A recovery guidance device and method for an underwater vehicle

Abstract

The application discloses a recovery guide device and recovery method of underwater vehicle, through the camera to collect the signal data of underwater vehicle, control the mechanical arm to adjust the grabbing direction and the direction of underwater vehicle is consistent, at the same time, through the driving element control driving cylinder along the middle axis direction of fixed cylinder to the grabbing arm direction movement to fold the grabbing arm, after grabbing the target, control the mechanical arm to automatically return to the axis position of the dock cabin, control the driving cylinder reverse movement to open the grabbing arm, the linear navigation of underwater vehicle can be automatically recovered to the dock cabin in the underwater recovery platform through the hollow fixed cylinder, realize the cooperation of underwater vehicle and underwater recovery platform in the recovery project, greatly improve the recovery efficiency, reduce the recovery difficulty, provide technical and equipment support for seabed topography survey, resource exploration, pipeline detection and the like.

Description

Technical Field

[0001] This invention relates to a recovery guidance device, more particularly to a recovery guidance device for an underwater vehicle, and also to a recovery method using the above-mentioned guidance device. Background Technology

[0002] Autonomous underwater vehicles (AUVs) are commonly used in marine exploration, seabed topography mapping, underwater pipeline inspection, underwater archaeology, marine environmental monitoring, and underwater facility maintenance. While mature AUVs have been developed both domestically and internationally, they primarily rely on batteries for power. When the battery is nearly depleted, they need to surface to a mother ship for refueling. However, recovering the AUV to the mother ship requires surface deployment and recovery equipment and is operated by specialized personnel. This process is extremely cumbersome and complex, and poses various safety hazards in rough sea conditions, making frequent recovery extremely difficult. Furthermore, traditional underwater recovery methods cannot achieve coordinated movement between the AUV and the recovery platform, relying solely on the AUV's own adjustment of relative position, resulting in low recovery efficiency and high recovery difficulty. Summary of the Invention

[0003] Purpose of the invention: The purpose of this invention is to provide a guide device for recovering underwater vehicles that occupies little space and is easy to operate, and also to provide a method for achieving coordinated movement and recovery of underwater vehicles and underwater recovery platforms using the above-mentioned guide device.

[0004] Technical Solution: The underwater vehicle recovery and guidance device of the present invention includes a hollow fixed cylinder, an annular groove on the outer side of the fixed cylinder, and a drive cylinder sleeved in the annular groove. It also includes a drive component mounted on the fixed cylinder, the drive end of the drive component being connected to the drive cylinder. Under the drive of the drive component, the drive cylinder moves along the axis of the fixed cylinder in the annular groove. The fixed cylinder is provided with a gripping arm, which is composed of a lower arm and an upper arm rotatably connected. The lower arm is provided with a slot, and a slider is provided in the slot. The slider is connected to the upper arm through an upper traction rod and hinged to the fixed cylinder through a lower traction rod. The lower arm is hinged to the fixed cylinder and simultaneously hinged to the drive cylinder through a connecting rod.

[0005] Preferably, the guiding device further includes a robotic arm, the fixed cylinder is hinged to the robotic arm via a robotic arm mounting seat, the other end of the robotic arm is connected to an underwater recovery platform, and the robotic arm swings relative to the underwater recovery platform under the drive of its own power mechanism.

[0006] Preferably, the fixed cylinder is also provided with multiple cameras, which are fixed on the fixed cylinder by camera mounting brackets, and the multiple cameras are arranged in a cross shape on the circumference of the fixed cylinder away from the drive cylinder.

[0007] Preferably, the upper arm of the gripping arm is provided with a clamping block made of flexible material.

[0008] Preferably, the lower arm is hinged to the connecting seat on the drive cylinder via a connecting rod.

[0009] Preferably, the drive component is fixed to the end of the fixed cylinder away from the gripping arm by a mounting base.

[0010] Preferably, the driving component is a pneumatic push rod, a hydraulic push rod, or a linear motor.

[0011] Preferably, the outer surface of the annular groove of the fixed cylinder is provided with a guide groove parallel to the central axis of the fixed cylinder, and the inner side of the driving cylinder is provided with a limiting block that corresponds to and cooperates with the guide groove. When the driving cylinder moves along the axis of the fixed cylinder at the annular groove under the drive of the driving component, the limiting block is embedded in the guide groove and moves axially relative to the guide groove.

[0012] Preferably, the guidance device also includes a monitoring terminal. The signal collected by the camera is transmitted to the monitoring terminal, and the monitoring terminal drives the movement of the drive cylinder and the robotic arm through the drive components and power mechanism.

[0013] Preferably, the outer side of the end of the fixed cylinder connecting the gripping arm is also provided with mounting posts, which correspond one-to-one with the gripping arm. The lower arm is hinged to the mounting post, and the lower traction rod is hinged to the mounting post.

