Underwater auv tool change assembly, device, and method of controlling the change

Abstract

The present disclosure relates to an underwater AUV tool replacement assembly, device and method for controlling replacement. The device comprises a positioning guide unit, a locking positioning unit, a rotating tool library unit and a tool access unit; the deformable guide cover in the positioning guide unit can be controlled by a hydraulic system, and the shape of the deformable guide cover is adjusted according to the value of the pressure sensor on the AUV; the locking positioning unit drives the locking inner disc to rotate through the second motor driven worm, drives the locking slider to slide along the guide rail direction, realizes the locking or loosening of the AUV, drives the entire locking disc to rotate circumferentially through the first motor driven gear on the positioning frame, realizes the circumferential position adjustment of the AUV in the locking state; the rotating tool library unit is used to realize the butt joint of the tool library end and the AUV end, and realize the replacement of different tools. The technical scheme given by the present disclosure can ensure the accurate butt joint and locking of the AUV and the tool replacement device, and improve the efficiency of the AUV in replacing tools in the deep sea.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the field of deep-sea AUV seabed long-term residence equipment, in particular to a device for replacing tools of a deep-sea AUV and a method for controlling the replacement. BACKGROUND

[0002] With the rapid expansion of the development and utilization of marine resources, and the continuous extension to the deep sea, new deep-sea carrying operation platforms are emerging, the operation depth is continuously deepening, and the development of multifunctional and practical underwater equipment and supporting operation tools has become the development trend of international deep-sea carrying and operation technology, which realizes mutual support and joint operation between equipment.

[0003] Underwater robots are mainly divided into two categories: one is a tethered underwater robot, which is a remote operated vehicle (ROV); the other is a tetherless underwater robot, which is an autonomous underwater vehicle (AUV). The autonomous underwater robot is a new generation of underwater robot, which is generally an autonomous robot. Artificial intelligence, detection and identification, information fusion, intelligent control, system integration and other technologies are applied to the same underwater body. On the premise that there is no real-time human control, the robot makes autonomous decisions and controls to complete the predetermined mission in a complex marine environment. The robot has the advantages of large activity range, good mobility, safety and intelligence, and becomes an important tool for completing various underwater tasks.

[0004] Since the AUV itself carries limited tools, it cannot carry multiple tools required for underwater operation, and the process of recovering and releasing the AUV again is complicated, requiring a large amount of manpower and material resources, so a device is needed to replace the tools of the AUV underwater. However, the existing AUV underwater tool replacement device cannot meet the requirements of fast and accurate replacement. On the one hand, due to the complex seabed conditions, docking is difficult, and the existing underwater robot cannot directly realize docking. On the other hand, the existing underwater robot will move excessively when docking, causing the locking device to be unable to accurately clamp, thereby affecting the subsequent tool replacement. SUMMARY

[0005] The present disclosure provides an underwater AUV tool replacement assembly, device and method for controlling the replacement, which can solve the problem of replacing tools of an AUV in the deep sea and the problem of fast and accurate docking and locking of the AUV and the tool replacement device.

[0006] The underwater AUV tool replacement assembly provided by the present disclosure comprises a positioning and guiding unit, wherein the positioning and guiding unit comprises a positioning frame, a deformable guiding cover, a first hydraulic cylinder and a first hydraulic cylinder base.

[0007] The end of the deformable guide cover is fixed on the positioning frame, a plurality of first hydraulic cylinder bases are arranged along the circumference of the deformable guide cover in the positioning frame, the first hydraulic cylinder is arranged on the first hydraulic cylinder base, the bottom of the first hydraulic cylinder is fixed on the corresponding first hydraulic cylinder base, and the end is fixed on the deformable guide cover; the second motor base is fixed on the positioning frame.

