An adaptive AUV-specification launch and recovery device

Abstract

This invention discloses an adaptive AUV deployment and recovery device, comprising a main platform and a primary salvage mechanism and a deployment and storage mechanism housed within the main platform. The primary salvage mechanism includes a salvage lifting assembly and a salvage base plate. The deployment and storage mechanism includes a wheel storage assembly, multiple deployment units, and a transfer assembly. The transfer assembly is located above the salvage base plate, with wheel rotation assemblies on both sides of the transfer assembly. The movable end of the transfer assembly is equipped with a first mechanical claw unit. The multiple deployment units are located outside the wheel storage assembly, and each deployment unit is equipped with a second mechanical claw unit. The primary salvage mechanism retrieves the AUV equipment from the sea surface, reducing the interference of waves on the operation. Through the cooperation of the wheel storage assembly and multiple deployment units, the cyclic storage and rapid deployment of the AUV equipment are achieved, thereby greatly improving the efficiency of AUV salvage and deployment.

Description

Technical Field

[0001] This invention relates to the field of AUV recovery device technology, and more particularly to an adaptive AUV specification delivery and recovery device. Background Technology

[0002] As an advanced underwater robot, the AUV (Autonomous Underwater Vehicle) possesses the ability to autonomously plan paths, avoid obstacles, adapt to environmental changes, and complete predetermined tasks by incorporating various sensors, navigation systems, and control algorithms. AUVs have broad application prospects in underwater surveying, scientific research, and deep-sea exploration. They can efficiently and accurately perform underwater tasks and collect vast amounts of underwater data, which is of great significance for gaining a deeper understanding of the marine environment, resource assessment, and geological surveying.

[0003] Traditional AUV deployment and recovery methods typically involve manual deployment or deployment from a mother ship. However, manual deployment can pose safety hazards to personnel in complex sea conditions. Secondly, while deployment from a mother ship is a feasible method, it is extremely time-consuming and costly, and its operation is limited by the mother ship's location and capabilities. Therefore, several new AUV deployment and recovery methods have emerged in recent years, but they still have some shortcomings. For example, when using rigid mechanical claws for recovery, surface fluctuations can cause the claws to collide with the glider, resulting in damage. While flexible mechanical claws can reduce such collisions to some extent, their salvage capacity may be insufficient when handling heavy AUVs. Furthermore, while using cranes or helicopters for deployment and recovery has its unique advantages, it also presents the problem of not being able to quickly adjust the deployment angle and direction, thus affecting the efficiency of AUV deployment and recovery.

[0004] In summary, the current deployment and recovery methods for AUV equipment have certain limitations in terms of efficiency and versatility, making it difficult to meet the needs of complex and ever-changing marine environments and high-efficiency operations. Summary of the Invention

[0005] The purpose of this invention is to provide an adaptive AUV specification delivery and recovery device to solve one or more technical problems existing in the background art.

[0006] To achieve this objective, the present invention adopts the following technical solution:

[0007] An adaptive AUV specification deployment and recovery device includes a main platform and a primary retrieval mechanism and a deployment and storage mechanism disposed within the main platform, wherein the primary retrieval mechanism is located below the deployment and storage mechanism.

[0008] The primary salvage mechanism includes a salvage lifting assembly and a salvage base plate. The bottom of the main platform has a salvage inlet and a drop-out outlet. The salvage base plate covers the salvage inlet. The lifting assembly is located inside the main platform, and the lifting end of the lifting assembly is connected to the salvage base plate.

[0009] The delivery and storage mechanism includes a wheel storage component, multiple delivery units, and a transfer component. The transfer component is located above the salvage base plate, and the wheel rotation component is located on both sides of the transfer component. The movable end of the transfer component is provided with a first mechanical claw unit. The multiple delivery units are located on the outside of the wheel storage component, and each delivery unit is provided with a second mechanical claw unit.

[0010] During retrieval, the retrieval lifting assembly lowers the retrieval base plate. After the AUV equipment is docked on the retrieval base plate, the retrieval lifting assembly raises the retrieval base plate to cover the retrieval entrance. The transfer assembly drives the first mechanical claw unit to grab the AUV equipment on the retrieval base plate. The wheel rotation assembly rotates the idle delivery unit to the side closer to the transfer assembly. The idle delivery unit grabs the AUV equipment on the first mechanical claw unit through the second mechanical claw unit, and rotates to a position away from the transfer assembly under the drive of the wheel rotation assembly to complete the retrieval and storage.

[0011] During deployment, the wheel storage component moves the deployment unit containing the AUV device to the deployment outlet. The deployment unit then slides the AUV device, while the second mechanical gripper unit releases, allowing the AUV device to be deployed from the deployment outlet with an initial velocity.

[0012] Preferably, the lifting assembly includes a lifting slide rail, a lifting rack, a lifting motor, a drive gear, two driven gears, a steering gear, a lifting bracket, and a first fixed seat. The retrieval base plate is mounted on the lifting bracket, the lifting rack is mounted on the outside of the lifting bracket, the lifting slide rail is vertically mounted inside the main platform, the lifting rack is connected to the slider of the lifting guide rail, the drive gear and the two driven gears are arranged vertically and vertically and fixed inside the main platform by the first fixed seat, the shaft end of the lifting motor is connected to the drive gear, the drive gear meshes with one of the driven gears, the steering gear is located between the two driven gears, and both driven gears mesh with the lifting rack and the steering gear.