[0014] The recovery method of the above-mentioned guidance device is as follows: the signal collected by the camera controls the robotic arm to adjust the grasping direction to be consistent with the grasping target direction. At the same time, the drive cylinder is controlled by the drive component to move along the central axis of the fixed cylinder towards the grasping part. The connecting rod connected to the drive cylinder pushes the lower arm of the grasping arm. The slider on the lower arm moves along the slot on the lower arm. The slider pushes the upper traction rod to drive the upper arm of the grasping arm to rotate axially around the end of the lower arm to form a folded shape. After grasping the target, the robotic arm automatically returns to the dock axis position.

[0015] The drive unit controls the drive cylinder to move along the central axis of the fixed cylinder towards the underwater recovery platform. The connecting rod pulls the lower arm of the grab arm, and the slider on the lower arm moves along the slot on the lower arm. The slider pulls the upper traction rod, causing the upper arm of the grab arm to rotate axially around the end of the lower arm to form an open shape. The underwater vehicle can travel in a straight line and be automatically recovered into the dock of the underwater recovery platform through the hollow fixed cylinder.

[0016] Beneficial effects: Compared with the prior art, the present invention has the following significant advantages: it realizes the synergy between underwater vehicles and underwater recovery platforms in the recovery project, greatly improves the recovery efficiency, and reduces the recovery difficulty. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the structure of the recovery guidance device of the present invention;

[0018] Figure 2This is a schematic diagram of the combined structure of the fixed cylinder and the driving cylinder;

[0019] Figure 3 This is a partially enlarged schematic diagram of part A in the combined structure of the fixed cylinder and the driving cylinder;

[0020] Figure 4 This is a schematic diagram of the connection structure between the fixed cylinder and the gripping arm;

[0021] Figure 5 A schematic diagram of the retracted state of the recovery guide device;

[0022] Figure 6 This is a schematic diagram of the recovery guidance device;

[0023] Figure 7 This is a schematic diagram of the recovery process for the recovery guide device. Detailed Implementation

[0024] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0025] Example 1

[0026] like Figure 1 The diagram shows the recovery and guidance device for the underwater vehicle of the present invention, including a hollow fixed cylinder 1, an annular groove 19 on the outer side of the fixed cylinder 1, and a drive cylinder 2 sleeved in the annular groove 19. It also includes a drive member 3 mounted on the fixed cylinder 1, with the drive end of the drive member 3 connected to the drive cylinder 2. Driven by the drive member 3, the drive cylinder 2 moves along the axis of the fixed cylinder 1 in the annular groove 19. Figure 4 As shown, the fixed cylinder 1 is provided with a gripping arm, which is composed of a lower arm 12 and an upper arm 13 rotatably connected. The lower arm 12 is provided with a slot, and a slider 14 is provided in the slot. The slider 14 is connected to the upper arm 13 through the upper traction rod 15 and is hinged to the fixed cylinder 1 through the lower traction rod 16. The lower arm 12 is hinged to the fixed cylinder 1, and at the same time, the lower arm 12 is hinged to the drive cylinder 2 through the connecting rod 11.

[0027] like Figure 5 and 6 As shown, the guiding device also includes a robotic arm 18. The fixed cylinder 1 is hinged to the robotic arm 18 via a robotic arm mounting base 7. The other end of the robotic arm 18 is connected to an underwater recovery platform. The robotic arm 18 swings relative to the underwater recovery platform under the drive of its own power mechanism.

[0028] like Figure 2 As shown, the fixed cylinder 1 is also provided with multiple cameras 10. The cameras 10 are fixed on the fixed cylinder 1 by camera mounting base 9. The multiple cameras 10 are arranged in a cross shape on the circumference of the fixed cylinder 1 away from the drive cylinder 2.

[0029] The upper arm 13 of the gripping arm is provided with a clamping block 17 made of flexible material.

[0030] The lower arm 12 is hinged to the connecting seat 6 on the drive cylinder 2 via the connecting rod 11.

[0031] The drive component 3 is fixed to the end of the fixed cylinder 1 away from the gripping arm by the mounting base 8; the drive component 3 is a pneumatic push rod, a hydraulic push rod or a linear motor.

[0032] like Figure 3 As shown, the outer surface of the annular groove 19 of the fixed cylinder 1 is provided with a guide groove 4 parallel to the central axis of the fixed cylinder. The inner side of the driving cylinder 2 is provided with a limiting block 5 that corresponds to and cooperates with the guide groove 4. When the driving cylinder 2 moves along the axis of the fixed cylinder 1 at the annular groove 19 under the drive of the driving component 3, the limiting block 5 is embedded in the guide groove 4 and moves axially relative to the guide groove 4.

[0033] The guidance device also includes a monitoring terminal. The signal collected by the camera 10 is transmitted to the monitoring terminal, which drives the movement of the drive cylinder 2 and the robotic arm 18 through the drive component 3 and the power mechanism.

[0034] Example 2

[0035] like Figure 7 As shown, the recovery method of the above-mentioned guiding device is as follows: the signal collected by the camera 10 controls the robotic arm 18 to adjust the grasping direction to be consistent with the grasping target direction. At the same time, the drive cylinder 2 is controlled by the drive component 3 to move along the central axis of the fixed cylinder 1 towards the grasping part. The connecting rod 11 connected to the drive cylinder 2 pushes the lower arm 12 of the grasping arm. The slider 14 on the lower arm 12 moves along the slot on the lower arm 12. The slider 14 pushes the upper traction rod 15 to drive the upper arm 13 of the grasping arm to rotate axially around the end of the lower arm 12 to form a retracted shape. After grasping the target, the robotic arm 18 automatically returns to the dock axis position; the grasping state is as follows. Figure 5 As shown.

