AUV automatic deployment and recovery device

Abstract

The present invention discloses an automatic deployment and recovery device for underwater underwater vehicles (AUVs), belonging to the field of underwater robot recovery technology. The device comprises a robotic arm, a connector fixed to the robotic arm, a retractable assembly swingably connected below the connector, the retractable assembly comprising a clamping assembly for tightening the AUV, the clamping assembly comprising two sets of openable and closable clamps, the clamping assembly being provided with multiple tensioning members on the side in contact with the AUV, a reeling assembly connected to the robotic arm for hoisting the AUV, the reeling assembly comprising a rope, and an adjustment member configured to cooperate with the rope. The present invention achieves the recovery and deployment of the AUV by manipulating the robotic arm, the retractable assembly, and the adjustment member, and operates intelligently throughout the process, requiring no human intervention. This improves the stability and efficiency of deploying and retracting the AUV, while also providing adaptability.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater robot recovery, and in particular relates to an automatic deployment and recovery device for an AUV. Background Art

[0002] Approximately 71% of the Earth's surface is covered by oceans. Exploring the ocean's unknowns and more efficiently utilizing marine resources place high demands on the performance of underwater vehicles. Considering issues such as the safety of the divers and the cost of diving, unmanned underwater vehicles (UUVs) have taken a dominant position in the development of underwater vehicles. UUVs can be divided into autonomous underwater vehicles (AUVs) and remote operator vehicles (ROVs). AUVs can navigate independently without human control, following pre-programmed procedures, and have a wider range of operations.

[0003] Therefore, the deployment and recovery methods of AUVs have become a research focus. There are many types of AUV recovery devices currently, most of which use cage-type devices such as guide covers and horn tubes to achieve the docking and recovery of AUVs. However, there are two problems with this type of device. First, after the AUV enters the cage, it is affected by the airflow and hull shaking, and it is easy to collide with the cage and fall, posing a safety hazard; second, when dealing with AUVs with protruding structures such as oars and wings on the main hull, the AUV is easily stuck in the cage and caused wear, and this recovery method makes it difficult to take out the AUV for storage.

[0004] US Patent Application No. US14774154 discloses an autonomous submersible and a method for recovering the same. The invention comprises a mother ship and a submersible. The mother ship is connected to a capture buoy equipped with a GPS locator and a signal light. A floating line is connected between the capture buoy and the mother ship. The submersible is equipped with a hook. The mother ship is equipped with a crane connected to the crane. The crane is connected to a support line that can assist in retrieving the submersible. The recovery method of the invention comprises: releasing a floating line, using a capture buoy with at least a portion of the capture line floating above the submersible, allowing the submersible to pass under the floating line so that the capture line with the capture buoy is captured on the floating line. The crane then tightens the floating line to recover the submersible to the mother ship. This invention has room for improvement in the following technical issues: strong sea waves during the process of retrieving the submersible not only make capture difficult, but also subject the lifting device to significant shaking interference and heavy loads during the retrieval process, which can easily cause damage to the device. Summary of the Invention

[0005] The object of the present invention is to provide an automatic deployment and recovery device for AUVs that is safe, stable, easy to operate and has a wide range of applications.

[0006] The technical solutions adopted by the present invention to achieve the above-mentioned purpose are:

[0007] The automatic deployment and recovery device for AUVs includes a robotic arm secured with a connector, a retractable assembly disposed beneath the connector, and a rotating assembly connected to the connector. A clamping assembly is symmetrically disposed beneath the rotating assembly, capable of horizontally rotating relative to the connector. The clamping assembly is capable of clamping and releasing the AUV for deployment. By controlling the robotic arm and the rotating assembly to change the coordinate position and orientation of the clamping assembly within space, the device facilitates effective and stable clamping and recovery of AUVs in various underwater postures, preventing the robotic arm from swinging too far and making it difficult to grasp the AUV. This also facilitates the AUV's deployment into the water in a more optimal posture, facilitating navigation toward the target area and the commencement of operations.

[0008] Preferably, the rotating assembly includes a swing frame hinged to the connecting member, a bottom plate is fixed below the swing frame, and a rotating frame is rotatably connected below the bottom plate.