[0008] Further, the assembly further comprises a locking positioning unit; the locking positioning unit comprises a positioning wheel, a locking disc, a second motor, a second motor base and a first gear;

[0009] The positioning wheel is arranged along the circumference of the locking disc; the outer side of the locking disc is provided with a circle of outer teeth in the circumferential direction, two circles of positioning grooves are symmetrically distributed on both sides of the outer teeth, the positioning grooves are matched with the positioning wheel; the first gear is engaged with the outer teeth of the locking disc, and the first gear is driven by the second motor; the second motor is fixed on the second motor base;

[0010] The locking disc is internally provided with a locking inner disc, a locking sliding block, a worm, a first motor, a first motor base and two fixed blocks; the front end of the locking inner disc is provided with a guide rail, and the rear end is provided with a gear disc; the guide rail is matched with the locking sliding block; the first motor is fixed on the first motor base, the first motor base is fixed on the fixed block, the fixed block is embedded in the locking disc, and the worm passes through the through holes of the two fixed blocks and is engaged with the gear disc at the rear end of the locking inner disc;

[0011] The positioning wheel is fixed on the positioning frame through the rib plate; the positioning wheel is matched with the positioning groove, and is used for fixing the locking disc in the circumferential direction in the positioning frame; the second motor is fixed on the positioning frame through the second motor base, and drives the rotation of the locking disc through the first gear;

[0012] The deformable guide cover and the locking disc are coaxially arranged, and the locking disc is arranged at the rear end of the deformable guide cover, so that the AUV can enter the locking and positioning unit from the positioning and guiding unit.

[0013] Further, the assembly further comprises a rotating tool library unit; the rotating tool library unit comprises a tool library shell, a tool library shell rear cover, a bearing, a tool disc, a third motor and a second gear;

[0014] The second gear is fixed in the tool library shell by two rib plates, and the third motor is also fixed in the tool library shell; the tool disc has a circle of teeth in the middle part of the outer side, which is engaged with the second gear; two bearings are symmetrically arranged at both ends of the outer side of the tool disc, and the tool disc is supported in the cylindrical groove in the tool library shell through the bearings; the second gear is driven by the third motor to drive the rotation of the tool disc;

[0015] The tool disc contains six tool libraries, which are arranged in a circumferential array in the tool disc, and the rear cover of the tool library shell is fixed at the rear end of the tool library shell by screws; the bottom of the tool library shell is at the same horizontal plane as the bottom of the positioning frame;

[0016] Each tool library contains a tool changing unit, and the second hydraulic cylinder base corresponding to the tool changing unit is fixed in the tool library, and the extension and retraction of the hydraulic cylinder can control the extension and retraction of the tool access structure from the tool library.

[0017] Further, the assembly further comprises a tool access unit; the tool access unit comprises a second hydraulic cylinder, a second hydraulic cylinder base, a support shell, a release locking shell, a steering cam, a steering plate, a tension spring, a push rod, a connecting rod, and a wedge-shaped block;

[0018] The bottom of the second hydraulic cylinder is fixed on the second hydraulic cylinder base, and the end of the second hydraulic cylinder is connected with the support shell; the release locking shell is provided with through grooves on both sides and is fixed in the support shell by rib plates;

[0019] The lower side of the steering cam is connected with the steering plate, the steering cam is matched with the push rods on both sides through the limiting grooves, and the push rods on both sides are connected through the tension spring;

[0020] One end of the push rod and the steering plate are rotationally connected through a rotating shaft, the middle part of the steering plate is connected with the release locking shell through a rotating shaft, and the other end is connected with the wedge-shaped block through a rotating shaft, and the wedge-shaped block is locked in the through hole on the two sides of the locking shell;

[0021] The second hydraulic cylinder base is fixed in the tool library; when the tool disc in the rotating tool library unit rotates to the lowest position, it is coaxial with the locking disc in the locking positioning unit, and the docking and unlocking of the tool end and the AUV in the locking positioning unit can be realized by controlling the extension and retraction of the second hydraulic cylinder.

[0022] The foregoing assembly is applied to construct an underwater AUV tool changing device, and the device is constructed according to the following path:

[0023] The deformable guide cover is made of plastic material;

[0024] A plurality of strip-shaped through holes are distributed along the circumference of the cover sheet for reducing resistance and weight.

[0025] A plurality of hydraulic cylinders are distributed along the circumference of the deformable guide cover, the guide cover and the hydraulic cylinders are fixed on the support frame, the deformation of the deformable guide cover is controlled by the extension and retraction of the hydraulic cylinders; the hydraulic cylinders can be controlled by a hydraulic system, and the extension and retraction of the hydraulic cylinders can be adjusted according to the value of the pressure sensor on the AUV to adjust the shape of the deformable guide cover.

