CN111824375A - Small-size rotary type AUV is receiving and releasing device independently - Google Patents
Small-size rotary type AUV is receiving and releasing device independently Download PDFInfo
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- CN111824375A CN111824375A CN202010719914.9A CN202010719914A CN111824375A CN 111824375 A CN111824375 A CN 111824375A CN 202010719914 A CN202010719914 A CN 202010719914A CN 111824375 A CN111824375 A CN 111824375A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02W—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO WASTEWATER TREATMENT OR WASTE MANAGEMENT
- Y02W30/00—Technologies for solid waste management
- Y02W30/50—Reuse, recycling or recovery technologies
- Y02W30/56—Reuse, recycling or recovery technologies of vehicles
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Abstract
The invention relates to a small-sized rotary AUV (autonomous underwater vehicle) autonomous retraction device, belonging to the field of AUV release and recovery; the device comprises a guide cover 1, a connecting pipe 2, a manipulator 5, a master control table 4, a mounting frame 3 and an elastic anti-collision plate 7, wherein the mounting frame 3 is used for supporting the whole device, the connecting pipe 2 and the elastic anti-collision plate 7 are coaxially fixed at two ends of the mounting frame 3, the master control table 4 is arranged at the top end of the mounting frame 3, and the guide cover 1 is coaxially arranged at an outer port of the connecting pipe 2; the plurality of mechanical arms 5 are uniformly distributed along the length direction of the mounting rack 3 and used for clamping and fixing the AUV; the manipulator 5, the connecting pipe 2 and the guide cover 1 form an AUV recovery pipe; the master control console controls the electromagnetic telescopic rod 10 and the motor 13 to realize the movement of the manipulator 5, so that the recovery and release operations of the AUV are completed. The AUV can be released at any attitude angle after the retraction device is opened, and can enter a working state as soon as possible, so that the efficiency is improved, and the backing can be effectively prevented.
Description
Technical Field
The invention belongs to the field of AUV release and recovery, and particularly relates to a small rotary AUV autonomous retraction device.
Background
About 71% of the earth's surface is covered by the ocean, and the demands of exploring the unknown field of the ocean, more effectively utilizing all the resources in the ocean, strengthening the safety of the ocean field, maintaining the legal rights and interests of the national ocean field, etc. put high demands on the performance of the underwater vehicle. In consideration of the problems of personal safety, diving cost and the like of an Underwater Vehicle, an Unmanned Underwater Vehicle (UUV) occupies the dominant position of the development of the Vehicle. UUVs can be divided into Autonomous Underwater Vehicles (AUVs) and cabled Underwater vehicles (ROVs). The AUV can navigate independently through a preset program without being controlled by personnel, and the operation range is wider.
Under the limitation of battery energy, the AUV needs to perform works such as recovering, supplementing energy, reading information, downloading new tasks, and preparing for next release when performing underwater operation for a period of time. The traditional device for collecting and releasing the AUV comprises a rod type, a box type, a guide cover type and the like, wherein the guide cover type recovery device is most widely applied due to simple structure, low cost and difficulty in failure. However, the traditional guide hood type recovery device is easy to reverse due to the influence of ocean currents in the process of releasing and is low in working efficiency.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides the small rotary type AUV autonomous retraction device, underwater butt joint recovery is carried out by the guide cover, the AUV is released by the manipulator, and backing can be effectively prevented from occurring in the AUV recovery and release process.
