CN113320643B - Automatic laying device of underwater glider - Google Patents
Automatic laying device of underwater glider Download PDFInfo
- Publication number
- CN113320643B CN113320643B CN202011452071.7A CN202011452071A CN113320643B CN 113320643 B CN113320643 B CN 113320643B CN 202011452071 A CN202011452071 A CN 202011452071A CN 113320643 B CN113320643 B CN 113320643B
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- underwater glider
- fixed seat
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- seat welding
- glider
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- 230000007246 mechanism Effects 0.000 claims abstract description 60
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 7
- 238000003466 welding Methods 0.000 claims description 49
- 238000003825 pressing Methods 0.000 claims description 24
- 230000006835 compression Effects 0.000 claims description 22
- 238000007906 compression Methods 0.000 claims description 22
- 238000005096 rolling process Methods 0.000 claims description 21
- 230000000087 stabilizing effect Effects 0.000 claims description 15
- 210000001503 joint Anatomy 0.000 claims description 2
- 230000009189 diving Effects 0.000 abstract 1
- 238000000034 method Methods 0.000 description 5
- 238000004891 communication Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000002131 composite material Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 239000007858 starting material Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 229920000122 acrylonitrile butadiene styrene Polymers 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000013213 extrapolation Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Earth Drilling (AREA)
Abstract
The invention belongs to the field of underwater gliders, in particular to an automatic arrangement device of an underwater glider, which is suitable for unmanned ships to carry the automatic arrangement device for carrying out remote arrangement operation of underwater gliders and other diving vehicles. The automatic laying device comprises a base assembly, a glider fixing mechanism, a sliding driving assembly, a hydraulic system and a control system, and is arranged on an unmanned ship, so that remote automatic laying operation of the underwater glider can be realized, and the convenience and the economical efficiency of the operation of laying the submersible are improved. The invention adopts a mode of combining hydraulic drive and servo motor drive, so that the automatic laying device has compact structure and high laying efficiency, improves the remote laying convenience of the underwater glider, and provides an effective technical means for remote unmanned laying operation of the underwater glider and combined observation of the water surface and the water.
Description
Technical Field
The invention belongs to the field of underwater gliders, in particular to an automatic deployment device of an underwater glider, which is suitable for remotely deploying the underwater glider on a water surface unmanned ship to carry out water surface and underwater combined ocean observation.
Background
Unmanned boats are one of important tools for ocean development, and small cluster system ocean observation by taking a water surface unmanned boat as an observation relay is a hot spot for the research of unmanned intelligent system equipment at present. The underwater glider is the most commonly used tool for marine resource exploration, marine environment monitoring, marine scientific investigation and the like, and the underwater glider usually needs to be manually hoisted into water by sailing to a designated place through a mother ship before operation. The laying process of the underwater glider consumes a great deal of manpower, material resources and time, and particularly has the problems of low working efficiency, high operation cost and the like when the number of the underwater glider is large in one-time throwing.
Disclosure of Invention
In order to solve the problems of manual lifting of the existing underwater glider, the invention aims to provide an automatic arrangement device of the underwater glider.
