Folding horn guide device for AUV underwater recovery device and operating method

Abstract

A folding horn guide device of an AUV underwater recovery device and an operating method, comprising a laminated plate structure, a slip ring, a connecting rod, a linear motion mechanism, a laminated plate cabin, a collision avoidance ring and an AUV storage cabin, the AUV storage cabin comprises a front cabin structure and a rear cabin structure, a laminated plate cabin is installed outside the recovery end of the AUV storage cabin, a slip ring is arranged between the AUV storage cabin and the laminated plate cabin, a plurality of uniformly distributed connecting rods are installed in the circumferential direction of the slip ring, the front end of each connecting rod is provided with a laminated plate structure, when opened, the whole set of laminated plate structures are horn-shaped at the recovery end of the AUV storage cabin, and the AUV is docked and recovered, when closed, the laminated plate structures are folded and hidden in the laminated plate cabin, and the collision avoidance ring is arranged at the recovery port position of the AUV storage cabin; the folding plate is opened to form a horn-shaped guide docking port for the recovery of the AUV, the opening and closing of different angles can adjust the docking surface area of the guide docking port, and the underwater recovery of the AUV under different working conditions can be adapted.

Description

Technical Field

[0001] This invention relates to the field of underwater engineering auxiliary equipment technology, and in particular to a folding horn-shaped guide device and its operation method for an AUV underwater recovery device. Background Technology

[0002] As an effective tool for underwater observation and exploration, AUVs are increasingly widely used in various marine exploration activities due to their untethered movement, high autonomy, and advanced intelligent control. Currently, large manned submersibles or other large carriers carrying AUVs for large-scale, wide-area, and covert underwater operations and exploration is becoming a new mode of direct human participation in marine exploration. Underwater docking and recovery technology for large manned submersibles or carrier vehicles carrying AUVs is crucial for the successful application and efficient operation of this method. Currently, there are several commonly used AUV recovery methods, such as cage recovery and robotic arm capture. Among them, cage recovery is widely used due to its simple structure and low technical difficulty. A cage recovery device consists of an open frame structure with an AUV storage compartment with roughly the same front and rear cross-sectional dimensions and a fixed horn-shaped guide docking port with a sudden change in the end cross-section. To improve the recovery success rate of the cage recovery device, the cross-sectional area of ​​the horn-shaped guide port at the end is usually required to be as large as possible, generally 4-6 times the cross-sectional area of ​​the front storage compartment, considering practicality, adaptability, and recovery success rate. This horn-shaped guide port with abrupt changes in its end section also brings unavoidable problems to the application of cage-type recovery devices on large manned submersibles or other mother launch vehicles:

[0003] 1) The larger the cross-sectional area of ​​the flared docking port's end, the higher the recovery success rate. To improve the AUV recovery success rate, the cross-sectional area of ​​the flared guide port should be as large as possible compared to the cross-sectional area of ​​the forward storage compartment and the AUV itself. For application on large manned submersibles or other mother launch vehicles, the end cross-sectional area of ​​the flared guide port should be as small as possible, ideally matching the cross-sectional dimensions of the forward recovery compartment. A docking port that is too small results in a low recovery success rate; a docking port that is too large makes deployment on the mother submersible difficult and increases the difficulty of concealing it within the mother submersible's hull, consuming the mother submersible's limited space resources.

[0004] 2) The fixed horn-shaped docking port is only used during AUV recovery and is not applicable for most other times. The port protrudes outwards, causing abrupt changes in cross-section, resulting in significant abrupt changes in the front and rear cross-sectional shapes of the recovery device and poor overall hydrodynamic performance. Throughout the entire operational cycle, it consistently and adversely affects the hydrodynamic performance of both the recovery device and the mother submersible.

[0005] 3) The fixed horn-shaped docking guide has a fixed end cross-sectional area, and the docking success rate is relatively high under very good working conditions; however, under slightly more complex working conditions, the success rate of AUV docking and recovery is difficult to guarantee, and this has been verified in engineering applications.

[0006] To address the problems of fixed horn-shaped guide ports in existing cage-type recovery devices, this invention proposes a foldable horn-shaped guide port device. By opening circumferentially arranged elongated folding plates, a horn-shaped guide port with a relatively large end cross-section is formed for AUV recovery. The cross-sectional area of ​​the horn-shaped guide port can be adjusted by opening and closing the folding plates at different angles. By folding the plates for storage, the horn-shaped guide port can be hidden within the recovery device, ensuring the consistency of the front and rear cross-sections of the recovery device. This invention has the following advantages:

[0007] 1) This invention eliminates the problem of abrupt changes in the cross-section of the traditional fixed horn-shaped guide port, reduces the circumferential size of the recovery device, and facilitates the optimized arrangement of the recovery device on the mother submersible, especially the optimized arrangement hidden within the hull, which effectively improves the space utilization efficiency of the mother submersible.

[0008] 2) The folding plate protrudes outward only during AUV recovery. For the vast majority of other times, such as during AUV carrying and AUV detection operations, the folding plate is folded onto the recovery device. The front and rear cross sections of the recovery device are basically the same for most of the time, reducing abrupt changes in the cross section along the length direction, reducing the impact of carrying the recovery device on the hydrodynamic performance of the mother submersible, and reducing the performance consumption of the mother submersible caused by carrying the AUV and the recovery device.

[0009] 3) The cross-sectional area of ​​the end of the flared opening formed by the opening and closing of the folding plate is adjustable, which can adapt to various complex docking conditions and environments, and helps to improve the success rate of docking and recovery under various conditions. Summary of the Invention

[0010] In response to the problems existing in the fixed horn-shaped guide interface of the above-mentioned AUV enclosure-type fixed recovery device, the applicant provides a foldable horn-shaped guide device and operation method for an AUV underwater recovery device with a reasonable structure, which can facilitate the underwater recovery of AUVs. It adopts a foldable structure, is easy to operate, has good working reliability, and a high recovery success rate.