The technical scheme of the invention is as follows: the utility model provides a small-size gyration body type AUV is receiving and releasing device independently which characterized in that: the device comprises a guide cover 1, a connecting pipe 2, a manipulator 5, a master control table 4, a mounting frame 3 and an elastic anti-collision plate 7, wherein the mounting frame 3 is used for supporting the whole device, the connecting pipe 2 and the elastic anti-collision plate 7 are coaxially fixed at two ends of the mounting frame 3, the master control table 4 is arranged at the top end of the mounting frame 3, and the guide cover 1 is coaxially arranged at an outer port of the connecting pipe 2; the plurality of mechanical arms 5 are uniformly distributed along the length direction of the mounting rack 3 and used for clamping and fixing the AUV; the manipulator 5, the connecting pipe 2 and the guide cover 1 form an AUV recovery pipe;
the manipulator 5 comprises a fixed column 8, a supporting rod 9, a telescopic rod 10, a basic arm 11, a movable arm 12 and a motor 13, wherein the supporting rod 9 is fixed under the mounting rack 3 in parallel through the fixed column 8; the supporting rod 9 is formed by splicing two sub-rods, a telescopic rod 10 is arranged at the splicing position, the length of the supporting rod 9 is adjusted through the telescopic rod 10, and the space in the AUV recovery pipe is further adjusted; the two basic arms 11 are arranged in parallel and hinged at two ends of the supporting rod 9, and the lower ends of the two basic arms are respectively hinged with a movable arm 12; a motor 13 is arranged at the hinged part of the basic arm 11 and the movable arm 12 and used for controlling the rotation of the movable arm 12 to realize the clamping or releasing of the AUV; the two movable arms 12 are two arc plates positioned in the same circumferential plane;
the master control console 4 comprises a master control module 14 and a power supply module 15, wherein the master control module 14 is used for sending a control instruction, and the power supply module 15 supplies power to the master control module 14, the telescopic rod 10 and the motor 13.
The further technical scheme of the invention is as follows: the guide cover 1 is of a horn-shaped structure, the large-diameter end of the guide cover faces outwards and is used for guiding AUV during recovery, and the small-diameter end of the guide cover is coaxially and fixedly connected with the connecting pipe 2 of the circular pipe structure.
The further technical scheme of the invention is as follows: the elastic anti-collision plate 7 is of a circular plate-shaped structure and is used for limiting the AUV after the AUV enters the retraction device.
The further technical scheme of the invention is as follows: and the fixing column 8 of the manipulator 5 is fixedly connected with the mounting rack 3 through welding.
The further technical scheme of the invention is as follows: the radius of the inner wall of the movable arm 12 is smaller than the outer diameter of the AUV to be recovered, an elastic cushion pad is fixed on the inner wall of the movable arm, the AUV is positioned through elastic deformation and friction, and meanwhile, the shell of the AUV can be protected.
The further technical scheme of the invention is as follows: the inserting end face of one sub-rod of the supporting rod 9 is provided with a T-shaped boss 20, the inserting end face of the other sub-rod is provided with a T-shaped groove 21, the T-shaped boss 20 and the T-shaped groove 21 are installed in a matched mode, and the T-shaped boss 20 can slide along the T-shaped groove 21 along with the expansion of the expansion rod 10.
The further technical scheme of the invention is as follows: two ends of the telescopic rod 10 are respectively arranged at the splicing part of the supporting rod 9 through positioning pieces; the telescopic rod 10 comprises an inner rod 16, a spring 17, an electromagnetic coil 18 and an outer rod 19, wherein the outer rod 19 is of a hollow tubular structure, and the inner rod 16, the spring 17 and the electromagnetic coil 18 are sequentially and coaxially arranged in the outer rod 19; when the electromagnetic coil 18 is electrified, electromagnetic force is generated to extend the spring 17, the inner rod 16 moves along the axial direction under the action of elastic force, and meanwhile, one sub-rod of the support rod 9 is pushed to generate axial displacement; when the electromagnetic coil 18 is powered off, the electromagnetic force disappears, the spring 17 rebounds and pulls the inner rod 16 connected with the spring back to the initial position, meanwhile, the support rod 9 returns along with the retraction of the inner rod 16, the T-shaped boss is clamped with the T-shaped groove, and the positioning is completed.