The aim of the invention is realized by the following technical scheme:
The invention comprises a base assembly, a glider fixing mechanism, a sliding driving assembly, a hydraulic system and a control system, wherein a screw rod is rotatably arranged on the base assembly and is driven to rotate by a servo motor arranged on the base assembly; the glider fixing mechanism comprises a fixed seat welding frame, a tail limiting mechanism, a middle pressing mechanism, a head limiting mechanism and a base plate, wherein the fixed seat welding frame is in rolling connection with the base assembly, the head limiting mechanism and the tail limiting mechanism are respectively arranged at the front end and the rear end of the fixed seat welding frame, the middle pressing mechanism is arranged between the head limiting mechanism and the tail limiting mechanism and presses the underwater glider to be distributed on the base plate; the sliding driving assembly is in rolling connection with the base assembly and hinged with the fixed seat welding frame, a sliding block is arranged on the sliding driving assembly, and a nut in threaded connection with the lead screw is connected to the sliding block; the hydraulic system comprises a retraction cylinder, a middle compression cylinder, a front limiting cylinder and a hydraulic station arranged on a base assembly, wherein the retraction cylinder is hinged on the sliding driving assembly, a piston rod is hinged with the fixed seat welding frame, the middle compression cylinder is hinged on the fixed seat welding frame, the piston rod drives the middle compression mechanism to compress the underwater glider to be distributed, the front limiting cylinder is hinged on the fixed seat welding frame, and the piston rod drives the head limiting mechanism to be separated from the head of the underwater glider when being distributed; the retraction cylinder, the middle compression cylinder and the front limiting cylinder are respectively connected with a hydraulic pump driven by a single-phase asynchronous motor in the hydraulic station, and the single-phase asynchronous motor, the servo motor, the retraction cylinder, the middle compression cylinder and the front limiting cylinder are respectively connected with a control system arranged on the base assembly.
Wherein: the two sides of the base assembly are symmetrically provided with sliding rails which are parallel to each other along the moving direction of the fixed seat welding frame and the sliding driving assembly, the two sides of the fixed seat welding frame are respectively provided with a bearing A which is in rolling connection with the sliding rails at the two sides, and the side plates at the two sides of the sliding driving assembly are respectively provided with a bearing B which is in rolling connection with the sliding rails at the two sides.
The end face of each side of the sliding rail is in a U-shaped shape which is turned over by 90 degrees, the bearings A on each side of the fixed seat welding frame are in an upper row and a lower row, and the upper row and the lower row of bearings A on each side are respectively in rolling connection with the upper surface and the lower surface of one side, which is positioned above the same side of the U-shaped sliding rail.
The end face of each side of the sliding rail is in a U-shaped shape which turns over 90 degrees, a bearing B is arranged between the front end, the rear end and the two ends of each side plate, the bearings B at the front end and the rear end are in two rows, the bearings B are respectively in rolling connection with the upper surface and the lower surface of one side of the U-shaped sliding rail, which is positioned above, and the bearing B between the two ends is in butt joint with the end face of one side of the U-shaped sliding rail, which is positioned above.
The head limiting mechanism comprises a head limiting ring, the head limiting ring is hinged to the fixed seat welding frame, one end of the head limiting ring is annular, and the other end of the head limiting ring is hinged to a piston rod of the front limiting oil cylinder.
The tail limiting mechanism comprises a tail limiting ring, the bottom of the tail limiting ring is fixedly connected to the fixing seat welding frame, and the upper portion of the tail limiting ring is annular.
The middle pressing mechanisms are symmetrically arranged on the left side and the right side of the underwater glider to be laid, each side of the middle pressing mechanisms comprises a middle pressing block and a connecting rod, the connecting rods are hinged to the fixed seat welding frame, one end of each connecting rod is connected with the middle pressing block, and the other end of each connecting rod is provided with a roller in rolling connection with the fixed seat welding frame; the left side and the right side of the underwater glider to be distributed are symmetrically provided with middle compression oil cylinders, and the piston rod of each middle compression oil cylinder is hinged with a connecting rod on the same side.
Wing stabilizing frames are symmetrically arranged on the left side and the right side of the underwater glider to be laid, the wing stabilizing frames on each side are mounted on the fixed seat welding frame, a gap is reserved between each wing stabilizing frame and the corresponding backing plate, and the wings of the underwater glider to be laid are located between the wing stabilizing frames and the backing plates.
The invention has the advantages and positive effects that:
1. The invention is arranged on an unmanned ship, and can realize automatic arrangement operation of the underwater glider, thereby improving the convenience and economy of the arrangement operation of the underwater glider and providing a quick and effective means for the batch remote arrangement of the underwater glider.