[0026] The locking positioning unit drives the locking inner disc to rotate through the second motor and the worm, drives the locking slider to slide along the guide rail, and realizes the locking or unlocking of the AUV; the first motor drives the gear on the positioning frame to drive the circumferential rotation of the entire locking disc, so as to realize the circumferential position adjustment of the AUV in the locked state.

[0027] The tool disc in the rotating tool library unit is embedded into the tool disc shell through two symmetrically distributed bearings, the rotation of the entire tool disc is driven by the third motor and the gear, the required tool library is rotated to the coaxial position with the locking positioning unit, the extension and retraction of the tool access structure are controlled to realize the docking of the tool library end and the AUV end, and the replacement of different tools is realized.

[0028] The extension and retraction of the tool access structure are realized according to the following path:

[0029] When locked, the steering plate drives the connected steering cam to rotate, pushes the two push rods to move outward when rotating to the far rest area of the steering cam, and drives the connecting rod to rotate around the shaft on the release locking shell, and locks the wedge-shaped block at one end of the connecting rod in the clamping groove of the tool end;

[0030] When unlocked, the steering cam is rotated to the near rest area, the extension spring is retracted, the two push rods are pulled, and the wedge-shaped block is pulled out to complete the unlocking, and the tool end is taken out.

[0031] The method for controlling the underwater AUV tool replacement comprises the following steps:

[0032] In the first step, when the AUV reaches the locking positioning unit, the first motor drives the rotation of the locking inner disc through the worm, so that the locking slider slides along the guide rail, thereby realizing the locking of the AUV;

[0033] In the second step, the third motor drives the rotation of the entire tool disc through the second gear, and stops rotating when it is detected that the required tool library is rotated to the coaxial position with the locking positioning unit;

[0034] Thirdly, the first gear is driven by the second motor to drive the circumferential rotation of the locking disc, so that the circumferential position adjustment of the AUV in the locked state is realized, until the sensor on the AUV detects that the plug end of the underwater electric connector at the AUV end is coaxial with the insertion hole end of the tool end;

[0035] Fourthly, the tool replacement unit is pushed out by the second hydraulic cylinder, the socket at the tool end is inserted into the plug at the AUV end, the tool end is docked with the AUV end, then the tool end is driven to rotate by the AUV, the steering cam is driven to rotate to the near rest area by the steering plate, the spring is stretched and retracted, the two push rods are pulled, the wedge block is pulled out, the unlocking of the tool library to the tool end is completed, and the AUV can be withdrawn from the whole set of devices, and the tool is taken out.

[0036] When the existing tools of the AUV are stored, the first step and the second step are repeatedly executed, then the second gear is driven by the third motor to drive the whole tool disc to rotate to the empty tool library, the tool replacement unit is pushed out by the second hydraulic cylinder, the steering plate is driven to rotate by the tool end, the steering cam connected thereto is driven to rotate to the far rest end, the two push rods are driven to move outward, and the connecting rod is driven to rotate around the shaft of the release locking shell, the wedge block at one end of the connecting rod is buckled on the clamping groove of the tool end to be locked, then the hydraulic cylinder is retracted to realize the separation of the tool end and the AUV end, and the storage of the existing tools is completed.

[0037] The above at least one technical scheme adopted by one or more embodiments of the present disclosure can achieve the following beneficial effects:

[0038] The present disclosure provides a brand-new AUV tool replacement device, wherein the deformable guide cover is made of plastic material, a plurality of strip-shaped through holes are arranged along the circumference of the cover piece, the resistance and weight are reduced, a plurality of hydraulic cylinders are arranged along the circumferential direction of the deformable guide cover, the guide cover and the hydraulic cylinders are fixed on the support frame, the deformation of the guide cover is controlled by the extension and retraction of the hydraulic cylinders, when the AUV enters the tool replacement device, the extension and retraction of the hydraulic cylinders are adjusted by the AUV through the pressure sensor value, and the shape of the deformable guide cover is adjusted, so that the influence of the ocean current on the AUV is reduced.

[0039] The locking positioning unit provided by the present disclosure drives the locking inner disc to rotate by the second driving device, so that the locking block slides along the guide rail direction, the locking or unlocking of the AUV is realized, the circumferential rotation of the whole locking disc is driven by the gear on the positioning frame by the first driving device, and the circumferential position adjustment of the AUV in the locked state is realized.