[0011] The technical solution adopted in this invention is as follows:

[0012] A folding horn-shaped guide device for an AUV underwater recovery device includes a stacked plate structure, a slip ring, connecting rods, a linear motion mechanism, a stacked plate compartment, an anti-collision ring, and an AUV storage compartment. The AUV storage compartment is composed of a front compartment structure and a rear compartment structure. The stacked plate compartment is installed on the outside of the recovery end of the AUV storage compartment. A slip ring is set between the AUV storage compartment and the stacked plate compartment. Multiple evenly distributed connecting rods are installed in the circumferential direction of the slip ring. The front end of each connecting rod is equipped with a stacked plate structure. When opened, the entire stacked plate structure is horn-shaped at the recovery end of the AUV storage compartment and docks with the AUV for recovery. When closed, the stacked plate structure is folded and hidden inside the stacked plate compartment. The anti-collision ring is set at the recovery port of the AUV storage compartment.

[0013] The slip ring structure includes a slip ring structure, a slip ring slide, a connecting rod and shaft, a drive rod and shaft, and a slide guide rail. The slip ring structure is a circular ring-shaped component and is connected to the slide guide rail on the external structure of the front cabin structure via the slip ring slide. One end of the slip ring structure is provided with multiple connecting rods and shafts, and connecting rods are hinged at the connecting rods and shafts. The connecting rods are hinged to the stacked plate structure. The other end of the slip ring structure is provided with multiple drive rods and shafts, and the drive rods and shafts are connected to a linear motion mechanism that controls the sliding of the slip ring structure.

[0014] The structure of the stacked plate structure includes multiple folded plates arranged in a circle, and a stacked plate base fixed to the outside of the front cabin structure. The stacked plate base is hinged to the folded plates, and a connecting rod base is provided on the upper surface of the folded plates. The connecting rod base is connected to the connecting rod through a pin.

[0015] The linear motion mechanism consists of a drive unit fixed outside the front cabin structure, an output end of the drive unit connected to a drive rod, a drive rod connected to the drive rod shaft, and a drive slip ring that moves linearly along the axis of the recovery device.

[0016] The structure of the stacked compartment includes a compartment structure, a limiting plate, stacking holes, and spring clips. The compartment structure is fixedly fitted onto the outside of the front compartment structure. The compartment structure has corresponding stacking holes according to the arrangement and number of stacking structures for storing closed folding plates. The limiting plate is arranged on the inner ring surface of the compartment structure on one side of each stacking hole to support and limit the closed stacking structure. Spring clips are provided on both sides of the stacking hole near the limiting plate to press the stacking structure closed into the folding hole.

[0017] As a further improvement to the above technical solution:

[0018] Each folding panel has a long, strip-shaped sheet structure.

[0019] The anti-collision ring is a circular rubber component or a component with large elastic deformation characteristics. The inner ring diameter of the anti-collision ring is greater than or equal to the inner ring diameter of the forward compartment structure.

[0020] The cabin structure is an integral structure, adopting a cylindrical shape. The outer surface of the cylindrical body has evenly spaced stacking plate holes that cooperate with the folding plates. When closed, the folding plates are folded and hidden inside the stacking plate holes, at which time the cabin structure forms a complete cylindrical structure.

[0021] Both ends of the connecting rod are hinged.

[0022] The connecting rod is used to transmit the linear motion of the slip ring to the stacked plate structure and convert it into the rotation of the folded plate around the stacked plate base.

[0023] The folding plate can rotate from 0 to 180 degrees.

[0024] The sliding guide rail adopts a "┗┛" structure, and more than three are evenly distributed on the outer circumference of the front cabin structure.

[0025] A method for operating a foldable, trumpet-shaped docking guide device for an underwater recovery apparatus includes the following steps:

[0026] Step 1: Before the AUV is ready for recovery, the circumferentially distributed drive unit drives the drive rod to move linearly along the axis of the recovery unit. The drive rod drives the slip ring to move in the direction of the anti-collision ring. The slip ring slide moves along the slide guide rail to ensure that the slip ring structure moves linearly along the central axis of the front compartment structure.

[0027] Step 2: The slip ring drives the connecting rod, which is connected to the connecting rod shaft by the hinge, to move in the same direction. The movement of the connecting rod causes the folding plate to rotate around the base of the stacked plate. In a good recovery environment, multiple folding plates rotate 120° to 135° at the same time, forming a funnel-shaped docking guide port with an end cross-sectional area much larger than that of the recovery device and the AUV. In a harsher recovery environment, multiple folding plates rotate 90° to 120° at the same time, forming a funnel-shaped guide port with an even larger end cross-sectional area.

[0028] Step 3: After the horn-shaped docking guide port is formed, the AUV can be guided into the recovery device from the opening at the end of the folding plate. When the AUV approaches the guide port, the relative position of the AUV's head and the guide port cross-section is fed back by sonar or video on the recovery device. If the AUV's head is within the cross-section of the horn-shaped guide port, proceed to the next step. If it is not within the cross-section, repeat steps 1 and 2 to further increase the guide port area until the guide port covers the AUV's head. The guide port cross-sectional area is at its largest when the folding plate is rotated 90°.

[0029] Step 4: After the AUV enters the guide port, the first and second steps continue. The folding plate continues to rotate around the stacked plate base. The guide port formed at the end of the folding plate narrows and squeezes the head of the AUV, forcing the AUV to move towards the axis of the recovery device and finally completing the AUV recovery.

[0030] Step 5: After the AUV is recovered, the linear motion mechanism moves in the opposite direction, causing the slip ring and connecting rod to move in the opposite direction. The connecting rod causes the folding plate to rotate in the opposite direction around the stacking plate base and finally close into the stacking plate hole. The free end of the folding plate is limited and supported by the limiting plate, and the folding plate is pressed by the spring pieces on both sides of the stacking plate hole.

