Saddle-type capture device and capture method for an underwater vehicle in ocean engineering

Abstract

The present invention discloses a saddle-type capture device and capture method for an underwater vehicle of a marine engineering project, comprising a chassis floating above an autonomous vehicle, with a plurality of buoys symmetrically arranged on both sides of the chassis for providing buoyancy; a positioning arm assembly is also rotatably mounted on the chassis on the same side as the buoys, and the positioning arm assemblies on both sides are clamped on the surface of the autonomous vehicle, a hydraulic drive assembly for driving the positioning arm assembly to rotate is installed on the chassis, a capture port is opened at the center of the chassis, a lead screw drive assembly is installed on the chassis on one side of the capture port, and a track pressure plate is installed in parallel on the other side; two mushroom-head clamping plates are provided with clamping ports on opposite sides, and the upper and lower positions of the two mushroom-head clamping plates are staggered above the capture port, and move synchronously toward or in the opposite direction. The device creatively utilizes the principle of a saddle to allow the device to use buoys to cross over and erect the autonomous vehicle, thereby avoiding the influence of the ups and downs and swaying of the mother ship under the influence of sea conditions on the capture device.

Description

Technical Field

[0001] The present invention relates to the technical field of ocean engineering, and specifically relates to a saddle-type capture device and a capture method for an underwater vehicle in ocean engineering. Background Art

[0002] With the increasing exploration of ocean resources by humans, underwater robots have emerged as the times require, such as underwater vehicles, autonomous underwater vehicles (AUVs), underwater gliders, etc. It has the characteristics of being cable-free, having a wide operation range, a large degree of freedom, and being able to explore complex environments. When operations such as energy replenishment, information reading, or salvaging to the water surface are required for an underwater robot during work, the underwater robot needs to be captured first.

[0003] Currently, capture devices generally use the point-to-point capture principle, with low capture efficiency and high failure rates. For this reason, we propose a saddle-type capture device and a capture method for an underwater vehicle in ocean engineering to solve the above problems. Summary of the Invention

[0004] The purpose of the present invention is to provide a saddle-type capture device and a capture method for an underwater vehicle in ocean engineering to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A saddle-type capture device for an underwater vehicle in ocean engineering, including a chassis floating above the autonomous vehicle, and a mushroom head structure for connecting the capture device is provided on the autonomous vehicle.

[0006] A plurality of buoyancy-providing floats are symmetrically arranged on both sides of the chassis;

[0007] A positioning arm assembly is also rotatably installed on the chassis on the same side as the float, and the positioning arm assemblies on both sides are both clamped on the surface of the autonomous vehicle. The positioning arm assembly is composed of a rotating shaft and two positioning arms symmetrically and fixedly installed at both ends of the rotating shaft. The rotating shaft is rotatably installed on the side of the chassis;

[0008] A hydraulic drive assembly for driving the rotation of the positioning arm assembly is installed on the chassis, and the hydraulic drive assembly corresponds to the positioning arm assembly one by one;

[0009] A capture port is opened at the center position of the chassis, a lead screw drive assembly is installed on the chassis on one side of the capture port, and a track pressing plate is installed in parallel on the other side;

[0010] The lead screw drive assembly includes a rotatable bidirectional lead screw and left-handed and right-handed transmission nuts sleeved at both ends of the bidirectional lead screw. A mushroom head clamping plate is fixedly connected to each of the left-handed and right-handed transmission nuts, and the other sides of the two mushroom head clamping plates are simultaneously slidably clamped in the track pressing plate;

[0011] On one side of the two mushroom head clamping plates facing each other, a clamping opening is provided, and the two mushroom head clamping plates are staggered up and down above the capture opening and move synchronously towards or away from each other.

[0012] Preferably, a vertically extending mounting bracket is fixedly installed on the top of the chassis, and a camera is installed on the mounting bracket.

[0013] Preferably, ear plates extend outwards at the four corners of the chassis, and at least one of the floating cylinders is fixedly installed between the two ear plates on the same side. The axis of the floating cylinder is parallel to the length direction of the autonomous vehicle after capture, and through holes for steel wire ropes to pass through are provided at the upper ends of the four ear plates.

[0014] Preferably, the positioning arm is in an arc or V-shaped shoe structure and is in sliding contact with the surface of the autonomous vehicle, and a limiting groove matching the autonomous vehicle is provided at the bottom of the chassis.

