AUV automatic deployment and recovery device and method

Abstract

The present invention discloses an automatic deployment and recovery device for an AUV and a method thereof, comprising a first rectangular bracket, a second rectangular bracket and a locking pin fixed to the AUV, wherein the first rectangular bracket is located below the second rectangular bracket, and hinge seats are provided at the four corner positions of the first rectangular bracket, and clamping arms are hinged in the four hinge seats, and the upper portion of the clamping arms is bent and extended to form a linkage arm, and the angle between the linkage arm and the clamping arm is an obtuse angle, and a strip perforation is provided on the linkage arm, and the second rectangular bracket comprises a rectangular frame, and circular rods are provided at the four corner positions of the rectangular frame, and the four circular rods are respectively inserted into the strip perforations in the four linkage arms. During the hoisting process, the present invention utilizes the deadweight of the AUV and the first rectangular bracket to realize that the first rectangular bracket and the second rectangular bracket are moved away from each other, and the clamping arm is rotated toward one side of the first rectangular bracket, so that the AUV equipment can be clamped to prevent the AUV equipment from falling off.

Description

Technical Field

[0001] The present invention relates to the technical field of AUV deployment and recovery, and in particular to an AUV automatic deployment and recovery device and method thereof. Background Art

[0002] An autonomous underwater vehicle (AUV) is a mission controller that integrates artificial intelligence and other advanced computing technologies. It integrates high technologies such as submersibles, sensors, environmental effects, computer software, energy storage, conversion and propulsion, new materials and new processes, as well as underwater intelligent weapons. It is used militarily in anti-submarine warfare, mine warfare, reconnaissance and surveillance, and logistics support.

[0003] AUV deployment and recovery is a crucial step in the operational lifecycle of an AUV. Research and advancements in AUV deployment and recovery technology are ongoing to ensure safe deployment and recovery, improving operational capabilities and safety. Existing AUV deployment and recovery technologies can cause the AUV to become detached from its docking station during recovery due to power failures. Therefore, an automatic AUV deployment and recovery device and method are proposed. Summary of the Invention

[0004] Based on the technical problems existing in the background technology, the present invention proposes an AUV automatic deployment and recovery device and method.

[0005] The present invention proposes an automatic deployment and recovery device for an AUV, comprising a first rectangular bracket, a second rectangular bracket and a locking pin fixed to the AUV, wherein the first rectangular bracket is located below the second rectangular bracket, and hinge seats are provided at the four corner positions of the first rectangular bracket, and clamping arms are hinged in the four hinge seats, the upper part of the clamping arm is bent and extended to form a linkage arm, the angle between the linkage arm and the clamping arm is an obtuse angle, and a strip through-hole is provided on the linkage arm, the second rectangular bracket comprises a rectangular frame, and circular rods are provided at the four corner positions of the rectangular frame, and the four circular rods are respectively inserted into the strip through-holes in the four linkage arms, an inner hanging tube is provided at the middle position of the upper part of the first rectangular bracket, and an outer hanging tube is sleeved on the outer side of the inner hanging tube, and the lower end of the outer hanging tube is fixedly connected to the top of the second rectangular bracket;

[0006] The top of the outer hanging tube is fixed with a first retaining ring, the lower part of the outer hanging tube is an open structure, and the first retaining ring is integrally formed on the inner lower part of the outer hanging tube, the lower part of the inner hanging tube is an open structure, and a second retaining ring is integrally formed at the top position of the outer circumferential surface of the inner hanging tube, the locking pin is inserted in the inner hanging tube, and the inner hanging tube is provided with a first clip that locks the locking pin as the outer hanging tube moves upward, the first clip is multiple, and the multiple first clips are distributed in a ring shape with equal distances on the inner hanging tube, and the side wall of the inner hanging tube is rotatably provided with a second clip near the position between two adjacent first clips;

[0007] A metal column is fixed at the inner top position of the inner hanging cylinder, a circular electromagnet is fixed at the lower end of the metal column, and an annular magnet adapted to the circular electromagnet is provided on the upper part of the locking pin.

[0008] As a further optimization of the technical solution, the present invention provides an AUV automatic deployment and recovery device, wherein a fixing ring is fixed at the middle position inside the first rectangular bracket, and the fixing ring is fixedly connected to the lower part of the inner suspension tube.