[0009] Preferably, a first gear is fixed to the top of the rotating frame, which is rotatably connected to the base plate. A control motor is fixed to the base plate, and the control motor's rotating shaft is connected to a second gear, which is arranged in conjunction with the first gear. The first gear can drive the rotating frame to rotate, and the control motor causes the second gear to rotate the first gear, thereby driving the rotating frame to rotate relative to the base plate, thereby changing the orientation of the clamping assembly below the rotating frame, achieving posture matching between the clamping assembly and the AUV, and facilitating the clamping assembly to stably and effectively grasp the AUV for recovery, thereby improving recovery efficiency and preventing the AUV from colliding with the hull due to the prolonged recovery process.

[0010] Preferably, the clamping assembly includes a base plate fixed to the bottom end of the rotating frame, a connecting frame and a hydraulic cylinder are fixed below the base plate, the hydraulic cylinder passes through the bottom of the connecting frame and a clamping plate is fixed below the end, the clamping plate has a slot, and the bottom of the connecting frame is symmetrically connected to a clamping plate.

[0011] Preferably, the clamping plate includes a first plate group hinged to the connecting frame, the first plate group is fixed with a limiting column located in the card slot, the lower end of the first plate group is hinged to a second plate group, and a hydraulic rod is hinged between the second plate group and the base plate. The hydraulic cylinder is controlled to extend and retract to drive the clamping plate to rise and fall, and the limiting column will slide in the card slot. At this time, the first plate group will swing at the hinge with the connecting frame until the first plate group matches the contour of the AUV shell. At this time, the hydraulic cylinder is stopped from extending and retracting, and the two hydraulic rods are further controlled to extend and retract to cause the second plate group to swing on the first plate group until the second plate group matches the contour of the AUV shell. The first and second plate groups improve the adaptability of the clamping plate to AUVs with different external contours, expand the scope of use, and also improve the clamping stability of the clamping plate on the AUV, reduce the probability of the AUV being damaged by the airflow shaking and hitting the clamping plate during the clamping process, and reduce maintenance costs.

[0012] Preferably, the second plate group is provided with a plurality of tensioning members at intervals on the inner side, the tensioning members include a pad fixed to the second plate group, one side of the pad is a curved surface, a plurality of buffer pads are fixed on the curved surface of the pad, a pressure plate is provided above any buffer pad, one end of the pressure plate is fixed to the pad, and the other end covers the outside of the buffer pad below it, and the buffer pad is provided with a plurality of air holes. After the splint is tightened, the pressure plate contacts the surface of the AUV cabin to prevent the splint from excessively clamping the AUV cabin and causing damage. The pressure plate squeezes the buffer pad to cause deformation, thereby absorbing the vibration generated when the robotic arm swings, which is beneficial to reducing the interference to the AUV. The buffer pad is compressed and squeezes the air in the air hole, which is beneficial to the concentrated flow of air and the removal of water and sediment on the surface of the AUV hull. On the one hand, it reduces the possibility of axial sliding of the AUV between the splints, avoiding accidental falling and injuring the hull and crew. On the other hand, it reduces the probability of axial rotation of the AUV due to shaking, which is beneficial to the AUV maintaining an ideal posture for recovery and storage. When the AUV is launched into the water, the splints are opened, and multiple pressure plates can increase the friction with the AUV by recovering the deformation, reducing the impact when the AUV is launched into the water, which is beneficial to extending the service life of the AUV.

[0013] Preferably, the connector includes a connector fixed to the robotic arm, a first slide being fixed to the connector, a second slide being clamped below the first slide, a swing head being clamped below the second slide, and the second slide being capable of sliding relative to the first slide and the swing head, respectively. During the AUV recovery process, the robotic arm and the retraction and deployment assembly are controlled to drive the AUV close to the hull. The hull, affected by wind and waves at sea, causes the robotic arm to sway significantly. The second slide slides relative to the first slide and the swing head in two directions, thereby reducing the sway transmitted from the robotic arm to the clamping assembly, thereby maintaining the recovery stability of the AUV and reducing interference with the AUV.

[0014] Preferably, a winding drum is rotatably provided under the robotic arm, the winding drum is connected to a hanging rope, a guide wheel for guiding the hanging rope is rotatably provided inside the swing head, a rope hole is opened through the center of the first gear, the hanging rope passes through the rope hole and a hook is fixed at the bottom.