[0040] The tool disc in the rotating tool library unit is embedded into the tool disc shell through two symmetrically distributed bearings, the rotation of the entire tool disc is driven by the third driving device driving gear, the required tool library is rotated to the coaxial position with the locking positioning unit, the docking of the tool library end and the AUV end is realized by controlling the extension and retraction of the tool changing unit, and the replacement of different tools is realized.

[0041] The tool changing unit provided by the present disclosure controls the extension and retraction of the tool access structure through the extension and retraction of the hydraulic cylinder, rotates the steering plate in the tool access structure through the tool end, drives the connected steering cam to rotate together, pushes the two push rods to move outward when rotating to the far rest area of the steering cam, simultaneously drives the connecting rod to rotate around the shaft on the release locking shell, and utilizes the lever principle to lock the wedge block at one end of the connecting rod in the clamping groove of the tool end; when unlocking, only need to rotate the steering cam to the near rest area, stretch the spring, pull the two push rods, and pull out the wedge block to complete the unlocking, and the tool end can be taken out.

[0042] In summary, the technical scheme provided by the present disclosure can solve the problem of replacing tools for AUV in deep sea and the problem of fast and accurate docking and locking of AUV and tool replacement device.

[0043] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, but not limiting the present disclosure.

[0044] Other features and aspects of the present disclosure will become apparent from the following detailed description of exemplary embodiments, taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF DRAWINGS

[0045] The accompanying drawings incorporated in the specification and constituting a part of it illustrate embodiments consistent with the present disclosure and serve to explain the technical scheme of the present disclosure together with the specification.

[0046] Figure 1 It is an overall structure diagram of the underwater AUV tool replacement device.

[0047] Figure 2 It is an overall structure diagram of the front end guiding positioning unit and the locking positioning unit.

[0048] Figure 3 It is a structure diagram of the guiding positioning unit.

[0049] Figure 4 It is an overall structure diagram of the locking positioning unit.

[0050] Figure 5 It is an overall structure diagram of the locking disc.

[0051] Figure 6Figure 1 is a schematic diagram of the overall structure of the tool storage unit.

[0052] Figure 7 Figure 2 is a schematic diagram of the locking mechanism of the tool storage unit.

[0053] Figure 8 Figure 3 is a schematic diagram of the overall structure of the rotating tool library unit.

[0054] Figure 9 Figure 4 is a schematic diagram of the tool replacement unit in the tool storage unit.

[0055] Figure 10 Figure 5 is a schematic diagram of the internal structure of the tool replacement unit.

[0056] Figure 11 Figure 6 is a schematic diagram of the tool end in the tool access unit in the locked state.

[0057] Figure 12 Figure 7 is a schematic diagram of the tool end in the tool access unit in the unlocked state.

[0058] Figure 13 Figure 8 is a flowchart of the control method.

[0059] Figure 1 is a schematic diagram of the overall structure of the tool storage unit. DETAILED DESCRIPTION

[0060] Various exemplary embodiments, features, and aspects of the present disclosure will be described in detail below with reference to the accompanying drawings. The same reference numbers in the drawings represent functionally the same or similar elements. Although various aspects of the embodiments are illustrated in the drawings, the drawings are not necessarily drawn to scale unless specifically indicated.

[0061] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following detailed description. Those skilled in the art will understand that the present disclosure can be practiced without certain specific details. In some instances, well-known methods, structures, elements, and circuits have not been described in detail in order to emphasize the principles of the present disclosure.

[0062] As shown in Figure 1 , the underwater AUV tool replacement device includes a guide positioning unit 1, a locking positioning unit 2, a rotating tool library unit 3, a tool replacement unit 4, and a positioning frame 5.

[0063] The guide positioning unit 1 is fixed at the front end of the positioning frame 5, and is used to provide the best guide channel for the docking of the AUV according to the complex and changeable underwater environment. The locking positioning unit 2 is fixed at the rear end of the positioning frame 5, and is used to lock or release the AUV 39 entering the guide positioning unit 1, and to adjust the circumferential position of the AUV 39 in the locked state. The shell base of the rotating tool library unit 3 is located on the same plane as the bottom of the positioning frame 5. The rotating tool library unit 3 has six tool libraries, which are rotated to the coaxial position with the locking positioning unit 2 to facilitate the replacement of different tools. Each tool library has a tool replacement unit 4, and the replacement of the tool is completed by controlling the extension and retraction of the second hydraulic cylinder 30.