2. According to the invention, the underwater glider is reliably fixed on the base of the arrangement device through the tail limiting mechanism, the middle pressing mechanism, the head limiting mechanism, the composite material backing plate and other mechanisms, so that stable and reliable unmanned automatic arrangement of the underwater glider can be realized under severe sea conditions.
3. According to the invention, by adopting modes of front and rear limit position feedback, inclination angle feedback and the like based on sensors and operating elements such as a hydraulic cylinder, a servo motor and the like through a PLC control system, unmanned laying operations such as fixing, extrapolation, lowering and resetting of the underwater glider are realized.
4. The invention is arranged on an unmanned ship, the unmanned ship provides power and control instructions, supports an automatic release mode and a manual release mode, and supports RS485 and Ethernet in a communication mode with a main control system of the unmanned ship.
5. According to the invention, the wing stabilizing frames are respectively arranged on the left side and the right side of the underwater glider, and support force is provided for the wings of the underwater glider in the laying process.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a glider-fixing mechanism according to the present invention;
FIG. 3 is a schematic diagram of a slip drive assembly according to the present invention;
FIG. 4 is a block diagram of a control system of the present invention;
Wherein: 1 is a base assembly, 2 is a glider fixing mechanism, 201 is a fixed seat welding frame, 202 is a tail limiting ring, 203 is a middle pressing block, 204 is a wing stabilizing frame, 205 is a head limiting ring, 206 is a base plate, 207 is a bearing A,208 is a connecting rod, 209 is a roller, 3 is a sliding driving assembly, 301 is a bearing B,302 is a hinging seat, 303 is an upper hinging seat, 304 is a sliding block, 305 is a side plate, 4 is a hydraulic station, 5 is a control system, 6 is a servo motor, 7 is an underwater glider, 8 is a retraction cylinder, 9 is a middle pressing cylinder, 10 is a front limiting cylinder, 11 is a screw rod, and 12 is a sliding rail.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 4, the invention comprises a base assembly 1, a glider fixing mechanism 2, a sliding driving assembly 3, a hydraulic system and a control system 5, wherein a screw rod 11 is rotatably arranged on the base assembly 1, and the screw rod 11 is driven to rotate by a servo motor 6 arranged on the base assembly 1;
The glider fixing mechanism 2 comprises a fixing seat welding frame 201, a tail limiting mechanism, a middle pressing mechanism, a head limiting mechanism and a base plate 206, wherein the fixing seat welding frame 201 is in rolling connection with the base assembly 1, the head limiting mechanism and the tail limiting mechanism are respectively arranged at the front end and the rear end of the fixing seat welding frame 201, the head and the tail of the underwater glider 7 to be distributed are respectively supported and limited, the middle pressing mechanism is arranged between the head limiting mechanism and the tail limiting mechanism, and the underwater glider 7 to be distributed is pressed on the base plate 206. The sliding driving assembly 3 is in rolling connection with the base assembly 1 and hinged with the fixed seat welding frame 201, a sliding block 304 is arranged on the sliding driving assembly 3, and a nut in threaded connection with the screw rod 11 is connected to the sliding block 304. The hydraulic system comprises a retraction cylinder 8, a middle compression cylinder 9, a front limiting cylinder 10 and a hydraulic station arranged on the base assembly 1, wherein a cylinder body of the retraction cylinder 8 is hinged on the sliding driving assembly 3, a piston rod is hinged with the fixed seat welding frame 201, the cylinder body of the middle compression cylinder 9 is hinged on the fixed seat welding frame 201, the piston rod drives the middle compression mechanism to compress the underwater glider 7 to be deployed, the cylinder body of the front limiting cylinder 10 is hinged on the fixed seat welding frame 201, and the piston rod drives the head limiting mechanism to be separated from the head of the underwater glider 7 when the retraction cylinder is deployed; the retraction cylinder 8, the middle compression cylinder 9 and the front limiting cylinder 10 are respectively connected with a hydraulic pump driven by a single-phase asynchronous motor in the hydraulic station 4, and the single-phase asynchronous motor, the servo motor 6, the retraction cylinder 8, the middle compression cylinder 9 and the front limiting cylinder 10 are respectively connected with a control system 5 arranged on the base assembly 1.