[0031] The beneficial effects of this invention are as follows:

[0032] This invention features a compact and reasonable structure, and is easy to operate. By opening the folding plate, a trumpet-shaped guide docking interface is formed for the recovery of AUVs. The area of ​​the guide docking surface can be adjusted by opening and closing at different angles, which can adapt to the underwater recovery of AUVs under different working conditions. By folding the plate, the trumpet-shaped opening can be hidden and stored on the recovery device, eliminating the abrupt changes in the cross-section of traditional recovery devices. This facilitates the overall arrangement of the recovery device within the mother submersible, especially the concealed arrangement, and reduces or eliminates the impact of the abrupt changes in the cross-section of the guide docking interface on the hydrodynamic performance of the device itself and the mother submersible.

[0033] In addition, the present invention also has the following advantages:

[0034] 1) This invention eliminates the abrupt change in cross-section of the interface of the traditional fixed horn-shaped guide, reduces the circumferential and circumferential dimensions of the recovery device, and facilitates the optimized arrangement of the recovery device on the mother submersible, especially the optimized arrangement hidden within the hull, which effectively improves the space utilization efficiency of the mother submersible.

[0035] 2) Except during AUV recovery when the folding plate protrudes outward and there is a sudden change in cross-section, for most other times, such as during AUV carrying and AUV detection operations, the folding plate is folded onto the recovery device, so that the front and rear cross-sections of the recovery device are basically consistent. This reduces the sudden change in cross-section of the recovery device along the length direction, reduces the impact of carrying the recovery device on the hydrodynamic performance of the mother submersible, and reduces the performance consumption of the mother submersible caused by carrying the AUV and the recovery device.

[0036] 3) The horn-shaped guide formed by the opening and closing of the folding plate has an adjustable end area of ​​the interface, which can adapt to various complex docking conditions and environments, and helps to improve the AUV docking and recovery efficiency under various conditions and environments. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the present invention.

[0038] Figure 2 This is a schematic diagram of the planar structure of the present invention.

[0039] Figure 3 This is a schematic diagram of the inner cylinder and the motion mechanism of the present invention.

[0040] Figure 4This is a schematic diagram of the axial cross-sectional structure of the present invention.

[0041] Figure 5 This is a schematic diagram of the slip ring sliding structure of the present invention.

[0042] Figure 6 Schematic diagram of the outer cylinder structure

[0043] Figure 7 This is a schematic diagram of the folding plate of the present invention unfolded for AUV recovery.

[0044] Figure 8 Schematic diagram of the folding plate after AUV recycling

[0045] Figure 9 A schematic diagram of AUV recovery under complex operating conditions.

[0046] Among them: 1. Stacked plate structure;

[0047] 101. Folding plate; 102. Connecting rod base; 103. Stacked plate base;

[0048] 2. Slip ring;

[0049] 201. Slip ring structure; 202. Slip ring slide block; 203. Connecting rod and shaft; 204. Drive rod and shaft; 205. Slide block guide rail;

[0050] 3. Connecting rod;

[0051] 4. Linear motion mechanism;

[0052] 401. Drive unit; 402. Drive rod;

[0053] 5. Stacked compartment;

[0054] 501. Cabin structure; 502. Limiting plate; 503. Stacking plate hole; 504. Spring clip;

[0055] 6. Anti-collision ring;

[0056] 7. AUV storage compartment;

[0057] 701. Fore-cabin structure; 702. Rear-cabin structure. Detailed Implementation

[0058] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0059] like Figures 1-9As shown, the folding horn-shaped guide device of the AUV underwater recovery device in this embodiment includes a stacked plate structure 1, a slip ring 2, a connecting rod 3, a linear motion mechanism 4, a stacked plate compartment 5, an anti-collision ring 6, and an AUV storage compartment 7. The AUV storage compartment 7 is composed of a front compartment structure 701 and a rear compartment structure 702. The stacked plate compartment 5 is installed on the outside of the recovery end of the AUV storage compartment 7. A slip ring 2 is provided between the AUV storage compartment 7 and the stacked plate compartment 5. Multiple evenly distributed connecting rods 3 are installed in the circumferential direction of the slip ring 2. The front end of each connecting rod 3 is equipped with a stacked plate structure 1. When opened, the entire stacked plate structure 1 is horn-shaped at the recovery end of the AUV storage compartment 7 and docks with the AUV for recovery. When closed, the stacked plate structure 1 is folded and hidden inside the stacked plate compartment 5. The anti-collision ring 6 is provided at the recovery port of the AUV storage compartment 7.

[0060] The structure of the slip ring 2 includes a slip ring structure 201, a slip ring slide 202, a connecting rod and shaft 203, a drive rod and shaft 204, and a slide guide rail 205. The slip ring structure 201 is a circular structure and is connected to the slide guide rail 205 on the external structure of the front cabin structure 701 through the slip ring slide 202. One end of the slip ring structure 201 is provided with multiple connecting rods and shafts 203, and connecting rods 3 are hinged to the connecting rods and shafts 203. Connecting rods 3 are hinged to the stacked plate structure 1. The other end of the slip ring structure 201 is provided with multiple drive rods and shafts 204, and the drive rods and shafts 204 are connected to the linear motion mechanism 4 that controls the sliding of the slip ring structure 201.

[0061] The structure of the stacked plate structure 1 is as follows: it includes multiple folded plates 101 arranged in a circle, and a stacked plate base 103 fixed to the outside of the front cabin structure 701. The stacked plate base 103 is hinged to the folded plates 101. At the same time, a connecting rod base 102 is provided on the upper surface of the folded plate 101. The connecting rod base 102 is connected to the connecting rod 3 through a pin.

[0062] The linear motion mechanism 4 has the following structure: it includes a drive device 401 fixed outside the front cabin structure 701, the output end of the drive device 401 is connected to a drive rod 402, the drive rod 402 is connected to a drive rod coupling 204, and the drive slip ring 2 is driven to move linearly along the axis of the recovery device.

