CN114954805B - Full-automatic modularized AUV releasing and recycling device - Google Patents
Full-automatic modularized AUV releasing and recycling device Download PDFInfo
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- CN114954805B CN114954805B CN202210773194.3A CN202210773194A CN114954805B CN 114954805 B CN114954805 B CN 114954805B CN 202210773194 A CN202210773194 A CN 202210773194A CN 114954805 B CN114954805 B CN 114954805B
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- 238000004064 recycling Methods 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 18
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 18
- 238000013461 design Methods 0.000 claims abstract description 17
- 230000000452 restraining effect Effects 0.000 claims abstract description 11
- 238000011084 recovery Methods 0.000 claims description 48
- 238000001514 detection method Methods 0.000 claims description 9
- 238000009434 installation Methods 0.000 claims description 8
- 210000000080 chela (arthropods) Anatomy 0.000 claims description 7
- 238000012546 transfer Methods 0.000 claims description 4
- 239000011229 interlayer Substances 0.000 claims description 3
- 210000001503 joint Anatomy 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 238000005192 partition Methods 0.000 claims description 3
- 230000000712 assembly Effects 0.000 claims 2
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- 230000003139 buffering effect Effects 0.000 description 3
- 238000007689 inspection Methods 0.000 description 3
- 230000003044 adaptive effect Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
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- 238000007792 addition Methods 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
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- 238000009364 mariculture Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
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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
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
- Y02A20/204—Keeping clear the surface of open water from oil spills
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- Refuse-Collection Vehicles (AREA)
Abstract
The invention provides a full-automatic modularized AUV throwing and recycling device, which comprises a ship body, a collecting and releasing integrated collecting groove, a restraint clamp, a capturing and restraining clamp, a self-adaptive variable-radius capturing net sleeve and a rotary collecting bin, wherein an AUV storing and throwing integrated mechanism is arranged at the top of a device base, and a collecting bin center driving shaft and a rotary collecting bin are arranged at the top of the device base; according to the invention, the AUV is mounted in the storage and release integrated storage groove, the storage and release integrated storage groove is mounted on the rotary storage bin in a circumferential array, the storage and release integrated storage groove and the rotary storage bin are driven by the storage and release integrated storage groove, the storage and release integrated storage groove where the activated AUV is located rotates to a delivery opening right behind along with the rotary hanging frame, the storage and release integrated storage groove is driven by the storage groove driving hydraulic rod to incline outwards by a certain angle, the constraint pliers are opened, the AUV is free from constraint and enters water at a certain angle, the delivery operation is completed, the design and release speed is high, and the AUV can be rapidly and continuously distributed to form an underwater unmanned aerial vehicle array.
Description
Technical Field
The invention belongs to the technical field of AUVs, and relates to a full-automatic modularized AUV throwing and recycling device.
Background
AUV (unmanned aerial vehicle under water) is a device which can move under water, has visual and perception systems, replaces or assists people to finish underwater operation tasks by using a manipulator or other tools in a remote control or autonomous operation mode, has greatly developed over the last 70 th century, develops a batch of robots which can work at various depths and perform various operations, can be used in the fields of petroleum exploitation, submarine mining investigation, salvage operation, pipeline laying and inspection, cable laying and inspection, mariculture, dam inspection of river reservoirs and the like, and can be used for underwater reconnaissance, ocean mapping, mine distribution, unmanned aerial vehicle cluster combat and the like in military.
The AUV throwing and recycling mode applied at present mainly is winch hanging and releasing, the speed is low, the influence of sea conditions is large, safe and quick AUV recycling work is difficult to achieve except for calm water areas such as calm inland rivers and lakes, the existing recycling device is large in size and mainly applied to special ships, the automation degree of the AUV recycling work is improved to reduce manpower, a plurality of AUVs cannot be quickly thrown in a short time to form an unmanned aerial vehicle system cluster, and therefore the AUV throwing and recycling device with high universality, high automation, modularization, quick throwing and recycling capability, and certain depth recycling capability on the water surface and under water is designed.