[0064] As shown in Figure 2 , Figure 3 , the guide positioning unit 1 includes a deformable guide cover 8, a first hydraulic cylinder 6, and a first hydraulic cylinder base 7. The end of the deformable guide cover 8 is fixed on the positioning frame 5, and the positioning frame 5 is provided with a plurality of first hydraulic cylinder bases 7 along the circumferential direction of the deformable guide cover 8. A first hydraulic cylinder 6 is arranged in each first hydraulic cylinder base 7. The bottom of the first hydraulic cylinder 6 is fixed on the first hydraulic cylinder base 7, and the end is fixed on the deformable guide cover 8. The deformation of the deformable guide cover 8 is realized by controlling the extension and retraction of the first hydraulic cylinder 6, thereby providing the best guide channel for the docking of the AUV, and reducing the influence of ocean currents on the AUV.

[0065] As shown in Figure 2 , Figure 4 , Figure 5 , Figure 6 , Figure 7As shown, the locking positioning unit 2 is fixed at one end of the deformable guide cover 8 and arranged at the other end of the rotating tool library unit 3. The locking positioning unit 2 is composed of a positioning part and a locking part. The positioning frame 5 is provided with a plurality of positioning wheels 9 along the circumferential direction of the locking disc 13. The positioning wheels 9 are fixed on the positioning frame 5 through the web plate. The outer side of the locking disc 13 is provided with a circle of external teeth along the circumferential direction. Two circles of positioning grooves 10 are symmetrically distributed on both sides of the external teeth. The positioning grooves 10 are matched with the positioning wheels 9. The locking disc 13 has a second motor 15 and a first gear 16 inside. The first gear 16 is engaged with the external teeth of the locking disc 13. The second motor 15 is fixedly arranged on the positioning frame 5. The first gear 16 is driven by the second motor 15 to drive the gears on the positioning frame 5 to rotate the locking disc 5 in the circumferential direction, thereby realizing the circumferential position adjustment of the AUV 39 in the locked state.

[0066] The locking disc 13 contains a locking inner disc 21 and a locking slider 17 inside. The locking inner disc 21 is provided with a guide rail at the front end and a gear disc at the rear end. The guide rail is matched with the locking slider 17. The first motor 12 is fixed on the first motor base 11, which is fixed on the fixed block 20. The first motor 12 is connected with the worm 19, which is engaged with the gear disc at the rear end of the locking inner disc 21. The worm 19 is driven by the first motor 12 to drive the locking inner disc 21 to rotate, thereby making the locking slider 17 slide along the guide rail direction, thereby completing the locking or loosening of the AUV 39.

[0067] The first motor 12 is fixed on the first motor base 11, which is fixed on the fixed block 20 embedded in the locking disc 13. The worm 19 passes through the through holes of the two fixed blocks 20 and is engaged with the gear disc at the rear end of the locking inner disc 21.

[0068] As shown in the figure, Figure 8 The rotating tool library unit 3 contains a tool library shell 18, a tool library shell rear cover 23, a bearing 24, a tool disc 27, a third motor 25 and a second gear 26. The second gear 26 is fixed in the tool library shell 18 through two web plates. The third motor 25 is also fixed in the tool library shell 22. The tool disc 27 is provided with a circle of gears outside, which is engaged with the second gear 26. The second gear 26 is driven by the third motor 25 to drive the rotation of the tool disc 27. The tool disc 27 is symmetrically arranged with two bearings 24 at both ends. The tool disc 27 is supported in the tool library shell 18 through the bearings 24. The rotation of the tool disc 27 is driven by the second gear 26 driven by the third motor 25, so as to rotate the required tool library to the coaxial position with the locking positioning unit 2, thereby realizing the replacement of different tools.