The base assembly 1 of the embodiment is a moving slideway for moving an automatic arrangement device, and two sides of the base assembly are profiles formed by bending steel plates. Two parallel slide rails 12 are symmetrically arranged on two sides of the base assembly 1 along the moving direction of the fixed seat welding frame 201 and the sliding driving assembly 3 (namely, the length direction of the base assembly 1), a screw rod 11 is positioned between the two slide rails 12 and parallel to the two slide rails 12, and one end of the screw rod 11 is connected with the output end of the servo motor 6 to provide driving force for sliding. The base assembly 1 is fixed on the deck of the unmanned ship through bolts. The front end and the rear end of the screw 11 are respectively provided with a screw forward limit switch and a screw backward limit switch, and the screw forward limit switch and the screw backward limit switch are respectively connected with the control system 5. Bearings A207 in rolling connection with the slide rails 12 on both sides of the fixed seat welding frame 201 are respectively arranged on both sides of the fixed seat welding frame 201, and bearings B301 in rolling connection with the slide rails 12 on both sides are respectively arranged on the side plates 305 on both sides of the sliding drive assembly 3.
The end face of each side of the sliding rail 12 in this embodiment is turned over by 90 ° in a U shape, and the openings of the U shapes of the sliding rails 12 on both sides are arranged opposite to each other. The bearings A207 on each side of the fixed seat welding frame 201 are in two upper and lower rows, each bearing A207 of each row is arranged along the length of the fixed seat welding frame 201, and the upper and lower two rows of bearings A207 on each side are respectively in rolling connection with the upper and lower surfaces of one side of the upper side of the U-shaped slide rail 12 on the same side, so that the upper and lower side limiting is realized. The sliding drive assembly 3 is provided with bearings B301 at the front end, the rear end and the two ends of each side plate 305, the bearings B301 at the front end and the rear end are respectively in two rows and are respectively in rolling connection with the upper surface and the lower surface of one side of the U-shaped slide rail 12 positioned above, and the bearings B301 between the two ends are in abutting connection with the end face of one side of the U-shaped slide rail 12 positioned above. Twenty bearings B301 are symmetrically arranged on the side plates 305 on two sides of the embodiment, and ten bearings B301 are respectively arranged on each side of the side plate 305; the twenty bearings B301 are arranged in eight upper rows to provide a supporting force of gravity, eight lower rows to provide a supporting force of rollover prevention, and four middle rows to provide a supporting force of lateral positioning.
The head limiting mechanism of the embodiment comprises a head limiting ring 205, wherein the head limiting ring 205 is hinged on a fixed seat welding frame 201, one end of the head limiting ring is an annular rubber plate and is matched with the head of the underwater glider 7, and the other end of the head limiting ring is hinged with a piston rod of the front limiting cylinder 10.
The tail limiting mechanism of the embodiment comprises a tail limiting ring 202, wherein the bottom of the tail limiting ring 202 is fixedly connected to a fixed seat welding frame 201, and the upper part of the tail limiting ring is an annular rubber plate and is matched with the tail of the underwater glider 7.
The middle hold-down mechanism of this embodiment is symmetrically installed on the left and right sides of the underwater glider 7 to be laid, each side of the middle hold-down mechanism comprises a middle hold-down block 203 and a connecting rod 208, the connecting rod 208 is hinged on the fixed seat welding frame 201, one end of the connecting rod 208 is connected with the middle hold-down block 203, and the other end of the connecting rod is provided with a roller 209 in rolling connection with the fixed seat welding frame 201. The left side and the right side of the underwater glider 7 to be distributed are symmetrically provided with middle compression oil cylinders 9, and the piston rod of each middle compression oil cylinder 9 is hinged with a connecting rod 208 on the same side. The contact surface of the middle compression block 203 and the underwater glider 7 is an arc surface so as to adapt to the outer surface of the underwater glider 7; the middle compression block 203 provides compression force through the middle compression cylinder 9 to fix the underwater glider 7 on the backing plate 206. The backing plate 206 of this embodiment is a composite material such as ABS plastic.