[0063] The structure of the stacked plate compartment 5 includes a compartment structure 501, a limiting plate 502, stacked plate holes 503, and spring clips 504. The compartment structure 501 is fixedly fitted onto the outside of the front compartment structure 701. The compartment structure 501 has corresponding stacked plate holes 503 on it according to the arrangement position and number of stacked plate structures 1 for storing closed folded plates 101. The limiting plate 502 is arranged on the inner ring surface of the compartment structure 501 on one side of each stacked plate hole 503 for supporting and limiting the closed stacked plate structure 1. Spring clips 504 are provided on both sides of the stacked plate hole 503 near the end of the limiting plate 502 for pressing the stacked plate structure 1 closed into the folding hole.

[0064] Each folding panel 101 has a long, strip-shaped sheet structure.

[0065] The anti-collision ring 6 is a circular rubber component or a component with large elastic deformation characteristics. The inner ring diameter of the anti-collision ring 6 is greater than or equal to the inner ring diameter of the front cabin structure 701.

[0066] The cabin structure 501 is an integral structure. The cabin structure 501 adopts a cylindrical structure, and the outer surface of the cylindrical body is evenly distributed with stacking plate holes 503 that cooperate with the folding plate 101. When closed, the folding plate 101 is folded and hidden inside the stacking plate holes 503, at which time the cabin structure 501 forms a complete cylindrical structure.

[0067] Both ends of link 3 are hinged.

[0068] Link 3 is used to transmit the linear motion of slip ring 2 to stacked plate structure 1 and convert it into the rotation of folded plate 101 around stacked plate base 103.

[0069] The rotation angle of the folding plate 101 is 0-180 degrees.

[0070] The sliding guide rail 205 adopts a “┗┛” structure, and more than three are evenly distributed on the outer circumference of the front cabin structure 701.

[0071] The operation method of the foldable trumpet-shaped docking guide device of the underwater recovery device in this embodiment includes the following operation steps:

[0072] Step 1: Before the AUV is ready for recovery, the circumferentially distributed drive unit 401 drives the drive rod 402 to move linearly along the axis of the recovery device, and the drive rod 402 drives the slip ring 2 to move in the direction of the anti-collision ring 6; the slip ring slide 202 moves along the slide guide rail 205 to ensure that the slip ring structure 201 moves linearly along the central axis of the front cabin structure 701.

[0073] Step 2: The slip ring 2 drives the connecting rod 3, which is hinged to the connecting rod shaft 203, to move in the same direction. The movement of the connecting rod 3 causes the folding plate 101 to rotate around the stacked plate base 103. In a good recovery environment, multiple folding plates 101 rotate 120° to 135° at the same time, forming a funnel-shaped docking guide with an end cross-sectional area much larger than that of the recovery device and the AUV. In a harsher recovery environment, multiple folding plates 101 rotate 90° to 120° at the same time, forming a funnel-shaped guide with an even larger end cross-sectional area.

[0074] Step 3: After the horn-shaped docking guide port is formed, the AUV can be guided into the recovery device from the opening at the end of the folding plate 101. When the AUV approaches the guide port, the relative position of the AUV's head and the guide port cross-section is fed back by the sonar or video on the recovery device. If the AUV's head is within the cross-section of the horn-shaped guide port, proceed to the next step. If it is not within the cross-section, repeat steps 1 and 2 to further increase the guide port area until the guide port covers the AUV's head. The guide port cross-sectional area is at its maximum when the folding plate 101 is rotated 90°.

[0075] Step 4: After the AUV enters the guide port, the first and second steps continue. The folding plate 101 continues to rotate around the stacked plate base 103. The guide port formed at the end of the folding plate 101 shrinks and squeezes the head of the AUV, forcing the AUV to move towards the axis of the recovery device and finally completing the AUV recovery.

[0076] Step 5: After the AUV is recovered, the linear motion mechanism 4 moves in the opposite direction, which drives the slip ring 2 and the connecting rod 3 to move in the opposite direction. The connecting rod 3 drives the folding plate 101 to rotate in the opposite direction around the stacking plate base 103 and finally closes into the stacking plate hole 503. The free end of the folding plate 101 is limited and supported by the limiting plate 502, and the folding plate 101 is pressed by the spring pieces 504 on both sides of the stacking plate hole 503.

[0077] like Figures 1-9 As shown, the specific structure and function of the folding horn-shaped guide device of the AUV underwater recovery device in this embodiment are as follows: It includes a stacked plate structure 1, a slip ring 2, a connecting rod 3, a linear motion mechanism 4, a stacked plate compartment 5, an anti-collision ring 6, and an AUV storage compartment 7. The AUV storage compartment 7 is composed of a front compartment structure 701 and a rear compartment structure 702. The stacked plate compartment 5 is installed on the outside of the recovery end of the AUV storage compartment 7. A slip ring 2 is set between the AUV storage compartment 7 and the stacked plate compartment 5. Multiple evenly distributed connecting rods 3 are installed in the circumferential direction of the slip ring 2. The front end of each connecting rod 3 is equipped with a stacked plate structure 1. When opened, the entire stacked plate structure 1 is horn-shaped at the recovery end of the AUV storage compartment 7 and docks with the AUV for recovery. When closed, the stacked plate structure 1 is folded and hidden inside the stacked plate compartment 5. The anti-collision ring 6 is set at the recovery port of the AUV storage compartment 7.

[0078] The structure of the slip ring 2 includes a slip ring structure 201, a slip ring slide 202, a connecting rod and shaft 203, a drive rod and shaft 204, and a slide guide rail 205. The slip ring structure 201 is a circular structure and is connected to the slide guide rail 205 on the external structure of the front cabin structure 701 through the slip ring slide 202. One end of the slip ring structure 201 is provided with multiple connecting rods and shafts 203, and connecting rods 3 are hinged to the connecting rods and shafts 203. Connecting rods 3 are hinged to the stacked plate structure 1. The other end of the slip ring structure 201 is provided with multiple drive rods and shafts 204, and the drive rods and shafts 204 are connected to the linear motion mechanism 4 that controls the sliding of the slip ring structure 201.

