CN209023084U - It is a kind of can folding and unfolding cabin formula the underwater relay station of multi-functional AUV - Google Patents

Abstract

The utility model relates to it is a kind of can folding and unfolding cabin formula the underwater relay station of multi-functional AUV, which is made of underwater cabin, pontoon, lash ship, underwater umbilical cables and underwater cable；Wherein, the underwater cabin includes outer framework, supply module and fine adjustment type recycling clamp system.Utility model has the advantages that utility model device uses the mentality of designing of pipeline system, it cooperates between each module, practitioner is set to carry out recycling and condition monitoring to AUV directly on lash ship, the operation mode of pipeline system greatly improves the supply or recovery efficiency of a plurality of AUV, special fine tuning link mechanism can cope with the AUV of different model, solves the problems, such as the versatility that most of recovering mechanism does not have at this stage, the supply module in underwater cabin is also the continuation of the journey of AUV, the load of new task mission provides reliable guarantee.

Description

It is a kind of can folding and unfolding cabin formula the underwater relay station of multi-functional AUV

Technical field

Underwater supply and recycling field the utility model relates to AUV, in particular to it is a kind of can folding and unfolding cabin formula more function It can the underwater relay station of AUV.

Background technique

As the untethered Autonomous Underwater Vehicle of one of underwater research vehicle, AUV is a kind of important underwater operation carrier, Numerous career fields such as marine science and technology investigation, sea floor exploration, oil field prospecting are widely used in, are a kind of autonomous water Lower robot, by the offer energy such as included rechargeable battery, fuel cell, enclosed diesel engine when working under water, and this A little mode energy storage are limited, and therefore, it is necessary to be recycled in time to supplement energy, read information and maintenance.

AUV way of recycling generally can be divided into two kinds: the first be on the water surface using lash ship lifting recycling, such mode by Lidar Equation is larger, and when recycling needs people to participate in completing hook task, is mainly used in large-scale AUV recycling；Second is to use Hoistable platform, submarine carry the modes such as band on the back and carry out underwater mating recycling, AUV by connect with underwater recovery system can be achieved to charge, The tasks such as data exchange.

AUV recycles the mode that traditional lifting appliance can be used to combine with repeater under water at this stage, such as patent CN Device described in 106956760 A, but when such mode recycles, which needs to recycle lash ship, follows AUV movable on a large scale, recycles Journey is cumbersome, and safety is low, low efficiency, and can not generally be charged under water, data transmission etc. work, recycling after the completion of again need It discharges AUV and enters working region, interrupted the continuity of AUV work, and it is underwater to use underwater mating platform to carry out AUV Recycling, the device as described in 107697247 A of patent CN, recyclable device is small in size, light weight, it is easy to by Complex Sea The influence of foreign environment, and also will increase AUV impaired risk during docking, thus greatly reduce the work of underwater AUV Make efficiency, unnecessary financial resources is caused to waste.

Utility model content

The technical problem to be solved by the present invention is to provide one kind, and supply or recycling can be persistently automated to a plurality of AUV Can folding and unfolding cabin formula the underwater relay station of multi-functional AUV.

In order to solve the above technical problems, the technical solution of the utility model are as follows: it is a kind of can folding and unfolding cabin formula multi-functional AUV water Lower relay station, innovative point are: the multi-functional underwater relay station of AUV is by underwater cabin, pontoon, lash ship, underwater umbilical cables It is formed with underwater cable；

The underwater cabin includes that outer framework, supply module and fine adjustment type recycling clamp system, the supply module are fixed On the inside of outer framework lower plane, and charging module, data transmission module and fault detection module built in the supply module；It is described Fine adjustment type recycling clamp system is placed in right above outer framework, and the fine adjustment type recycling clamp system includes support plate, the support The upper surface both ends of plate are symmetrically arranged with spud pile, and the lower end surface both ends of support plate are symmetrically arranged with seal box corresponding with spud pile Body A, and servo motor A and automated control unit is fixedly mounted in setting baffle inside seal case A, in the outer of seal case A Snap device is additionally provided in the support plate of end；The lower end of the seal case A is provided with mobile platform, and the two of each mobile platform Side is symmetrically hinged with link mechanism, and the fine adjustment type recycling clamp system further includes the freqency fine adjustment machine being placed in inside link mechanism Structure；

