CN220315273U - Butt joint seeker for flexible recovery of AUV based on ROV technology - Google Patents

Abstract

The utility model relates to the field of underwater docking guidance and recovery, in particular to a docking guidance head for flexibly recovering an AUV based on an ROV technology, which comprises the docking guidance head, a locking hydraulic telescopic system, a bell mouth, a clamping sleeve, an umbilical cable, an ROV frame and the like. The locking hydraulic system and the lifting system are both arranged on the ROV frame, after the ROV and the target object are fixed together, the ROV slowly passes through the horn mouth through the butt joint guide head until the ROV and the target object are positioned at the position of the clamping sleeve, the locking hydraulic telescopic system is started to clamp the locking fork and the butt joint guide head, and the lifting function of the whole device is achieved by tightening a flexible umbilical cable. The utility model has compact design of workflow, can efficiently carry out butt joint guidance under water, easily realizes recovery operation, and has excellent universality and simple structure. The flexible cable is adopted, so that the risk brought by seaborne storms is effectively reduced, and the operation is ensured to be safer and more reliable.

Description

Butt joint seeker for flexible recovery of AUV based on ROV technology

Technical Field

The utility model relates to the field of Autonomous Underwater Vehicle (AUV) docking guidance and recovery based on a remotely operated unmanned submersible vehicle (ROV) technology, in particular to a docking guidance head for flexibly recovering an Autonomous Underwater Vehicle (AUV) based on the unmanned submersible vehicle (ROV) technology.

Background

Autonomous underwater robots (AUVs) have been widely used in the fields of underwater exploration, marine research, rescue, and the like. The AUV is capable of high-precision measurement, data collection, and task execution, but in some cases, requires recovery and reuse of the ROV capture target device (AUV). AUV docking guidance based on remotely operated unmanned vehicle (ROV) technology is an important component to achieve this goal.

Under the current state of the art, some docking guides have some drawbacks in their design, not fully considering the stability and the fast docking capability at the time of docking, resulting in the problem that the docking process may not be smooth and rapid enough in practical operation. Meanwhile, the devices may cause a certain degree of damage to the devices subjected to docking in the docking process, lack sufficient intelligence and self-adaptability, and cannot accurately adapt to the characteristics of different docking objects.

Accordingly, there is a need for a docking guidance head for flexible recovery of an AUV based on ROV technology that solves the problems of the prior art and provides for more efficient, accurate and stable recovery of an ROV capture device. It should also possess simplified structure and economical and practical's characteristics to satisfy practical application's demand.

Disclosure of Invention

The utility model aims to provide a docking guidance head for flexible recovery of an AUV based on an ROV technology, which is simple in operation and can realize the docking of the docking guidance head and the ROV quickly and stably. While using flexible umbilical cables to address the risks associated with wind waves at sea.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the utility model provides a butt joint seeker based on ROV technique is used for flexibly retrieving AUV, includes locking hydraulic telescoping system, ROV frame, "umbilical cord", butt joint seeker, horn mouth, clamping sleeve, the butt joint seeker is under the traction of "umbilical cord" to ROV frame directly over, and the guide of the horn mouth on the rethread ROV frame gets into the ROV fast, until the butt joint seeker gets into clamping sleeve completely, starts locking hydraulic telescoping system extension hydraulic shaft and is pushing the locking fork and press from both sides tight through square hole pair step-shaped butt joint seeker, finally realizes the complete fixation of butt joint seeker and ROV position. And then the whole device is lifted by tightening the umbilical cable.

Preferably, the ROV fixing frame is divided into an upper layer, a middle layer and a lower layer, wherein the upper layer is fixedly connected with the horn mouth, the middle layer is fixedly connected with the clamping sleeve, the lower layer is fixedly connected with the locking hydraulic telescopic system, and the stability of the device is ensured.

Preferably, the flexible "umbilical" is always connected to the ROV, and after the docking head is locked by the locking fork, the entire device is recovered by tightening the flexible "umbilical".

Preferably, the flare has a guiding function in the butt joint of the butt joint guide head and the ROV.

Preferably, the clamping is a cylinder, so that the cylinder has a positioning function on the butt joint seeker.

Preferably, the shape of the butt joint guiding head is a stepped shaft, the upper layer is in butt joint with the horn mouth, a certain guiding function is achieved, and the lower layer is connected with the clamping sleeve.

Preferably, the locking hydraulic telescopic system is characterized in that the extending telescopic shaft pushes the locking fork to clamp the butt joint guide head through the square hole, so that the limiting effect is achieved, and the preparation is made for hoisting.