[0013] The salvage base plate is provided with multiple evenly arranged fork structures, and the salvage base plate is also provided with multiple through-holes for drainage.

[0014] Preferably, the transfer assembly includes a steering component, a salvage robotic arm, and a wrist connection component, wherein the steering component is located above the salvage base plate;

[0015] The salvage robotic arm includes a first main arm, a first auxiliary arm, a joint fixing plate, multiple first joint rotation structures, a second main arm, a second auxiliary arm, and a control console. The control console is located at the movable end of the steering component. Both ends of the first main arm are hinged to the control console and the joint fixing plate respectively through the first joint rotation structures. The first auxiliary arm is arranged parallel to the first main arm. One end of the second main arm is hinged to the joint fixing plate through the first joint rotation structures. The other end of the second main arm is connected to the wrist connecting component. The second auxiliary arm is arranged parallel to the second main arm. The wrist connecting component is used for movable connection with the first robotic claw unit.

[0016] Preferably, the wrist connection component includes a wrist magnetic connector, a wrist magnetic switch component, and a wrist connection seat. The wrist connection seat is connected to the second main arm and the second auxiliary arm. The wrist magnetic switch component is provided on the inner side of the wrist connection seat. The wrist magnetic connector is magnetically connected to the wrist magnetic switch component. The wrist magnetic connector is connected to the first mechanical claw unit.

[0017] Preferably, the steering component includes a rotary driver, an annular rotary support, a turntable magnetic connector, a lateral movement module, a lateral movement slider, and a lateral movement rail. The rotary driver is located within the main platform, the annular rotary support is located at the movable end of the rotary driver, the two ends of the lateral movement module are magnetically connected to the annular rotary support via the turntable magnetic connector, the lateral movement module is provided with a lateral movement rail, the lateral movement slider slidably connected on the lateral movement rail is used to connect with the control console, the two ends of the lateral movement rail are provided with lateral movement limiting structures, and the lateral movement module is a double slider module.

[0018] Preferably, the wheel rotation assembly includes a support member, a wheel motor, a spline sleeve, a second fixing seat, and a hexagonal wheel bracket. The wheel motor is fixed within the main platform by the support member and located on both sides of the transfer assembly. The drive shaft of the wheel motor is fitted with the spline sleeve. The hexagonal wheel bracket has a mating hole in the middle that matches the shape of the spline sleeve. The spline sleeve corresponds to the mating hole. A fixing cap is provided at the end of the mating hole. The second fixing seat is located outside the drive shaft of the wheel motor. Multiple rotating connecting arms are provided outside the second fixing seat. The second fixing seat is connected to the hexagonal wheel bracket through the multiple rotating connecting arms. The rotating connecting arms are also used to connect to the delivery unit.

[0019] Preferably, the delivery unit includes a delivery platform, a delivery slide rail, a secondary hydraulic cylinder, and a redirecting component. The delivery platform is located at the movable end of the redirecting component, the secondary hydraulic cylinder is located on the delivery platform, the delivery slide rail is arranged parallel to the secondary hydraulic cylinder on the delivery platform, and delivery limiting structures are provided at both ends of the delivery slide rail. The delivery slider slidably connected on the delivery slide rail is connected to the primary telescopic rod and the secondary telescopic rod of the secondary hydraulic cylinder, respectively. The second mechanical claw unit is located on the delivery slider.

[0020] The redirection component includes a fixed arm, a swing arm, a second joint rotation structure, and a fixed block. The fixed block is located at the bottom of the delivery platform and is connected to one end of the swing arm. The other end of the swing arm is provided with a redirection hinge. One end of the fixed arm is connected to the rotating connecting arm, and the other end of the fixed arm is movably connected to the redirection hinge through the second joint rotation structure.

[0021] Preferably, both the first and second mechanical claw units are eagle claw-shaped bionic mechanical claw structures. The eagle claw-shaped bionic mechanical claw structure includes a claw connecting seat and multiple front claw supports and rear claw supports disposed on the claw connecting seat. The front claw support includes a first connecting rod, a second connecting rod, and a claw hand that are hinged in sequence. Force sensors are provided on both sides of the claw hand, and multiple flexible particles are provided on the inner side of the claw hand. The rear claw support includes a third connecting rod and a claw hand. Flexible adaptive structures are provided on the inner sides of the first connecting rod, the second connecting rod, and the third connecting rod.

[0022] Preferably, the main platform includes a salvage transfer compartment and a storage and delivery compartment. The storage and delivery compartment is located on both sides of the salvage transfer compartment. The transfer component and the primary salvage mechanism are arranged vertically within the salvage transfer compartment. The wheel storage component is located within the storage and delivery compartment. The delivery inlet is located at the bottom of the salvage transfer compartment. The delivery outlet is located at the bottom of the storage and delivery compartment. The delivery outlet is equipped with a telescopic bottom plate.

[0023] Preferably, it also includes a first visual sensor, a second visual sensor, an infrared detector, and a pressure sensor. The first visual sensor is located on the front side of the main platform, the second visual sensor and the pressure sensor are both located on the first and second mechanical claw units, and the infrared detector is located at the deployment outlet. The first visual sensor is used to obtain the location of the AUV equipment to be recovered at sea, the second visual sensor is used to obtain the location of the AUV equipment on the salvage bottom plate, and the infrared detector and the pressure sensor are used to determine whether an AUV equipment is stored on the deployment unit near the deployment outlet.