It is placed with battery pack and power management module and communication apparatus inside the pontoon, is additionally provided on the pontoon wireless Transmission device A, the pontoon is kept afloat by buoyancy and there are through-holes for bottom end；

Radio transmission apparatus B, winch and recycling manipulator, lash ship stem bottom are installed on the lash ship deck Underwater acoustic communication instrument and Sonar system are installed；

Described underwater umbilical cables one end passes through pontoon bottom end through-hole and power management module and radio transmission apparatus A phase Even, the underwater umbilical cables other end is laid on the inside of underwater cabin and is connected with the supply module of underwater cabin；

The underwater cable is made of jewelry, expensive clothing and other valuables rope and hawser, and jewelry, expensive clothing and other valuables rope one end passes through pontoon bottom end through-hole and pontoon phase Even, the jewelry, expensive clothing and other valuables rope other end and hawser one end break into slip-knot, and hawser other end bolt consolidating in fine adjustment type recycling clamp system Determine in stake, the length of the soft rope is greater than pontoon water line to 3-5 meters of lash ship deck, and the length of the hawser is greater than fine tuning Formula recycles the fixation pile center of clamp system to 5-10 meters of distance of lash ship deck.

Further, the snap device includes a cylindrical sleeves, and the lower end two sides of the cylindrical sleeves, which are equipped with, to be embedded in Wedge block in cylindrical sleeves, the inside center of the cylindrical sleeves are equipped with a support extended along cylindrical sleeves length direction Plate；Two parallel and support posts vertical with support plate, and the end of the support post are additionally provided in the cylindrical sleeves Across wedge block；Spring A is also socketed on the support post, one end of the spring A is fixedly connected with support plate, spring A The other end be fixedly connected with the end face of wedge block；Electromagnet core is provided in support plate between two support posts to fix Electromagnet on the supporting plate, the iron core of the electromagnet are externally wrapped with hot-wire coil, and electromagnet armature part inlay is in wedge In shape block.

Further, the micro-adjusting mechanism includes a U-shaped support and the support arranged in parallel in U-shaped holder top Bar is equipped with several polished rods for passing through U-shaped cavity and being fixedly connected with U-shaped support both side plate on the U-shaped support；The polished rod Middle section is multi-diameter shaft, is fixedly mounted pressure sensor on the multi-diameter shaft, multi-diameter shaft by the pretightning force effect of spring B with U-shaped support contact；The polished rod and link mechanism contact portion are provided with sealing axle sleeve；

Spring C is cased on each support rod, the support rod both ends are with multi-diameter shaft and with two perpendicular to support rod Polished rod be connected, and support rod both ends have circular collar, and the other end of the polished rod passes through thrust ball bearing and U-shaped support phase Even；

The U-shaped support lower end surface is equipped with two die joints being separated by U-shaped support arc direction, on the U-shaped support It is equipped with servo motor B on the inside of end face, is disposed with nut from bottom to top on one of end face of the U-shaped support lower end surface Pedestal, screw rod A and shaft coupling A, and the shaft coupling A is fixedly connected with servo motor B；

Welding is connected on the inside of the U-shaped support upper surface and link mechanism, and is separated by 4.3 centered on link mechanism circular arc Degree is spaced apart 3 micro-adjusting mechanisms.

Further, the underwater cabin further includes underwater guide rail, clamping device, automated control unit, navigator fix Unit and monitoring module；

The underwater guide rail is symmetricly set on the two sides of outer framework, and the underwater guide rail is distributed in H-type, wherein two vertical Guide rail is fixed on outer framework side, and one perpendicular to being fixedly mounted matched clamping machine on the horizontal guide rail of upright guide rail Structure, the underwater guide rail are attached with bolt, and are symmetrically fixed on outer framework inner wall；

Welding is fixed by guiderail base between the underwater guide rail, and the guiderail base end face is fixedly welded peace Equipped with seal case B；Setting baffle is fixedly installed with servo motor C, automated control unit and connection inside the seal case B Axis device B, the shaft coupling B are fixedly connected with connecting shaft, and the other end of the connecting shaft is fixedly connected by key with gear, and described Underwater guide rail inside grooves two sides are further fixed on the rack gear with gear cooperation；

