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A six-degree-of-freedom underwater recovery device

A technology of underwater recovery and degree of freedom, applied in underwater operation equipment, transportation and packaging, ships, etc., can solve problems such as difficult recovery of AUV, meet economical practicality, reduce transformation workload and cost, and facilitate guidance Effect

Inactive Publication Date: 2019-01-25
ZHEJIANG SCI-TECH UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

This recovery method allows the AUV to enter the conical guide cover with a small range of allowable angle and position deviation, and it is not easy to recover the AUV when there is interference from ocean currents

Method used

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  • A six-degree-of-freedom underwater recovery device
  • A six-degree-of-freedom underwater recovery device
  • A six-degree-of-freedom underwater recovery device

Examples

Experimental program
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Embodiment Construction

[0020] Further description will be given below in conjunction with the embodiments shown in the accompanying drawings.

[0021] Such as figure 1 The shown six-degree-of-freedom underwater recovery device includes an upper platform 3, a lower platform 1, a docking device 4 and six telescopic rods 2; the docking device is fixed on the upper platform for recovering AUV; ” and installed between the upper platform and the lower platform in order to adjust the position and attitude of the docking device; the six telescopic rods have the same structure and the angle between two adjacent telescopic rods is the same (the angle is determined according to the needs) . The lower end of the telescopic rod is connected with the lower platform through the first Hooke hinge 2-1, and the upper end of the telescopic rod is connected with the upper platform through the second Hooke hinge 2-13.

[0022] The telescopic rods include a first rod 2-2, a second rod 2-3, a third rod 2-5, a fourth rod...

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Abstract

The invention belongs to the field of underwater recovery devices. The purpose is to provide a six-degree-of-freedom underwater recovery device, which can automatically control the conical guide coverto achieve six-degree-of-freedom movement in space, thereby changing the position and attitude of the conical guide cover, thereby increasing the permissible angle of the AUV entering the conical guide cover in disguise. The technical scheme is as follows: a six-degree-of-freedom underwater recovery device is characterized in that the device comprises an upper platform, a lower platform, a docking device fixed on the upper platform for recovering AUV and six telescopic rods sequentially arranged in a W-shape between the upper platform and the lower platform to adjust the position of the docking device; the six telescopic rods have the same structure and the included angle between two adjacent telescopic rods is the same; the lower end of the expansion rod is rotatably connected with the lower platform through a first Hooke hinge, and the upper end of the expansion rod is rotatably connected with the upper platform through a second Hooke hinge.

Description

technical field [0001] The invention belongs to the field of underwater recovery devices, in particular to a six-degree-of-freedom underwater recovery device. Background technique [0002] With the widespread application of untethered autonomous underwater vehicles (AUVs), especially in the fields of deep-sea scientific and technological investigation and surveying, underwater recovery devices that can be used for information transmission and energy supplementation have gradually attracted attention. At present, the recovery methods of AUV can be divided into four categories: surface lifting recovery method, underwater docking recovery method, underwater belt recovery method and torpedo tube recovery method. Among them, the recovery device of the underwater docking recovery method does not need to consider the wind and waves on the surface of the water when it is used, and there are fewer factors to consider, and it is suitable for military and civilian use. [0003] When t...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52B63C7/16
CPCB63C7/16B63C11/52
Inventor 陈刚包哲枫李秦川
Owner ZHEJIANG SCI-TECH UNIV
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