Advantageous effects
The invention has the beneficial effects that: the invention provides a retracting device suitable for a small-sized rotary body AUV (autonomous underwater vehicle), which consists of a master console 4, an installation frame 3, a manipulator 5, a guide cover 1 and a connecting pipe 2, wherein the manipulator 5 is driven by a motor. The master control console controls the electromagnetic telescopic rod 10 and the motor 13 to realize the movement of the manipulator 5, so that the recovery and release operations of the AUV are completed. The manipulator has the advantages of simple structure, small overall size, good fixing capacity and high safety. The mechanical arm controlled by the motor can be freely opened and closed, the flexibility is high, a large operation space is provided, the AUV can be released at any attitude angle after the retraction device is opened, the AUV enters a working state as soon as possible, and the backing can be effectively prevented while the efficiency is improved.
Drawings
Fig. 1 is an overall schematic view and a bottom view of the descending AUV retraction device according to the present invention;
FIG. 2 is a schematic structural diagram of a manipulator of the descending AUV retracting device of the present invention;
FIG. 3 is a schematic view of the internal structure of the telescopic rod (the spring is in a contracted state);
FIG. 4 is a schematic view of the inside of the telescoping rod (spring extended state);
FIG. 5 is a schematic view of the support rod structure of the AUV retracting device;
FIG. 6 is a schematic diagram of the internal structure of the console;
FIG. 7 is a schematic diagram of AUV deployment assembled by the descending AUV retracting device of the present invention 1;
FIG. 8 is a schematic view of the AUV deployment assembly of the descending AUV retracting device of the present invention shown in FIG. 2;
FIG. 9 is a schematic diagram of the AUV deployment assembled by the descending AUV retracting device of the present invention 3;
description of reference numerals: the device comprises a guide cover 1, a connecting pipe 2, a mounting frame 3, a general control console 4, a manipulator 5, an AUV6, an AUV 7, an elastic anti-collision plate 8, a fixed column 8, a supporting rod 9, a telescopic rod 10, a basic arm 11, a movable arm 12, a motor 13, a main control module 14, a power supply module 15, a telescopic rod inner rod 16, a spring 17, an electromagnetic coil 18, a telescopic rod outer rod 19, a T-shaped boss 20 and a T-shaped groove 21.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
The invention discloses a small rotary AUV (autonomous underwater vehicle) autonomous retraction device which comprises a guide cover 1, a linking pipe 2, a manipulator 5, a general control console 4, an installation frame 3 and an elastic anti-collision plate 7. As shown in fig. 1, four manipulators 5 are welded and arranged at equal intervals under a general control console 4, an installation rack 3 is fixedly welded on a support rod 9 of the manipulator 5 through a fixing column 8, a connection pipe 2 and an elastic anti-collision plate 7 are respectively fixed at two ends, the elastic anti-collision plate 7 is positioned at the head of a recovery pipe, and a circular ring in a guide cover 1 is fixed with the connection pipe 2. The manipulator 5, the connecting pipe 2 and the guide cover 1 form a complete AUV recovery pipe.
As shown in fig. 6, the console 4 is responsible for controlling the joint movement of the manipulator 5 and the movement of the telescopic rod 10, and is composed of a main control module 14 and a power module 15. The main control module 14 is responsible for sending out a control instruction, and the power module 15 supplies power to the main control module 14, the telescopic rod 10 and the motor 13.