Disclosure of Invention
The invention aims to provide a full-automatic modularized AUV releasing and recycling device so as to solve the problems in the background technology.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a full-automatic modularization AUV puts in recovery unit, includes hull, storage cabin center drive shaft, accomodates release integral type storage tank, accomodates groove drive hydraulic stem, restraint pincers, catches restraint anchor clamps, the changeable radius of self-adaptation and catches net cover and rotatory storage cabin, the both sides in the hull are provided with the extension support, the inside of hull is provided with the device base through the extension support, the top of device base is provided with AUV and deposits and put in integrated mechanism, AUV deposits and puts in integrated mechanism by rotatory storage cabin, accomodate groove drive hydraulic stem, accomodate release integral type storage tank and restraint pincers and constitute, the top of device base is installed at storage cabin center drive shaft, just rotatory storage cabin installs in storage cabin center drive shaft, accomodate release integral type storage tank below through pivot and rotatory storage cabin's top through pivot movable mounting accomodate release integral type storage tank, just accomodate release integral type storage tank and be provided with the device base through storage tank drive hydraulic stem drive, the circumference array arranges in rotatory storage cabin's subregion, AUV deposits in the end of two-to-side restraint pincers drive motor drive in storage cabin, accomodate two end mechanical arm drive end two and two-to-end mechanical arm capture mechanical arm end section fixed mounting mechanical arm capture arm section capture mechanical arm section, two-to-end mechanical arm capture section capture end section end-of section capture mechanical arm installation section.
In the fully-automatic modularized AUV releasing and recycling device, the contact surface of the capturing constraint fixture is an arc-shaped pipe wall surface, a flexible buffering anti-slip material is attached to the inner side of the capturing constraint fixture, a buffer spring and a pressure sensor are arranged in an interlayer, and an installation shaft matched with the self-adaptive variable-radius capturing net sleeve component is arranged on one side of the capturing constraint fixture.
In the above-mentioned full-automatic modularization AUV puts in recovery unit, accomodate the design of release integral type storage tank upper and lower width, accomodate the below of release integral type storage tank and have trapezoidal breach, and trapezoidal breach supplies multiaxis two-section to retrieve the arm and retrieve the reserved space when retrieving the transfer, both sides are equipped with rotatory storage bin articulated connecting axle, openly open curved notch and fretwork, both sides are equipped with restraint pincers drive assembly and installing port, the rear design have with storage tank drive hydraulic stem complex articulated back timber.
In the above-mentioned full-automatic modularization AUV puts in recovery unit, multiaxis two-stage recovery arm is two-stage five shaft type arm, adopts waterproof design, through servo motor drive, joint and pivot department adopt water droplet formula design, and two-stage arm waterproof housing is chamfer processing.
In the above-mentioned full-automatic modularized AUV puts in recovery unit, the adaptive variable radius catches the net cover top and installs the arm detection instrument cabin, and net cover lip back upper side is the ripples case of control change net cover radius, and latter half is equipped with the terminal servo motor connection to interface and multiaxis two-section type recovery mechanical arm, and both sides are equipped with drive assembly and the installing port that catches restraint anchor clamps.
In the fully-automatic modularized AUV releasing and recycling device, sonar, a signal transceiver, a searchlight and a spherical camera are integrated in the mechanical arm detection instrument cabin.
In the above-mentioned full-automatic modularization AUV puts in recovery unit, rotatory storage bin is equally divided into a subregion, and every subregion has cuts off and accomodates release integral type storage tank below installation axle complex hinge joint to be provided with a rectangle interface respectively, be equipped with in the centre and accomodate groove drive hydraulic stem complex hinge joint, wholly adopt the fretwork design.
In the above-mentioned full-automatic modularization AUV puts in recovery unit, accomodate groove drive hydraulic stem and rotatory storage bin complex one end and be the pneumatic cylinder, the piston rod of the other end divide two interfaces and accomodate the articulated back timber cooperation at release integral type storage groove rear, storage bin center drive shaft center upper portion adopts fretwork and chamfer design, and the below is the interface with the device base, contains the interface of control circuit, storage bin center drive shaft upper portion is polygon frame, the lower part be with rotatory storage bin complex drive shaft and bearing.
In the above-mentioned full-automatic modularization AUV puts in recovery unit, device base rear is equipped with a rectangle breach, and the bottom is equipped with the installation interface of multiaxis two-stage recovery arm, has integrated control assembly and the data bus of multiaxis two-stage recovery arm in inside, and upper portion is equipped with the interface to interface and the control line with the central drive shaft of storage storehouse to be equipped with the self-lubricating bearing of storage storehouse central drive shaft.