[0036] The driving component 3 controls the driving cylinder 2 to move along the central axis of the fixed cylinder 1 towards the underwater recovery platform. The connecting rod 11 pulls the lower arm 12 of the grabbing arm, and the slider 14 on the lower arm 12 moves along the slot on the lower arm 12. The slider 14 pulls the upper traction rod 15, causing the upper arm 13 of the grabbing arm to rotate axially around the end of the lower arm 12 to form an open shape; the open state is as follows: Figure 1 As shown, the underwater vehicle can travel in a straight line and be automatically recovered into the dock of the underwater recovery platform via the hollow fixed tube.

Claims

1. A recovery and guidance device for an underwater vehicle, characterized in that, The guiding device includes a hollow fixed cylinder (1), an annular groove (19) on the outside of the fixed cylinder (1) and a driving cylinder (2) sleeved in the annular groove (19). It also includes a driving component (3) disposed on the fixed cylinder (1), the driving end of the driving component (3) being connected to the driving cylinder (2). The driving cylinder (2) moves along the axis of the fixed cylinder (1) in the annular groove (19) under the drive of the driving component (3). The fixed cylinder (1) is provided with a gripping arm, which is formed by the lower part of the fixed cylinder (1). The arm (12) and the upper arm (13) are rotatably connected. The lower arm (12) is provided with a slot, and a slider (14) is provided in the slot. The slider (14) is connected to the upper arm (13) through the upper traction rod (15) and is hinged to the fixed cylinder (1) through the lower traction rod (16). The lower arm (12) is hinged to the fixed cylinder (1). At the same time, the lower arm (12) is hinged to the drive cylinder (2) through the connecting rod (11). The upper arm (13) of the gripping arm is provided with a pressure block (17) made of flexible material. The guiding device also includes a robotic arm (18), the fixed cylinder (1) is hinged to the robotic arm (18) through the robotic arm mounting seat (7), the other end of the robotic arm (18) is connected to the underwater recovery platform, and the robotic arm (18) swings relative to the underwater recovery platform under the drive of the power mechanism. The outer surface of the annular groove (19) of the fixed cylinder (1) is provided with a guide groove (4) parallel to the central axis of the fixed cylinder. The inner side of the driving cylinder (2) is provided with a limiting block (5) corresponding to the guide groove (4). When the driving cylinder (2) moves along the axis of the fixed cylinder (1) at the annular groove (19) under the drive of the driving member (3), the limiting block (5) is embedded in the guide groove (4) and moves axially relative to the guide groove (4). The driving member (3) is fixed on the fixed cylinder (1) away from the gripping arm by the mounting seat (8).

2. The guiding device according to claim 1, characterized in that, The fixed cylinder (1) is also provided with multiple cameras (10). The cameras (10) are fixed on the fixed cylinder (1) by camera mounting base (9). The multiple cameras (10) are arranged in a cross shape on the circumference of the fixed cylinder (1) away from the drive cylinder (2).

3. The guiding device according to claim 1, characterized in that, The lower arm (12) is hinged to the connecting seat (6) on the drive cylinder (2) via the connecting rod (11).

4. The guiding device according to claim 1, characterized in that, The driving component (3) is a pneumatic push rod, a hydraulic push rod, or a linear motor.

5. The guiding device according to claim 1, characterized in that, The guidance device also includes a monitoring terminal. The signal collected by the camera (10) is transmitted to the monitoring terminal, and the monitoring terminal drives the movement of the drive cylinder (2) and the robotic arm (18) through the drive component (3) and the power mechanism.

6. A recovery method using the guiding device according to claim 1, characterized in that, The signal collected by the camera (10) controls the robotic arm (18) to adjust the gripping direction to be consistent with the gripping target direction. At the same time, the drive cylinder (2) is controlled by the drive component (3) to move along the central axis of the fixed cylinder (1) towards the gripping part. The connecting rod (11) connected to the drive cylinder (2) pushes the lower arm (12) of the gripping arm. The slider (14) on the lower arm (12) moves along the slot on the lower arm (12). The slider (14) pushes the upper traction rod (15) to drive the upper arm (13) of the gripping arm to rotate axially around the end of the lower arm (12) to form a folded shape. After the target is gripped, the robotic arm (18) automatically returns to the dock axis position. The drive unit (3) controls the drive cylinder (2) to move along the central axis of the fixed cylinder (1) towards the underwater recovery platform. The connecting rod (11) pulls the lower arm (12) of the grab arm. The slider (14) on the lower arm (12) moves along the slot on the lower arm (12). The slider (14) pulls the upper traction rod (15) to drive the upper arm (13) of the grab arm to rotate axially around the end of the lower arm (12) to form an open shape. The underwater vehicle can be automatically recovered into the dock of the underwater recovery platform by traveling in a straight line through the hollow fixed cylinder.

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