[0024] The beneficial effects of this invention are as follows: By setting up a primary salvage mechanism and a deployment and storage mechanism, this invention effectively improves the deployment and retrieval efficiency of AUV equipment. The primary salvage mechanism first retrieves the AUV equipment from the sea surface, reducing the interference of waves on the operation. Subsequently, the eagle-claw-shaped bionic mechanical claw structure on the deployment and storage mechanism grasps the AUV equipment, which not only allows for flexible movement of the AUV equipment between the primary salvage mechanism and the deployment and storage mechanism, but also adapts to different sizes of AUVs, significantly enhancing versatility. In addition, through the cooperation of the wheel storage component and multiple deployment units, the cyclic storage and rapid deployment of AUV equipment are realized, thereby greatly improving the salvage and deployment efficiency of AUV equipment. Attached Figure Description

[0025] The accompanying drawings further illustrate the present invention, but the content of the drawings does not constitute any limitation on the present invention.

[0026] Figure 1 This is a schematic diagram of the overall structure of an adaptive AUV-specification delivery and recovery device according to the present invention;

[0027] Figure 2 This is a front view of the adaptive AUV specification delivery and recovery device of the present invention.

[0028] Figure 3 This is a side view of an adaptive AUV-specification delivery and recovery device according to the present invention.

[0029] Figure 4 This is a schematic diagram illustrating a scenario application of the adaptive AUV specification delivery and recovery device of the present invention;

[0030] Figure 5 This is a schematic diagram of the steering component of an adaptive AUV-specification delivery and retrieval device according to the present invention;

[0031] Figure 6 This is a schematic diagram of the structure of the retrieval robotic arm of an adaptive AUV-specification delivery and retrieval device according to the present invention;

[0032] Figure 7 This is a schematic diagram of the eagle claw-shaped bionic mechanical claw structure of an adaptive AUV-specification delivery and retrieval device according to the present invention.

[0033] Figure 8 This is a schematic diagram of the primary retrieval mechanism of an adaptive AUV-specification deployment and retrieval device according to the present invention;

[0034] Figure 9 This is a schematic diagram of the working state of the primary retrieval mechanism of an adaptive AUV-specification deployment and retrieval device according to the present invention.

[0035] Figure 10This is a schematic diagram of the delivery and storage mechanism of an adaptive AUV-specification delivery and retrieval device according to the present invention;

[0036] Figure 11 This is a schematic diagram of the delivery unit of an adaptive AUV-specification delivery and retrieval device according to the present invention;

[0037] Figure 12 This is a schematic diagram of the storage operation state of an adaptive AUV-specification delivery and retrieval device according to the present invention.

[0038] The components include: 1. Main platform; 2. First vision sensor; 3. Steering component; 3.1 Annular rotating bracket; 3.2 Turntable magnetic connector; 3.3 Lateral movement module; 3.4 Lateral movement limiting structure; 3.5 Lateral movement slider; 3.6 Lateral movement rail; 4. Salvage lifting assembly: 4.1 Lifting rail; 4.2 Lifting rack; 4.3 Lifting motor; 4.4 Drive gear; 4.5 Driven gear; 4.6 Steering gear; 4.7 Lifting bracket; 4.8 First fixed seat; 5. Wheel rotating assembly: 5.1 Wheel motor; 5.2 Drive shaft. 5.3 Spline sleeve; 5.4 Second fixed seat; 5.5 Fixed cap; 5.6 Rotating connecting arm; 5.7 Hexagonal wheel bracket; 6 Infrared detector; 7. Primary salvage mechanism: 7.1 Fork structure; 7.2 Drain hole; 7.3 Salvage base plate; 8. Transfer assembly; 8.1 First main arm; 8.2 First auxiliary arm; 8.3 Joint fixing plate; 8.4 First joint rotation structure; 8.5 Second main arm; 8.6 Second auxiliary arm; 8.7 Control console; 9. Deployment and storage mechanism; 9.1 Deployment limiting structure; 9.2 Deployment slide rail; 9 9.3. Launching platform; 9.4. Launching slider; 9.5. Secondary telescopic rod; 9.6. Primary telescopic rod; 9.7. Secondary hydraulic cylinder; 9.8. Hydraulic control components; 9.9. Hydraulic oil pipes; 10. Redirecting components; 10.1. Fixing block; 10.2. Second joint rotation structure; 10.3. Redirecting hinge; 10.4. Swing arm; 10.5. Fixing arm; 11. Support component; 12. Pressure sensor; 13. AUV equipment; 14. Connecting column; 15. Wrist connection components; 15.1. Wrist magnetic connector; 15.2. Wrist magnetic connector. 15.3 Switching component; 16. Wrist connector; 17. Eagle claw-shaped bionic mechanical claw structure; 18. Claw connector; 19. Mechanical claw control component; 10.2 Second vision sensor; 10.3 Front claw support; 11.41 First link; 12.2 Second link; 10.43 Third link; 11.44 Force sensor; 12.45 Claw hand; 13.46 Flexible particles; 14.47 Flexible adaptive structure; 15.5 Rear claw support; 16.5 Storage and delivery compartment; 17. Salvage and transfer compartment; 18. Telescopic base plate. Detailed Implementation

[0039] The technical solution of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0040] This embodiment describes an adaptive AUV-specification delivery and retrieval device, as shown in the attached diagram. Figure 1-3 12, including the main platform 1 and the primary salvage mechanism 7 and the delivery and storage mechanism 9 located within the main platform 1, with the primary salvage mechanism 7 located below the delivery and storage mechanism 9;

[0041] The primary salvage mechanism 7 includes a salvage lifting component 4 and a salvage base plate 7.3. The bottom of the main platform 1 is provided with a salvage entrance and a drop-out entrance. The salvage base plate 7.3 covers the salvage entrance. The lifting component is located inside the main platform 1, and the lifting end of the lifting component is connected to the salvage base plate 7.3.