[0079] The structure of the stacked plate structure 1 is as follows: it includes multiple folded plates 101 arranged in a circle, and a stacked plate base 103 fixed to the outside of the front cabin structure 701. The stacked plate base 103 is hinged to the folded plates 101. At the same time, a connecting rod base 102 is provided on the upper surface of the folded plate 101. The connecting rod base 102 is connected to the connecting rod 3 through a pin.

[0080] The linear motion mechanism 4 has the following structure: it includes a drive device 401 fixed outside the front cabin structure 701, the output end of the drive device 401 is connected to a drive rod 402, the drive rod 402 is connected to a drive rod coupling 204, and the drive slip ring 2 is driven to move linearly along the axis of the recovery device.

[0081] The structure of the stacked plate compartment 5 includes a compartment structure 501, a limiting plate 502, stacked plate holes 503, and spring clips 504. The compartment structure 501 is fixedly fitted onto the outside of the front compartment structure 701. The compartment structure 501 has corresponding stacked plate holes 503 on it according to the arrangement position and number of stacked plate structures 1 for storing closed folded plates 101. The limiting plate 502 is arranged on the inner ring surface of the compartment structure 501 on one side of each stacked plate hole 503 for supporting and limiting the closed stacked plate structure 1. Spring clips 504 are provided on both sides of the stacked plate hole 503 near the end of the limiting plate 502 for pressing the stacked plate structure 1 closed into the folding hole.

[0082] Each folding panel 101 has a long, strip-shaped sheet structure.

[0083] The anti-collision ring 6 is a circular rubber component or a component with large elastic deformation characteristics. The inner ring diameter of the anti-collision ring 6 is greater than or equal to the inner ring diameter of the front cabin structure 701.

[0084] The cabin structure 501 is an integral structure. The cabin structure 501 adopts a cylindrical structure, and the outer surface of the cylindrical body is evenly distributed with stacking plate holes 503 that cooperate with the folding plate 101. When closed, the folding plate 101 is folded and hidden inside the stacking plate holes 503, at which time the cabin structure 501 forms a complete cylindrical structure.

[0085] Both ends of link 3 are hinged.

[0086] Link 3 is used to transmit the linear motion of slip ring 2 to stacked plate structure 1 and convert it into the rotation of folded plate 101 around stacked plate base 103.

[0087] The rotation angle of the folding plate 101 is 0-180 degrees.

[0088] The sliding guide rail 205 adopts a “┗┛” structure, and more than three are evenly distributed on the outer circumference of the front cabin structure 701.

[0089] The specific structure and function of the folding horn-shaped guide device of the AUV underwater recovery device described in this invention are as follows:

[0090] The main components and main structure of the present invention are as follows: Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown.

[0091] It mainly includes a stacked plate structure 1, a slip ring 2, a connecting rod 3, a linear motion mechanism 4, a stacked plate compartment 5, a crash ring 6, and an AUV storage compartment 7, etc.

[0092] The AUV storage compartment 7 includes a front compartment structure 701 and a rear compartment structure 702, both of which are cylindrical or frame structures with a circular inner cross-section.

[0093] This invention, as part of an AUV cage-type recovery device, is integrally installed on the forward compartment structure 701 of the AUV storage compartment 7 and is fixedly connected to other structures of the recovery device, such as... Figure 1 As shown.

[0094] The stacked plate structure 1 comprises a folding plate 101, a connecting rod base 102, and a stacked plate base 103. The folding plate 101 is a sheet-like material structure, with multiple folding plates 101 evenly arranged circumferentially at the AUV inlet / outlet ends of the forward cabin structure 701. Each folding plate 101 is mounted on the stacked plate base 103 via a pin connection and can rotate and open / close around the connecting shaft or hole of the stacked plate base 103. When opened, the circumferentially distributed folding plates 101 form a trumpet-shaped guide opening or circular guide surface at the front end of the AUV recovery device inlet / outlet, with an area much larger than the cross-sectional area of ​​the storage cabin, for AUV recovery docking, such as... Figure 1 As shown; when closed, the folding plate 101 rotates and folds around the stacking plate base 103, hiding inside the stacking plate hole 503 installed on the outside of the front cabin structure 701, so that the front and rear sections of the recovery device storage compartment A are consistent, as shown. Figure 8 As shown. Each folding plate 101 is fixedly provided with a connecting rod base 102 for hinged connecting rod 3.

[0095] The slip ring 2 mainly consists of a slip ring structure 201, a slip ring slide 202, a connecting rod and shaft 203, a drive rod and shaft 204, and a slide guide rail 205. Figure 3As shown; the slip ring 2 is mainly used to connect the connecting rod 3 and the drive rod 402, and is circumferentially fitted on the outside of the front cabin structure 701. The slip ring structure 201 is a circular structural component, arranged on the outside of the front cabin structure 701 and the inside of the cabin structure 501; the axis of the slip ring structure 201 coincides with the axis of the front cabin structure 701; one end of the slip ring structure 201 is provided with multiple connecting rod shafts 203, each connecting rod shaft 203 is connected to the connecting rod 3; the other end of the slip ring structure 201 is provided with multiple drive rod shafts 204 connecting the drive rod 402. The slip ring slide seat 202 and the slide seat guide rail 205 are evenly distributed along the circumference of the recovery device and are radially matched and installed, as shown. Figure 4 As shown, the slip ring slide 202 is arranged and installed on the inner surface of the slip ring structure 201, and the slide guide rail 205 is arranged and installed on the outer contour surface of the front cabin structure 701. The slip ring slide 202 is mainly used for guiding and supporting the slip ring structure 201, restricting the reciprocating linear movement of the slip ring structure 201 along the axis of the recovery device, and supporting the slip ring structure 201 to prevent axial eccentricity when sliding along the axis of the recovery device.

