A modular combinable multi-functional auxiliary docking bay for an unmanned submersible

Abstract

The present invention relates to a multi-functional auxiliary docking cabin for a modularly combinable unmanned submersible, which is characterized in that it includes a docking cabin body, a hydraulic gripper, a cleaning module and a guiding module; in the present invention, the deep-water unmanned submersible has autonomous navigation and data processing capabilities. After being guided into the docking cabin, the docking cabin charges it and conducts inspection and maintenance, ensuring the operation of the submersible and improving the stability of the long-term underwater operation of the unmanned submersible; reducing the time consumed due to the power problem of the submersible and improving the usage efficiency; inspecting and maintaining the submersible, reducing the cost and time of the maintenance and repair of the submersible, being able to quickly master the state of the submersible and make adjustments, and reducing the scrap rate.

Description

Technical Field

[0001] The present invention relates to the field of auxiliary dock compartments for unmanned submersibles, and particularly to a multi-functional auxiliary dock compartment for unmanned submersibles that can be modularly combined. Background Art

[0002] When an unmanned submersible works in deep water for a long time, when it runs out of power or needs to be inspected and maintained, it needs to enter an underwater dock compartment. The existing solutions are to calculate the working time to ensure that the remaining power can be used to return, or to send another submersible to bring it back. The utilization efficiency is low, the time spent for the submersible to go back and forth is long, and once the submersible is damaged, it will be very difficult to salvage it, and in the long run, the cost is high.

[0003] As disclosed in Chinese Patent No. 201810336370.0, a portable mobile dock for an unmanned ship that provides automatic charging and data exchange. It includes a box body and a box cover. Inside the box body, there is a telescopic guide rail, which is composed of several U-shaped guide rails connected to each other. A hatch is provided at the end. The telescopic guide rail is driven to expand and contract by a motor through a steel wire rope. When fully retracted, all the guide rails are located inside the box body, and the hatch is closed at the rear end of the box body. When fully extended, part of the guide rail and the hatch are located outside the box body; the lower end of the hatch is hinged to the lower end of the tail of the telescopic guide rail and can be vertically turned outwards to open; when the dock is fixed on the shore, the box body forms an inclined angle Φ with the horizontal plane, and the part of the telescopic guide rail extending out of the box body is located below the water surface. The unmanned ship dock of the present invention provides a place for the unmanned ship to charge and exchange data, and the entire return, calibration, and charging process of the unmanned ship is automatically completed; the portable dock provides necessary protection for the unmanned ship during transfer transportation to prevent equipment damage caused by external collisions.

[0004] The above patent is designed for the portability of unmanned submersibles and does not involve the related technologies of surface cleaning, maintenance, and charging of unmanned submersibles. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a multi-functional auxiliary dock compartment for unmanned submersibles that can be modularly combined, which can solve the problems encountered by unmanned submersibles in the above background.

[0006] To solve the above technical problem, the technical solution of the present invention is: a multi-functional auxiliary dock compartment for unmanned submersibles that can be modularly combined, and its innovation lies in: including a dock compartment body, a hydraulic gripper, a cleaning module, and a guiding module;

[0007] The dock compartment body includes a clamping section, a cleaning section, and a guiding section, and the clamping section, the cleaning section, and the guiding section are coaxially connected to form a rotating body structure, with a cavity formed in the middle to accommodate the unmanned submersible to enter from the guiding section; the clamping section is cylindrical and one end of the clamping section is closed, and the other end is communicated with the cleaning section; the cleaning section is connected and communicated with the guiding section, and both the cleaning section and the guiding section are in a trumpet-shaped structure;

[0008] A communication interface and a charging interface are provided on the clamping section; a number of hydraulic chucks are annularly distributed on the inner wall of the clamping section and arranged along the extending direction of the clamping section, and the hydraulic chucks are connected to the inner wall of the clamping section through a sliding structure. The hydraulic chucks can reciprocate along the inner wall of the docking module. The hydraulic chucks are driven by hydraulic cylinders arranged on the sliding structure. The hydraulic cylinders drive the hydraulic chucks to expand and contract along the radial direction of the clamping section to clamp and release the unmanned submersible. A number of inspection cameras are arranged circumferentially on the inner wall of the clamping section, and the inspection cameras are installed on the sliding structure. A sonar is installed on the clamping section to detect gaps of the unmanned submersible in the docking module. The cleaning section includes a number of fixed rods arranged at equal intervals and in a horn shape. One end of the fixed rod is connected to the clamping section, and the other end is connected to the guiding section. The cleaning module is annularly arranged on the fixed rods of the cleaning section of the docking module.