[0042] The delivery and storage mechanism 9 includes a wheel storage component, multiple delivery units, and a transfer component 8. The transfer component 8 is located above the salvage bottom plate 7.3. The wheel rotation component 5 is located on both sides of the transfer component 8. The movable end of the transfer component 8 is equipped with a first mechanical claw unit. The multiple delivery units are located on the outside of the wheel storage component, and each delivery unit is equipped with a second mechanical claw unit.

[0043] During retrieval, the retrieval lifting assembly 4 lowers the retrieval base plate 7.3. After the AUV equipment 13 is docked on the retrieval base plate 7.3, the retrieval lifting assembly 4 raises the retrieval base plate 7.3 to cover the retrieval entrance. The transfer assembly 8 drives the first mechanical claw unit to grab the AUV equipment 13 on the retrieval base plate 7.3. The wheel rotation assembly 5 rotates the idle delivery unit to the side closer to the transfer assembly 8. The idle delivery unit grabs the AUV equipment 13 on the first mechanical claw unit through the second mechanical claw unit, and rotates to a position away from the transfer assembly 8 under the drive of the wheel rotation assembly 5 to complete the retrieval and storage.

[0044] During deployment, the wheel storage component moves the deployment unit containing the AUV device 13 to the deployment outlet. The deployment unit causes the AUV device 13 to slide, and at the same time, the second mechanical gripper unit releases, so that the AUV device 13 has an initial velocity and is deployed from the deployment outlet.

[0045] This embodiment effectively improves the deployment and retrieval efficiency of the AUV device 13 by setting up a primary salvage mechanism 7 and a deployment and storage mechanism 9. The primary salvage mechanism 7 first salvages the AUV device 13 from the sea surface, reducing the interference of waves on the operation. Subsequently, the first and second mechanical claw units on the deployment and storage mechanism 9 grasp the AUV device 13, which not only allows the AUV device 13 to move flexibly between the primary salvage mechanism 7 and the deployment and storage mechanism 9, but also adapts to different sizes of AUVs, significantly enhancing its versatility. In addition, through the cooperation of the rotary storage component and multiple deployment units, the cyclic storage and rapid deployment of the AUV device 13 are realized, thereby greatly improving the salvage and deployment efficiency of the AUV device 13.

[0046] Preferred options are listed in the appendix. Figure 8 and 9 The lifting assembly includes a lifting slide rail 4.1, a lifting rack 4.2, a lifting motor 4.3, a drive gear 4.4, two driven gears 4.5, a steering gear 4.6, a lifting bracket 4.7, and a first fixed seat 4.8. The retrieval base plate 7.3 is mounted on the lifting bracket 4.7. The lifting rack 4.2 is located on the outside of the lifting bracket 4.7. The lifting slide rail 4.1 is vertically mounted inside the main platform 1. The lifting rack 4.2 is connected to the slider of the lifting guide rail. The drive gear 4.4 and the two driven gears 4.5 are arranged vertically and fixed inside the main platform 1 by the first fixed seat 4.8. The shaft end of the lifting motor 4.3 is connected to the drive gear 4.4. The drive gear 4.4 meshes with one of the driven gears 4.5. The steering gear 4.6 is located between the two driven gears 4.5. Both driven gears 4.5 mesh with the lifting rack 4.2 and the steering gear 4.6. By setting up a lifting assembly to drive the lifting and lowering movement of the salvage base plate 7.3, the initial salvage of the AUV equipment 13 is achieved, so that the AUV equipment 13 is away from the sea surface, thereby reducing the impact of waves on the first and second mechanical claw units during the salvage operation. All gears are helical gears, which ensures the stability and support of the movement while enabling the primary salvage mechanism 7 to move quickly and vertically.

[0047] The salvage base plate 7.3 is equipped with multiple evenly arranged fork structures 7.1, and also has multiple through-holes 7.2. The evenly arranged fork structures 7.1 ensure dynamic fixation during the initial salvage of the AUV equipment 13, creating a certain height difference between the AUV equipment 13 and the bottom of the salvage base plate 7.3, facilitating subsequent gripping by the first mechanical claw unit. The drainage holes 7.2 are used to drain seawater from the salvage base plate 7.3.

[0048] Preferred options are listed in the appendix. Figure 5 and 6The transfer component 8 includes a steering component 3, a salvage robotic arm, and a wrist connection component 15. The steering component 3 is located above the salvage base plate 7.3.