[0096] The connecting rod 3 has hinged connections at both ends. One end is connected to the connecting rod base 102 of the stacked plate structure 1 and can rotate around the connecting rod base 102; the other end is connected to the connecting rod shaft 203 and can rotate around the connecting rod shaft 203. The connecting rod 3 is used to transmit the linear motion of the slip ring 2 to the stacked plate structure 1 and convert it into the rotation of the folded plate 101 around the stacked plate base 103.

[0097] The linear motion mechanism 4 consists of a drive unit 401 and a drive rod 402. The drive unit 401 is fixedly mounted on the front cabin structure 701. One end of the drive rod 402 is connected to the drive rod coupling 204 on the slip ring 2, driving the slip ring 2 to move linearly along the axis of the recovery device. The linear motion mechanism 4 can be selected from commonly used linear motion forms such as worm gears, lead screws, and hydraulic cylinders, and consists of multiple components, such as... Figure 4 As shown.

[0098] The stacked plate compartment 5 consists of a compartment structure 501, a limiting plate 502, stacked plate holes 503, and spring clips 504. Figure 6 As shown. The cabin structure 501 is fixedly mounted on the forward cabin structure 701 or directly fixedly installed on other structures of the recovery device. The cabin structure 501 has corresponding stacking plate holes 503 according to the arrangement and number of stacking plate structures 1 for storing closed folding plates 101. The limiting plate 502 is arranged on one side of each stacking plate hole 503 on the inner ring surface of the cabin structure 501 for supporting and limiting the closed folding plates 101. The stacking plate holes 503 near the limiting plate 502 are provided on both sides of the stacking plate holes 503 for pressing the closed folding plates 101 into the stacking plate holes 503.

[0099] Among them, the anti-collision ring 6 is fixedly installed in front of the entrance of the forward cabin structure 701, such as Figure 3As shown, the cross-section is the same as that of the front cabin structure 701, which is used to buffer the collision between the AUV and the front cabin structure 701 during recovery in an misaligned attitude, and to protect the AUV's nose structure and the front cabin structure 701.

[0100] In actual work process:

[0101] This invention is part of an AUV cage recovery device. The following will combine the cage recovery device, the AUV, and this invention. Figure 2 , Figure 7 , Figure 8 The specific implementation method is described, mainly for AUV recovery.

[0102] When the mother submersible is carrying an AUV and recovery device for underwater operations and exploration, before the AUV is released, the cage-type recovery device, the AUV, and the present invention are in the following state: Figure 8 As shown; after the AUV release operation, the enclosure-type recovery device and the present invention are in a state of... Figure 8 In the state without AUV. In the above state, the folding plate 101 is folded into the stacking hole 503 on the stacking compartment 5 and pressed by the spring piece 504.

[0103] (I) AUV recovery under favorable operating conditions:

[0104] Before the AUV is prepared for recovery, the circumferentially distributed drive unit 401 drives the drive rod 402 to move linearly along the axis of the recovery device. The drive rod 402 drives the slip ring 2 to move towards the recovery port of the forward cabin structure 701. At the same time, the slip ring slide 202 moves along the slide guide rail 205. Through the restriction and guidance of the slide guide rail 205, the slip ring structure 201 is ensured to move linearly along the axis of the recovery device. The movement of the slip ring 2 along the axis of the recovery device drives the connecting rod 3 connected to the connecting rod shaft 203 to move in the same direction. The movement of the connecting rod 3 drives the folding plate 101 to rotate around the fixedly installed folding plate base 103. The multiple circumferentially distributed folding plates 101 form a funnel-shaped docking guide port with an end cross-sectional area much larger than that of the recovery device and the AUV. Figure 2 As shown, an angle A of 45° to 60° is generally suitable.

[0105] When the AUV's nose is within the flared section formed by the folding plate 101, the AUV's axis is generally not on the same axis as the recovery device, such as... Figure 7 As shown. Continuing the above operation, the folding plate 101 rotates again around the stacked plate base 103, and the guide opening formed at the end of the folding plate 101 continues to shrink. Figure 2 As the center angle A decreases, the folding plate 101 squeezes the head of the AUV, forcing the AUV to move towards the axis of the recovery device, and finally completing the AUV recovery.

[0106] After the AUV is recovered, the linear motion mechanism 4 moves in the opposite direction, which drives the slip ring 2 and the connecting rod 3 to move in the opposite direction. The connecting rod 3 drives the folding plate 101 to rotate in the opposite direction around the stacking plate base 103 and finally close into the stacking plate hole 503. The free end of the folding plate 101 is limited and supported by the limiting plate 502, and the folding plate 101 is pressed by the spring pieces 504 on both sides of the stacking plate hole 503.

[0107] Under ideal operating conditions, the angle between the folding plate 101 and the axis of the recycling device is ( Figure 2 A smaller angle A results in a smaller abrupt change in the cross-sectional area along the length of the recovery device, which not only achieves a higher recovery rate but also reduces the impact of the recovery device and AUV on the navigation control and hydrodynamic performance of the mother submersible during the recovery process. Furthermore, the cross-sectional area of ​​the flare can be increased or decreased at any time by rotating the folding plate 101, thereby increasing the success rate of recovery.

[0108] (II) AUV recovery under complex operating conditions:

[0109] Complex operating conditions refer to two situations: one is when the AUV is close to the horn opening and the head of the AUV is outside the horn opening section; the other is when the external environment is harsh and the relative motion fluctuation between the AUV and the recovery device is relatively large.