[0009] As a further optimization of the technical solution, the present invention provides an AUV automatic deployment and recovery device, wherein the second rectangular bracket also includes a metal mounting plate fixed at the middle position of the upper part of the rectangular frame, a circular through-hole is provided at the middle position of the top of the metal mounting plate, and the lower part of the outer suspension tube is welded and fixed to the inner wall of the circular through-hole.

[0010] As a further optimization of the technical solution, the present invention provides an AUV automatic deployment and recovery device, wherein a positioning frame is provided at the lower part of the first rectangular bracket, and the positioning frame includes an arc-shaped positioning plate, and vertically arranged guide rod groups are provided on the outer arc surfaces on both sides of the arc-shaped positioning plate, and the guide rod group includes a plurality of guide rods, and a positioning plate is provided at the inner edge position of the first rectangular bracket near the position of the guide rod, and a positioning hole is provided on the positioning plate for the guide rod to pass through, and a first spring is sleeved on the outer peripheral surface of the guide rod near the position between the positioning plate and the arc-shaped positioning plate, and the upper part of the guide rod passes through the positioning hole and is fixedly connected to the lower part of the metal mounting plate.

[0011] As a further optimization of the technical solution, the present invention provides an AUV automatic deployment and recovery device, wherein the clamping arm is provided with an arc-shaped curved portion at one end away from the linkage arm, and the arc-shaped curved portion is bent toward one side of the linkage arm.

[0012] As a further optimization of the technical solution, the present invention provides an AUV automatic deployment and recovery device, wherein the locking pin includes a flange ring, a metal pin rod is fixedly provided at the middle position of the top of the flange ring, a conical convex ring is sleeved on the metal pin rod, a second spring is sleeved on the outer peripheral surface of the metal pin rod near the position between the conical convex ring and the flange ring, a limiting cap is provided on the top of the metal pin rod, a circular groove for accommodating the limiting cap is provided on the top of the conical convex ring, and the annular magnet is embedded in the top of the conical convex ring.

[0013] As a further optimization of the technical solution, the present invention provides an AUV automatic deployment and recovery device, wherein a sloped portion is provided on one side of the lower portion of the first clip, and the upper portion of the sloped portion extends upward to form a first vertical portion, a hook portion is provided on the side of the lower portion of the first clip away from the sloped portion, and a second metal spring is provided on the side of the first clip close to the hook portion, a first rectangular hole adapted to the first clip is provided on the outer circumference of the inner hanging tube, a first metal shaft is provided on the upper inner side of the first rectangular hole, the upper portion of the first clip is rotatably connected to the first metal shaft, and support ridges equidistantly distributed in a ring are provided at the upper position of the outer circumference of the inner hanging tube, and the lower surface of the support ridges is flush with the upper portion of the first vertical portion.

[0014] In this preferred solution, when the lifting ring on the upper part of the outer hanging tube is subjected to force and the outer hanging tube and the inner hanging tube are relatively displaced, during the upward movement of the first retaining ring, the inclined portion and the first vertical portion are coordinated to cause the first clip to rotate, so that the hook portion at the lower part of the first clip moves toward the inner side of the inner hanging tube, and the hook portion contacts the lower part of the conical convex ring, preventing the locking pin from sliding out of the inner hanging tube, thereby locking the locking pin.

[0015] As a further optimization of the technical solution, the present invention provides an AUV automatic deployment and recovery device, wherein a second vertical portion is provided on the upper part of the second buckle, and a protrusion is provided on the side of the second vertical portion close to the inner side of the inner hanging tube, and the lower part of the second vertical portion is bent obliquely toward the outer side of the inner hanging tube to form an oblique support portion, and a second rectangular hole adapted to the second buckle is provided at the lower inner side of the inner hanging tube, and a second metal shaft is provided at the middle inner side of the second rectangular hole, and the bending part of the second buckle forms a rotational connection with the second metal shaft.

[0016] As a further optimization of the technical solution, the present invention provides an AUV automatic deployment and recovery device, wherein a first metal spring is fixed to the lower inner portion of the second rectangular hole, and the upper portion of the first metal spring contacts the side of the diagonal support away from the outer suspension tube.