[0015] Preferably, a sliding groove is provided through the bottom of the rotating frame, a ring is slidably provided in the sliding groove, rollers are symmetrically arranged in the ring, and the hanging rope passes through the center of the ring and contacts multiple rollers.

[0016] Preferably, an adjustment cylinder is rotatably provided below the robotic arm, an adjustment rope is connected between the adjustment cylinder and the collar, and a spring is connected between the inner side of the chute near the adjustment cylinder and the collar. When recovering the AUV, the winding drum is rotated to drive the hanging rope up and down, and the adjustment drum is rotated to make the adjustment rope cooperate with the spring to pull the collar to slide in the chute, so as to control and adjust the bottom position of the hanging rope, thereby achieving the connection between the hook and the AUV lifting ring. No human intervention is required, which improves the recovery efficiency and reduces the chance of collision caused by the impact of wind and waves on the AUV. At the same time, the collar can also assist in stabilizing the lifting of the AUV, avoiding the violent shaking of the AUV during lifting and causing huge interference with the robotic arm, thereby protecting the robotic arm. The spring enables the collar to slide back and forth in the chute, which is convenient for quickly adjusting the connection between the hook and the collar. When the hanging rope is retracted and released, it rolls in contact with the roller, which is conducive to cleaning the stains on the surface of the hanging rope and reducing labor costs.

[0017] Since the present invention adopts a mechanical arm in conjunction with a multi-stage adjustable clamping assembly to clamp and retract the AUV, it has the following beneficial effects: the clamping assembly can rotate relative to the connecting member, and the cooperation with the mechanical arm is conducive to the rapid matching and recovery of the clamping assembly with the AUV, thereby improving the recovery efficiency; the first plate group and the second plate group can be adjusted in stages, and can adapt to AUVs of different shapes, thereby improving the applicability; the tensioning member improves the clamping stability and safety of the AUV, and effectively avoids damage caused by excessive clamping; the connector buffers the impact of the hull shaking on the AUV lifting through the sliding limit, thereby avoiding collision between the AUV and the hull, and reducing interference with the retracting assembly and the AUV; the reel cooperates with the adjustment cylinder and the ring to lift the AUV's hanging rope and hanging ring to achieve adjustment, stabilize the lifting of the AUV, and effectively clean the hanging rope. Therefore, the present invention is an automatic deployment and recovery device for AUVs that is safe, stable, easy to operate, and has good adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a schematic diagram of the overall appearance of the present invention;

[0019] Figure 2 Schematic diagram of the robotic arm;

[0020] Figure 3 It is a schematic diagram of the retractable component;

[0021] Figure 4is a schematic diagram of the rotating assembly;

[0022] Figure 5 This is a schematic diagram of the hanging rope and adjustment rope;

[0023] Figure 6 for Figure 5 A magnified schematic diagram of area A in the middle;

[0024] Figure 7 Schematic diagram of the splint;

[0025] Figure 8 is a schematic diagram of a tensioning member;

[0026] Figure 9 It is a schematic diagram of the connection state between the connecting piece and the swing frame;

[0027] Figure 10 is a schematic diagram of a side view of a connector;

[0028] Figure 11 Schematic diagram of the local structure of the connector.

[0029] Reference numerals: robotic arm 1; base 10; first swing arm 11; first oil cylinder 110; second swing arm 12; second oil cylinder 120; telescopic sleeve 13; third oil cylinder 130; telescopic arm 131; auxiliary frame 14; connecting member 2; connecting head 20; first slide 21; second slide 22; swing head 23; metal sheet 24; retractable assembly 3; rotating assembly 4; swing frame 40; bottom plate 41; rotating frame 42; first gear 43; control motor 44; second gear 45; rope hole 46 ; slide 47; clamping assembly 5; base plate 50; connecting frame 51; hydraulic cylinder 52; clamping plate 53; slot 54; clamping plate 55; first plate group 56; limiting column 57; second plate group 58; hydraulic rod 59; tensioner 6; pad 60; buffer pad 61; pressure plate 62; air hole 63; winding drum 7; hanging rope 70; guide wheel 71; hook 72; first motor 73; ring 8; roller 80; adjusting cylinder 81; adjusting rope 82; spring 83; second motor 84; operating table 9. DETAILED DESCRIPTION