[0009] There are a number of guiding modules, which are annularly arranged on the inner wall of the guiding section of the docking module. The guiding module includes a guiding groove, a guiding block, a moving manipulator driving cylinder and a moving manipulator. The guiding groove is annularly close to the inner wall of the guiding section of the docking module, and the notch of the guiding groove faces the axis direction of the docking module. The guiding block is embedded in the guiding groove and can reciprocate along the extending direction of the guiding groove. The moving manipulator driving cylinder is connected to the guiding block perpendicular to the extending direction of the guiding groove, and the output end of the moving manipulator driving cylinder is connected with a moving manipulator to clamp and convey the unmanned submersible guided into the docking module.

[0010] Further, the sliding structure includes a slider. Guiding sliding grooves are annularly distributed on the clamping section of the docking module and arranged along the extending direction of the clamping section. The slider of the sliding structure is embedded in the sliding groove and the slider is driven horizontally by a hydraulic cylinder, and the hydraulic cylinder for driving the slider is arranged on the inner wall of the clamping section of the docking module.

[0011] Further, the cleaning module is a high-pressure water gun. The cleaning module sprays high-pressure water flow to contact the surface of the unmanned submersible placed in the docking module to clean the surface of the unmanned submersible.

[0012] Further, a guiding block driving cylinder for driving the guiding block to move along the extending direction of the guiding groove is arranged outside the guiding groove.

[0013] The advantages of the present invention are as follows:

[0014] 1) The deep - water unmanned submersible in the present invention has autonomous navigation and data - processing capabilities. After being guided into the docking module, the docking module charges it and conducts inspections and maintenance, ensuring the operation of the submersible, improving the stability of the long - term underwater operation of the unmanned submersible; reducing the time consumed due to the power problem of the submersible, improving the usage efficiency; conducting inspections and maintenance on the submersible, reducing the cost and time of maintaining and servicing the submersible, being able to quickly grasp the status of the submersible and make adjustments, and reducing the scrap rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The present invention will be further described in detail below in conjunction with the drawings and specific embodiments.

[0016] Figure 1 It is a schematic structural diagram of a multi - functional auxiliary docking module for a modular - combinable unmanned submersible of the present invention.

[0017] Figure 2 It is a schematic internal - structure diagram of a multi - functional auxiliary docking module for a modular - combinable unmanned submersible of the present invention. SPECIFIC EMBODIMENTS

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0019] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents the selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts fall within the scope of protection of the present invention.

[0020] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0021] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the inventive product is customarily placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the present invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0022] In addition, terms such as "horizontal" and "vertical" do not mean that the components are required to be absolutely horizontal or hanging vertically, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0023] In the description of the present invention, it should also be noted that unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] As Figures 1 to 2 shown, a modular combinable multifunctional auxiliary docking cabin for an unmanned submersible includes a docking cabin body 1, a hydraulic gripper 2, a cleaning module 3, and a guiding module 4.

[0025] The docking cabin body 1 includes a clamping section 11, a cleaning section 12, and a guiding section 13. The clamping section 11, the cleaning section 12, and the guiding section 13 are coaxially connected to form a rotating body structure, with a cavity formed in the middle to accommodate the unmanned submersible to enter from the guiding section. The clamping section 11 is cylindrical and one end of the clamping section is closed, and the other end is in communication with the cleaning section 12. The cleaning section 12 is connected and in communication with the guiding section 13, and both the cleaning section 12 and the guiding section 13 are in a trumpet-shaped structure.