[0049] The salvage robotic arm includes a first main arm 8.1, a first auxiliary arm 8.2, a joint fixing plate 8.3, multiple first joint rotating structures 8.4, a second main arm 8.5, a second auxiliary arm 8.6, and a control console 8.7. The control console 8.7 is located at the movable end of the steering component 3. The two ends of the first main arm 8.1 are hinged to the control console 8.7 and the joint fixing plate 8.3 respectively through the first joint rotating structures 8.4. The first auxiliary arm 8.2 is arranged parallel to the first main arm 8.1, and the two ends of the first auxiliary arm 8.2 are connected to the control console 8.7 respectively through the first joint rotating structures 8.4. The first main arm 8.1 is hinged to the joint fixing plate 8.3. One end of the second main arm 8.5 is hinged to the joint fixing plate 8.3 via the first joint rotation structure 8.4, and the other end of the second main arm 8.5 is connected to the wrist connecting component 15. The second auxiliary arm 8.6 is arranged parallel to the second main arm 8.5. One end of the second auxiliary arm 8.6 shares the same first joint rotation structure 8.4 with the second main arm 8.5 and is hinged to the joint fixing plate 8.3. The other end of the second main arm 8.5 is connected to the wrist connecting component 15, which is used to movably connect with the first mechanical claw unit. Thus, by setting up the first main arm 8.1, the first auxiliary arm 8.2, the joint fixing plate 8.3, multiple first joint rotation structures 8.4, the second main arm 8.5, the second auxiliary arm 8.6, and the control console 8.7, a salvage robotic arm is formed, which can drive the first mechanical claw unit to move on the salvage base plate 7.3, the salvage transfer compartment 18, and the storage and delivery compartment 17, achieving high flexibility.

[0050] Preferably, the wrist connection component 15 includes a wrist magnetic connector 15.1, a wrist magnetic switch component 15.2, and a wrist connection seat 15.3. The wrist connection seat 15.3 is connected to the second main arm 8.5 and the second auxiliary arm 8.6. The wrist magnetic switch component 15.2 is provided on the inner side of the wrist connection seat 15.3. The wrist magnetic connector 15.1 and the wrist magnetic switch component 15.2 are magnetically connected. The wrist magnetic connector 15.1 is connected to the first mechanical claw unit. Thus, the connection between the first mechanical claw unit and the retrieval robotic arm is realized through the wrist magnetic connector 15.1 and the wrist magnetic switch component 15.2.

[0051] Preferably, the steering component 3 includes a rotary driver, an annular rotating bracket 3.1, a turntable magnetic connector 3.2, a transverse module 3.3, a transverse slider 3.5, and a transverse rail 3.6. The rotary driver is located inside the main platform 1, the annular rotating bracket 3.1 is located at the movable end of the rotary driver, and both ends of the transverse module 3.3 are magnetically connected to the annular rotating bracket 3.1 via the turntable magnetic connector 3.2. The transverse module 3.3 is equipped with a transverse rail 3.6, and the transverse slider 3.5, which is slidably connected to the transverse rail 3.6, is used to connect to the control console 8.7. Both ends of the transverse rail 3.6 are equipped with transverse limiting structures 3.4. The transverse module 3.3 is a double slider module. Thus, by rotating the annular rotating bracket 3.1 driven by the rotary driver, the angle of the retrieval robotic arm can be changed, thereby facilitating the adjustment of the angle of the AUV equipment 13 grasped by the first robotic claw unit.

[0052] Preferred options are listed in the appendix. Figure 10 The roulette wheel rotation assembly 5 includes a support member 11, a roulette wheel motor 5.1, a spline sleeve 5.3, a second fixed seat 5.4, and a hexagonal roulette wheel bracket 5.7. The roulette wheel motor 5.1 is fixed in the main platform 1 and located on both sides of the transfer assembly 8 by the support member 11 and the connecting column 14. The drive shaft 5.2 of the roulette wheel motor 5.1 is fitted with a spline sleeve 5.3. The hexagonal roulette wheel bracket 5.7 has a mating hole in the middle that matches the shape of the spline sleeve 5.3. The spline sleeve 5.3 corresponds to the mating hole. The end of the mating hole is covered with a fixing cap 5.5. The second fixed seat 5.4 is located on the outside of the drive shaft 5.2 of the roulette wheel motor 5.1. The outside of the second fixed seat 5.4 is provided with multiple rotating connecting arms 5.6. The second fixed seat 5.4 is connected to the hexagonal roulette wheel bracket 5.7 through the multiple rotating connecting arms 5.6. The rotating connecting arms 5.6 are also used to connect to the delivery unit. By setting a wheel motor 5.1 to drive the rotation of the hexagonal wheel bracket 5.7, compared with the traditional gear-driven wheel rotation mechanism, this can reduce energy loss and have higher transmission efficiency. At the same time, the hexagonal wheel bracket 5.7 is equipped with six dispensing units, which can be fixed at 60° intervals on the outside of the hexagonal wheel bracket 5.7, so as to make reasonable space layout and expand the dispensing and storage capacity of this embodiment.

[0053] Preferred options are listed in the appendix. Figure 11The delivery unit includes a delivery platform 9.3, a delivery slide rail 9.2, a secondary hydraulic cylinder, and a redirecting component 10. The delivery platform 9.3 is located at the movable end of the redirecting component 10. The secondary hydraulic cylinder 9.7 is located on the delivery platform 9.3. The secondary hydraulic cylinder 9.7 is equipped with a hydraulic oil pipe 9.9 and a hydraulic control component 9.8. The delivery slide rail 9.2 is arranged parallel to the secondary cylinder on the delivery platform 9.3. Delivery limiting structures 9.1 are provided at both ends of the delivery slide rail 9.2. The delivery slider 9.4, which is slidably connected on the delivery slide rail 9.2, is connected to the primary telescopic rod 9.6 and the secondary telescopic rod 9.5 of the secondary hydraulic cylinder 9.7, respectively. The second mechanical claw unit is located on the delivery slider 9.4. By setting up a delivery unit, when the AUV device 13 is delivered, the hydraulic control component 9.8 can control the secondary hydraulic cylinder 9.7, so that the action of the secondary hydraulic cylinder 9.7 provides axial force to the AUV device 13. At the same time, the second mechanical gripper unit releases the AUV device 13, thus enabling the AUV device 13 to be delivered at a certain initial velocity.