In this embodiment, wing stabilizing frames 204 are symmetrically arranged on the left and right sides of the underwater glider 7 to be deployed, the wing stabilizing frames 204 on each side are all installed on the fixed seat welding frame 201, a gap is reserved between the wing stabilizing frames 204 and the backing plate 206, the wing of the underwater glider 7 to be deployed is located between the wing stabilizing frames 204 and the backing plate 206, and in the deployment process, the wing stabilizing frames 204 provide supporting force for the wing of the underwater glider 7.
The sliding driving assembly 3 of this embodiment is respectively provided with a hinge seat 302 and an upper hinge seat 303, the sliding driving assembly 3 is hinged with the fixing seat welding frame 201 through the hinge seat 302, and the upper hinge seat 303 is hinged with the cylinder body of the retraction cylinder 8, so as to realize the tilting motion of the sliding driving assembly 3. The sliding block 304 at the bottom of the sliding driving assembly 3 is connected with a screw nut, the screw nut and the screw rod 11 form a screw pair, and the servo motor 6 provides driving force for sliding back and forth.
The control system 5 of this embodiment mainly comprises a PLC, a servo motor driver, a motor starter, an intermediate relay group, an electromagnetic valve group, a lead screw forward limit switch, a lead screw backward limit switch, an inclination limit switch, a start and stop button, a working state indicator, a switching power supply, an external communication interface, and the like.
The working principle of the invention is as follows:
The PLC is used as a controller of an automatic arrangement device of the underwater glider and is responsible for controlling the start and stop of a single-phase asynchronous motor of the hydraulic station 4, the on-off of an electromagnetic valve group, the action of a servo motor 6 and the state acquisition of each limit switch, and comprises a plurality of peripheral interfaces such as extensible I/O, PWM, RS485, ethernet and the like. The servo motor driver is used for driving the servo motor 6 to drive the screw rod 11 to rotate, and the screw pair of the screw rod 11 and the screw nut is utilized to drive the sliding driving assembly 3 to move along the sliding rail 12; the glider fixing mechanism 2 is used for installing and fixing the underwater glider 7, and the glider fixing mechanism 2 moves on the sliding rail 12 along with the sliding driving assembly 3 to convey the underwater glider 7 to the outside of the unmanned ship. The retraction cylinder 8 works to incline the glider fixing mechanism 2 with the underwater glider 7 downwards, the front limiting cylinder 10 drives the head limiting ring 205 to overturn downwards, the middle pressing cylinder 9 drives the connecting rod 208 to drive the middle pressing block 203 to open, and the laying operation is realized by the gravity of the underwater glider 7. After the laying operation is completed, the glider fixing mechanism 2 is retracted to the initial position by the retraction cylinder 8 and the servo motor 6. The forward and backward limit switches of the lead screw are respectively used as the limit of the push-out and recovery of the lead screw 11 and the state feedback of the automatic arrangement process. The inclination angle limit switch is used as state feedback of inclination angle limit and automatic laying process when the glider fixing mechanism 2 is laid under the action of the retraction cylinder 8. The intermediate relay group and the electromagnetic valve group are mainly responsible for controlling a hydraulic circuit and comprise the actions of a low-pressure start, a retraction cylinder 8, a middle compression cylinder 9 and a front limiting cylinder 10 of the hydraulic station 4. The single-phase asynchronous motor is used as a power source of the hydraulic station 4, drives the hydraulic pump to supply oil to each oil cylinder, and the motor starter is responsible for starting and stopping the asynchronous motor. The start and stop button is responsible for manually controlling the start and stop of the motor, and is mainly used in debugging and emergency conditions. The working state indicator lamp is used for indicating whether the automatic arrangement device of the underwater glider works normally at present or not, and an alarm signal is sent out when the automatic arrangement device of the underwater glider breaks down. The switching power supply supplies direct current power to the whole system. The PLC and the unmanned ship control system communicate in an RS485 or Ethernet mode, and a communication protocol adopts a free protocol mode.