AUV station A, station A centre distance outer framework left plane inside are provided at left plane in outer framework 4300mm, the 5000mm on the inside of outer framework lower plane；AUV station B, the center station B are being provided with above supply module The 8700mm on the inside of outer framework left plane, the 2200mm on the inside of outer framework lower plane；It is set in two linkages It is equipped with AUV station C, 8700mm on the inside of station C centre distance outer framework left plane, the 7473mm on the inside of outer framework lower plane, And three stations are all located on the symmetrical centre face of outer framework anterior-posterior plane；

The navigation positioning unit includes that the attitude transducer being mounted on each AUV station, ultra-short baseline hydrolocation are changed Energy device and monocular cam, the navigation positioning unit further include the guidance being mounted on the guide housing on the outside of outer framework left plane Lamp and the transponder basic matrix for being mounted on the right planar inner of outer framework；

The monitoring module is by underwater searchlight, underwater camera, power supply adaptor and signal line group at and underwater camera Head is respectively arranged in four corners of plane on outer framework and four sides.

Further, the clamping device includes seal case C, servo motor D, screw rod B, nut bracket, coupling spindle device With U-shaped piece of clamping, servo motor D and automated control unit, the screw rod B is fixedly mounted in seal case C inside setting baffle It is attached by coupling spindle device and servo motor D, the nut bracket is made of nut, support base, four supporting rods, spiral shell Mother carried out with support base it is connected, four supporting rods pass through seal case C carried out with U-shaped piece of clamping it is connected.

Utility model has the advantages that

(1) utility model device uses the mentality of designing of pipeline system, cooperates between each module, makes practitioner Recycling and the condition monitoring to AUV can be carried out directly on lash ship, the operation mode of pipeline system greatly improves a plurality of The supply or recovery efficiency of AUV, special fine tuning link mechanism can cope with the AUV of different model, solve most of at this stage The versatility problem that recovering mechanism does not have, the supply module in underwater cabin be also the continuation of the journey of AUV, new task mission plus Load provides reliable guarantee；

(2) the utility model can folding and unfolding cabin formula the underwater relay station of multi-functional AUV, fine adjustment type recycle clamp system can be in electricity Magnet is separated after being powered with outer framework, simple to operate, is improved the recovery efficiency of AUV, is accordingly reduced underwater AUV Cost recovery；

(3) the utility model can folding and unfolding cabin formula the underwater relay station of multi-functional AUV, legerity type pontoon design, increase The sustaining supply ability of underwater cabin also correspondingly reduces dependence of the underwater cabin to lash ship；

(4) utility model device is designed using tower structure, and stable structure is reliable, can effectively reduce marine environment To the adverse effect of AUV removal process.

Detailed description of the invention

Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.

Fig. 1 be the utility model can folding and unfolding cabin formula the underwater relay station of multi-functional AUV structural schematic diagram.

Fig. 2 is the structural schematic diagram of underwater cabin in Fig. 1.

Fig. 3 is the structural schematic diagram that fine adjustment type recycles clamp system in Fig. 1.

Fig. 4 is the cross-sectional view of buckle structure in Fig. 3.

Fig. 5 is the structural schematic diagram of micro-adjusting mechanism in Fig. 3.

Fig. 6 is the cross-sectional view of underwater guide rail in Fig. 2.

Fig. 7 is the cross-sectional view of clamping device in Fig. 2.

Fig. 8 is the flow diagram of utility model works.

Specific embodiment

The following examples can make professional and technical personnel that the utility model be more fully understood, but therefore will not The utility model is limited among the embodiment described range.

Embodiment

The present embodiment can folding and unfolding cabin formula the underwater relay station of multi-functional AUV, as shown in Figure 1, the multi-functional AUV is relayed under water It stands and is made of underwater cabin 58, pontoon 59, lash ship 60, underwater umbilical cables 61 and underwater cable.