[0015] Preferably, the hydraulic drive assembly includes a two-way hydraulic cylinder installed on the top of the chassis and a rack fixedly connected to the driving end of the two-way hydraulic cylinder. The axis of the rack is parallel to the telescopic direction of the two-way hydraulic cylinder, and the rack is perpendicular to the rotating shaft. A gear meshing with the rack is fixedly sleeved on the rotating shaft, and a guide rail that is movably sleeved outside the rack and restricts its movement direction is also fixedly installed on the top of the chassis.

[0016] Preferably, the screw drive assembly further includes a screw mounting bracket for mounting the two-way screw, and one end of the two-way screw is fixedly connected to the drive shaft of the hydraulic motor installed on the chassis.

[0017] Preferably, a straight groove is provided along the length direction on the inner side of the track pressing plate, and the end of the mushroom head clamping plate is slidably clamped in the straight groove.

[0018] Preferably, the opening angle of the clamping opening is 90 degrees, and the mushroom head structure is fixedly connected to the chassis through a quadrangular pyramid-shaped support column. When the mushroom head structure is clamped between the two mushroom head clamping plates, the clamping opening contacts the edge of the support column.

[0019] A saddle-type capture method for an underwater vehicle in ocean engineering, using the above capture device, specifically includes the following steps:

[0020] S1: The capture device is hoisted above the autonomous vehicle by the hoisting equipment on the mother ship through four steel wire ropes. During this process, the camera facilitates the operation of the personnel on the mother ship;

[0021] S2: The bidirectional hydraulic cylinders in the two hydraulic drive assemblies are extended, and the gears are driven to rotate through the racks, so that the positioning arm assemblies on both sides of the chassis are opened and closed toward the bottom of the chassis, and the autonomous vehicle is gradually moved to the bottom of the chassis, and the radial center of the autonomous vehicle is basically aligned with the axis of the chassis;

[0022] S3: Continue to lower the capture device through the lifting equipment, so that the wire rope is in a relaxed state, and the buoys on both sides make the chassis float on the top of the autonomous vehicle. When the positioning arm assembly completely clamps the autonomous vehicle, the autonomous vehicle is exactly located in the limiting groove at the bottom of the chassis. At this time, the mushroom head structure passes through the capture port and extends upward;

[0023] S4: The bidirectional lead screw is driven to rotate by a hydraulic motor, driving the left-handed transmission nut and the right-handed transmission nut to move toward each other on the bidirectional lead screw, thereby driving the two mushroom head clamping plates to approach, wherein the positions of the two mushroom head clamping plates are staggered up and down, so that the clamping openings on the two mushroom head clamping plates are clamped on the supporting column at the bottom of the mushroom head structure, thereby achieving complete positioning of the capture device and the autonomous vehicle;

[0024] S5: The lifting equipment on the mother ship lifts the capture device and the autonomous vehicle, and the capture is completed.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] This device creatively uses the principle of a saddle to allow the device to use a buoy to cross the autonomous vehicle and then continue to lower the wire rope to avoid the impact of the ups and downs and swaying of the mother ship under the influence of sea conditions on the capture device;

[0027] By using the principle of the saddle, the device and the autonomous vehicle are close to a whole, so that on the sea surface, the device can also achieve a high success rate in capturing mushroom heads;

[0028] By controlling the opening between the rotatable positioning arms, the success rate and working efficiency of the docking between the device and the mushroom head structure can be increased. At the same time, the positioning arms can be rotated and folded upward to reduce the size of the device and reduce the space occupied by the mother ship;

[0029] The four-sided pyramid support column design at the bottom of the mushroom head structure prevents the autonomous vehicle from rotating after being captured, thus avoiding accidents caused by incomplete positioning when lifting the autonomous vehicle.

[0030] When the autonomous vehicle and the device are at an oblique angle on the sea surface, which affects the locking of the mushroom head, the mushroom head structure can be straightened by using the mushroom head clamping plate through the inverted bevel design above the four-sided pyramid neck of the mushroom head;

[0031] The hydraulic power source adopted by this device has its own sealing property and can well adapt to the marine environment. Similarly, in order to cope with the marine environment, this device avoids using complex and precise mechanical structures, which can greatly reduce the purchase and usage costs and failure rate of this device while maximizing its service life. Brief Description of the Drawings

[0032] Figure 1 Schematic structural diagram of the capture device and the autonomous vehicle after capture in the present invention;

[0033] Figure 2 Schematic structural diagram of the capture device and the autonomous vehicle before capture in the present invention;

[0034] Figure 3 Schematic diagram of the positioning component in the present invention;

[0035] Figure 4 Schematic three-dimensional structure diagram of the capture device when folded in the present invention;

[0036] Figure 5 Front view of the capture device when folded in the present invention;

[0037] Figure 6 Side view of the capture device when folded in the present invention;

[0038] Figure 7 Top view of the capture device when folded in the present invention;

[0039] Figure 8 In the present invention Figure 7 Cross-sectional view taken along line A-A;

[0040] Figure 9 In the present invention Figure 7 Cross-sectional view taken along line B-B;

[0041] Figure 10 In the present invention Figure 7 Cross-sectional view taken along line C-C.