[0017] In this preferred solution, the diagonal support portion here can block the first retaining ring, limit the relative movement between the inner suspension tube and the outer suspension tube, so that the first rectangular bracket and the second rectangular bracket are in a state of being close to each other. At this time, the circular rod is combined with the linkage arm and the strip perforation to realize the rotation of the clamping arm toward the outside of the first rectangular bracket to facilitate docking with the AUV. Then, in the process of inserting the locking pin into the inner suspension tube, under the action of the conical convex ring, the cooperating convex portion will drive the second buckle to rotate, thereby rotating the diagonal support portion toward the inside of the inner suspension tube, releasing the obstruction of the first retaining ring, so that the inner suspension tube and the outer suspension tube can undergo relative displacement.

[0018] A method for recovering and using an AUV automatic deployment and recovery device comprises the following steps:

[0019] S1: Equipment installation: fix the locking pin to the upper middle position of the AUV equipment through the flange ring on the locking pin, and connect the steel cable of the lifting equipment to the lifting ring;

[0020] S2: AUV deployment: Control the lifting equipment to release the recovery device carrying the AUV onto the water surface, and keep the lifting equipment's steel cable in a relaxed state. Due to the buoyancy and the action of the first spring, the second rectangular bracket and the first rectangular bracket will move closer to each other. During the process of moving closer, the circular rod cooperates with the linkage arm and the strip perforation to drive the clamping arm to rotate and expand away from the first rectangular bracket. At the same time, the circular electromagnet is controlled to be de-energized, so that the AUV can be separated from the recovery device, completing the deployment;

[0021] S3: AUV recovery. Before recovery, the second rectangular bracket is pressed to bring the second rectangular bracket and the first rectangular bracket closer together, and the second buckle is used to restrict the first retaining ring. The circular rod, linkage arm and strip through-hole are used to make the linkage arm in the extended state. Then, the lifting equipment is controlled to align the inner hanging barrel of the recovery device with the locking pin, and the locking pin is inserted into the inner hanging barrel. The circular electromagnet in the inner hanging barrel is controlled to operate to attract the annular magnet on the conical convex ring on the locking pin. During the insertion of the locking pin, the provided protrusion pushes the second buckle to rotate, so that the diagonal support part rotates toward the inside of the inner hanging barrel, and no longer restricts the first retaining ring. At this time, the lifting equipment is controlled to retract the steel cable and pull up the recovery device. Under the action of the first rectangular bracket and the AUV device, the second rectangular bracket and the clamping arm will be pulled a certain distance apart. The circular rod, linkage arm and strip through-hole are used to rotate the linkage arm toward the side close to the first rectangular bracket, clamping the AUV device. The recovery device carrying the AUV device is moved to the ship by the lifting equipment to complete the recovery.

[0022] In summary, the beneficial effects of the present invention are:

[0023] By setting a first rectangular bracket and a second rectangular bracket that can move relative to each other, in conjunction with the set circular rod, linkage arm and strip perforation, the dead weight of the AUV and the first rectangular bracket is utilized during the lifting process to realize that the first rectangular bracket and the second rectangular bracket are moved away from each other, and the clamping arm is rotated toward the side of the first rectangular bracket, so that the AUV equipment can be clamped to prevent the AUV equipment from falling off. At the same time, during the relative displacement of the inner and outer hanging tubes, the first clip can be used to lock the locking pin, further fix the AUV equipment, and improve the connection reliability during the recovery process. At the same time, in conjunction with the second clip, the restriction of the second clip on the outer hanging tube can be released during the insertion of the locking pin into the inner hanging tube, so that the first rectangular bracket can be moved away from the second rectangular bracket under the action of gravity, thereby driving the clamping arm to rotate and clamping the AUV equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a structural schematic diagram of an AUV automatic deployment and recovery device proposed in the present invention;

[0025] Figure 2 This is a schematic structural diagram of the first rectangular bracket and clamping arm of the AUV automatic deployment and recovery device proposed in the present invention;

[0026] Figure 3 This is a structural schematic diagram of the second rectangular bracket and positioning frame of the AUV automatic deployment and recovery device proposed by the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of the clamping arm of the AUV automatic deployment and recovery device proposed by the present invention;

[0028] Figure 5 This is a schematic structural diagram of the outer hanging tube, inner hanging tube and locking pin of the AUV automatic deployment and recovery device proposed by the present invention;

[0029] Figure 6 This is a schematic cross-sectional view of the outer hanging tube, inner hanging tube and locking pin of an AUV automatic deployment and recovery device proposed in the present invention;