[0069] As shown in the figure, Figure 9 , Figure 10 , Figure 11 , Figure 12As shown, the tool disc 27 contains six tool libraries, and each tool library has a tool changing unit 4, which contains a second hydraulic cylinder 30, a second hydraulic cylinder base 29, a supporting shell 31, a release locking shell 32, a turning cam 38, a turning plate 36, a tension spring 37, a push rod 33, a connecting rod 34, and a wedge block 35. The second hydraulic cylinder 30 is fixed at the bottom of the second hydraulic cylinder base 29, which is fixed in the tool disc 27. The end of the second hydraulic cylinder 30 is connected with the supporting shell 31, which is fixed at the end of the second hydraulic cylinder 30. The release locking shell 32 is provided with through grooves on both sides and is fixed in the supporting shell 32 through a web plate. The lower side of the turning cam 38 is connected with the turning plate 36, and the turning cam 38 is matched with the two push rods 33 through a limiting groove. The two push rods 33 are connected through the tension spring 37. The push rod 33 is rotatably connected with one end of the turning plate 36 through a pivot. The middle part of the turning plate 36 is connected with the release locking shell 32 through a pivot, and the other end is connected with the wedge block 35 through a pivot.

[0070] When locked, the turning plate 36 is rotated through the tool end 40, driving the connected turning cam 38 to rotate. When the turning cam 38 is rotated to the far rest area, the two push rods 33 are pushed to move outward, and at the same time, the connecting rod 34 is rotated around the shaft on the release locking shell 32. By using the principle of lever, the wedge block 35 at one end of the connecting rod 34 is buckled on the clamping groove of the tool end 40 for locking. Then, the supporting shell 30 is controlled to retreat through the second hydraulic cylinder 30, so as to realize the separation of the tool end 40 and the end of the AUV 39. When unlocked, the supporting shell 30 is controlled to extend through the second hydraulic cylinder 30, so as to complete the butt joint of the tool end 40 and the end of the AUV 39. Then, the turning cam 38 is rotated to the near rest area, the tension spring 37 is contracted, the two push rods 33 are pulled, and the wedge block 35 is pulled out to complete the unlocking. The tool end 40 can be taken out.

[0071] The working process of the device is as follows:

[0072] After the underwater AUV tool replacement device is dropped to the seabed, the deformation of the deformable guide cover 8 is controlled by the extension and retraction of the first hydraulic cylinder 6 to provide the best guide channel for the docking of the AUV 39; when the AUV 39 reaches the locking positioning unit 2, the first motor 12 drives the rotation of the locking inner disc 21 through the driving worm 19, so that the locking slider 17 slides along the guide rail direction, realizing the locking of the AUV 39, and then the first gear 16 on the positioning frame 5 is driven by the second motor 15 to drive the circumferential rotation of the locking disc 13, so that the circumferential position adjustment of the AUV 39 in the locked state is realized; the third motor 25 drives the second gear 26 to drive the rotation of the tool disc 27, and the empty tool library is rotated to the coaxial position with the locking positioning unit 2, the support shell 31 in the tool library is pushed out by the second hydraulic cylinder 30, the steering plate 36 is rotated by the tool end 40, and the connected steering cam 38 is rotated together, when it is rotated to the far rest area of the steering cam 38, the two side push rods 33 are pushed to move outward, and at the same time, the connecting rod 34 is rotated around the shaft of the release locking shell 32, and the wedge block 35 at one end of the connecting rod 34 is locked on the clamping groove of the tool end 40 by using the lever principle, and the existing tool carried by the AUV 39 is stored, then the required tool library is rotated to the coaxial position with the locking positioning unit 2, the support shell 31 in the tool library is pushed out by the second hydraulic cylinder 30, the tool end 40 is connected with the end of the AUV 39, then the steering cam 38 is rotated to the near rest area, the extension spring 37 is retracted, the two push rods 33 are pulled, and the wedge block 35 is pulled out to complete the unlocking, so that the tool end 40 can be taken out, and at the same time, the locking disc 13 is controlled by the second drive device to unlock the AUV 39, and the AUV 39 can exit from the whole set of devices, and the tool replacement is completed.