[0110] In the first scenario, for a fixed flared-mouth recovery device, the end section is fixed. If the AUV's head is outside the flared-mouth section, the recovery operation has failed, requiring a second recovery attempt, which increases the energy cost of AUV recovery. In the second scenario, there is significant relative movement between the AUV and the recovery device. For a fixed recovery device with a fixed end section, the probability of the AUV's head being exactly within the flared-mouth section is greatly reduced, resulting in a low recovery success rate.

[0111] In the first scenario: when the AUV approaches the horn-shaped docking port, and the sonar or video equipment on the retrieval device indicates that the AUV's nose is outside the docking port cross-section, the retrieval will fail for a fixed horn-shaped retrieval device. For this invention, the horn-shaped cross-section can be increased by reversing the operation, driving the folding plate 101 to rotate in the opposite direction. Figure 2 The flare angle increases from A to A' until the flare cross-section covers the AUV's head. When the AUV has essentially touched or has already touched the folding plate 101, the folding plate 101 is rotated forward, forcing the AUV's head towards the inlet at the axis of the retrieval device by narrowing the flare, thus completing the AUV retrieval. In this condition, the retrieval operation with a fixed flare has failed. This invention can achieve retrieval by adjusting the flare cross-section, increasing the retrieval success rate.

[0112] For the second scenario: Under normal circumstances, the angle A between the folding plate 101 and the axis is generally between 45° and 50°. Figure 2 and Figure 7As shown. When the external environment is harsh, when the AUV is still some distance from the guide port, the relative position of the AUV and the guide port section is determined. The linear motion mechanism 4 drives the slip ring 2 to drive the connecting rod 3, which in turn drives the opening and closing of the folding plate 101, dynamically adjusting the flared port section. Under extreme conditions, the folding plate 101 is adjusted to make... Figure 9 Angle A, as shown, is 90 degrees. The interface cross-section is adjusted to its maximum, increasing the cross-sectional area that obstructs the AUV. When the AUV travels at low speed and touches the docking surface formed by the folding plates 101, the folding plates 101 are folded towards the AUV, narrowing the guide opening. The rotation of the folding plates 101 forces the AUV to retreat and move towards the recovery port of the recovery device. Through the pressure of the folding plates 101, the AUV is forced to retreat and move to the axis position of the end opening of the AUV storage compartment 7. Then, the AUV's speed is increased, and it travels along the guide opening through the end opening of the AUV storage compartment 7 into the recovery device, completing the AUV recovery.

[0113] After the recovery operation is completed, the linear motion mechanism 4 directly drives the folding plate 101 to the stacking hole 503 on the stacking compartment 5, and the spring plates 504 on both sides press the folding plate 101 tightly. At this time, the AUV's journey has missed the end opening of the AUV storage compartment 7, and conventional recovery devices can no longer complete the recovery.

[0114] This invention can control the angle between the folding plate 101 and the axis of the recycling device ( Figure 2 (Center A) Increase the cross-sectional area at the end of the flared nozzle to improve the AUV's recovery success rate. In extreme cases, the folded plate 101 can be made perpendicular to the axis of the recovery device, such as... Figure 9 Angle A in the middle is 90°, forming a circular planar mating surface, which further increases the area ratio of the interface section to the AUV section and improves the coverage of the interface section to the AUV section.

[0115] The present invention uses a folding plate 101 to unfold and fold the horn-shaped guide port of the enclosed AUV recovery device, which effectively reduces the axial and circumferential dimensions of the entire recovery device. This is beneficial for the mounting and arrangement of the recovery device on the mother submersible, especially for the application of a concealed arrangement, and can reduce the space consumption of mounting the recovery device on the mother submersible.

[0116] The recovery unit only exhibits abrupt changes in cross-sectional dimensions along its length during AUV recovery. At other times, such as during AUV carrying or operation, the recovery unit maintains essentially consistent cross-sectional dimensions, effectively reducing abrupt changes in cross-sectional dimensions, minimizing the impact of the AUV and recovery unit on the hydrodynamic performance of the mother submersible, and reducing the performance consumption of the mother submersible.

[0117] Compared to the fixed flared structure of traditional cage-type recovery devices, the guide port docking cross-sectional area of ​​the present invention can be adjusted by opening and closing the folding plate, which can adapt to various complex docking conditions and environments, and improve the success rate of AUV docking and recovery.

[0118] Under normal operating conditions, the guide port component is folded onto the recovery device, reducing the overall size of the recovery device, which is beneficial for layout and space utilization, and also reduces the impact on the overall hydrodynamic performance of the recovery device. During docking and recovery operations, the guide port component opens, and the opening angle can be adjusted according to different docking environmental conditions, which facilitates AUV recovery and improves the success rate of AUV recovery.