[0030] Figure 7 This is a structural schematic diagram of the inner hanging tube, the first buckle and the second buckle of the AUV automatic deployment and recovery device proposed by the present invention;

[0031] Figure 8 This is a schematic diagram of the structure of a locking pin of an AUV automatic deployment and recovery device proposed in the present invention;

[0032] Figure 9 This is a schematic diagram of the structure of the outer boom of an AUV automatic deployment and recovery device proposed in the present invention;

[0033] Figure 10This is a schematic diagram of the structure of the inner hoist of an AUV automatic deployment and recovery device proposed by the present invention;

[0034] Figure 11 This is a schematic structural diagram of the first buckle of an AUV automatic deployment and recovery device proposed in the present invention;

[0035] Figure 12 This is a schematic structural diagram of the second buckle of the AUV automatic deployment and recovery device proposed in the present invention.

[0036] In the figure: 1. First rectangular bracket; 101. Articulated seat; 102. Positioning plate; 1021. Positioning hole; 103. Fixing ring; 2. Clamping arm; 201. Arc-shaped curved portion; 202. Linkage arm; 2021. Strip-shaped perforation; 3. Outer hanging tube; 301. First retaining ring; 302. Hanging ring; 4. Second rectangular bracket; 401. Rectangular frame; 4011. Round rod; 402. Metal mounting plate; 4021. Round perforation; 5. Positioning frame; 501. Arc-shaped positioning plate; 5011. Waist-shaped perforation; 502. Guide rod; 503. First spring; 6. Locking pin; 601. Flange ring; 602. Second spring ;603, metal pin; 6031, limiting cap; 604, conical convex ring; 6041, annular magnet; 7, inner hanging tube; 701, second retaining ring; 702, metal column; 7021, circular electromagnet; 703, supporting convex strip; 704, first rectangular hole; 7041, first metal shaft; 705, second rectangular hole; 7051, second metal shaft; 7052, first metal spring; 8, first buckle; 801, inclined portion; 802, hook portion; 803, first vertical portion; 804, second metal spring; 9, second buckle; 901, raised portion; 902, diagonal support portion; 903, second vertical portion. DETAILED DESCRIPTION

[0037] The following is a combination of the embodiments of the present invention Figures 1-12 The technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0038] Reference Figure 1-12, an AUV automatic deployment and recovery device, comprising a first rectangular bracket 1, a second rectangular bracket 4 and a locking pin 6 fixed on the AUV, the first rectangular bracket 1 is located below the second rectangular bracket 4, the four corner positions of the first rectangular bracket 1 are provided with a hinge seat 101, and the four hinge seats 101 are hinged with a clamping arm 2, the upper part of the clamping arm 2 is bent and extended to form a linkage arm 202, the angle between the linkage arm 202 and the clamping arm 2 is an obtuse angle, and a strip through-hole 2021 is provided on the linkage arm 202, the second rectangular bracket 4 includes a rectangular frame 401, and the four corner positions of the rectangular frame 401 are provided with a circular rod 4011, and the four circular rods 4011 are respectively inserted into the strip through-holes 2021 in the four linkage arms 202, an inner hanging tube 7 is provided at the middle position of the upper part of the first rectangular bracket 1, and the outer side of the inner hanging tube 7 is sleeved with an outer hanging tube 3, and the lower end of the outer hanging tube 3 is fixedly connected to the top of the second rectangular bracket 4;

[0039] A first retaining ring 301 is fixed to the top of the outer hanging tube 3, the lower part of the outer hanging tube 3 is an open structure, and the inner lower part of the outer hanging tube 3 is integrally provided with a first retaining ring 301, the lower part of the inner hanging tube 7 is an open structure, and a second retaining ring 701 is integrally formed at the top position of the outer circumferential surface of the inner hanging tube 7, the locking pin 6 is inserted into the inner hanging tube 7, and the inner hanging tube 7 is provided with a first clip 8 that locks the locking pin 6 as the outer hanging tube 3 moves upward, the first clip 8 is multiple, and the multiple first clips 8 are distributed in an annular manner and at equal distances on the inner hanging tube 7, and the side wall of the inner hanging tube 7 is rotatably provided with a second clip 9 near the position between two adjacent first clips 8;

[0040] A metal column 702 is fixed at the inner top of the inner hanging tube 7 , a circular electromagnet 7021 is fixed at the lower end of the metal column 702 , and a ring magnet 6041 that matches the circular electromagnet 7021 is provided on the upper part of the locking pin 6 .