[0026] A communication interface 111 and a charging interface 112 are provided on the clamping section 11; a number of hydraulic chucks 2 are annularly distributed on the inner wall of the clamping section 11 and arranged along the extension direction of the clamping section 11, and the hydraulic chucks 2 are connected to the inner wall of the clamping section 11 through a sliding structure, and the hydraulic chucks 2 can reciprocate along the inner wall of the docking cabin body 1; the hydraulic chucks 2 are driven by a hydraulic cylinder provided on the sliding structure, and the hydraulic cylinder drives the hydraulic chucks 2 to expand and contract along the radial direction of the clamping section 11 to clamp and release the unmanned submersible; a number of inspection cameras 14 are arranged along the circumferential direction on the inner wall of the clamping section 11, and the inspection cameras 14 are installed on the sliding structure; a sonar 15 is installed on the clamping section 11 to detect gaps of the unmanned submersible in the docking cabin; the cleaning section 12 includes a number of fixed rods 121 arranged at equal intervals and in a horn shape, one end of the fixed rod 121 is connected to the clamping section 11, and the other end is connected to the guiding section 13; the sliding structure includes a slider, guiding chutes are annularly distributed on the clamping section 11 of the docking cabin body and arranged along the extension direction of the clamping section 11, the slider of the sliding structure is embedded in the chute and the slider is driven horizontally by a hydraulic cylinder, and the hydraulic cylinder driving the slider is arranged on the inner wall of the clamping section 11 of the docking cabin body.

[0027] The cleaning module 3 is annularly arranged on the fixed rods of the cleaning section 12 of the docking cabin body; the cleaning module 3 is a high-pressure water gun, and the cleaning module 3 sprays high-pressure water flow to contact the surface of the unmanned submersible placed in the docking cabin to clean the surface of the unmanned submersible.

[0028] There are several guiding modules 4 and they are annularly arranged on the inner wall of the guiding section 13 of the docking cabin body. The guiding module 4 includes a guiding groove 41, a guiding block 42, a moving manipulator driving cylinder 43 and a moving manipulator 44; the guiding groove 41 is annularly close to the inner wall of the guiding section 13 of the docking cabin body, and the notch of the guiding groove 41 faces the axis direction of the docking cabin body. The guiding block 42 is embedded in the guiding groove 41 and can reciprocate along the extension direction of the guiding groove; a guiding block driving cylinder for driving the guiding block to move along the extension direction of the guiding groove 41 is arranged outside the guiding groove 41; the moving manipulator driving cylinder 43 is perpendicularly connected to the guiding block along the extension direction of the guiding groove 41, and the output end of the moving manipulator driving cylinder 43 is connected with a moving manipulator 44 to clamp and convey the unmanned submersible guided into the docking cabin body.

[0029] The working principle of the present invention is:

[0030] a) After the submersible is guided into the entrance of the docking cabin body, the moving manipulator clamps the submersible, drags it and continues to move forward to a specified position, releases the moving manipulator, the submersible continues to move forward, and the hydraulic chucks in the cabin clamp and fix the submersible;

[0031] b) After the hydraulic chuck is fixed, the charging interface on the docking bay uses the slot to find the slot position of the submersible and fixes it, facilitating the insertion of the wet-mate connector into the submersible for charging. When the fixed position cannot be accurately found, the charging interface will send feedback information to the docking bay, which will continue to send the information to the upper layer and receive instructions from the upper layer. Then, the inspection camera and rangefinder will be called to check the position status of the submersible and the charging interface at this time. According to the information obtained, the upper layer will send instructions to the docking bay, and the hydraulic chuck will move an appropriate distance until the hydraulic interface accurately finds the fixed position.

[0032] c) After the charging operation is completed, the submersible will return the charging information and equipment working information to the docking bay. The docking bay will continue to send the status information of the submersible at this time to the upper layer and, according to the received instructions, stop the problematic submersible for the next round of operation and arrange the information for the next round of operation.

[0033] d) The inspection camera in the docking bay inspects the submersible. The camera continuously rotates its angle to ensure that the status information of the submersible is completely recorded. The sonar detects the crack problem of the submersible and returns the detected problem to the docking bay. The docking bay will package the status information obtained by both and send it to the upper layer to ensure that the upper layer can master all the status information of the submersible at this time.