[0030] The technical solution of the present invention is further described in detail below with reference to the specific embodiments and the accompanying drawings:

[0031] Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0032] See attached Figure 1 -Attached Figure 2The AUV automatic deployment and recovery device includes a mechanical arm 1, which includes a base 10 fixedly connected to the hull deck, a rotating motor built in the base 10, a first swing arm 11 connected to the top of the base 10 through the rotating motor, the first swing arm 11 can rotate axially relative to the base 10, the first swing arm 11 is hinged to the second swing arm 12, the second swing arm 12 is a concave shell, a first oil cylinder 110 is connected between the first swing arm 11 and the second swing arm 12, the two ends of the first oil cylinder 110 are respectively hinged to the first swing arm 11 and the second swing arm 12, The end of the arm 12 is hinged with a telescopic sleeve 13, and the telescopic sleeve 13 and the second swing arm 12 are hinged with an auxiliary frame 14 on the side. A second oil cylinder 120 is arranged between the second swing arm 12 and the auxiliary frame 14. The two ends of the second oil cylinder 20 are respectively hinged with the auxiliary frame 14 and the second swing arm 12. A third oil cylinder 130 is arranged above the telescopic sleeve 13, and a telescopic arm 131 is slidingly arranged in the telescopic sleeve 13. The telescopic end of the third oil cylinder 130 is fixedly connected to the telescopic arm 131, and the end of the telescopic arm 131 is fixed with a connecting part 2, and a retractable component 3 is provided below the connecting part 2.

[0033] An operating table 9 is fixedly provided on the side of the first swing arm 11. The operating table 9 has a built-in control terminal electrically connected to the robotic arm 1 and the retractable component 3. The control terminal can realize the extension and retraction of the first cylinder 110, the second cylinder 120 and the third cylinder 130, thereby realizing the adjustment of the coordinate position of the retractable component 3 in space, so that the retractable component 3 can recover and deploy the AUV.

[0034] See attached Figure 3 The retractable assembly 3 includes a rotating assembly 4 connected to the connecting member 2, and a clamping assembly 5 for clamping the AUV is symmetrically arranged below the rotating assembly 4.

[0035] See attached Figure 4 The rotating assembly 4 includes a swing frame 40 hingedly connected to the connecting member 2. The swing frame 40 is fixed with a base plate 41, and a rotating frame 42 is rotatably connected below the base plate 41. The swing frame 40 can swing relative to the connecting member 2 to maintain the vertical posture of the clamping assembly 5 below, allowing the AUV to enter the water horizontally, facilitating the AUV's diving exploration work.

[0036] A first gear 43 is fixed to the top of the rotating frame 42. The first gear 43 passes through the base plate 41 and is rotatably connected to the base plate 41. A control motor 44 is fixed to the upper end surface of the base plate 41. A second gear 45 is fixed to the motor shaft of the control motor 44. The second gear 45 is arranged in conjunction with the first gear 43. The control terminal of the operating table 9 is electrically connected to the control motor 44.

[0037] Since the AUV needs to reduce power to approach the ship and maintain a suspended posture waiting for recovery when recovering, however, the wind and waves at sea will change the posture and direction of the AUV. The control terminal of the operating console 9 sends an electrical signal to the control motor 44, so that the shaft of the control motor 44 drives the first gear 43 to rotate through the second gear 45, thereby driving the rotating frame 42 to rotate under the bottom plate 41, thereby realizing the azimuth adjustment of the clamping assembly 5 under the rotating frame 42, and achieving the posture matching between the clamping assembly 5 and the AUV, which is conducive to the clamping assembly 5 to stably and effectively grasp the AUV for recovery, improve the recovery efficiency, and avoid the AUV being hit by the waves and colliding with the hull due to excessive recovery time.

[0038] See attached Figure 5 -Attached Figure 7 The clamping assembly 5 includes a base plate 50 fixed to the bottom end of the rotating frame 42, and a connecting frame 51 and a hydraulic cylinder 52 are fixed below the base plate 50. The hydraulic cylinder 52 is located on the inner side of the connecting frame 51. The retractable end of the hydraulic cylinder 52 passes downward through the bottom of the connecting frame 51 and is fixed with a clamping plate 53. The clamping plate 53 is symmetrically provided with a clamping groove 54, which is a through groove. The bottom of the connecting frame 51 is symmetrically connected with a clamping plate 55.