[0042] In the figures: 1 Autonomous vehicle, 101 Mushroom head structure, 102 Support column, 2 Chassis, 201 Capture port, 202 Limit groove, 203 Ear plate, 204 Hoisting hole, 205 Mounting bracket, 3 Buoy, 4 Positioning component, 41 Positioning arm, 42 Rotating shaft, 5 Hydraulic drive component, 51 Double-acting hydraulic cylinder, 52 Rack, 53 Guide rail, 54 Gear, 6 Mushroom head clamping plate, 601 Clamping port, 7 Lead screw drive component, 71 Lead screw mounting frame, 72 Double lead screw, 73 Left-handed transmission lead screw nut, 74 Right-handed transmission lead screw nut, 75 Hydraulic motor, 8 Track pressing plate. Detailed Description of the Invention

[0043] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0044] See also Figure 1-2 The present invention provides a technical solution: a saddle-type capture device for a marine engineering underwater vehicle, comprising a chassis 2 floating above an autonomous vehicle 1, a mushroom head structure 101 for connecting the capture device is provided on the autonomous vehicle 1, a mounting bracket 205 extending vertically upward is fixedly installed on the top of the chassis 2, and a camera for providing real-time images to an operator during capture is installed on the mounting bracket 205.

[0045] Ear plates 203 are extended outward at the four corners of the chassis 2, and at least one buoy 3 is fixedly installed between two ear plates 203 on the same side. The axis of the buoy 3 is parallel to the length direction of the captured autonomous vehicle 1, and the upper ends of the four ear plates 203 are provided with lifting holes 204 for the wire rope to pass through.

[0046] See also Figure 1-3 A positioning arm assembly 4 is also rotatably mounted on the chassis 2 located on the same side as the buoy 3. The positioning arm assemblies 4 on both sides are clamped on the surface of the autonomous vehicle 1. The positioning arm assembly 4 consists of a rotating shaft 42 and two symmetrical positioning arms 41 fixedly mounted at both ends of the rotating shaft 42. The rotating shaft 42 is rotatably mounted on the side of the chassis 2.

[0047] Furthermore, the positioning arm 41 is in an arc-shaped or V-shaped tread structure, which slides in contact with the surface of the autonomous vehicle 1, wherein the tread structure facilitates the autonomous vehicle 1 to be pushed directly under the chassis 2. A limiting groove 202 is provided at the bottom of the chassis 2 to cooperate with the autonomous vehicle 1 to ensure its stability after capture.

[0048] See also Figure 1-4 A hydraulic drive assembly 5 for driving the positioning arm assembly 4 to rotate is installed on the chassis 2, and the hydraulic drive assembly 5 corresponds to the positioning arm assembly 4 one by one.

[0049] The hydraulic drive assembly 5 includes a two-way hydraulic cylinder 51 installed on the top of the chassis 2 and a rack 52 fixedly connected to the driving end of the two-way hydraulic cylinder 51. The axis of the rack 52 is parallel to the extension and contraction direction of the two-way hydraulic cylinder 51, and the rack 52 is perpendicular to the rotating shaft 42. A gear 54 meshing with the rack 52 is fixedly sleeved on the rotating shaft 42. A guide rail 53 that is movably sleeved on the outside of the rack 52 and limits its movement direction is also fixedly installed on the top of the chassis 2.

[0050] A capture port 201 is opened at the central position of the chassis 2. A lead screw drive assembly 7 is installed on the chassis 2 on one side of the capture port 201, and a track pressing plate 8 is installed in parallel on the other side. A straight slot is opened along the length direction inside the track pressing plate 8, and the end of the mushroom head clamping plate 6 is slidably clamped in the straight slot.