[0034] e) From the information obtained above, it can be concluded that attachments are detected on the surface of the submersible. According to the instructions of the upper layer, the docking bay calls the cleaning module to clean the surface of the submersible. After the cleaning is completed within the specified time, the inspection camera will take a new photo of the submersible, and the docking bay will continue to send it to the upper layer and determine whether to continue cleaning or end the operation according to the instructions of the upper layer.

[0035] f) After charging is completed, the charging interface disconnects from the submersible according to the instructions. The problematic submersible remains in the docking bay. Then, the hydraulic chuck will tow the submersible back in the reverse direction, the mobile manipulator will clamp it, the hydraulic chuck will retract, and the mobile manipulator will push the submersible out of the docking bay body.

[0036] Those skilled in the art should understand that the present invention is not limited by the above embodiments. The above embodiments and the descriptions in the specification only illustrate the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A modularly combinable multi-functional auxiliary docking cabin for an unmanned submersible, characterized in that: It includes a docking cabin body, hydraulic chucks, a cleaning module and a guiding module; The docking cabin body includes a clamping section, a cleaning section and a guiding section. The clamping section, the cleaning section and the guiding section are coaxially connected to form a rotating body structure, with a cavity formed in the middle to allow the unmanned submersible to enter from the guiding section. The clamping section is cylindrical with one end closed and the other end communicating with the cleaning section. The cleaning section is connected and communicates with the guiding section, and both the cleaning section and the guiding section are in a horn-shaped structure; A communication interface and a charging interface are provided on the clamping section. A number of hydraulic chucks are annularly distributed on the inner wall of the clamping section and arranged along the extension direction of the clamping section. The hydraulic chucks are connected to the inner wall of the clamping section through a sliding structure, and the hydraulic chucks can reciprocate along the inner wall of the docking cabin body. The hydraulic chucks are driven by hydraulic cylinders provided on the sliding structure. The hydraulic cylinders drive the hydraulic chucks to expand and contract along the radial direction of the clamping section to clamp and release the unmanned submersible. A number of inspection cameras are arranged circumferentially on the inner wall of the clamping section, and the inspection cameras are installed on the sliding structure. A sonar is installed on the clamping section to detect gaps of the unmanned submersible in the docking cabin body. The cleaning section includes a number of fixed rods arranged at equal intervals and in a horn shape. One end of the fixed rod is connected to the clamping section, and the other end is connected to the guiding section. The cleaning module is annularly arranged on the fixed rods of the cleaning section of the docking cabin body; There are several guiding modules, which are annularly arranged on the inner wall of the guiding section of the docking cabin body. The guiding module includes a guiding groove, a guiding block, a moving manipulator driving cylinder and a moving manipulator. The guiding groove is annularly close to the inner wall of the guiding section of the docking cabin body, and the notch of the guiding groove faces the axis direction of the docking cabin body. The guiding block is embedded in the guiding groove and can reciprocate along the extension direction of the guiding groove. The moving manipulator driving cylinder is connected to the guiding block perpendicular to the extension direction of the guiding groove, and the output end of the moving manipulator driving cylinder is connected with a moving manipulator to clamp and convey the unmanned submersible guided into the docking cabin body.

2. The multifunctional auxiliary docking bay for an unmanned submersible that can be modularly combined according to claim 1, characterized in that: The sliding structure includes a slider. Guide sliding grooves are annularly distributed on the clamping section of the docking cabin body and arranged along the extension direction of the clamping section. The slider of the sliding structure is embedded in the sliding groove and the slider is driven horizontally by a hydraulic cylinder, and the hydraulic cylinder for driving the slider is arranged on the inner wall of the clamping section of the docking cabin body.

3. The multifunctional auxiliary docking bay for an unmanned submersible capable of modular combination according to claim 1, characterized in that: The cleaning module is a high-pressure water gun. The cleaning module sprays high-pressure water flow to contact the surface of the unmanned submersible placed in the docking cabin body to clean the surface of the unmanned submersible.

4. The multi-functional auxiliary docking bay of an unmanned submersible capable of modular combination according to claim 1, characterized in that: A guiding block driving cylinder for driving the guiding block to move along the extension direction of the guiding groove is arranged outside the guiding groove.

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