CN112678132A - Locking and releasing mechanism for AUV connection - Google Patents
Locking and releasing mechanism for AUV connection Download PDFInfo
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- CN112678132A CN112678132A CN202110004267.8A CN202110004267A CN112678132A CN 112678132 A CN112678132 A CN 112678132A CN 202110004267 A CN202110004267 A CN 202110004267A CN 112678132 A CN112678132 A CN 112678132A
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Abstract
The invention relates to a locking and releasing mechanism for AUV connection, which comprises: the release magnet is fixed on the upper end cover, the locking magnet is fixed on the lower end cover, an armature is arranged between the release magnet and the locking iron, the guide locking device comprises a guide rod and a locking rod, the guide rod penetrates through the armature and is fixed with the armature, and the locking rod is fixed below the armature; the release magnet or the locking magnet is electrified to generate magnetic force, and under the guidance of the guide rod, the armature iron moves upwards or downwards under the action of the magnetic force to drive the tail end of the locking rod to be pulled out or inserted into a clamping groove of the AUV, so that the AUV is released or locked; the locking and releasing function is realized by the electromagnet, and the structure is simple; the traditional mode of resetting by a spring is abandoned, and the device can work in seawater for a long time; the locking is completely realized by a mechanical structure, and the locking reliability is high.
Description
Technical Field
The invention belongs to the technical field of underwater vehicles, and particularly relates to a locking and releasing mechanism for AUV connection.
Background
Underwater robots are mainly divided into two main categories: one is a cabled underwater robot, which is conventionally called a Remote Operated Vehicle (ROV); the other is a cableless underwater robot, which is conventionally called an Autonomous Underwater Vehicle (AUV). The autonomous underwater robot is a new-generation underwater robot, has the advantages of large moving range, good maneuverability, safety, intellectualization and the like, and becomes an important tool for completing various underwater tasks.
The AUV locking and releasing mechanism is mainly applied to locking the AUV and the docking base station after the AUV cruise finishes navigating to the docking base station, so that electric energy and signals can be conveniently transmitted, and the AUV is released after the transmission is finished.
In the prior art, a clamping ring and the like are usually used for a locking mechanism, most of the locking mechanisms are curved surfaces which are used for compressing or adsorbing the AUV by a plane, the actual contact area is small, and the locking effect is poor. The power mechanism is mainly driven by an underwater motor or hydraulically, and the like, and compared with an electromagnetic mechanism, the underwater motor and a hydraulic driving system are more expensive in price and larger in size; the existing electromagnetic mechanism usually uses electromagnetic force to adsorb AUV and uses a spring to reset, and the spring can be corroded by marine environment when working in seawater and cannot work for a long time.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the locking and releasing mechanism for AUV connection, which has the advantages of simple structure, firm locking and long-term operation.
The invention provides a locking and releasing mechanism for AUV connection, which comprises,
a release magnet fixed on the upper end cover,
a locking magnet fixed on the lower end cover,
an armature located between the release magnet and the lock magnet;
the guide locking device comprises a guide rod and a locking rod, the guide rod penetrates through the armature and is fixed with the armature, and the locking rod is fixed below the armature;
the upper end of the guide rod penetrates through the upper end cover, the lower end of the guide rod penetrates through the lower end cover, the locking rod penetrates through the lower end cover and continues to extend downwards, the release magnet or the locking magnet is electrified to generate magnetic force, and under the guide of the guide rod, the armature iron moves upwards or downwards under the magnetic force to drive the tail end of the locking rod to be pulled out or inserted into a clamping groove of the AUV, so that the AUV is released or locked.
In the technical scheme, the locking and releasing functions are realized by utilizing the electromagnet, and the structure is simple; the traditional mode of resetting by a spring is abandoned, and the device can work in seawater for a long time; the locking is completely realized by a mechanical structure, and the locking reliability is high.
Optionally, an adjusting washer is arranged between the locking rod and the armature, and the adjusting washer adjusts the length of the locking rod extending out of the lower end cover so as to be suitable for firm locking of AUVs of different models. Optionally, locking release mechanism still includes the limiting mechanism who carries out the position to the AUV of plugging into and prescribe a limit to, limiting mechanism includes limiting plate and a plurality of connecting rod, the limiting plate passes through the connecting rod is fixed to the station of plugging into, the AUV gets into the station back of plugging into, the axial distance of marcing of limiting plate restriction AUV can guarantee that the draw-in groove of AUV just in time is located the below of check lock lever, is convenient for carry out follow-up locking operation.
