special monitoring unmanned ships in inland water areas and offshore shallow water areas in China breaks through 8000, wherein the small unmanned ships for canal flow monitoring and dyke seepage detection account for more than 60%. The continuous monitoring demands of farmland ditch of about 400 km and dikes of 30 km in the whole country range enable the demands of operation units such as basic water conservancy stations, small and medium-sized environment-friendly enterprises and the like to continuously climb on unmanned ships and matched equipment thereof. In the operation flow of unmanned ships, efficient and safe recovery is a key link for guaranteeing the operation continuity and the equipment integrity and reducing the operation cost. Unmanned ship carries on accurate monitoring facilities such as level sensor, flow monitor, water quality testing appearance generally, and these equipment are very sensitive to vibration, collision, require recovery process steady, accurate. However, the actual water surface operation environment is complex, and the unmanned ship is easily influenced by natural factors such as water flow velocity, wind direction and wind force, wave disturbance and the like during recovery, and generates pose deviations such as transverse drifting, longitudinal swinging and the like, thereby providing serious challenges for the dynamic adaptability and the capturing reliability of the recovery device. At present, the traditional unmanned ship recovery device mostly adopts fixed structures such as rigid butt joint type, cage type or guide rail type, and the like, and the main defects of poor dynamic adaptability, hard collision vulnerable equipment, complex structure, poor portability and deployment, high cost and difficult popularization are exposed in practical application. To address the above problems, various solutions have been proposed in the industry, but there are still limitations. For example: According to the unmanned ship recovery device based on the openable guide wheels, disclosed by the application number CN202411250795.1, the guide wheels are opened and closed and the posture is corrected through the cylinder driving mechanism. However, the device depends on a pneumatic and sensing control system, has complex structure, high cost and strict waterproof requirement, and is easy to lose efficacy when no power is supplied or under extreme working conditions. The application number is CN202311480871.3, and the door plate is driven to retract and release by a triangular supporting device, and the unmanned ship is captured by a traction trolley. The method relies on a plurality of groups of power and transmission parts, has high assembly precision requirement, is easy to generate positioning deviation by inertial capture under the condition of stormy waves, and needs electric drive in the whole process. An observer deployment and recovery device for ships is proposed by the application number of CN202510810571.X, and equipment is kept stable through a turnover portal and other mechanisms. However, the device needs to be fixedly arranged on the deck of the mother ship, is inflexible to deploy, occupies large space and is also driven by electricity. The utility model provides a recovery unit of mother ship cooperation workboat, utilizes cantilever crane and side direction fixture to retrieve that application number CN202420161518.2 puts forward. However, irregular swinging of a mother ship and an unmanned ship under complex sea conditions easily causes difficulty in aligning a lifting hook and a clamping mechanism, and risks of inaccurate positioning and failure in fixation exist. The application number is CN202221013505.8, and is a clamping type throwing and recycling device for underwater monitoring equipment. The device can appear clamping positioning deviation or clamp the problem that is not firm, and its drive part once outage or trouble, will not guarantee reliable spacing, and the flexibility is