As shown in fig. 2 to 5, the manipulator 5 is composed of a fixed column 8, a support rod 9, a telescopic rod 10, a basic arm 11, a movable arm 12, and a motor 13. The support rod 9 is formed by splicing two sub-rods, the T-shaped boss 20 and the T-shaped groove 21 which are matched with each other are respectively positioned at the joint of the two sub-rods of the support rod 9, the support rod 9 can extend along with the extension of the telescopic rod 10, the space in the recovery tube is increased, preparation is made for releasing AUV or AUV feeding, the support rod 9 returns when the telescopic rod 10 is tightened, the T-shaped boss 20 and the T-shaped groove 21 are folded, the T-shaped boss can effectively restrict the movement of the support rod 9, only axial displacement can be carried out on the support rod, the space between the two movable arms 12 below the T-shaped boss and the T-shaped groove after being clamped is reduced, and the function of positioning the AUV is. The telescopic rod 10 and four annular positioning plates welded on the support rod 9 are connected and fixed together through hinges, wherein the telescopic rod 10 is composed of an inner rod 16, a spring 17, an electromagnetic coil 18 and an outer rod 19, and the inner rod 16, the spring 17 and the electromagnetic coil 18 are fixedly connected on the same straight line. The movement of the telescopic rod 10 is electromagnetic control, when the electromagnetic coil 18 is electrified, electromagnetic force is generated to extend the spring 17, the inner rod 16 is pushed away, and meanwhile, one end of the support rod 9 is driven to generate axial displacement; when the electromagnetic coil 18 is powered off, the electromagnetic force disappears, the spring 17 pulls the inner rod 16 back to the original position, the support rod 9 returns along with the retraction of the inner rod 16, the T-shaped boss is tightly clamped with the T-shaped groove, and the positioning is completed. The basic arm 11 is used for connecting the fixed support rod 9 and the movable arm 12. The movable arm 12 is a circular plate-shaped structure, an elastic cushion pad is fixed on the inner wall of the movable arm, the radius of the inner wall of the movable arm 12 is smaller than the outer diameter of the AUV to be recovered, the AUV is positioned through elastic deformation and friction, and meanwhile, the AUV shell can be protected.
The fixed column 8 and the support rod 9 are welded together, the rotary joints of the basic arm 11 and the movable arm 12 and the rotary joints of the basic arm 11 and the support rod 9 are fixedly connected through hinges, and the motor 13 is located at the hinged position of the basic arm and the movable arm and used for controlling the rotation of the movable arm 12.
The structural principle of the invention is as follows:
referring to fig. 1 to 6, the AUV retraction device of the present embodiment is composed of an AUV6, a console 4, an installation rack 3, a manipulator 5, a guide cover 1 and a connection pipe 2. The master control console is a motion control system of the manipulator, and comprises a main control module 14 and a power module 15, wherein the main control module 14 is the core of the motion control system and mainly used for finishing the output of control signals, and the power module supplies power to the control module 14, the electromagnetic coil 18 and the motor 13. The mounting frame 3 is fixed together with the master control platform 4, the manipulators 5 are arranged on the mounting frame 3 at equal intervals, the anti-collision plate 7 is located at the head of the AUV and used for protecting the head of the AUV in an AUV recovery stage, the bell-mouth-shaped guide cover 1 is used for recovering the AUV in the recovery stage, and the connecting pipe 2 corrects the direction of the AUV in the initial stage that the AUV enters the recovery pipe, so that the AUV can safely and accurately enter the recovery pipe.
The implementation of the invention has two modes: AUV release mode and AUV recovery mode.
AUV Release procedure
As shown in fig. 7, when the AUV is released, the console 4 sends a release signal to control the electromagnetic coil 18 of the telescopic rod 10 to be powered on, the spring 17 extends to push the inner rod 16 open, the one end of the support rod 9 is driven to generate axial displacement, the space between the lower movable arms 12 is increased, the motor 13 is started to drive the movable arms 12 to rotate downwards to push the AUV out of the recovery tube, the manipulator is completely opened to complete the release of the AUV after the process is finished, and then the AUV can navigate by the navigation control system of the AUV. After the AUV completely leaves the recovery pipe, the control system controls the motor to enable the movable arm 12 to rotate upwards to recover the initial state, the electromagnetic coil 18 is powered off, the support rod 9 is folded, and the T-shaped boss is tightly clamped with the T-shaped groove, so that the support rod 9 cannot be easily opened along with external influence, and the release work of the AUV is finished. Compared with the traditional guide cover type release device, a cage type AUV release recovery device and the like, the device can allow the AUV to leave the recovery pipe at any attitude angle after the manipulator 5 is completely opened.