Optionally, the locking magnet is connected with a locking watertight cable, the locking watertight cable passes through the lower end cover from below the lower end cover and then is connected with the locking magnet, the releasing magnet is connected with a releasing watertight cable, and the releasing watertight cable passes through the upper end cover from the top of the upper end cover and then is connected with the releasing magnet; after the locking water cable energizes the locking magnet, the armature drives the locking rod to move downwards, and the locking rod is inserted into a clamping groove of the AUV to realize locking; after the release water cable energizes the release magnet, the armature drives the locking rod to move upwards, and the locking rod pulls out the clamping groove of the AUV to release the AUV.
Optionally, the upper end cover and the lower end cover are both fixed to the docking station through a connecting plate, so that the locking and releasing mechanism is fixed to the docking station.
Optionally, the guide rods are symmetrically distributed on the edge of the armature, so that the armature can move up or down smoothly and smoothly as a whole.
Optionally, the number of the locking rods is two, the two locking rods are symmetrically arranged below the armature, and the straight lines where the two locking rods are located are parallel to the plane where the clamping groove is located on the AUV, so that the locking rods can be accurately inserted into the clamping groove of the AUV when moving downwards, and locking is achieved.
The invention also provides an AUV (autonomous Underwater vehicle) docking station, which comprises the locking and releasing mechanism for AUV docking.
Based on the technical scheme, the locking and releasing actions of the locking and releasing mechanism for AUV connection in the embodiment of the invention are realized by the electromagnet, the structure is simple, and the design is reasonable; the locking and releasing mechanism does not use a spring for resetting and can work in seawater for a long time; the locking mode of the device is mechanical structure locking, and locking is firm; due to the arrangement of the adjusting washer, the radial clearance between the locking and releasing mechanism and the clamping groove curved surface of the AUV can be adjusted, and the AUV locking and releasing mechanism is suitable for locking and releasing AUVs with different diameters.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
FIG. 1 is a schematic view of the structure of FIG. 1;
FIG. 2 is a schematic view of the lock release mechanism of the present invention in a locked state;
FIG. 3 is a schematic view of the lock-release mechanism of the present invention in a released state.
In the figure:
1. a limiting plate; 2. an L-shaped connecting piece; 3. a connecting rod; 4. AUV; 5. locking the watertight cable; 6. a lower end cover; 7. a locking lever; 8. a locking magnet; 9. a guide bar; 10. an armature; 11. an adjusting washer; 12. releasing the magnet; 13. an upper end cover; 14. releasing the watertight cable; 15. a connecting plate; 16. a docking station; 17. a fixing plate; 18. a clamping groove.
Detailed Description
The technical solutions in the embodiments will be clearly and completely described below with reference to the drawings in the embodiments of the present invention. It is to be understood that the described embodiments are merely a few embodiments of the invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without making any creative effort, shall fall within the protection scope of the present invention.
In the description of the present invention, it is to be understood that the terms "central," "lateral," "longitudinal," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and for simplicity in description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
As shown in fig. 1 to 3, in an exemplary embodiment of the lock-release mechanism for AUV docking according to the present invention, the lock-release mechanism for AUV docking includes a release magnet 12 fixed on an upper end cover 13, a lock magnet 8 fixed on a lower end cover 6, and an armature 10 disposed between the release magnet 12 and the lock magnet 8; in general, in an electromagnetic mechanism, an armature refers to a ferromagnetic body that is attracted and moved by a fixed electromagnet, and the armature and the electromagnet form a closed magnetic circuit after moving.
The locking and releasing mechanism for AUV connection further comprises a guide locking device, wherein the guide locking device comprises a guide rod 9 and a locking rod 7, the guide rod 9 penetrates through an armature 10 and is fixed on the armature 10 through a bolt, the upper end of the guide rod 9 penetrates through an upper end cover 13, the lower end of the guide rod 9 penetrates through a lower end cover 6, through holes are formed in the upper end cover 13 and the lower end cover 6, and the guide rod 9 can move up and down along the through holes;
the locking rod 7 is fixed below the armature 10, a through hole is formed in the position, corresponding to the locking rod 7, of the lower end cover 6, and the locking rod 7 continues to extend downwards after penetrating through the through hole; the release magnet 12 or the locking magnet 8 generates magnetic force after being electrified, the armature 10 moves up or down under the attraction of the magnetic force, and under the guidance of the guide rod 9, the tail end of the locking rod 7 is driven to be pulled out or inserted into the clamping groove 18 of the AUV4, so that the AUV4 is released or locked.