Compared with the prior art, the full-automatic modularized AUV releasing and recycling device has the advantages that:
(1) The self-adaptive variable radius capturing net sleeve in the tail end capturing mechanism component of the multi-shaft two-section recycling mechanical arm can change the radius to sleeve the nose cone of the AUV according to the nose cone radius of the AUV, the underwater unmanned aerial vehicle recycling device has universality in different sizes, the anti-slip liner is arranged on the inner side of the lip of the net sleeve, the unmanned aerial vehicle can be better restrained during recycling, the sonar is arranged in the detection instrument cabin of the front mechanical arm, the spherical camera and the searchlight can be intuitively searched during recycling operation, and the target AUV is captured.
(2) The storage-throwing module and the recovery module of the AUV are longitudinally arranged, so that the AUV storage-throwing device is simple in structure, compact in space utilization, high in integration degree, good in reliability and maintainability, the interference of throwing and recovery of two works is reduced, a sensor on the multi-axis two-stage recovery mechanical arm is arranged below the multi-axis two-stage recovery mechanical arm in the recovery module for recovery work, a better visual field is provided, the working space of the multi-axis two-stage recovery mechanical arm is enlarged, and meanwhile, the occupied space is reduced.
(3) The process of puting in is rapid, the AUV is hung in and is accomodate release integral type and accomodate the groove, accomodate release integral type and accomodate the groove and install on rotatory storage bin with circumference array, the input of AUV is accomodate release integral type and accomodate the storehouse drive by accomodating, accomodate release integral type at activated AUV place and accomodate the groove and rotate to the input mouth in the dead ahead along with rotatory stores pylon, accomodate release integral type and accomodate the groove and drive the outward slope certain angle by accomodating groove drive hydraulic stem, restraint pincers are opened, thereby make the AUV lose the constraint and go into water with certain angle, accomplish and put in the operation, design cloth is put fast, can arrange in succession fast and form unmanned aerial vehicle array under water.
(4) The capture constraint fixture in the capture mechanism component at the tail end of the multi-shaft two-section recycling mechanical arm and the constraint pliers on the storage and release integrated storage groove are both in arc-shaped design with the contact inner wall of the AUV, a buffer spring and a pressure sensor are arranged, the grabbing force applied to the AUV can be adjusted according to the data of the pressure sensor so as to protect the unmanned aerial vehicle shell, the AUV shape can be better matched when recycling, the AUV is constrained and fixed to provide the water surface, the AUV body is protected, and different fixtures can be replaced according to the size of the AUV, so that the AUV has universality.
(5) When the target AUV is recovered, the head of the AUV is sleeved by the self-adaptive variable-radius capturing net sleeve with the self-adaptive variable radius, the radius of an opening of the net sleeve is reduced by tightening a lip of the net sleeve through a reel in the AUV, the head of the AUV is tightened to reduce the swing of the AUV under sea waves to be basically stable, then the AUV is clamped by the capturing and restraining clamp, and then the AUV is lifted out of the water surface by the multi-shaft two-section recovery mechanical arm for transfer, so that the recovery process fault tolerance is low.
(6) The storage and release integrated storage groove adopts the designs of hollowed-out parts, arc grooves and the like according to the appearance of the underwater unmanned aerial vehicle, can be matched with the appearance of the machine body and the appearance of the wing without the AUV, is not easy to damage the AUV wing due to scratch during storage, and also reduces the structural weight.
(7) The multi-shaft two-section type recycling mechanical arm is located below the rotary hanging frame, the multi-shaft two-section type design is adopted, the movable range is large, the motor is used for driving, the whole unmanned aerial vehicle is waterproof, the degree of freedom is high, the unmanned aerial vehicle is provided with larger working water depth and range, the searching and capturing range of the unmanned aerial vehicle is large, recycling work can be carried out on the water surface and under water with a certain depth, the whole device adopts a hollow structure, the structural weight is reduced, the windward area is reduced, the transverse swing caused by the windward weather is reduced, and the wind resistance of the device is improved.