AUV recovery Process
As shown in fig. 8, when the AUV releasing and recovering device is ready to perform recovery work, the AUV retracting device enters a recovery waiting state, and the AUV searches for the position of the recovery pipe through a sensor signal and enters a designated space area at a certain attitude and a certain navigation speed.
When the master console 4 senses that the AUV approaches to the recovery pipe, a recovery instruction is sent, the electromagnetic coil 18 is electrified to extend the spring 17, the inner rod 16 is pushed away to drive the support rod 9 to generate axial displacement, and the space between the movable arms 12 is enlarged to prepare for the smooth pipe entry of the AUV. After the AUV is subjected to attitude adjustment, the AUV rapidly enters the recovery pipe along the arc shape of the bell mouth type guide cover 1 under the action of the power of the AUV, and the pipe inlet direction and the pipe inlet position are adjusted through the connecting pipe 2.
As shown in fig. 9, after the AUV is completely inserted into the tube, the electromagnetic coil 18 is powered off, the spring 17 pulls the inner rod 16 back to the original position, the support rod 9 is driven to be folded, the T-shaped positioning device is clamped, the distance between the movable arms 12 is reduced, the AUV is further clamped, positioning and supporting are completed, the AUV is recovered, the AUV head navigation system stops self power output after confirming the position, and recovery is completed.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (7)
1. The utility model provides a small-size gyration body type AUV is receiving and releasing device independently which characterized in that: the device comprises a guide cover (1), a connecting pipe (2), a manipulator (5), a master control table (4), an installation frame (3) and an elastic anti-collision plate (7), wherein the installation frame (3) is used for supporting the whole device, the connecting pipe (2) and the elastic anti-collision plate (7) are coaxially fixed at two ends of the installation frame (3), the master control table (4) is arranged at the top end of the installation frame (3), and the guide cover (1) is coaxially installed at an outer port of the connecting pipe (2); the plurality of mechanical arms (5) are uniformly distributed along the length direction of the mounting rack (3) and used for clamping and fixing the AUV; the manipulator (5), the connecting pipe (2) and the guide cover (1) form an AUV recovery pipe;
the manipulator (5) comprises a fixed column (8), a supporting rod (9), a telescopic rod (10), a basic arm (11), a movable arm (12) and a motor (13), wherein the supporting rod (9) is fixed under the mounting rack (3) in parallel through the fixed column (8); the supporting rod (9) is formed by splicing two sub-rods, a telescopic rod (10) is arranged at the splicing position, the length of the supporting rod (9) is adjusted through the telescopic rod (10), and the space in the AUV recovery pipe is further adjusted; the two basic arms (11) are arranged in parallel and hinged at two ends of the supporting rod (9), and the lower ends of the two basic arms are respectively hinged with a movable arm (12); a motor (13) is arranged at the hinged position of the basic arm (11) and the movable arm (12) and is used for controlling the rotation of the movable arm (12) to clamp or release the AUV; the two movable arms (12) are two arc plates positioned in the same circumferential plane;
the general control console (4) comprises a main control module (14) and a power module (15), the main control module (14) is used for sending a control instruction, and the power module (15) supplies power to the main control module (14), the telescopic rod (10) and the motor (13).
2. The autonomous retraction device of small-sized gyro-type AUV according to claim 1, characterized in that: the guide cover (1) is of a horn-shaped structure, the large-diameter end of the guide cover faces outwards and is used for guiding AUV (autonomous Underwater vehicle) during recovery, and the small-diameter end of the guide cover is coaxially and fixedly connected with the connecting pipe (2) of the circular pipe structure.