[0039] The splint 55 includes a first plate group 56 hinged to the connecting frame 51, and the first plate group 56 is fixed with a limiting column 57. The limiting columns 57 on the two side splints 55 are respectively located in the card slots 54 of the side clamping plate 53, and the limiting columns 57 can slide in the card slots 54. The lower end of the first plate group 56 is hinged to the second plate group 58, and a hydraulic rod 59 is connected between the second plate group 58 and the base plate 50. The two ends of the hydraulic rod 59 are respectively hinged to the second plate group 58 and the base plate 50. The hydraulic cylinder 52 and the hydraulic rod 59 are electrically connected to the control terminal of the operating table 9.

[0040] The hydraulic cylinder 52 is controlled by the operating table 9, so that the telescopic end of the hydraulic cylinder 52 drives the clamping plate 53 to rise and fall, and the limiting column 57 slides in the clamping groove 54. At the same time, the first plate group 56 swings at the hinge with the connecting frame 51, so that the first plate group 56 matches the upper contour of the AUV hull and fixes the relative angle of the first plate group 56. The telescopic movement of the two hydraulic rods 59 is further controlled to swing the second plate group 58 on the first plate group 56, so that the second plate group 58 fits the bottom contour of the AUV hull, thereby achieving the fitting clamping of the AUV by the entire clamping plate 55. The separate control of opening and closing of the first plate group 56 and the second plate group 58 facilitates the clamping and recovery of AUVs of different shapes by the clamping plate 55, thereby increasing the scope of application of the present invention and also improving the clamping stability of the AUV, reducing the probability of the AUV being violently shaken by the airflow during the clamping process and hitting the clamping plate 55 to cause damage, and reducing maintenance costs.

[0041] See attached Figure 8The second plate group 58 is provided with multiple tensioning members 6 at intervals on the inner side. The tensioning members 6 include a pad 60 fixed to the second plate group 58. The pad 60 has multiple buffer pads 61 fixed on the curved surface. A pressure plate 62 is provided above any buffer pad 61. One end of the pressure plate 62 is fixed to the pad 60, and the other end covers the outer side of the buffer pad 61 below it. The buffer pad 61 is provided with multiple air holes 63.

[0042] After the splint 55 is tightened, the pressure plate 62 contacts the surface of the AUV cabin to prevent the splint 55 from over-clamping and causing damage to the AUV cabin. The pressure plate 62 squeezes the buffer pad 61 to deform, thereby absorbing the vibration generated when the robotic arm 1 swings, which is beneficial to reducing the interference to the AUV. The buffer pad 61 is compressed and squeezes the air in the air hole 63, which is beneficial to the concentrated flow of air and the removal of water and mud on the surface of the AUV hull. On the one hand, the possibility of axial sliding of the AUV between the splints 55 is reduced, avoiding accidental falling and injuring the hull and crew. On the other hand, the probability of axial rotation of the AUV due to shaking is reduced, which is beneficial to the AUV maintaining an ideal posture for recovery and storage. When the AUV is launched into the water, the splint 55 is opened, and multiple pressure plates 62 can increase the friction with the AUV by recovering the deformation, reduce the speed of the AUV when sliding, thereby reducing the impact of entering the water, and help extend the service life of the AUV.

[0043] See attached Figure 9 -Attached Figure 11 The connecting member 2 includes a connecting head 20 fixed to the telescopic end of the robotic arm 1, and the connecting head 20 is fixed with a first slide 21, and a second slide 22 is clamped under the first slide 21, and a swing head 23 is clamped under the second slide 22. The second slide 22 can slide relative to the first slide 21 and the swing head 23 respectively, and the sliding direction of the second slide 22 relative to the first slide 21 and the sliding direction of the two slides 22 relative to the swing head 23 are perpendicular to each other in the horizontal plane. The first slide 21 is fixed with metal sheets 24 on both sides of the relative sliding direction with the second slide 22, and the second slide 22 is also fixed with metal sheets 24 on both sides of the relative sliding direction with the swing head 23. The metal sheet 24 is a curved elastic sheet and the bottom is curled inward. There is a gap between the curled part of the metal sheet 24 connected to the first slide 21 and the side wall of the second slide 22, and there is a gap between the curled part of the metal sheet 24 connected to the second slide 22 and the side wall of the swing head 23.