Drawings
FIG. 1 is a schematic side elevational view of a device;
FIG. 2 is a schematic view of the rear structure of the device;
FIG. 3 is a schematic top view of the device;
FIG. 4 is a schematic view of the bottom construction of the device;
FIG. 5 is a schematic view of an open structure of a receiving and releasing integrated receiving slot of the device;
FIG. 6 is a schematic view of the structure of a capture constraint fixture of the device;
fig. 7 is a schematic view showing a state that an storage and release integrated storage groove of the device stores AUV;
FIG. 8 is a schematic view of the structure of the restraining clamp of the device;
fig. 9 is a schematic diagram of a storage and release integrated storage tank of the device and a multi-shaft two-stage recovery mechanical arm matched transfer AUV structure;
fig. 10 is a schematic structural diagram of a tail end capturing mechanism of a multi-axis two-stage recovery mechanical arm of the device.
In the figure: 1. a hull; 2. a storage bin center drive shaft; 3. an accommodating and releasing integrated accommodating groove; 4. AUV, 5, AUV fuselage; 6. the accommodating groove drives the hydraulic rod; 7. restraint forceps; 8. capturing a constraint fixture; 9. a self-adaptive variable radius capturing net sleeve; 10. rotating the storage bin; 11. a device base; 12. a multi-axis two-stage recovery mechanical arm; 13. an extension bracket; 14. the mechanical arm detects the instrument pod.
Detailed Description
The following are specific embodiments of the present invention and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1-10, a full-automatic modularized AUV throwing and recycling device comprises a ship body 1, a storage bin center driving shaft 2, a storage and release integrated storage groove 3, a storage groove driving hydraulic rod 6, a restraint clamp 7, a capture restraint clamp 8, an adaptive variable radius capture net sleeve 9 and a rotary storage bin 10, wherein extension brackets 13 are arranged on two sides in the ship body 1, a device base 11 is arranged in the ship body 1 through the extension brackets 13, an AUV storage and throwing integrated mechanism is arranged at the top of the device base 11, the AUV storage and throwing integrated mechanism consists of the rotary storage bin 10, the storage groove driving hydraulic rod 6, the storage and release integrated storage groove 3 and the restraint clamp 7, the storage bin center driving shaft 2 and the rotary storage bin 10 are arranged at the top of the device base 11, the rotary storage bin 10 is arranged on the storage bin center driving shaft 2, the storage and release integrated storage tank 3 is movably arranged below the storage and release integrated storage tank 3 and the top of the rotary storage bin 10 through a rotating shaft, the storage and release integrated storage tank 3 is driven by a storage tank driving hydraulic rod 6 and is arranged in a partition of the rotary storage bin 10 in a circumferential array, the restraint pliers 7 are fixedly arranged on two sides of the storage and release integrated storage tank 3 through servo motor driving, the restraint pliers 7 are driven by the servo motor, a multi-shaft two-section type recovery mechanical arm 12 is fixedly arranged at the bottom of a device base 11, a capture constraint fixture 8 is arranged on a capture mechanism at the tail end of the multi-shaft two-section type recovery mechanical arm 12 through servo motor driving, a self-adaptive variable radius capture net sleeve 9 is further arranged at the front end of the capture mechanism at the tail end of the multi-shaft two-section type recovery mechanical arm 12, the upper part of the catching mechanism at the tail end of the multi-shaft two-stage recovery mechanical arm 12 is provided with a mechanical arm detection instrument cabin 14.
According to the full-automatic modularized AUV throwing and recycling device, the contact surface of the capturing and restraining clamp 8 is an arc-shaped pipe wall surface, a flexible buffering anti-slip material is attached to the inner side of the capturing and restraining clamp, a buffering spring and a pressure sensor are arranged in an interlayer, and an installation shaft matched with a self-adaptive variable-radius capturing net sleeve 9 component is arranged on one side of the capturing and restraining clamp.
The invention relates to a full-automatic modularized AUV throwing and recycling device, which is characterized in that a storage and release integrated storage groove 3 is designed to be narrow at the upper part and wide at the lower part, a trapezoid notch is arranged below the storage and release integrated storage groove 3, the trapezoid notch is used for reserving space for recycling and transferring a multi-shaft two-section recycling mechanical arm 12, connecting shafts hinged with a rotary storage bin 10 are arranged at two sides, an arc-shaped notch and a hollow are formed in the front, restraint pliers 7 driving components and mounting ports are arranged at two sides, and a hinged top beam matched with a storage groove driving hydraulic rod 6 is arranged at the rear part.