[0119] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A folding horn-shaped guide device for an AUV underwater recovery device, characterized in that: The system includes a stacked plate structure (1), a slip ring (2), a connecting rod (3), a linear motion mechanism (4), a stacked plate compartment (5), a crash ring (6), and an AUV storage compartment (7). The AUV storage compartment (7) is composed of a front compartment structure (701) and a rear compartment structure (702). The stacked plate compartment (5) is installed on the outside of the AUV storage compartment (7). A slip ring (2) is set between the AUV storage compartment (7) and the stacked plate compartment (5). Multiple evenly distributed connecting rods (3) are installed on the circumference of the slip ring (2). The front end of each connecting rod (3) is equipped with a stacked plate structure (1). When opened, the entire stacked plate structure (1) is horn-shaped at the AUV storage compartment (7) and docks with the AUV for recycling. When closed, the stacked plate structure (1) is folded and hidden inside the stacked plate compartment (5). The crash ring (6) is set at the recycling port of the AUV storage compartment (7). The structure of the slip ring (2) is as follows: it includes a slip ring structure (201), a slip ring slide (202), a connecting rod shaft (203), a drive rod shaft (204), and a slide guide rail (205). The slip ring structure (201) is a circular ring structure and is connected to the slide guide rail (205) of the external structure of the front cabin structure (701) through the slip ring slide (202). One end of the slip ring structure (201) is provided with multiple connecting rod shafts (203), and a connecting rod (3) is hinged at the connecting rod shaft (203). The connecting rod (3) is hinged to the stacked plate structure (1). The other end of the slip ring structure (201) is provided with multiple drive rod shafts (204), and the drive rod shafts (204) are connected to the linear motion mechanism (4) that controls the sliding of the slip ring structure (201). The structure of the stacked plate structure (1) is as follows: it includes multiple folded plates (101) arranged in a circle, and a stacked plate base (103) fixed outside the front cabin structure (701). The stacked plate base (103) is hinged to the folded plates (101), and a connecting rod base (102) is provided on the upper surface of the folded plates (101). The connecting rod base (102) is connected to the connecting rod (3) through a pin. The linear motion mechanism (4) has the following structure: including a drive device (401) fixed outside the front cabin structure (701), the output end of the drive device (401) is connected to the drive rod (402), the drive rod (402) is connected to the drive rod coupling (204), and the drive slip ring (2) moves linearly along the axis of the recovery device. The structure of the stacked compartment (5) includes a compartment structure (501), a limiting plate (502), stacked plate holes (503), and spring clips (504). The compartment structure (501) is fixedly fitted on the outside of the front compartment structure (701). The compartment structure (501) has corresponding stacked plate holes (503) on it according to the arrangement position and number of the stacked plate structures (1) for storing the closed folded plates (101). The limiting plate (502) is arranged on the inner ring surface of the compartment structure (501) on one side of each stacked plate hole (503) for supporting and limiting the closed stacked plate structure (1). Spring clips (504) are provided on both sides of the stacked plate hole (503) near the limiting plate (502) for pressing the stacked plate structure (1) closed into the folded hole.

2. The folding horn-shaped guide device for the AUV underwater recovery device as described in claim 1, characterized in that: Each folded panel (101) has a long strip-shaped sheet structure.

3. The folding horn-shaped guide device for the AUV underwater recovery device as described in claim 1, characterized in that: The anti-collision ring (6) is a circular rubber component or a component with large elastic deformation characteristics. The inner ring diameter of the anti-collision ring (6) is greater than or equal to the inner ring diameter of the front cabin structure (701).

4. The folding horn-shaped guide device for the AUV underwater recovery device as described in claim 1, characterized in that: The cabin structure (501) is an integral structure. The cabin structure (501) adopts a cylindrical structure, and the outer surface of the cylindrical body is evenly distributed with stacking plate holes (503) that cooperate with the folding plate (101). This facilitates the folding plate (101) to be folded and hidden inside the stacking plate holes (503) when closed. At this time, the cabin structure (501) forms a complete cylindrical structure.

5. The folding horn-shaped guide device for the AUV underwater recovery device as described in claim 1, characterized in that: Both ends of the connecting rod (3) are hinged.

6. The folding horn-shaped guide device for the AUV underwater recovery device as described in claim 1, characterized in that: Link (3) is used to transmit the linear motion of slip ring (2) to the stacked structure (1) and convert it into the rotation of folded plate (101) around stacked base (103).

7. The folding horn-shaped guide device for the AUV underwater recovery device as described in claim 1, characterized in that: The rotation angle of the folding plate (101) is 0-180 degrees.

8. The folding horn-shaped guide device for the AUV underwater recovery device as described in claim 1, characterized in that: The sliding guide rail (205) adopts a "┗┛" structure, and more than three are evenly distributed on the outer circumference of the front cabin structure (701).

9. A method for operating the folding horn-shaped guide device of the AUV underwater recovery device as described in claim 1, characterized in that: The following steps are included: Step 1: Before the AUV is ready for recovery, the circumferentially distributed drive unit (401) drives the drive rod (402) to move linearly along the axis of the recovery unit. The drive rod (402) drives the slip ring (2) to move in the direction of the anti-collision ring (6). The slip ring slide (202) moves along the slide guide rail (205) to ensure that the slip ring structure (201) moves linearly along the central axis of the front cabin structure (701). Step 2: The slip ring (2) drives the connecting rod (3) connected to the connecting rod shaft (203) to move in the same direction. The movement of the connecting rod (3) causes the folding plate (101) to rotate around the stacked plate base (103). In a good recovery environment, multiple folding plates (101) rotate 120° to 135° at the same time, forming a funnel-shaped docking guide with an end cross-sectional area much larger than that of the recovery device and the AUV. In a worse recovery environment, multiple folding plates (101) rotate 90° to 120° at the same time, forming a funnel-shaped guide with an even larger end cross-sectional area. Step 3: After the horn-shaped docking guide port is formed, it can guide the AUV from the opening at the end of the folding plate (101) into the recovery device; when the AUV approaches the guide port, the relative position of the AUV head and the guide port cross section is fed back by the sonar or video set on the recovery device; if the AUV head is within the cross section of the horn-shaped guide port, continue to the next step; if it is not within the cross section, repeat the first and second steps to further increase the guide port area until the guide port covers the AUV head; the guide port cross section area is the largest when the folding plate (101) is rotated 90°. Step 4: After the AUV enters the guide port, the first and second steps are continued. The folding plate (101) continues to rotate around the stacked plate base (103). The guide port formed at the end of the folding plate (101) shrinks and squeezes the head of the AUV, forcing the AUV to move towards the axis of the recovery device and finally completing the AUV recovery. Step 5: After the AUV is recovered, the linear motion mechanism (4) moves in the opposite direction, which drives the slip ring (2) and the connecting rod (3) to move in the opposite direction. The connecting rod (3) drives the folding plate (101) to rotate in the opposite direction around the stacking plate base (103) and finally close into the stacking plate hole (503). The free end of the folding plate (101) is limited and supported by the limiting plate (502), and the folding plate (101) is pressed by the spring pieces (504) on both sides of the stacking plate hole (503).

Images