[0073] The method for controlling and replacing based on the underwater AUV tool replacement device is as follows: Figure 13 As shown in the figure, the method comprises the following steps:

[0074] S1: The ocean current under the deep sea will seriously interfere with the movement and control of the AUV, when the AUV enters the tool replacement device, the guide positioning unit can adjust the extension and retraction of the hydraulic cylinder through the pressure sensor value on the AUV, adjust the shape of the deformable guide cover, so as to reduce the influence of the ocean current on the AUV;

[0075] S2: When the AUV reaches the locking positioning unit, the first motor drives the rotation of the locking inner disc through the driving worm, so that the locking slider slides along the guide rail direction, thereby realizing the locking of the AUV;

[0076] S3: The third motor drives the rotation of the whole tool disc through the second gear, and stops rotating when it is detected that the required tool library is rotated to the coaxial position with the locking positioning unit;

[0077] S4: The first gear is driven by the second motor to drive the circumferential rotation of the locking disc, so as to realize the circumferential position adjustment of the AUV in the locked state, until the sensor on the AUV detects that the plug end of the underwater electrical connector on the AUV end is coaxial with the tool end socket end;

[0078] S5: The tool end socket is inserted into the plug of the AUV end by pushing out the tool replacement unit through the control of the second hydraulic cylinder, so as to realize the butt joint of the tool end and the AUV end, and then the tool end is driven to rotate by the AUV, the steering cam is rotated to the near rest area by the steering plate, the spring is stretched and retracted, the two push rods are pulled, and the wedge block is pulled out, so as to complete the unlocking of the tool library to the tool end, and the AUV can be withdrawn from the whole set of devices, and the tool is taken out;

[0079] S6: When the AUV is replaced, the steps of S1, S2 and S3 are repeated, then the whole tool disc is rotated to the empty tool library by driving the second gear through the third motor, the tool end is controlled to rotate the steering plate, the connected steering cam is rotated to the far rest end, the two push rods are pushed to move outward, and at the same time the connecting rod is rotated around the shaft on the release locking shell, the wedge block at one end of the connecting rod is buckled on the clamping groove of the tool end to be locked, then the hydraulic cylinder is controlled to retract, so as to realize the separation of the tool end and the AUV end, complete the storage of the existing tool, and then the steps of S4 and S5 are repeated to realize the replacement of the tool.

[0080] The above-described embodiments are exemplary and are not exhaustive, and are not limited to the disclosed embodiments. Many modifications and changes are obvious to those skilled in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles, practical application or improvement of technology in the market of the embodiments, or to enable other ordinary skilled persons in the art to understand the embodiments disclosed herein.

Claims

1. An underwater AUV tool replacement assembly, comprising a positioning and guiding unit, wherein the positioning and guiding unit includes a positioning frame, a deformable guide cover, a first hydraulic cylinder, and a first hydraulic cylinder base; The end of the deformable guide cover is fixed on the positioning frame. A plurality of first hydraulic cylinder bases in the positioning frame are arranged along the circumferential direction of the deformable guide cover. The first hydraulic cylinder is arranged on the first hydraulic cylinder base. The bottom of the first hydraulic cylinder is fixed on the corresponding first hydraulic cylinder base, and the end is fixed on the deformable guide cover. The component also includes a locking and positioning unit; the locking and positioning unit includes a positioning wheel, a locking disc, a second motor, a second motor base, and a first gear; The positioning wheel is arranged along the circumference of the locking disc; the outer side of the locking disc is provided with a ring of external teeth along the circumference, and two rings of positioning grooves are symmetrically distributed on both sides of the external teeth, the positioning grooves cooperating with the positioning wheel; the first gear meshes with the external teeth of the locking disc, and the first gear is driven by the second motor; the second motor is fixed on the second motor base; The locking disc internally comprises a locking inner disc, a locking slider, a worm gear, a first motor, a first motor base, and two fixing blocks; the locking inner disc has a guide rail at its front end and a gear disc at its rear end, the guide rail cooperating with the locking slider; the first motor is fixed on the first motor base, the first motor base is fixed on the fixing blocks, the fixing blocks are embedded in the locking disc, and the two ends of the worm gear pass through the through holes of the two fixing blocks and mesh with the gear disc at the rear end of the locking inner disc; The positioning wheel is fixed to the positioning frame by a rib plate; the positioning wheel cooperates with the positioning groove to fix the locking disc circumferentially in the positioning frame; the second motor is fixed to the positioning frame by a second motor base and drives the locking disc to rotate by driving the first gear. The deformable guide cover and the locking disc are placed coaxially, with the locking disc placed at the rear end of the deformable guide cover, so that the AUV can enter the locking and positioning unit from the positioning and guiding unit to achieve locking and positioning. Its features are: The component also includes a rotary tool magazine unit; the rotary tool magazine unit includes a tool magazine housing, a tool magazine housing rear cover, bearings, a tool disk, a third motor, and a second gear; The second gear is fixed in the tool magazine housing by two ribs, and the third motor is also fixed in the tool magazine housing; the outer middle part of the tool disc has a ring of teeth that meshes with the second gear; two bearings are symmetrically arranged at both ends of the outer side of the tool disc, and the tool disc is supported in a cylindrical groove in the tool magazine housing by the bearings; the second gear is driven by the third motor to drive the rotation of the tool disc; The tool tray contains six tool magazines arranged in a circular array. The rear cover of the tool magazine housing is fixed to the rear end of the tool magazine housing with screws. The bottom of the tool magazine housing and the bottom of the positioning frame are on the same horizontal plane. Each tool magazine contains a tool changing unit, and a second hydraulic cylinder base corresponding to the tool changing unit is fixed in the tool magazine. By controlling the extension and retraction of the hydraulic cylinder, the tool changing unit can be controlled to extend and retract from the tool magazine.