As an embodiment of the invention, the locking and releasing functions are realized by utilizing the electromagnet, and the structure is simple; the traditional mode that a spring resets is abandoned, and the device can work in seawater for a long time; the locking is completely realized by a mechanical structure, and the locking reliability is high.
An adjusting washer 11 is arranged between the locking rod 7 and the armature 10, the adjusting washers 11 with different types and different thicknesses are adjusted or replaced, the length of the locking rod 7 extending out of the lower end cover 6 can be adjusted, the distances between the AUV upper clamping groove 18 and the lower end cover 6 are different due to different AUVs with different types and different radial sizes, and the locking rod 7 can be suitable for firmly locking the AUVs 4 with different types through adjustment of the adjusting washer 11.
In order to enable the locking and releasing mechanism of the embodiment of the invention to accurately lock the AUV4, the locking and releasing mechanism further comprises a limiting mechanism for limiting the position of the connected AUV, the limiting mechanism comprises a limiting plate 1 and a plurality of connecting rods 3, the limiting plate 1 is fixed on the connecting station 16 through the connecting rods 3, the limiting plate 1 is fixed with the connecting rods 3 through L-shaped connecting pieces 2, and the connecting rods 3 are fixed on the connecting station 16 through fixing plates 17; as an embodiment of this application, limiting plate 1 is circular structure, fixes on the station of plugging into through 3 connecting rods 3, and after the AUV got into the station of plugging into 16, limiting plate 1 restricted AUV's axial distance of marcing, can guarantee that AUV's draw-in groove 18 just in time is located the below of check lock lever 7, is convenient for carry out follow-up locking operation.
In order to electrify the release magnet 12 and the locking magnet 8, the locking magnet 8 is connected with the locking watertight cable 5, and the locking watertight cable 5 passes through the lower part of the lower end cover 6 and then is connected with the locking magnet 8; the release magnet 12 is connected with a release watertight cable 14, and the release watertight cable 14 is connected with the release magnet 12 after passing through the top of the upper end cover 13; after the locking watertight cable 5 energizes the locking magnet 8, the armature 10 is attracted by the magnetic force of the locking magnet 8 to drive the locking rod 7 to move downwards, and the locking rod 7 is inserted into the clamping groove 18 of the AUV to realize locking, as shown in FIG. 2; when the release water cable 14 energizes the release magnet 12, the armature 10 is attracted by the release magnet 12 to drive the locking rod 7 to move upwards, and the locking rod 7 is pulled out of the clamping groove 18 of the AUV4 to release the AUV4, as shown in FIG. 3.
In order to firmly fix the locking and releasing mechanism on the docking station 16, the upper end cover 13 and the lower end cover 6 are both fixed with the docking station 16 through a connecting plate 15, the upper end cover 13 and the lower end cover 6 are copper-nailed at one end of the connecting plate 15 through bolts, and the other end of the connecting plate 15 is also fixed on the docking station 16 through bolts.
As an embodiment of the present invention, 2 or 4 guide rods 9 are symmetrically distributed on the edge of the armature 10, and when the armature 10 is rectangular, the guide rods 9 are located on two opposite sides or four top corners of the armature 10; of course, when the armature 10 is circular, the guide rods 9 are distributed on the circular edge, so that the armature 10 can keep an overall balanced, smooth and stable state in the process of moving up or down.
The number of the locking rods 7 is two, the locking rods are symmetrically arranged below the armature 10, the straight line of the two locking rods 7 is parallel to the plane where the clamping groove 18 in the AUV4 is located, and therefore when the locking rods 7 move downwards, the locking rods can be accurately inserted into the clamping groove 18 in the AUV4, and locking is achieved.
The invention also provides an AUV (autonomous Underwater vehicle) docking station, which comprises the locking and releasing mechanism for AUV docking.
Finally, it should be noted that: the embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The above examples are only intended to illustrate the technical solution of the present invention and not to limit it; although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art will understand that: modifications to the specific embodiments of the invention or equivalent substitutions for parts of the technical features may be made; without departing from the spirit of the present invention, it is intended to cover all aspects of the invention as defined by the appended claims.