[0051] Please refer to Figure 1-4 and Figure 10 The lead screw drive assembly 7 includes a rotatable bidirectional lead screw 72, a lead screw mounting bracket 71 for mounting the bidirectional lead screw 72, and left-handed transmission nuts 73 and right-handed transmission nuts 74 sleeved at both ends of the bidirectional lead screw 72. One end of the bidirectional lead screw 72 is fixedly connected to the drive shaft of a hydraulic motor 75 installed on the chassis 2. A mushroom head clamping plate 6 is fixedly connected to each of the left-handed transmission nut 73 and the right-handed transmission nut 74, and the other sides of the two mushroom head clamping plates 6 are simultaneously slidably clamped in the track pressing plate 8;

[0052] Clamping openings 601 are opened on the opposite sides of the two mushroom head clamping plates 6, and the two mushroom head clamping plates 6 are staggered up and down above the capture port 201 and move synchronously towards or away from each other.

[0053] The opening angle of the clamping opening 601 is 90 degrees. The mushroom head structure 101 is fixedly connected to the chassis 2 through a quadrangular pyramid-shaped support column 102. When the mushroom head structure 101 is clamped between the two mushroom head clamping plates 6, the clamping opening 601 contacts the edge of the support column 102.

[0054] Please refer to Figure 1 The usage method of the capture device in the present invention is as follows:

[0055] S1: The lifting equipment on the mother ship hoists the capture device above the autonomous vehicle 1 through four steel wires. During this process, the camera facilitates the operation of the personnel on the mother ship;

[0056] S2: The bidirectional hydraulic cylinders 51 in the two hydraulic drive assemblies 5 both extend, drive the gear 54 to rotate through the rack 52, so that the positioning arm assemblies 4 on both sides of the chassis 2 open and close towards the lower part of the chassis 2, gradually push the autonomous vehicle 1 to directly below the chassis 2, and make the radial center of the autonomous vehicle 1 basically align with the axis of the chassis 2;

[0057] S3: The capture device is continuously lowered through the lifting equipment, so that the steel wires are in a slack state. The two floating cylinders 3 on both sides make the chassis 2 just float on the top of the autonomous vehicle 1. When the positioning arm assemblies 4 completely clamp the autonomous vehicle 1, the autonomous vehicle 1 is just located in the limit groove 202 at the bottom of the chassis 2. At this time, the mushroom head structure 101 penetrates out of the capture port 201 and extends upward;

[0058] S4: Drive the bidirectional lead screw 72 to rotate through the hydraulic motor 75, drive the left-handed transmission nut 73 and the right-handed transmission nut 74 to move towards each other on the bidirectional lead screw 72, thereby driving the two mushroom head clamping plates 6 to approach. The positions of the two mushroom head clamping plates 6 are staggered up and down, so that the clamping openings 601 on the two mushroom head clamping plates 6 clamp on the support column 102 at the bottom of the mushroom head structure 101, realizing the complete positioning of the capture device and the autonomous vehicle 1;

[0059] S5: The lifting equipment on the mother ship lifts the capture device and the autonomous vehicle 1, and the capture is completed.

[0060] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A saddle-type capture device for an offshore engineering underwater vehicle, comprising a chassis (2) floating above an autonomous vehicle (1), wherein a mushroom head structure (101) for connecting the capture device is provided on the autonomous vehicle (1), and it is characterized in that: A plurality of pontoons (3) for providing buoyancy are symmetrically arranged on both sides of the chassis (2); A limiting groove (202) for cooperating with the autonomous vehicle (1) is provided at the bottom of the chassis (2); A positioning arm assembly (4) is also rotatably installed on the chassis (2) on the same side as the pontoon (3). The positioning arm assemblies (4) on both sides are both clamped on the surface of the autonomous vehicle (1). The positioning arm assembly (4) is composed of a rotating shaft (42) and two positioning arms (41) that are symmetrically and fixedly installed at both ends of the rotating shaft (42). The rotating shaft (42) is rotatably installed on the side of the chassis (2); A hydraulic driving assembly (5) for driving the rotation of the positioning arm assembly (4) is installed on the chassis (2), and the hydraulic driving assembly (5) corresponds to the positioning arm assembly (4) one by one; The hydraulic driving assembly (5) includes a bidirectional hydraulic cylinder (51) installed on the top of the chassis (2) and a rack (52) fixedly connected to the driving end of the bidirectional hydraulic cylinder (51). The axis of the rack (52) is parallel to the telescopic direction of the bidirectional hydraulic cylinder (51), and the rack (52) is perpendicular to the rotating shaft (42). A gear (54) meshing with the rack (52) is fixedly sleeved on the rotating shaft (42). A guide rail (53) that is movably sleeved outside the rack (52) and restricts its movement direction is also fixedly installed on the top of the chassis (2); A capture port (201) is opened at the central position of the chassis (2). A lead screw driving assembly (7) is installed on the chassis (2) on one side of the capture port (201), and a track pressing plate (8) is installed in parallel on the other side; The lead screw driving assembly (7) includes a rotatable bidirectional lead screw (72) and a left-handed transmission nut (73) and a right-handed transmission nut (74) sleeved at both ends of the bidirectional lead screw (72). A mushroom head clamping plate (6) is fixedly connected to each of the left-handed transmission nut (73) and the right-handed transmission nut (74). The other sides of the two mushroom head clamping plates (6) are simultaneously slidably clamped in the track pressing plate (8); Clamping ports (601) are provided on the opposite sides of the two mushroom head clamping plates (6), and the two mushroom head clamping plates (6) are staggered up and down above the capture port (201) and move synchronously towards or away from each other; One end of the bidirectional lead screw (72) is fixedly connected to the driving shaft of a hydraulic motor (75) installed on the chassis (2).