2. The underwater AUV tool replacement assembly according to claim 1, characterized in that: The component also includes a tool access unit; the tool access unit includes a second hydraulic cylinder, a second hydraulic cylinder base, a support housing, a release locking housing, a steering cam, a steering plate, a tension spring, a push rod, a connecting rod, and a wedge block; The bottom of the second hydraulic cylinder is fixed on the base of the second hydraulic cylinder, and the end of the second hydraulic cylinder is connected to the supporting shell. The release locking shell has through slots on both sides and is fixed in the supporting shell by ribs. The lower side of the steering cam is connected to the steering plate, and the steering cam cooperates with the push rods on both sides through the limiting groove. The push rods on both sides are connected by a tension spring. The push rod is rotatably connected to one end of the steering plate via a rotating shaft. The middle part of the steering plate is connected to the release locking housing via a rotating shaft, and the other end is connected to the wedge block via a rotating shaft. The wedge block is placed in the through holes on both sides of the locking housing for locking. The base of the second hydraulic cylinder is fixed in the tool magazine; when the tool disc in the rotating tool magazine unit is rotated to the lowest position, it is coaxial with the locking disc in the locking and positioning unit. By controlling the extension and retraction of the second hydraulic cylinder, the tool end can be docked with and unlocked from the AUV in the locking and positioning unit.

3. A tool changing device for an underwater AUV, characterized in that... Apply the component as described in claim 2, and, The deformable guide cover is made of plastic material; Several strip-shaped through holes are arranged in an array along the circumference of the cover plate to reduce resistance and weight; Multiple hydraulic cylinders are distributed along the circumference of the deformable guide cover. The guide cover and hydraulic cylinders are fixed on the support frame. The deformation of the deformable guide cover is controlled by the extension and retraction of the hydraulic cylinders. The hydraulic cylinders can be controlled by the hydraulic system and can adjust the extension and retraction of the hydraulic cylinders according to the pressure sensor values ​​on the AUV to adjust the shape of the deformable guide cover.

4. The underwater AUV tool changing device according to claim 3, characterized in that: The locking and positioning unit drives the worm gear of the second motor to rotate the locking inner plate, causing the locking slider to slide along the guide rail, thereby locking or releasing the AUV. The first motor drives the gear on the positioning frame to rotate the entire locking plate circumferentially, thereby adjusting the circumferential position of the AUV in the locked state.

5. The underwater AUV tool changing device according to claim 4, characterized in that: The tool tray in the rotating tool magazine unit is embedded into the tool tray housing by two symmetrically distributed bearings. The rotation of the entire tool tray is driven by a third motor and gears, which rotates the required tool magazine to a position coaxial with the locking and positioning unit. By controlling the extension and retraction of the tool storage and retrieval structure, the tool magazine end and the AUV end are connected to achieve the replacement of different tools.

6. The underwater AUV tool changing device according to claim 5, characterized in that: The extension and retraction of the tool access structure are implemented according to the following path: When locked, the steering plate drives the connected steering cam to rotate together. When it rotates to the far rest area of ​​the steering cam, it pushes the push rods on both sides to move outward, and at the same time drives the connecting rod to rotate around the shaft on the release locking housing, locking the wedge block at one end of the connecting rod into the slot at the tool end. To unlock, rotate the steering cam to near the rest area, the tension spring contracts, pull the two push rods, pull out the wedge block to complete the unlocking, and then remove the tool end.

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