3. The autonomous retraction device of small-sized gyro-type AUV according to claim 1, characterized in that: the elastic anti-collision plate (7) is of a circular plate-shaped structure and is used for limiting the AUV after the AUV enters the retraction device.
4. The autonomous retraction device of small-sized gyro-type AUV according to claim 1, characterized in that: the fixing column (8) of the manipulator (5) is fixedly connected with the mounting rack (3) through welding.
5. The autonomous retraction device of small-sized gyro-type AUV according to claim 1, characterized in that: the radius of the inner wall of the movable arm (12) is smaller than the outer diameter of the AUV to be recovered, an elastic cushion pad is fixed on the inner wall of the movable arm, the AUV is positioned through elastic deformation and friction, and meanwhile the shell of the AUV can be protected.
6. The autonomous retraction device of small-sized gyro-type AUV according to claim 1, characterized in that: the inserting end face of one sub-rod of the supporting rod (9) is provided with a T-shaped boss (20), the inserting end face of the other sub-rod is provided with a T-shaped groove (21), the T-shaped boss (20) and the T-shaped groove (21) are installed in a matched mode, and the T-shaped boss (20) can slide along the T-shaped groove (21) along with the expansion of the expansion rod (10).
7. The autonomous retraction device of small-sized gyro-type AUV according to claim 1, characterized in that: two ends of the telescopic rod (10) are respectively arranged at the splicing part of the supporting rod (9) through positioning pieces; the telescopic rod (10) comprises an inner rod (16), a spring (17), an electromagnetic coil (18) and an outer rod (19), the outer rod (19) is of a hollow tubular structure, and the inner rod (16), the spring (17) and the electromagnetic coil (18) are sequentially and coaxially arranged in the outer rod (19); when the electromagnetic coil (18) is electrified, electromagnetic force is generated to extend the spring (17), the inner rod (16) moves along the axial direction under the action of elastic force, and meanwhile, one sub-rod of the support rod (9) is pushed to generate axial displacement; when the electromagnetic coil (18) is powered off, the electromagnetic force disappears, the spring (17) rebounds and pulls the inner rod (16) connected with the spring back to the initial position, meanwhile, the support rod (9) returns along with the retraction of the inner rod (16), the T-shaped boss is clamped with the T-shaped groove, and the positioning is completed.
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| CN202010719914.9A CN111824375B (en) | 2020-07-23 | 2020-07-23 | Small-size rotary type AUV is receiving and releasing device independently |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113247216A (en) * | 2021-06-11 | 2021-08-13 | 哈尔滨工业大学 | Grabbing and releasing device for unmanned underwater vehicle |
| CN113264166A (en) * | 2021-06-09 | 2021-08-17 | 西北工业大学 | Linkage locking mechanism for recovering and releasing AUV |
| CN113306687A (en) * | 2021-06-11 | 2021-08-27 | 哈尔滨工业大学 | Cloth recycling device for unmanned underwater vehicle |
| CN114426088A (en) * | 2022-01-20 | 2022-05-03 | 哈尔滨工程大学 | AUV underwater recycling and laying platform based on two-rod trigger mechanism |
| CN114750906A (en) * | 2022-04-18 | 2022-07-15 | 华中科技大学 | Horn mouth guiding device for underwater vehicle recovery |
| CN114852294A (en) * | 2022-04-30 | 2022-08-05 | 西北工业大学 | Device for recovering and releasing AUV (autonomous Underwater vehicle) through linkage self-locking |
| CN114872841A (en) * | 2022-04-12 | 2022-08-09 | 株洲中车时代电气股份有限公司 | Autonomous underwater detection system and method for automatically recovering and laying AUV |
| CN115946825A (en) * | 2022-12-27 | 2023-04-11 | 沈阳辽海装备有限责任公司 | Recovery device for underwater glider |
| CN117508464A (en) * | 2023-10-27 | 2024-02-06 | 哈尔滨工程大学 | Floating box type AUV (autonomous Underwater vehicle) distributing and recycling device |
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