[0054] The redirection component 10 includes a fixed arm 10.5, a swing arm 10.4, a second joint rotation structure 10.2, and a fixed block 10.1. The fixed block 10.1 is located at the bottom of the delivery platform 9.3 and is connected to one end of the swing arm 10.4. The other end of the swing arm 10.4 is provided with a redirection hinge 10.3. One end of the fixed arm 10.5 is connected to the rotating connecting arm 5.6, and the other end of the fixed arm 10.5 is movably connected to the redirection hinge 10.3 through the second joint rotation structure 10.2. Thus, by setting up the redirection component 10, the angle of the AUV device 13 can be adjusted when the AUV device 13 is delivered, so that the head of the AUV device 13 tilts towards the delivery outlet, which facilitates delivery. In conjunction with the secondary hydraulic cylinder 9.7, the AUV device 13 can be delivered with a certain initial velocity.

[0055] Preferred options are listed in the appendix. Figure 7Both the first and second mechanical claw units are eagle claw-shaped bionic mechanical claw structures 16. The eagle claw-shaped bionic mechanical claw structure 16 includes a claw connecting seat 16.1 and multiple front claw supports 16.4 and rear claw supports 16.5 disposed on the claw connecting seat 16.1. The front claw support 16.4 includes a first connecting rod 16.41, a second connecting rod 16.42 and a claw hand 16.45 that are hinged in sequence. Force sensors 16.44 are provided on both sides of the claw hand 16.45, and multiple flexible particles 16.46 are provided on the inner side of the claw hand 16.45. The rear claw support 16.5 includes a third connecting rod 16.43 and a claw hand 16.45. Flexible adaptive structures 16.47 are provided on the inner sides of the first connecting rod 16.41, the second connecting rod 16.42 and the third connecting rod 16.43. By designing a talisman-shaped bionic mechanical claw structure 16 that combines flexibility and rigidity, damage to the AUV during retrieval is avoided while ensuring the strength of the talisman-shaped bionic mechanical claw structure 16. Combined with a second visual sensor 16.3 and a force sensor 16.44, the talisman-shaped bionic mechanical claw structure 16 can achieve adaptive grasping. The talisman-shaped bionic mechanical claw structure 16, which mimics the talisman and human finger joints through bionic technology, has three front claw supports 16.4, one fixed in the center and two fixed to the left and right at a 45° angle. A rear claw support 16.5 is centrally located to ensure the balance of force and stability of the mechanical claw during retrieval. The movement of the front claw support 16.4 and the rear claw support 16.5 is controlled by the mechanical claw control component 16.2.

[0056] Preferably, the main platform 1 includes a salvage transfer compartment 18 and a storage and delivery compartment 17. The storage and delivery compartment 17 is located on both sides of the salvage transfer compartment 18. The transfer component 8 and the primary salvage mechanism 7 are arranged vertically inside the salvage transfer compartment 18. The wheel storage component is located inside the storage and delivery compartment 17. The delivery inlet is located at the bottom of the salvage transfer compartment 18, and the delivery outlet is located at the bottom of the storage and delivery compartment 17. The delivery outlet is equipped with a telescopic bottom plate 19.

[0057] Preferably, it also includes a first vision sensor 2, a second vision sensor 16.3, an infrared detector 6, and a pressure sensor 12. The first vision sensor 2 is located on the front side of the main platform 1. The second vision sensor 16.3 and the pressure sensor 12 are both located on the first and second mechanical claw units. The infrared detector 6 is located at the deployment outlet. The first vision sensor 2 is used to obtain the position of the AUV equipment 13 to be recovered at sea. The second vision sensor 16.3 is used to obtain the position of the AUV equipment 13 on the salvage bottom plate 7.3. The infrared detector 6 and the pressure sensor 12 are used to determine whether the AUV equipment 13 is stored on the deployment unit near the deployment outlet.

[0058] The working principle of this embodiment is as follows: (Refer to Appendix) Figure 4In this embodiment, the deployment and recovery device is fixed to the lifting end of a crane mechanism on the stern deck during deployment or recovery operations, and thus moves on the sea surface under the drive of the working vessel.