According to the full-automatic modularized AUV throwing and recycling device, the multi-shaft two-section recycling mechanical arm 12 is a two-section five-shaft mechanical arm, a waterproof design is adopted, a joint and a rotating shaft are driven by a servo motor, a water drop type design is adopted at the joint and the rotating shaft, and chamfering treatment is carried out on waterproof shells of the two-section mechanical arm.
The invention relates to a full-automatic modularized AUV throwing and recycling device, wherein a mechanical arm detection instrument cabin 14 is arranged above a self-adaptive variable-radius capturing net sleeve 9 with a self-adaptive variable radius, a wave box for controlling and changing the radius of the net sleeve is arranged above the back of a lip of the net sleeve, a butt joint port is arranged at the rear half part of the net sleeve, the tail end servo motor of a multi-shaft two-section recycling mechanical arm 12 is connected with a driving component and a mounting port of a capturing and restraining clamp are arranged at two sides of the tail end servo motor.
According to the full-automatic modularized AUV throwing and recycling device, sonar, a signal transceiver, a searchlight and a spherical camera are integrated in the mechanical arm detection instrument cabin 14.
According to the full-automatic modularized AUV throwing and recycling device, a rotary storage bin 10 is divided into 8 subareas averagely, each subarea is provided with a partition and a hinge interface matched with an installation shaft below a storage groove 3 of an integrated storage and release type, a rectangular interface is respectively arranged, a hinge interface matched with a storage groove driving hydraulic rod 6 is arranged in the middle, and the whole storage bin is in a hollowed-out design.
According to the full-automatic modularized AUV throwing and recycling device, one end of a storage groove driving hydraulic rod 6 matched with a rotary storage bin 10 is a pressure cylinder, a piston rod at the other end is divided into two interfaces to be matched with a hinged top beam behind a storage and release integrated storage groove 3, the upper part of the center driving shaft 2 of the storage bin is in hollowed-out and chamfering design, the lower part of the center driving shaft is a butt joint interface with a device base 11 and comprises a control circuit, the upper part of the center driving shaft 2 of the storage bin is a polygonal frame, and the lower part of the center driving shaft is a driving shaft and a bearing matched with the rotary storage bin 10.
The invention relates to a full-automatic modularized AUV throwing and recycling device, wherein a rectangular notch is arranged at the rear of a device base 11, the bottom of the device base is provided with a mounting interface of a multi-shaft two-section recycling mechanical arm 12, a control component and a data bus of the multi-shaft two-section recycling mechanical arm are integrated inside the device, the upper part of the device base is provided with an interface with an opposite interface and a control circuit of a storage bin center driving shaft 2, and a self-lubricating bearing of the storage bin center driving shaft 2 is arranged.
Working principle: the device base 11 is connected with the extension bracket 13 and the cable, the ship is powered by the installed ship, the rotary storage bin 10 is powered by an electric slip ring between the rotary storage bin and a central driving shaft of the storage bin, the AUV is mounted on the storage and release integrated storage groove 3, the storage and release integrated storage groove 3 is in a vertical state when not activated, when the storage and release integrated storage groove 3 starts to be put in, the storage and release integrated storage groove 3 where a target AUV to be put in is rotated to a putting-in area right behind through the rotary storage bin 10, the storage and release integrated storage groove 3 is driven by the storage groove driving hydraulic rod 6 and is inclined outwards, when the storage and release integrated storage groove 3 is inclined to a certain angle, the inclination sensor built in the storage and release integrated storage groove 3 feeds back, 4 restraint clamps 7 on the storage and release integrated storage groove 3 are opened, the AUV is out of restraint and put in a certain angle, and the single AUV is put in is completed, and a plurality of subsequent AUVs are put in the same mode.