2. The saddle-type capture device for an offshore engineering underwater vehicle according to claim 1, and it is characterized in that: An installation bracket (205) extending vertically upward is fixedly installed on the top of the chassis (2), and a camera is installed on the installation bracket (205).

3. The saddle-type capture device for an offshore engineering underwater vehicle according to claim 1, and it is characterized in that: Lugs (203) extend outward at the four corners of the chassis (2). At least one of the pontoons (3) is fixedly installed between the two lugs (203) on the same side. The axis of the pontoon (3) is parallel to the length direction of the captured autonomous vehicle (1). Hoisting holes (204) for the steel wire rope to pass through are provided at the upper ends of the four lugs (203).

4. The saddle-type capture device for an offshore engineering underwater vehicle according to claim 1, and it is characterized in that: The positioning arm (41) is in an arc or V-shaped shoe structure and is in sliding contact with the surface of the autonomous vehicle (1).

5. The saddle-type capture device for an offshore engineering underwater vehicle according to claim 1, and it is characterized in that: The lead screw drive assembly (7) further includes a lead screw mounting bracket (71) for mounting the bidirectional lead screw (72).

6. The saddle-type capture device for an offshore engineering underwater vehicle according to claim 1, and it is characterized in that: An inner side of the track pressing plate (8) is provided with a straight notch along its length direction, and an end portion of the mushroom head clamping plate (6) is slidably clamped in the straight notch.

7. The saddle-type capture device for an offshore engineering underwater vehicle according to claim 1, and it is characterized in that: An opening angle of the clamping opening (601) is 90 degrees. The mushroom head structure (101) is fixedly connected to the chassis (2) through a quadrangular pyramid-shaped support column (102). When the mushroom head structure (101) is clamped between two mushroom head clamping plates (6), the clamping opening (601) contacts an edge of the support column (102).

8. A saddle-type capture method for an offshore engineering underwater vehicle, and it is characterized in that Adopt a saddle-type capture device for an offshore engineering underwater vehicle as described in any one of claims 1-7, specifically including the following steps: S1: Hoist the capture device above the autonomous vehicle (1) by a hoisting device on the mother ship through four steel wire ropes. During this process, it is convenient for the personnel on the mother ship to operate through a camera. S2: The bidirectional hydraulic cylinders (51) in the two hydraulic drive assemblies (5) both extend, drive the gears (54) to rotate through the racks (52), so that the positioning arm assemblies (4) on both sides of the chassis (2) open and close downward under the chassis (2), gradually dial the autonomous vehicle (1) directly below the chassis (2), and make the radial center of the autonomous vehicle (1) basically aligned with the axis of the chassis (2). S3: Continue to lower the capture device through the hoisting device, so that the steel wire ropes are in a slack state. The two floating buoys (3) on both sides make the chassis (2) just float on the top of the autonomous vehicle (1). When the positioning arm assemblies (4) completely clamp the autonomous vehicle (1), the autonomous vehicle (1) is just located in the limit groove (202) at the bottom of the chassis (2). At this time, the mushroom head structure (101) passes through the capture opening (201) and extends upward. S4: Drive the bidirectional lead screw (72) to rotate through the hydraulic motor (75), drive the left-handed transmission lead nut (73) and the right-handed transmission lead nut (74) to move towards each other on the bidirectional lead screw (72), so as to drive the two mushroom head clamping plates (6) to approach. The positions of the two mushroom head clamping plates (6) are staggered up and down, so that the clamping openings (601) on the two mushroom head clamping plates (6) clamp the support column (102) at the bottom of the mushroom head structure (101), realizing the complete positioning of the capture device and the autonomous vehicle (1). S5: The hoisting device on the mother ship hoists the capture device and the autonomous vehicle (1), and the capture is completed.

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