[0059] When recovering AUV equipment 13: The approximate location of the target AUV is obtained through the first vision sensor 2, and a signal is sent to control the deployment and steering component 3 and the storage mechanism to adjust the salvage and storage radius and the direction of the salvage robotic arm. When the target AUV equipment 13 reaches the salvage range of the primary salvage mechanism 7, the lifting motor 4.3 drives the drive gear 4.4 and driven gear 4.5 to mesh and transmit power, causing the lifting rack 4.2 to move downward, thereby lowering the lifting bracket 4.7 and the salvage base plate 7.3 below the sea surface. After the target AUV equipment 13 enters the salvage plate, the lifting motor 4.3 reverses its drive, causing the salvage base plate 7.3 to move upward in the salvage lifting assembly 4, so that the AUV leaves the sea surface, completing the initial salvage operation. Then, the second vision sensor 16.3 observes the specific location of the AUV after the initial retrieval and sends a signal to the transfer mechanism. Through the cooperation of the retrieval robotic arm and the first robotic claw unit, the AUV device 13 on the retrieval base plate 7.3 is grabbed and moved to the storage and delivery compartment 17 under the drive of the retrieval robotic arm. The wheel rotation assembly 5 drives the idle second robotic claw unit to move to a position close to the retrieval robotic arm. With the cooperation of the actions of the second robotic claw unit and the first robotic claw unit, the AUV device 13 is moved into the second robotic claw unit, completing the secondary retrieval of the AUV.

[0060] When storing AUV equipment 13: When the pressure sensor 12 on the second mechanical claw unit detects that AUV equipment 13 has been gripped, it sends a signal to the claw rear support 16.5 to lock it. Then, the wheel motor 5.1 rotates at a fixed angle, causing the hexagonal wheel bracket 5.7 to rotate, moving the idle second mechanical claw unit to a position close to the retrieval robot arm to prepare for the next retrieval and storage. At the same time, the second mechanical claw unit storing AUV equipment 13 is rotated to a position away from the retrieval robot arm to avoid interfering with subsequent retrieval operations.

[0061] When deploying the AUV device 13: The infrared detector and pressure sensor 12 jointly detect whether the second mechanical claw unit located near the deployment outlet has an AUV. Subsequently, the corresponding redirection component 10 adjusts the deployment angle using the swing arm 10.4. At the same time, the telescopic plate opens to open the deployment outlet, providing deployment space. The hydraulic control component 9.8 drives the secondary hydraulic cylinder 9.7 to move, causing the primary telescopic rod 9.6 and the secondary telescopic rod 9.5 to move the deployment slider 9.4. At the moment of deployment, the claw's rear support 16.5 releases, allowing the AUV to be deployed with a certain initial velocity.

[0062] The technical principles of the present invention have been described above with reference to specific embodiments. These descriptions are merely for explaining the principles of the invention and should not be construed as limiting the scope of protection of the invention in any way. Based on this explanation, those skilled in the art can readily conceive of other specific embodiments of the invention without inventive effort, and these embodiments will all fall within the scope of protection of the present invention.

Claims

1. An adaptive AUV-specification delivery and retrieval device, characterized in that, It includes a main platform and a primary salvage mechanism and a deployment and storage mechanism located within the main platform, wherein the primary salvage mechanism is located below the deployment and storage mechanism; The primary salvage mechanism includes a salvage lifting assembly and a salvage base plate. The bottom of the main platform has a salvage inlet and a drop-out outlet. The salvage base plate covers the salvage inlet. The lifting assembly is located inside the main platform, and the lifting end of the lifting assembly is connected to the salvage base plate. The delivery and storage mechanism includes a wheel storage component, multiple delivery units, and a transfer component. The transfer component is located above the salvage base plate, and the wheel storage component is located on both sides of the transfer component. The movable end of the transfer component is provided with a first mechanical claw unit. The multiple delivery units are located on the outside of the wheel storage component, and each delivery unit is provided with a second mechanical claw unit. During retrieval, the salvage lifting assembly lowers the salvage base plate. After the AUV equipment is docked on the salvage base plate, the salvage lifting assembly raises the salvage base plate to cover the salvage entrance. The transfer assembly drives the first mechanical claw unit to grab the AUV equipment on the salvage base plate. The wheel storage assembly rotates the idle delivery unit to the side closer to the transfer assembly. The idle delivery unit grabs the AUV equipment on the first mechanical claw unit through the second mechanical claw unit, and rotates to a position away from the transfer assembly under the drive of the wheel storage assembly to complete the retrieval and storage. During deployment, the wheel storage component moves the deployment unit containing the AUV device to the deployment outlet. The deployment unit then slides the AUV device, while the second mechanical gripper unit releases, allowing the AUV device to be deployed from the deployment outlet with an initial velocity.

2. The adaptive AUV specification delivery and recovery device according to claim 1, characterized in that, The lifting assembly includes a lifting slide rail, a lifting rack, a lifting motor, a drive gear, two driven gears, a steering gear, a lifting bracket, and a first fixed seat. The retrieval base plate is mounted on the lifting bracket, the lifting rack is mounted on the outside of the lifting bracket, the lifting slide rail is vertically mounted inside the main platform, the lifting rack is connected to the slider of the lifting slide rail, the drive gear and the two driven gears are arranged vertically and vertically and fixed inside the main platform by the first fixed seat, the shaft end of the lifting motor is connected to the drive gear, the drive gear meshes with one of the driven gears, the steering gear is located between the two driven gears, and both driven gears mesh with the lifting rack and the steering gear. The salvage base plate is provided with multiple evenly arranged fork structures, and the salvage base plate is also provided with multiple through-holes for drainage.