[0041] Refer to the attached Figure 2 A fixing ring 103 is fixed at the middle position inside the first rectangular bracket 1, and the fixing ring 103 is fixedly connected to the lower part of the inner hanging tube 7.

[0042] Refer to the attached Figure 3 The second rectangular bracket 4 also includes a metal mounting plate 402 fixed at the upper middle position of the rectangular frame 401. A circular through-hole 4021 is provided at the top middle position of the metal mounting plate 402. The lower part of the outer hanging tube 3 is welded and fixed to the inner wall of the circular through-hole 4021.

[0043] Refer to the attached Figure 1 and attached Figure 3, a positioning frame 5 is provided at the lower part of the first rectangular bracket 1, and the positioning frame 5 includes an arc-shaped positioning plate 501, and a vertically arranged guide rod group is provided on the outer arc surfaces of both sides of the arc-shaped positioning plate 501, and the guide rod group includes a plurality of guide rods 502, and a positioning plate 102 is provided at the inner edge position of the first rectangular bracket 1 near the guide rod 502, and a positioning hole 1021 for the guide rod 502 to pass through is provided on the positioning plate 102, and a first spring 503 is sleeved on the outer circumference of the guide rod 502 near the position between the positioning plate 102 and the arc-shaped positioning plate 501, and the upper part of the guide rod 502 passes through the positioning hole 1021 and is fixedly connected to the lower part of the metal mounting plate 402,

[0044] Refer to the attached Figure 4 The clamping arm 2 is provided with an arc-shaped curved portion 201 at one end away from the linkage arm 202 , and the arc-shaped curved portion 201 is bent toward the linkage arm 202 .

[0045] Refer to the attached Figure 6 and attached Figure 8 The locking pin 6 includes a flange ring 601, a metal pin rod 603 is fixedly provided at the middle position of the top of the flange ring 601, a conical convex ring 604 is sleeved on the metal pin rod 603, and a second spring 602 is sleeved on the outer circumference of the metal pin rod 603 near the position between the conical convex ring 604 and the flange ring 601. A limiting cap 6031 is provided on the top of the metal pin rod 603, and a circular groove for accommodating the limiting cap 6031 is provided on the top of the conical convex ring 604. The annular magnet 6041 is embedded in the top of the conical convex ring 604.

[0046] Refer to the attached Figure 7 , Attachment Figure 10 and attached Figure 11, a sloped portion 801 is provided on one side of the lower portion of the first clip 8, and the upper portion of the sloped portion 801 extends upward to form a first vertical portion 803, a hook portion 802 is provided on the lower portion of the first clip 8 away from the sloped portion 801, and a second metal spring 804 is provided on the side of the first clip 8 close to the hook portion 802, and a first rectangular hole 704 adapted to the first clip 8 is provided on the outer circumference of the inner hanging tube 7, and a first metal shaft 7041 is provided on the upper inner side of the first rectangular hole 704, and the upper portion of the first clip 8 is rotatably connected to the first metal shaft 7041, and the outer circumference of the inner hanging tube 7 is provided. The lower surface of the support ridges 703 is flush with the upper part of the first vertical portion 803. When the lifting ring 302 on the upper part of the outer hanging tube 3 is subjected to force, the outer hanging tube 3 and the inner hanging tube 7 are relatively displaced. During the upward movement of the first retaining ring 301, the inclined portion 801 and the first vertical portion 803 are coordinated to cause the first clip 8 to rotate, so that the hook portion 802 at the lower part of the first clip 8 moves toward the inner side of the inner hanging tube 7. The hook portion 802 contacts the lower part of the conical convex ring 604, preventing the locking pin 6 from sliding out of the inner hanging tube 7, thereby locking the locking pin 6.