Claims (6)
1. An automatic device of putting of glider under water, its characterized in that: the device comprises a base assembly (1), a glider fixing mechanism (2), a sliding driving assembly (3), a hydraulic system and a control system (5), wherein a screw rod (11) is rotatably arranged on the base assembly (1), and the screw rod (11) is driven to rotate through a servo motor (6) arranged on the base assembly (1); the glider fixing mechanism (2) comprises a fixed seat welding frame (201), a tail limiting mechanism, a middle pressing mechanism, a head limiting mechanism and a base plate (206), wherein the fixed seat welding frame (201) is in rolling connection with the base assembly (1), the head limiting mechanism and the tail limiting mechanism are respectively arranged at the front end and the rear end of the fixed seat welding frame (201), the head and the tail of the underwater glider (7) to be distributed are respectively supported and limited, and the middle pressing mechanism is arranged between the head limiting mechanism and the tail limiting mechanism and is used for pressing the underwater glider (7) to be distributed on the base plate (206); the sliding driving assembly (3) is in rolling connection with the base assembly (1) and hinged with the fixed seat welding frame (201), a sliding block (304) is arranged on the sliding driving assembly (3), and a nut in threaded connection with the screw rod (11) is connected to the sliding block (304); the hydraulic system comprises a retraction cylinder (8), a middle compression cylinder (9), a front limiting cylinder (10) and a hydraulic station arranged on a base assembly (1), wherein the retraction cylinder (8) is hinged on the sliding driving assembly (3), a piston rod is hinged with the fixed seat welding frame (201), the middle compression cylinder (9) is hinged on the fixed seat welding frame (201), the piston rod drives the middle compression mechanism to compress the underwater glider (7) to be distributed, the front limiting cylinder (10) is hinged on the fixed seat welding frame (201), and the piston rod drives the head limiting mechanism to be separated from the head of the underwater glider (7) during distribution; the retractable oil cylinder (8), the middle pressing oil cylinder (9) and the front limiting oil cylinder (10) are respectively connected with a hydraulic pump driven by a single-phase asynchronous motor in the hydraulic station (4), and the single-phase asynchronous motor, the servo motor (6), the retractable oil cylinder (8), the middle pressing oil cylinder (9) and the front limiting oil cylinder (10) are respectively connected with a control system (5) arranged on the base assembly (1);
The head limiting mechanism comprises a head limiting ring (205), the head limiting ring (205) is hinged on the fixed seat welding frame (201), one end of the head limiting ring is annular, and the other end of the head limiting ring is hinged with a piston rod of the front limiting oil cylinder (10);
The tail limiting mechanism comprises a tail limiting ring (202), the bottom of the tail limiting ring (202) is fixedly connected to the fixing seat welding frame (201), and the upper portion of the tail limiting ring is annular.
2. The automatic deployment apparatus of an underwater glider of claim 1 wherein: the two sides of the base assembly (1) are symmetrically provided with sliding rails (12) which are parallel to each other along the moving direction of the fixed seat welding frame (201) and the sliding driving assembly (3), the two sides of the fixed seat welding frame (201) are respectively provided with bearings A (207) which are in rolling connection with the sliding rails (12) at the two sides, and the side plates (305) at the two sides of the sliding driving assembly (3) are respectively provided with bearings B (301) which are in rolling connection with the sliding rails (12) at the two sides.