As shown in Fig. 2, underwater cabin 58 includes that outer framework 12, supply module 4 and fine adjustment type recycle clamp system 1, supply Module 4 is fixed on the inside of 12 lower plane of outer framework, and feeds charging module, data transmission module and fault detection built in module 4 Module；As shown in figure 3, fine adjustment type recycling clamp system 1 is placed in right above outer framework 12, fine adjustment type recycling clamp system 1 includes Support plate 30, the upper surface both ends of support plate 30 are symmetrically arranged with spud pile 31, and the lower end surface both ends of support plate 30 are symmetrically arranged with Seal case 32 corresponding with spud pile 33, and baffle is set inside seal case 32, servo motor A and automation is fixedly mounted Control unit is additionally provided with snap device 33 in the outer end support plate 30 of seal case 32；The lower end of seal case 32 is arranged There is mobile platform 34, and the two sides of each mobile platform 34 are symmetrically hinged with link mechanism 35 by screw, fine adjustment type recycling clamps Mechanism 1 further includes the micro-adjusting mechanism 36 being placed in inside link mechanism 35.

In the present embodiment, as shown in figure 4, snap device 33 includes a cylindrical sleeves 47, the lower end two sides of cylindrical sleeves 47 Equipped with the wedge block 48 being embedded in cylindrical sleeves 47, the inside center of cylindrical sleeves 47 is equipped with one along 47 length side of cylindrical sleeves To the support plate of the 25mm thickness of extension；Two parallel and support posts 49 vertical with support plate are additionally provided in cylindrical sleeves 47, And the end of support post 49 passes through wedge block 48；Spring 50, one end of spring 50 and support are also socketed on support post 49 Plate is fixedly connected, and the other end of spring 50 is fixedly connected with the end face of wedge block 48；Support plate between two support posts 49 On be provided with the fixed electromagnet 51 on the supporting plate of electromagnet core, the iron core of electromagnet 51 is externally wrapped with hot-wire coil, electricity 52 part inlay of armature of magnet 51 is in wedge block 48；When iron core, which is externally wrapped with hot-wire coil, not to be powered, wedge block 48 It stretches out outside cylindrical sleeves 47 under the action of 50 pretightning force of spring and is locked with plane groove on outer framework 12, work as micro-adjusting mechanism After 36 clamp AUV1 completely, normally opened relay 53 is closed, and iron core external coil is powered, after armature 52 is attracted by iron core, fine tuning Formula recycling clamp system 1, which is pulled up, to be hung.

The specific structure of micro-adjusting mechanism 36, as shown in figure 5, including a U-shaped support 37 and arranged in parallel in U-shaped branch The support rod 39 on 37 tops of seat, U-shaped 37 upper surface 73 of support are connected with welding on the inside of link mechanism 35, and with the circle of link mechanism 35 Be separated by 4.3 degree centered on arc and be spaced apart 3 micro-adjusting mechanisms 36, be equipped on the U-shaped support 37 several pass through U-shaped cavity and with The polished rod 38 that U-shaped 37 both side plate of support is fixedly connected；38 middle section of polished rod is multi-diameter shaft, and pressure is fixedly mounted on multi-diameter shaft and passes Sensor 40, multi-diameter shaft is contacted by the pretightning force effect of spring B with U-shaped support 37, and polished rod 38 and 35 contact portion of link mechanism Set up separately and is equipped with sealing axle sleeve 45.

Spring C is cased on each support rod 39, spring C is wrapped up by cylindrical buffer pressure-resistant material, and 39 both ends of support rod have Multi-diameter shaft is simultaneously connected with two polished rods 38 perpendicular to support rod 39, and 39 both ends of support rod have circular collar, polished rod 38 The other end is connected by thrust ball bearing with U-shaped support 37；U-shaped 37 lower end surface of support is equipped with by U-shaped 37 arc direction of support point Two die joints 72 opened are equipped with servo motor 41, one of them point of U-shaped support lower end surface on the inside of U-shaped support upper surface 73 Nut pedestal 44, screw rod A and shaft coupling A are disposed on type face 72 from bottom to top, the die joint is far from AUV transverse center The side of line, and shaft coupling A is fixedly connected with servo motor 41.

As shown in Figure 1, battery pack and power management module 64 and communication apparatus 65 are placed with inside pontoon 59, on pontoon 59 It is additionally provided with radio transmission apparatus 66, pontoon 59 is kept afloat by buoyancy and there are through-holes for bottom end.

Radio transmission apparatus 71, winch 70 and recycling manipulator 69,60 stem bottom of lash ship are installed on 60 deck of lash ship Portion is equipped with underwater acoustic communication instrument 68 and Sonar system 67.