When the target AUV is in the working range of the multi-axis two-stage recovery mechanical arm 12, the multi-axis two-stage recovery mechanical arm 12 moves in the working range and captures the target AUV, the capturing mechanism of the multi-axis two-stage recovery mechanical arm moves to the front end of the target AUV when capturing the target AUV, the self-adaptive variable radius capturing net sleeve 9 expands the opening radius to enable the target AUV to enter the self-adaptive variable radius capturing net sleeve 9, and then according to the machine body radius of the AUV, the machine head of the AUV is controlled by a wave box which is arranged above and behind the lip of the variable radius self-adaptive variable radius capturing net sleeve 9 and used for controlling the radius of the net sleeve to be changed, meanwhile, a rear capturing-restraining clamp 8 is closed and clamps the machine body of the target AUV, the AUV is lifted out of the water surface, after the water surface is lifted out, a multi-shaft two-section type recycling mechanical arm 12 and a storage and release integrated storage groove 3 carry out the cross connection work of the target AUV, the empty storage and release integrated storage groove 3 in a rotary storage bin 10 at the upper part of the device is rotated to a throwing and recycling station positioned right behind, a second section of the multi-shaft two-section type recycling mechanical arm 12 is lifted and penetrates through a trapezoid opening below the storage and release integrated storage groove 3, a tail end joint driving capturing mechanism rotates to enable a middle shaft of the AUV machine body to be parallel to and attached to the storage and release integrated storage groove 3, as shown in figure 9, at this time, the 4 restraint pincers 7 positioned at two sides of the storage and release integrated storage tank 3 are closed to restrain and fix the unmanned aerial vehicle, then the capturing-restraining clamp 8 on the multi-shaft two-section type recovery mechanical arm is opened, the radius of the lip of the variable radius self-adaptive variable radius capturing net sleeve 9 is enlarged, the restraint on the target AUV is relieved, the multi-shaft two-section type recovery mechanical arm 12 is reset and stands by, the recovery work of the next AUV is prepared, the storage and release integrated storage tank 3 brings the target AUV to be driven by the storage tank driving hydraulic rod 6 to restore to a vertical state and rotate along with the rotary storage bin 10 to leave the delivery recovery station at the right rear, and the recovery work of the target AUV is completed.
What is not described in detail in this specification is prior art known to those skilled in the art. The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (9)
1. The utility model provides a recovery unit is put in to full-automatic modularization AUV, includes hull (1), storage bin center drive shaft (2), accomodates release integral type storage tank (3), accomodates tank drive hydraulic stem (6), restraint pincers (7), catches restraint anchor clamps (8), the changeable radius of self-adaptation catches net cover (9) and rotatory storage bin (10), its characterized in that: the utility model discloses a ship which is characterized in that extension brackets (13) are arranged on two sides in a ship body (1), a device base (11) is arranged in the ship body (1) through the extension brackets (13), an AUV storage and delivery integrated mechanism is arranged at the top of the device base (11), the AUV storage and delivery integrated mechanism is composed of a rotary storage bin (10), a storage groove driving hydraulic rod (6), a storage and release integrated storage groove (3) and restraint pliers (7), a storage bin center driving shaft (2) and the rotary storage bin (10) are arranged at the top of the device base (11), the rotary storage bin (10) is arranged on the storage bin center driving shaft (2), the storage and release integrated storage groove (3) is movably arranged at the top of the rotary storage bin (10) through a rotating shaft, an AUV body (5) and an AUV (4) are hung in the storage and release integrated storage groove (3) through the storage groove driving hydraulic rod (6), the storage and release integrated storage pliers (3) are arranged in a rotary storage bin (10) in a circumferential array, the restraint pliers (7) are fixedly arranged at two restraint pliers (7) and are arranged at one side of the restraint pliers (7), the device comprises a device base (11), wherein a multi-shaft two-section type recovery mechanical arm (12) is fixedly arranged at the bottom of the device base, a capture constraint fixture (8) is arranged on a capture mechanism at the tail end of the multi-shaft two-section type recovery mechanical arm (12) through a servo motor, a self-adaptive variable radius capture net sleeve (9) is further arranged at the front end of the capture mechanism at the tail end of the multi-shaft two-section type recovery mechanical arm (12), and a mechanical arm detection instrument cabin (14) is arranged at the upper part of the capture mechanism at the tail end of the multi-shaft two-section type recovery mechanical arm (12).
2. The fully automatic modularized AUV delivery and recovery device according to claim 1, wherein: the contact surface of the catching and restraining clamp (8) is an arc-shaped pipe wall surface, a flexible buffer anti-slip material is attached to the inner side of the catching and restraining clamp, a buffer spring and a pressure sensor are arranged in an interlayer, and an installation shaft matched with the self-adaptive variable-radius catching net sleeve (9) component is arranged on one side of the catching and restraining clamp.