3. The automatic deployment apparatus of an underwater glider according to claim 2, wherein: the end face of each sliding rail (12) is in a U shape which turns over by 90 degrees, the bearings A (207) on each side of the fixed seat welding frame (201) are in two rows, and the bearings A (207) on each side are respectively in rolling connection with the upper surface and the lower surface of one side, above which the U-shaped sliding rail (12) on the same side is located.
4. The automatic deployment apparatus of an underwater glider according to claim 2, wherein: the end face of each side sliding rail (12) is in a U shape which turns over 90 degrees, bearings B (301) are arranged at the front end, the rear end and between the two ends of each side plate (305), the bearings B (301) at the front end and the rear end are in two rows and are respectively in rolling connection with the upper surface and the lower surface of one side of the U-shaped sliding rail (12) above, and the bearings B (301) between the two ends are in butt joint with the end face of one side of the U-shaped sliding rail (12) above.
5. The automatic deployment apparatus of an underwater glider of claim 1 wherein: the middle pressing mechanisms are symmetrically arranged on the left side and the right side of the underwater glider (7) to be laid, each side of the middle pressing mechanisms comprises a middle pressing block (203) and a connecting rod (208), the connecting rods (208) are hinged on the fixed seat welding frame (201), one ends of the connecting rods are connected with the middle pressing blocks (203), and the other ends of the connecting rods are provided with rollers (209) in rolling connection with the fixed seat welding frame (201); the left side and the right side of the underwater glider (7) to be distributed are symmetrically provided with middle pressing oil cylinders (9), and the piston rod of each middle pressing oil cylinder (9) is hinged with a connecting rod (208) on the same side.
6. The automatic deployment apparatus of an underwater glider of claim 1 wherein: wing stabilizing frames (204) are symmetrically arranged on the left side and the right side of the underwater glider (7) to be laid, the wing stabilizing frames (204) on each side are all installed on the fixed seat welding frame (201), gaps are reserved between the wing stabilizing frames and the backing plates (206), and wings of the underwater glider (7) to be laid are located between the wing stabilizing frames (204) and the backing plates (206).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011452071.7A CN113320643B (en) | 2020-12-10 | 2020-12-10 | Automatic laying device of underwater glider |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011452071.7A CN113320643B (en) | 2020-12-10 | 2020-12-10 | Automatic laying device of underwater glider |
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| CN113320643A CN113320643A (en) | 2021-08-31 |
| CN113320643B true CN113320643B (en) | 2024-08-09 |
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| CN202011452071.7A Active CN113320643B (en) | 2020-12-10 | 2020-12-10 | Automatic laying device of underwater glider |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114655366A (en) * | 2022-04-18 | 2022-06-24 | 广东智能无人系统研究院 | Submersible cluster type distribution device |
| CN114919716B (en) * | 2022-05-16 | 2024-05-07 | 青岛海洋科学与技术国家实验室发展中心 | Butt-joint enclasping system for recovering underwater glider |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN213862582U (en) * | 2020-12-10 | 2021-08-03 | 中国科学院沈阳自动化研究所 | Automatic laying device for underwater glider |
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| GB751977A (en) * | 1954-02-08 | 1956-07-04 | William Douglas Cooke | Improvements in or relating to aerodynes |
| CN103171746B (en) * | 2011-12-26 | 2015-07-29 | 中国科学院沈阳自动化研究所 | A kind of Autonomous Underwater aircraft lay regenerative apparatus |
| CN109367707B (en) * | 2018-10-26 | 2019-07-12 | 河海大学 | A kind of unmanned boat recycling Autonomous Underwater Vehicle device and method based on guide cable |
| CN211869618U (en) * | 2019-12-06 | 2020-11-06 | 青岛海舟科技有限公司 | Device for distributing wave glider |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN213862582U (en) * | 2020-12-10 | 2021-08-03 | 中国科学院沈阳自动化研究所 | Automatic laying device for underwater glider |
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