Underwater 61 one end of umbilical cables passes through 59 bottom end through-hole of pontoon and power management module 64 and radio transmission apparatus 66 It is connected, underwater 61 other end of umbilical cables is laid on the inside of underwater cabin 58 and is connected with the supply module 4 of underwater cabin 58.

Underwater cable is made of jewelry, expensive clothing and other valuables rope 62 and hawser 63, and 62 one end of jewelry, expensive clothing and other valuables rope pass through 59 bottom end through-hole of pontoon and pontoon 59 are connected, and jewelry, expensive clothing and other valuables 62 other ends of rope and 63 one end of hawser break into slip-knot, and 63 other end bolt of hawser is recycled in fine adjustment type and pressed from both sides On the spud pile 31 of tight mechanism 1, the length of jewelry, expensive clothing and other valuables rope 62 is greater than 59 water line of pontoon to deck 3-5 meters of lash ship 60, hawser 63 Length be greater than 31 center of spud pile of fine adjustment type recycling clamp system 1 to 5-10 meters of distance of 60 deck of lash ship.

In the present embodiment, as shown in Fig. 2, underwater cabin 58 further includes underwater guide rail 21, clamping device 3, automation control Unit 29, navigation positioning unit and monitoring module 11.

Underwater guide rail 21 is symmetricly set on the two sides of outer framework 12, as shown in fig. 6, underwater guide rail 21 is distributed in H-type, wherein Two upright guide rails are fixed on 12 side of outer framework, and one matched perpendicular to being fixedly mounted on the horizontal guide rail of upright guide rail Clamping device 3, underwater guide rail 21 is attached with bolt, and is symmetrically fixed on 12 inner wall of outer framework；Underwater guide rail 21 it Between welding is fixed by guiderail base 22, and 22 end face of guiderail base is fixedly welded and is equipped with seal case 23；Seal box Baffle is set inside body 23 and is fixedly installed with servo motor 28, automated control unit 29 and shaft coupling 27, shaft coupling 27 is fixed Connecting shaft 26 is connected, the other end of connecting shaft 26 is fixedly connected by key with gear 25, and 21 inside grooves two sides of underwater guide rail It is further fixed on the rack gear 24 cooperated with gear 25.

AUV station 55,55 centre distance outer framework of station, 12 left plane are provided at left plane in outer framework 12 Inside 4300mm, the 5000mm on the inside of 12 lower plane of outer framework；AUV station 56, work are being provided with above supply module 4 8700mm, the 2200mm on the inside of 12 lower plane of outer framework on the inside of 56 centre distance outer framework, 12 left plane of position；Close to two pairs AUV station 57,8700mm on the inside of 57 centre distance outer framework of station, 12 left plane, apart from outer framework are provided in link mechanism 35 7473mm on the inside of 12 lower planes, and three stations are all located on the symmetrical centre face of 12 anterior-posterior plane of outer framework.

As shown in Fig. 2, navigation positioning unit includes the attitude transducer 6 being mounted on each AUV station, the ultra-short baseline underwater sound Position transducer 5 and monocular cam 7, navigation positioning unit further include the guide housing 9 being mounted on the outside of 12 left plane of outer framework On guiding lamp 10 and be mounted on the transponder basic matrix 8 of the right planar inner of outer framework 12, guide housing 9 is hollow flexible by circular table Material production, fixed by upper table surface and outer framework 12, guiding lamp 10 is mounted on guide housing 9 perpendicular to 12 bottom surface of outer framework.

Monitoring module 11 is by underwater searchlight, underwater camera, power supply adaptor and signal line group at and underwater camera It is respectively arranged in four corners of plane on outer framework 12 and four sides；In embodiment, outer framework 12 is by six support frames Body passes through the cuboid framework being welded.

In embodiment, the specific structure of clamping device 3, as shown in fig. 7, comprises seal case C, servo motor 20, screw rod 54, servo motor D is fixedly mounted in U-shaped piece 13 of nut bracket, coupling spindle device 18 and clamping, seal case C inside setting baffle 15 And automated control unit, the screw rod B are attached by coupling spindle device with servo motor 20, nut bracket by nut 16, 17, four supporting rods 14 of support base are constituted, and nut 16 carries out connected with support base 17, and four supporting rods 14 are across seal box Body C carries out for U-shaped piece 13 connected with clamping.