3. The adaptive AUV specification delivery and retrieval device according to claim 1, characterized in that, The transfer assembly includes a steering component, a salvage robotic arm, and a wrist connection component, with the steering component positioned above the salvage base plate; The salvage robotic arm includes a first main arm, a first auxiliary arm, a joint fixing plate, multiple first joint rotation structures, a second main arm, a second auxiliary arm, and a control console. The control console is located at the movable end of the steering component. Both ends of the first main arm are hinged to the control console and the joint fixing plate respectively through the first joint rotation structures. The first auxiliary arm is arranged parallel to the first main arm. One end of the second main arm is hinged to the joint fixing plate through the first joint rotation structures. The other end of the second main arm is connected to the wrist connecting component. The second auxiliary arm is arranged parallel to the second main arm. The wrist connecting component is used for movable connection with the first robotic claw unit.

4. The adaptive AUV specification delivery and recovery device according to claim 3, characterized in that, The wrist connection component includes a wrist magnetic connector, a wrist magnetic switch component, and a wrist connection seat. The wrist connection seat is connected to the second main arm and the second auxiliary arm. The wrist magnetic switch component is provided on the inner side of the wrist connection seat. The wrist magnetic connector is magnetically connected to the wrist magnetic switch component. The wrist magnetic connector is connected to the first mechanical claw unit.

5. The adaptive AUV specification delivery and recovery device according to claim 3, characterized in that, The steering component includes a rotary driver, an annular rotary support, a turntable magnetic connector, a lateral movement module, a lateral movement slider, and a lateral movement rail. The rotary driver is located inside the main platform, and the annular rotary support is located at the movable end of the rotary driver. The two ends of the lateral movement module are magnetically connected to the annular rotary support through the turntable magnetic connector. The lateral movement module is provided with a lateral movement rail, and a lateral movement slider slidably connected to the lateral movement rail is used to connect to the control console. The two ends of the lateral movement rail are provided with lateral movement limiting structures, and the lateral movement module is a double slider module.

6. The adaptive AUV specification delivery and retrieval device according to claim 1, characterized in that, The roulette storage assembly includes a support, a roulette motor, a spline sleeve, a second fixing base, and a hexagonal roulette bracket. The roulette motor is fixed within the main platform by the support and located on both sides of the transfer assembly. The drive shaft of the roulette motor is fitted with the spline sleeve. The hexagonal roulette bracket has a mating hole in the middle that matches the shape of the spline sleeve. The spline sleeve corresponds to the mating hole. A fixing cap is provided at the end of the mating hole. The second fixing base is located outside the drive shaft of the roulette motor. Multiple rotating connecting arms are provided outside the second fixing base. The second fixing base is connected to the hexagonal roulette bracket through the multiple rotating connecting arms. The rotating connecting arms are also used to connect to the delivery unit.

7. The adaptive AUV specification delivery and retrieval device according to claim 6, characterized in that, The delivery unit includes a delivery platform, a delivery slide rail, a secondary hydraulic cylinder, and a redirecting component. The delivery platform is located at the movable end of the redirecting component, the secondary hydraulic cylinder is located on the delivery platform, the delivery slide rail is arranged parallel to the secondary hydraulic cylinder on the delivery platform, and delivery limiting structures are provided at both ends of the delivery slide rail. The delivery slider slidably connected on the delivery slide rail is connected to the primary telescopic rod and the secondary telescopic rod of the secondary hydraulic cylinder, respectively. The second mechanical claw unit is located on the delivery slider. The redirection component includes a fixed arm, a swing arm, a second joint rotation structure, and a fixed block. The fixed block is located at the bottom of the delivery platform and is connected to one end of the swing arm. The other end of the swing arm is provided with a redirection hinge. One end of the fixed arm is connected to the rotating connecting arm, and the other end of the fixed arm is movably connected to the redirection hinge through the second joint rotation structure.

8. The adaptive AUV specification delivery and recovery device according to claim 1, characterized in that, Both the first and second mechanical claw units are eagle claw-shaped bionic mechanical claw structures. The eagle claw-shaped bionic mechanical claw structure includes a claw connecting seat and multiple front claw supports and rear claw supports disposed on the claw connecting seat. The front claw support includes a first connecting rod, a second connecting rod, and a claw hand that are hinged in sequence. Force sensors are provided on both sides of the claw hand, and multiple flexible particles are provided on the inner side of the claw hand. The rear claw support includes a third connecting rod and a claw hand. Flexible adaptive structures are provided on the inner sides of the first connecting rod, the second connecting rod, and the third connecting rod.

9. The adaptive AUV specification delivery and retrieval device according to claim 1, characterized in that, The main platform includes a salvage transfer compartment and a storage and delivery compartment. The storage and delivery compartment is located on both sides of the salvage transfer compartment. The transfer component and the primary salvage mechanism are arranged vertically inside the salvage transfer compartment. The wheel storage component is located inside the storage and delivery compartment. The salvage inlet is located at the bottom of the salvage transfer compartment. The delivery outlet is located at the bottom of the storage and delivery compartment. The delivery outlet is equipped with a telescopic bottom plate.

10. The adaptive AUV specification delivery and retrieval device according to claim 1, characterized in that, It also includes a first vision sensor, a second vision sensor, an infrared detector, and a pressure sensor. The first vision sensor is located on the front side of the main platform, the second vision sensor and the pressure sensor are both located on the first and second mechanical claw units, and the infrared detector is located at the deployment outlet. The first vision sensor is used to obtain the location of the AUV equipment to be recovered at sea, the second vision sensor is used to obtain the location of the AUV equipment on the salvage bottom plate, and the infrared detector and the pressure sensor are used to determine whether there is an AUV equipment stored on the deployment unit near the deployment outlet.

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