[0044] During the AUV recovery process, the robotic arm 1 is controlled to drive the AUV close to the hull. Due to the shaking of the hull and the influence of wind and waves on the sea, the robotic arm 1 shakes with a large amplitude as a whole. The second slide 22 slides and displaces with the first slide 21 and the swing head 23 respectively, and the displacement direction is perpendicular, thereby consuming the multi-directional shaking of the robotic arm 1 on the horizontal plane, thereby reducing the shaking of the retracting and deploying assembly 3, which is beneficial to maintaining the recovery stability of the AUV and reducing the interference to the AUV. The metal sheet 24 limits the sliding of the second slide 22, the first slide 21 and the swing head 23, and reduces the vibration interference of the robotic arm 1 by deformation. The metal sheet 24 rebounds after deformation, helping the second slide 22 and the swing head 23 to slide and reset, which helps to reduce the shaking amplitude of the swing frame 40 and prevent the AUV from swinging excessively and hitting the hull. The metal sheet 24 forms an outer protection for the clamping joint to prevent the clamping joint from being worn and affecting the sliding.

[0045] See attached Figure 1 -Attached Figure 2 A winding drum 7 is rotatably provided under the robotic arm 1, and the winding drum 7 is connected to a hanging rope 70. A guide wheel 71 for guiding the hanging rope 70 is rotatably provided inside the swing head 23. A rope hole 46 is opened through the center of the first gear 43, and the hanging rope 70 passes through the rope hole 46 and a hook 72 is fixed at the bottom.

[0046] See attached Figure 5 -Attached Figure 6 A slide groove 47 is provided through the bottom of the rotating frame 42 , a ring 8 is slidably provided in the slide groove 47 , rollers 80 are symmetrically arranged in the ring 8 , and the hanging rope 70 passes through the center of the ring 8 and contacts multiple rollers 80 .

[0047] An adjusting cylinder 81 is rotatably provided below the robotic arm 1 , an adjusting rope 82 is connected between the adjusting cylinder 81 and the collar 8 , and a spring 83 is connected between the inner side of the slide 47 near the adjusting cylinder 81 and the collar 8 .

[0048] A first motor 73 is connected to the side of the winding drum 7 , a second motor 84 is connected to the side of the adjusting drum 81 , and a control terminal of the operating console 9 is electrically connected to the first motor 73 and the second motor 84 , respectively.

[0049] When the AUV is recovered, the winding drum 7 is rotated by controlling the first motor 73, so that the winding drum 7 rolls up the hanging rope 70 to lift the hook 72, and the adjusting drum 81 is rotated by controlling the second motor 84. At this time, the adjusting rope 82 is rolled up on the adjusting drum 81 and pulls the ring 8 to slide in the slide groove 47, squeezing the spring 83 during the sliding process. At the same time, the second motor 84 can be controlled to drive the adjusting drum 81 to reverse and release the adjusting rope 82. The spring 83 recovers its deformation and causes the ring 8 to slide in the opposite direction, thereby adjusting the position of the bottom of the hanging rope 70, which is conducive to quickly matching and connecting the hook 72 with the lifting ring set on the top of the AUV without manual intervention. The hook connection can be achieved in advance, which improves the recovery efficiency and reduces the chance of collision caused by wind and waves impacting the AUV. At the same time, due to the influence of wind and waves on the sea surface, the hanging rope 70 is easily driven to swing when the AUV is hoisted to the splint 55. The above scheme can be used to pull the ring 8 to stabilize the bottom of the hanging rope 70, reducing the huge interference to the mechanical arm 1 caused by shaking when the AUV is hoisted. The hanging rope 70 is in rolling contact with the roller 80 when it is retracted and released, which can form a lifting guide for the hanging rope 70 to avoid entanglement, and is also conducive to cleaning the stains on the surface of the hanging rope 70. At the same time, it will not cause wear to the hanging rope 70, thereby ensuring the service life of the hanging rope 70.