3. The fully automatic modularized AUV delivery and recovery device according to claim 1, wherein: the device is characterized in that the storage and release integrated storage groove (3) is designed to be narrow at the upper part and wide at the lower part, a trapezoid notch is arranged below the storage and release integrated storage groove (3), the trapezoid notch is used for a multi-shaft two-section type recycling mechanical arm (12) to recycle and transfer a reserved space, two sides of the trapezoid notch are provided with connecting shafts hinged with a rotary storage bin (10), an arc-shaped notch and a hollow are formed in the front of the trapezoid, restraint pliers (7) driving assemblies and mounting openings are arranged on two sides of the trapezoid, and a hinged top beam matched with a storage groove driving hydraulic rod (6) is arranged at the rear of the trapezoid notch.
4. The fully automatic modularized AUV delivery and recovery device according to claim 1, wherein: the multi-shaft two-section type recycling mechanical arm (12) is a two-section five-shaft type mechanical arm, a waterproof design is adopted, the multi-shaft two-section type recycling mechanical arm is driven by a servo motor, a joint and a rotating shaft are designed in a water drop type, and a waterproof shell of the two-section mechanical arm is subjected to chamfering treatment.
5. The fully automatic modularized AUV delivery and recovery device according to claim 1, wherein: the device is characterized in that a mechanical arm detection instrument cabin (14) is arranged above the self-adaptive variable radius capturing net sleeve (9), a wave box for controlling and changing the radius of the net sleeve is arranged above the back of the lip of the net sleeve, a counter interface is arranged on the rear half part of the net sleeve, the counter interface is connected with a tail end servo motor of the multi-shaft two-section recycling mechanical arm (12), and driving assemblies and mounting ports for capturing and restraining fixtures are arranged on the two sides of the counter interface.
6. The fully automatic modularized AUV delivery and recovery device according to claim 1, wherein: and sonar, a signal transceiver, a searchlight and a spherical camera are integrated in the mechanical arm detection instrument cabin (14).
7. The fully automatic modularized AUV delivery and recovery device according to claim 1, wherein: the rotary storage bin (10) is divided into 8 subareas averagely, each subarea is provided with a partition and a hinge interface matched with an installation shaft below the storage and release integrated storage groove (3), a rectangular interface is respectively arranged, a storage groove driving hydraulic rod (6) matched with the hinge interface is arranged in the middle, and the whole storage bin is in hollow design.
8. The fully automatic modularized AUV delivery and recovery device according to claim 1, wherein: the device is characterized in that one end of the storage groove driving hydraulic rod (6) matched with the rotary storage bin (10) is a pressure cylinder, a piston rod at the other end is separated into two interfaces to be matched with a hinged top beam behind the storage and release integrated storage groove (3), the upper part of the center of the storage bin center driving shaft (2) is hollowed out and designed with a chamfer, the lower part of the center of the storage bin center driving shaft is a butt joint with the device base (11) and comprises an interface of a control circuit, the upper part of the storage bin center driving shaft (2) is a polygonal frame, and the lower part of the storage bin center driving shaft is a driving shaft matched with the rotary storage bin (10) and a bearing.
9. The fully automatic modularized AUV delivery and recovery device according to claim 1, wherein: the device is characterized in that a rectangular notch is formed in the rear of the device base (11), a mounting interface of a multi-shaft two-section type recycling mechanical arm (12) is arranged at the bottom of the device base, a control assembly and a data bus of the multi-shaft two-section type recycling mechanical arm are integrated inside the device base, an interface of the device base with an opposite interface and a control circuit of a storage bin center driving shaft (2) is arranged on the upper portion of the device base, and a self-lubricating bearing of the storage bin center driving shaft (2) is arranged.
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| CN202210773194.3A CN114954805B (en) | 2022-07-01 | 2022-07-01 | Full-automatic modularized AUV releasing and recycling device |
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| CN202210773194.3A CN114954805B (en) | 2022-07-01 | 2022-07-01 | Full-automatic modularized AUV releasing and recycling device |
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| CN114954805B true CN114954805B (en) | 2023-12-05 |
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| CN114954805A (en) | 2022-08-30 |
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