The utility model aims to provide a docking guidance head for flexibly recycling an AUV based on ROV technology. The beneficial effects are as follows:

(1) The utility model adopts the stepped shaft type butt joint seeker to realize quick and stable butt joint and accurate positioning in the butt joint process. The device enables the docking guide head to be effectively guided to the docking action by fixing the docking guide head on a horn mouth and a clamping sleeve on the ROV frame. Meanwhile, the locking hydraulic telescopic system is combined with the matching locking of the locking fork and the butt joint guide head, so that the stability of the whole device is further improved, and the reliable guarantee is provided for the subsequent lifting operation;

(2) The utility model relates to a device for lifting by adopting a flexible umbilical cable, which is mainly applied to an offshore environment to cope with the influence of strong impact force generated by wind and waves on the device. The flexible umbilical cable is adopted as a lifting means to replace the traditional rigid lifting system, so that the kinetic energy generated by the impact of wind and waves is effectively slowed down or absorbed, and the integrity and stability of the device are protected.

Drawings

Fig. 1 is a schematic structural view of a lifting guide system according to the present utility model.

Fig. 2 is a schematic structural view of the locking hydraulic telescopic system of the present utility model.

Fig. 3 is a schematic structural view of the butt joint seeker in the lifting guiding device of the present utility model.

Fig. 4 is a schematic structural view of the clamping sleeve in the novel lifting guide device.

In the figure: 1. locking hydraulic telescopic system, 2 ROV frame, 3 "umbilical", 4 butt joint seeker, 5 horn mouth, 6 clamping sleeve, 101 telescopic link, 102 locking fork.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. The components of the embodiments of the present utility model generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the utility model, as presented in the figures, is not intended to limit the scope of the utility model, as claimed, but is merely representative of selected embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

In the description of the present utility model, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

As shown in fig. 1-3, the present utility model provides a technical solution: when the ROV technology is used, after an ROV capturing object approaches to a salvage ship, the docking head 4 can be adjusted to a proper position of the ROV frame under the driving of a motor and the recovery of the umbilical cable 3, the docking head 4 plays a role in guiding the docking head 4 through the horn mouth fixed on the ROV frame, so that the docking head enters the clamping sleeve 6, the locking hydraulic telescopic device 1 is started, the telescopic rod 101 is extended, and the locking fork 102 is slowly pushed forward to completely lock the docking head, so that the phenomenon of rotation of the docking head 4 is prevented, and finally the complete fixation of the rigid docking shaft for A hoisting and the ROV position is realized. The flexible "umbilical" secured to the ROV is retracted and the entire device is hoisted.

Claims (7)

1. The utility model provides a butt joint seeker based on ROV technique is used for flexibly retrieving AUV, includes locking hydraulic telescoping system (1), ROV frame (2), "umbilical cable" (3), butt joint seeker (4), horn mouth (5), presss from both sides tight cover (6), its characterized in that: the shape of the butt joint guiding head (4) is a stepped shaft, the upper layer is in butt joint with the horn mouth (5) and has a certain guiding function, and the lower layer is connected with the clamping sleeve (6).

2. The docking guidance head for flexible recovery AUV based on ROV technology of claim 1, wherein: the flexible umbilical cable (3) is always connected with the ROV, and after the butt joint seeker (4) is locked by the locking fork (102), the whole device is recovered by tightening the flexible umbilical cable.

3. The docking guidance head for flexible recovery AUV based on ROV technology of claim 1, wherein: the locking hydraulic telescopic system (1) is characterized in that the telescopic rod (101) is used for pushing the locking fork (102) to clamp the butt joint guide head (4) through the square hole, so that the limiting effect is achieved, and the preparation is made for hoisting.

4. The docking guidance head for flexible recovery AUV based on ROV technology of claim 1, wherein: the horn mouth (5) has guiding function when the butt joint guiding head (4) is in butt joint with the ROV.

5. The docking guidance head for flexible recovery AUV based on ROV technology of claim 1, wherein: the clamping sleeve (6) is a cylindrical barrel, so that the clamping sleeve has a positioning function on the butt joint seeker.

6. The docking guidance head for flexible recovery AUV based on ROV technology of claim 1, wherein: the ROV frame (2) is divided into an upper layer, a middle layer and a lower layer, the upper layer is fixedly connected with the horn mouth (5), the middle layer is fixedly connected with the clamping sleeve (6), and the lower layer is fixedly connected with the locking hydraulic telescopic system (1), so that the stability of the device is ensured.

7. The docking guidance head for flexible recovery AUV based on ROV technology of claim 1, wherein: the ROV frame (2) is used for fixing and locking the hydraulic telescopic system (1), the horn mouth (5) and the clamping sleeve (6).