[0050] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be embodied in other specific forms without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations within the meaning and range of equivalents of the claims are intended to be included therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

Claims

1. AUV automatic deployment and recovery device, including: A robotic arm (1), wherein a connecting member (2) is fixed to the robotic arm (1), a retractable assembly (3) is provided below the connecting member (2), and the retractable assembly (3) comprises a rotating assembly (4) connected to the connecting member (2), a clamping assembly (5) is symmetrically arranged below the rotating assembly (4), and the clamping assembly (5) can rotate relative to the connecting member (2). A winding drum (7) is rotatably provided below the mechanical arm (1), and the winding drum (7) is connected to a hanging rope (70). A slide groove (47) is provided through the bottom of the rotating frame (42), a collar (8) is slidably provided in the slide groove (47), rollers (80) are symmetrically arranged in the collar (8), the hanging rope (70) passes through the center of the collar (8) and contacts a plurality of the rollers (80), an adjustment cylinder (81) is rotatably provided below the robotic arm (1), an adjustment rope (82) is connected between the adjustment cylinder (81) and the collar (8), and a spring (83) is connected between the inner side of the slide groove (47) near the adjustment cylinder (81) and the collar (8).

2. The AUV automatic deployment and recovery device according to claim 1 is characterized in that: The rotating assembly (4) comprises a swing frame (40) hinged to the connecting member (2), a bottom plate (41) is fixed below the swing frame (40), and a rotating frame (42) is rotatably connected below the bottom plate (41).

3. The AUV automatic deployment and recovery device according to claim 2 is characterized in that: A first gear (43) is fixed on the top of the rotating frame (42), and the first gear (43) is rotatably connected to the bottom plate (41). A control motor (44) is fixed on the bottom plate (41), and the control motor (44) is connected to a rotating shaft. The rotating shaft of the control motor (44) is connected to a second gear (45), and the second gear (45) is arranged in cooperation with the first gear (43).

4. The AUV automatic deployment and recovery device according to claim 3 is characterized by: The clamping assembly (5) includes a base plate (50) fixed to the bottom end of the rotating frame (42), a connecting frame (51) and a hydraulic cylinder (52) are fixed below the base plate (50), the hydraulic cylinder (52) passes through the bottom of the connecting frame (51) and a clamping plate (53) is fixed at the lower end thereof, the clamping plate (53) is provided with a clamping groove (54), and a clamping plate (55) is symmetrically connected to the bottom of the connecting frame (51).

5. The AUV automatic deployment and recovery device according to claim 4 is characterized in that: The clamping plate (55) includes a first plate group (56) hinged to the connecting frame (51), the first plate group (56) is provided with a limiting column (57) located in the clamping slot (54), a second plate group (58) is hinged to the end of the first plate group (56), and a hydraulic rod (59) is hinged between the second plate group (58) and the base plate (50).

6. The AUV automatic deployment and recovery device according to claim 5 is characterized by: The second plate group (58) is provided with a plurality of tensioning members (6) at intervals on the inner side. The tensioning member (6) includes a pad (60) fixed to the second plate group (58). One side of the pad (60) is a curved surface. A plurality of buffer pads (61) are fixed on the curved surface of the pad (60). A pressure plate (62) is provided above any buffer pad (61). One end of the pressure plate (62) is fixed to the pad (60), and the other end covers the outer side of the buffer pad (61) below it. The buffer pad (61) is provided with a plurality of air holes (63).

7. The AUV automatic deployment and recovery device according to claim 3 is characterized by: The connecting member (2) includes a connecting head (20) fixed to the robot arm (1), a first slide (21) being fixed to the connecting head (20), a second slide (22) being clamped and arranged below the first slide (21), a swing head (23) being clamped and arranged below the second slide (22), and the second slide (22) being capable of sliding relative to the first slide (21) and the swing head (23), respectively.

8. The AUV automatic deployment and recovery device according to claim 7 is characterized by: A guide wheel (71) is rotatably provided in the swing head (23), a rope hole (46) is provided at the center of the first gear (43), the hanging rope (70) passes through the rope hole (46) and a hook (72) is fixed at the end.

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