A flexible recovery system and method for multi-diameter AUV docking and locking

Abstract

The application discloses a flexible recovery system and method for multi-diameter AUV docking locking, and the flexible recovery system comprises a first driving device, a driving disc, a fixed plate, a plurality of sliding rods, a plurality of connecting arms and a plurality of flexible arms, wherein the first driving device is connected with the driving disc; the driving disc is rotatably connected with the fixed plate; the fixed plate is circumferentially provided with a plurality of guide grooves, the length direction of each guide groove is along the radial direction of the fixed plate; each guide groove is provided with a sliding rod, one end of the sliding rod is provided with a protrusion, and the other end of the sliding rod is connected with a connecting arm; one end of each connecting arm, which is away from the sliding rod, is connected with a flexible arm; the driving disc is provided with a plurality of driving grooves, the protrusion of each sliding rod is arranged in the corresponding driving groove; and the end of each flexible arm is provided with a second driving device for driving the flexible arm to lock the AUV. The flexible recovery system is simple and reliable in structure, convenient to adjust, and can be used for multi-diameter AUV docking locking based on the variable-diameter structure and the negative pressure adsorption principle.

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