The specific implementation process of the utility model are as follows:

In conjunction with Fig. 2 and Fig. 8, AUV1 obtains AUV1 by underwater ultra-short baseline hydrolocation energy converter 5 and transponder basic matrix 8 The relative position of opposite the utility model underwater cabin 58, and underwater cabin 58 is entered by guide housing 9 and reaches station 55, at this time The work of servo motor 28 makes gear 25 and 24 engaged transmission of rack gear for being embedded in 21 inside groove of guide rail by driving connecting shaft 26 It drives entire clamping device 3 to move to designated position 1 together with guiderail base 22 and triggers limit switch 1, at this time clamping device 3 It sets parallel with the cross central line of AUV1；Automated control unit work sends servo letter inside seal case C in clamping device 3 Number servo motor 20 is given, the work of servo motor 20 drives the screw rod 54 that is supported by support base 17 of both ends to rotate by speed reducer 19 Movement, nut pedestal are driven the transverse direction pair for linear motion to make AUV1 using screw rod 54 together with clamping U-shaped piece 13 AUV1 is clamped, and is mounted on the variation that clamping force is perceived with the pressure sensor 40 clamped on U-shaped piece 13, when clamping force reaches Servo motor 20, which stops working, when limiting value completes clamping to AUV1；Servo motor 28 works in an identical manner by clamping machine Structure 3 is transported to designated position 2 together with AUV1 and triggers limit switch 2, and AUV1 reaches specified station 56 at this time；Supply module 4 exists Sensor detects clamping device 3 to starting to work behind designated position 2.

In conjunction with Fig. 1 and Fig. 8, when AUV1 is charging or carries out data transmission, automated control unit 29 controls servo Clamping device 3 is transported to designated position 1 together with guiderail base 22 and triggers limit switch 1 by the work of motor 28, and AUV2 is waited to arrive Up to specified station 55, at the same feed the data information that module 4 acquires AUV1, in underwater cabin 58 monitoring module 11 video letter Power management data in breath, supply module 4 are uploaded on the radio transmission apparatus 66 of pontoon 59 by underwater umbilical cables 61, female Radio transmission apparatus 71 on ship 60 receives the data that pontoon 59 transmits and is parsed, and can monitor in real time each in underwater cabin 58 The working condition of module；When AUV1 charging or data are transmitted, the automated control unit of supply module 4 controls clamping machine Structure 3 sends servosignal to servo motor 20, and the work of servo motor 20 drives both ends to be supported by support base 17 by speed reducer 19 Screw rod 54 make reverse rotation motion, clamp U-shaped piece 13 and unclamp AUV1 from the transverse direction of AUV1, AUV1 is from 12 right side of outer framework Plane is sailed out of；When 4 electric power of supply module in underwater cabin 58 is less than 10%, the automated control unit of module 4 is fed Corresponding information is issued to pontoon 59 by underwater umbilical cables 61, the battery pack and power management module 64 in pontoon 59 pass through navel again Charging module with from the cable in cable to supply module 4 is powered；When carrying out the take-back model of AUV1, module 4 is fed Automated control unit control clamping device 3 send servosignal to servo motor D drive clamping device 3 together with guiderail base 22 are transported to designated position 3 and trigger limit switch 3；When AUV1 reaches specified station 57, automation control inside seal case C Cell operation sends servosignal and gives servo motor A, and servo motor A work drives mobile platform 34, close to AUV cross central line The spring 46 of side is compressed by the Step Shaft on polished rod 38, and pressure sensor 40 works, as shown in figure 5, working as the U-shaped support 37 When pressure sensor 40 of the lower end surface close to the side of AUV1 cross central line detects that spring 46 reaches the limit values, servo motor 41 work drive screw rod 43 to rotate, and nut pedestal 44 is together with U-shaped side of the support 37 far from AUV cross central line in silk Bar 43 makees straight line fine tuning movement under being driven, to make polished rod 38, support rod 39 and the spring far from AUV cross central line side C is clamped movement to AUV1, when the pressure sensor of the side of U-shaped 37 lower end surface of support far from AUV1 cross central line 40 when detecting that spring 46 reaches the limit values, and indicates at this point, AUV1 is clamped completely；The snap device 33 works, when After AUV1 is clamped completely, automated control unit control normally opened relay 53 is closed in micro-adjusting mechanism 36, while by underwater Umbilical cables 61 issue corresponding information to pontoon 59, and pontoon 59 informs lash ship 60 by radio transmission apparatus 66, before lash ship 60 passes through Pontoon 59 is found depending on sonar 67 and underwater acoustic communication set 68, and pontoon 59 is hung into mother with the recycling manipulator 69 on lash ship 60 On 60 deck of ship, pontoon 59 is safeguarded and is fed work, then the work of winch 70 will be micro- by hawser 63 on lash ship 60 Mode recycling clamp system 1 is hung on 60 deck of lash ship together with AUV1, completes the recovery operation of AUV1, then clamping device 3 connects Designated position 1 is moved to guiderail base 22, prepares AUV2 and reaches specified station 55.