Claims (8)
1. A lock-and-release mechanism for an AUV connection, comprising: the method comprises the following steps:
a release magnet fixed on the upper end cover;
a locking magnet fixed on the lower end cover;
an armature located between the release magnet and the lock magnet;
the guide locking device comprises a guide rod and a locking rod, the guide rod penetrates through the armature and is fixed with the armature, and the locking rod is fixed below the armature;
the upper end of the guide rod penetrates through the upper end cover, the lower end of the guide rod penetrates through the lower end cover, the locking rod penetrates through the lower end cover and continues to extend downwards, the release magnet or the locking magnet is electrified to generate magnetic force, and under the guide of the guide rod, the armature iron moves upwards or downwards under the magnetic force to drive the tail end of the locking rod to be pulled out or inserted into a clamping groove of the AUV, so that the AUV is released or locked.
2. The lock-release mechanism for AUV docking according to claim 1, wherein an adjustment washer is provided between the locking rod and the armature, the adjustment washer adjusting the length of the locking rod extending out of the lower end cap.
3. The lock-release mechanism for AUV docking according to claim 2, further comprising a limiting mechanism for limiting the position of the docked AUV, wherein the limiting mechanism comprises a limiting plate and a plurality of connecting rods, the limiting plate is fixed to the docking station by the connecting rods, and after the AUV enters the docking station, the limiting plate limits the axial travel distance of the AUV.
4. The lock-release mechanism for AUV docking according to claim 3, wherein the locking magnet is connected to a locking watertight cable, the locking watertight cable passes through the lower end cap from below the lower end cap and then is connected to the locking magnet, the release magnet is connected to a release watertight cable, and the release watertight cable passes through the upper end cap from top of the upper end cap and then is connected to the release magnet.
5. The lock-release mechanism for AUV docking according to claim 4, wherein the upper end cap and the lower end cap are both secured to the docking station by a connection plate.
6. The lock-release mechanism for AUV docking according to claim 1, wherein the plurality of guide rods are symmetrically distributed on the edge of the armature.
7. The lock-release mechanism for AUV docking according to claim 6, wherein there are two of said lock-bars symmetrically disposed under said armature, and a straight line of said two lock-bars is parallel to a plane of said upper slot of said AUV.
8. An AUV docking station comprising a lock release mechanism for AUV docking as claimed in any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110004267.8A CN112678132A (en) | 2021-01-04 | 2021-01-04 | Locking and releasing mechanism for AUV connection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110004267.8A CN112678132A (en) | 2021-01-04 | 2021-01-04 | Locking and releasing mechanism for AUV connection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112678132A true CN112678132A (en) | 2021-04-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110004267.8A Pending CN112678132A (en) | 2021-01-04 | 2021-01-04 | Locking and releasing mechanism for AUV connection |
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| CN (1) | CN112678132A (en) |
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| CN106167079A (en) * | 2016-08-11 | 2016-11-30 | 浙江大学 | A kind of underground releaser for deep-sea Autonomous Underwater Vehicle |
| CN106197384A (en) * | 2016-07-20 | 2016-12-07 | 浙江大学 | A kind of releasable seat end device for profiler |
| CN106314732A (en) * | 2016-10-14 | 2017-01-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Underwater docking, recycling and laying device for AUV |
| CN109664088A (en) * | 2018-12-29 | 2019-04-23 | 嘉兴汉羿文化传播有限公司 | A kind of sleeve column feeding press-loading device |
| CN111268068A (en) * | 2018-12-05 | 2020-06-12 | 中国科学院沈阳自动化研究所 | AUV underwater docking device |
| CN111874194A (en) * | 2020-07-08 | 2020-11-03 | 山东省科学院海洋仪器仪表研究所 | AUV underwater docking station and marine environment observation platform based on buoy and AUV |
-
2021
- 2021-01-04 CN CN202110004267.8A patent/CN112678132A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106197384A (en) * | 2016-07-20 | 2016-12-07 | 浙江大学 | A kind of releasable seat end device for profiler |
| CN106167079A (en) * | 2016-08-11 | 2016-11-30 | 浙江大学 | A kind of underground releaser for deep-sea Autonomous Underwater Vehicle |
| CN106314732A (en) * | 2016-10-14 | 2017-01-11 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Underwater docking, recycling and laying device for AUV |
| CN111268068A (en) * | 2018-12-05 | 2020-06-12 | 中国科学院沈阳自动化研究所 | AUV underwater docking device |
| CN109664088A (en) * | 2018-12-29 | 2019-04-23 | 嘉兴汉羿文化传播有限公司 | A kind of sleeve column feeding press-loading device |
| CN111874194A (en) * | 2020-07-08 | 2020-11-03 | 山东省科学院海洋仪器仪表研究所 | AUV underwater docking station and marine environment observation platform based on buoy and AUV |
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Application publication date: 20210420 |
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