The advantages of basic principles and main features and the utility model of the utility model have been shown and described above.This The technical staff of industry is retouched in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments That states only illustrates the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model It will also have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.This is practical new Type is claimed range and is defined by the appending claims and its equivalent thereof.

Claims (5)

1. one kind can folding and unfolding cabin formula the underwater relay station of multi-functional AUV, it is characterised in that: the multi-functional underwater relay station of AUV It is made of underwater cabin, pontoon, lash ship, underwater umbilical cables and underwater cable；

The underwater cabin includes outer framework, supply module and fine adjustment type recycling clamp system, and the supply module is fixed on outer On the inside of frame lower plane, and charging module, data transmission module and fault detection module built in the supply module；The fine tuning Formula recycling clamp system is placed in right above outer framework, and the fine adjustment type recycling clamp system includes support plate, the support plate Upper surface both ends are symmetrically arranged with spud pile, and the lower end surface both ends of support plate are symmetrically arranged with seal case A corresponding with spud pile, And servo motor A and automated control unit is fixedly mounted in setting baffle inside seal case A, in the outer end branch of seal case A Snap device is additionally provided on fagging；The lower end of the seal case A is provided with mobile platform, and the two sides pair of each mobile platform Title is hinged with link mechanism, and the fine adjustment type recycling clamp system further includes the micro-adjusting mechanism being placed in inside link mechanism；

It is placed with battery pack and power management module and communication apparatus inside the pontoon, wireless transmission is additionally provided on the pontoon Equipment A, the pontoon is kept afloat by buoyancy and there are through-holes for bottom end；

Radio transmission apparatus B, winch and recycling manipulator, the installation of lash ship stem bottom are installed on the lash ship deck There are underwater acoustic communication instrument and Sonar system；

Described underwater umbilical cables one end is connected by pontoon bottom end through-hole with power management module and radio transmission apparatus A, institute The underwater umbilical cables other end is stated to be laid on the inside of underwater cabin and be connected with the supply module of underwater cabin；

The underwater cable is made of jewelry, expensive clothing and other valuables rope and hawser, and jewelry, expensive clothing and other valuables rope one end is connected by pontoon bottom end through-hole with pontoon, carefully The tightrope other end and hawser one end break into slip-knot, and hawser other end bolt is in the spud pile of fine adjustment type recycling clamp system On, the length of the soft rope is greater than pontoon water line to 3-5 meters of lash ship deck, and the length of the hawser is returned greater than fine adjustment type The fixation pile center of clamp system is received to 5-10 meters of distance of lash ship deck.

2. it is according to claim 1 can folding and unfolding cabin formula the underwater relay station of multi-functional AUV, it is characterised in that: the buckle Mechanism includes a cylindrical sleeves, and the lower end two sides of the cylindrical sleeves are equipped with the wedge block being embedded in cylindrical sleeves, the circle The inside center of column sleeve cylinder is equipped with a support plate extended along cylindrical sleeves length direction；Two are additionally provided in the cylindrical sleeves The parallel and support post vertical with support plate, and the end of the support post passes through wedge block；On the support post also It is socketed with spring A, one end of the spring A is fixedly connected with support plate, the fixed company of the other end of spring A and the end face of wedge block It connects；The fixed electromagnet on the supporting plate of electromagnet core, the electromagnetism are provided in support plate between two support posts The iron core of iron is externally wrapped with hot-wire coil, and electromagnet armature part inlay is in wedge block.

3. it is according to claim 1 can folding and unfolding cabin formula the underwater relay station of multi-functional AUV, it is characterised in that: the fine tuning Mechanism includes a U-shaped support and the support rod arranged in parallel in U-shaped holder top, if being equipped on the U-shaped support The dry polished rod for passing through U-shaped cavity and being fixedly connected with U-shaped support both side plate；The polished rod middle section is multi-diameter shaft, the rank Pressure sensor is fixedly mounted on terraced axis, multi-diameter shaft is acted on by the pretightning force of spring B and being contacted with U-shaped support；The polished rod with Link mechanism contact portion is provided with sealing axle sleeve；

Be cased with spring C on each support rod, the support rod both ends with multi-diameter shaft and with two polished rod phases perpendicular to support rod Even, and support rod both ends have circular collar, and the other end of the polished rod is connected by thrust ball bearing with U-shaped support；

The U-shaped support lower end surface is equipped with two die joints separated by U-shaped support arc direction, the U-shaped support upper surface Inside is equipped with servo motor B, is disposed with nut bottom from bottom to top on one of end face of the U-shaped support lower end surface Seat, screw rod A and shaft coupling A, and the shaft coupling A is fixedly connected with servo motor B；

Welding is connected on the inside of the U-shaped support upper surface and link mechanism, and is separated by 4.3 degree centered on link mechanism circular arc It is spaced apart 3 micro-adjusting mechanisms.

4. it is according to claim 1 can folding and unfolding cabin formula the underwater relay station of multi-functional AUV, it is characterised in that: it is described underwater Cabin further includes underwater guide rail, clamping device, automated control unit, navigation positioning unit and monitoring module；

The underwater guide rail is symmetricly set on the two sides of outer framework, and the underwater guide rail is distributed in H-type, wherein two upright guide rails It is fixed on outer framework side, one perpendicular to being fixedly mounted matched clamping device, institute on the horizontal guide rail of upright guide rail It states underwater guide rail to be attached with bolt, and is symmetrically fixed on outer framework inner wall；

Welding is fixed by guiderail base between the underwater guide rail, and the guiderail base end face is fixedly welded and is equipped with Seal case B；Setting baffle is fixedly installed with servo motor C, automated control unit and shaft coupling inside the seal case B B, the shaft coupling B are fixedly connected with connecting shaft, and the other end of the connecting shaft is fixedly connected by key with gear, and described underwater Two sides are further fixed on the rack gear with gear cooperation inside guide rail groove；

AUV station A, 4300mm on the inside of station A centre distance outer framework left plane are provided at left plane in outer framework, The 5000mm on the inside of outer framework lower plane；AUV station B, station B centre distance outline border are being provided with above supply module 8700mm on the inside of frame left plane, the 2200mm on the inside of outer framework lower plane；AUV work is being provided in two linkages Position C, station C centre distance outer framework left plane inside 8700mm, the 7473mm on the inside of outer framework lower plane, and three stations It is all located on the symmetrical centre face of outer framework anterior-posterior plane；

The navigation positioning unit includes the attitude transducer being mounted on each AUV station, ultra-short baseline hydrolocation energy converter And monocular cam, the navigation positioning unit further include the guiding lamp that is mounted on the guide housing on the outside of outer framework left plane with And it is mounted on the transponder basic matrix of the right planar inner of outer framework；

The monitoring module is by underwater searchlight, underwater camera, power supply adaptor and signal line group at and underwater camera point It is not arranged in four corners of plane and four sides on outer framework.

5. it is according to claim 4 can folding and unfolding cabin formula the underwater relay station of multi-functional AUV, it is characterised in that: the clamping Mechanism includes seal case C, servo motor D, screw rod B, nut bracket, coupling spindle device and clamps U-shaped piece, inside seal case C Baffle is set and is fixedly mounted servo motor D and automated control unit, the screw rod B by coupling spindle device and servo motor D into Row connection, the nut bracket are made of nut, support base, four supporting rods, and nut carries out connected, four branch with support base Strut member carries out across seal case C with U-shaped piece of clamping connected.