[0047] Refer to the attached Figure 7 and attached Figure 9 , a second vertical portion 903 is provided on the upper part of the second clip 9, and a protrusion 901 is provided on the side of the second vertical portion 903 close to the inner side of the inner suspension tube 7, and the lower part of the second vertical portion 903 is bent obliquely toward the outside of the inner suspension tube 7 to form a diagonal support portion 902, and a second rectangular hole 705 adapted to the second clip 9 is provided at the lower position of the inner side of the inner suspension tube 7, and a second metal shaft 7051 is provided at the middle position inside the second rectangular hole 705, and the bending part of the second clip 9 is rotatably connected with the second metal shaft 7051, and a first metal spring 7052 is fixed to the lower part of the inner side of the second rectangular hole 705, and the upper part of the first metal spring 7052 contacts the side of the diagonal support portion 902 away from the outer suspension tube 3. The diagonal support portion 902 here can block the first retaining ring 301, limiting the relative movement between the inner suspension tube 7 and the outer suspension tube 3, so that the first rectangular bracket 1 and the second rectangular bracket 4 are in a state of being close to each other. At this time, the circular rod 4011 is combined with the linkage arm 202 and the strip through-hole 2021 to realize the rotation of the clamping arm 2 toward the outside of the first rectangular bracket 1 to facilitate docking with the AUV. Then, in the process of inserting the locking pin 6 into the inner suspension tube 7, under the action of the conical convex ring 604, the cooperating convex portion 901 will drive the second buckle 9 to rotate, thereby rotating the diagonal support portion 902 toward the inside of the inner suspension tube 7, releasing the obstruction to the first retaining ring 301, so that the inner suspension tube 7 and the outer suspension tube 3 can undergo relative displacement.

[0048] A method for recovering and using an AUV automatic deployment and recovery device comprises the following steps:

[0049] S1: Equipment installation: Fix the locking pin 6 to the upper middle position of the AUV equipment through the flange ring 601 on the locking pin 6, and connect the steel cable of the lifting equipment to the lifting ring 302;

[0050] S2: AUV deployment: Control the lifting equipment to launch the recovery device carrying the AUV onto the water surface, and keep the lifting equipment's steel cable in a relaxed state. Due to the buoyancy and the action of the first spring 503, the second rectangular bracket 4 and the first rectangular bracket 1 are driven to move closer to each other. During the process of moving closer, the circular rod 4011 cooperates with the linkage arm 202 and the strip-shaped through-hole 2021 to drive the clamping arm 2 to rotate and expand away from the first rectangular bracket 1. At the same time, the circular electromagnet 7021 is controlled to be de-energized, so that the AUV can be separated from the recovery device, completing the deployment;

[0051] S3: AUV recovery. Before recovery, the second rectangular bracket 4 is pressed to bring the second rectangular bracket 4 and the first rectangular bracket 1 closer together, and the second buckle 9 is used to restrict the first retaining ring 301. The circular rod 4011, the linkage arm 202 and the strip-shaped through-hole 2021 are used to make the linkage arm 202 in the expanded state. Then the lifting equipment is controlled to align the inner hanging tube 7 of the recovery device with the locking pin 6, and the locking pin 6 is inserted into the inner hanging tube 7. The circular electromagnet 7021 in the inner hanging tube 7 is controlled to work to attract the annular magnet 6041 on the conical convex ring 604 on the locking pin 6. During the insertion of the locking pin 6, the inner hanging tube 7 is locked. Due to the provided protrusion 901, the second clip 9 is pushed to rotate, so that the diagonal support part 902 rotates toward the inside of the inner hanging tube 7, and no longer restricts the first retaining ring 301. At this time, the lifting equipment is controlled to retract the steel cable and pull up the recovery device. Under the weight of the first rectangular bracket 1 and the AUV equipment, the second rectangular bracket 4 and the clamping arm 2 will be pulled a certain distance apart. In conjunction with the provided circular rod 4011, the linkage arm 202 and the strip through-hole 2021, the linkage arm 202 is rotated toward the side close to the first rectangular bracket 1, clamping the AUV equipment, and the recovery device carrying the AUV equipment is moved to the ship through the lifting equipment to complete the recovery.

[0052] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used herein to describe the spatial positional relationship of a device or feature to other devices or features as shown in the figures. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figures. For example, if the device in the drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" can include both "above" and "below". The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0053] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present application. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components and / or combinations thereof.

[0054] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can, for example, be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0055] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection of the present invention.

Claims

1. An AUV automatic deployment and recovery device, comprising a first rectangular bracket (1), a second rectangular bracket (4) and a locking pin (6) fixed on the AUV, characterized in that: The first rectangular bracket (1) is located below the second rectangular bracket (4), and hinge seats (101) are provided at the four corners of the first rectangular bracket (1), and clamping arms (2) are hinged in the four hinge seats (101). The upper part of the clamping arm (2) is bent and extended to form a linkage arm (202), and the angle between the linkage arm (202) and the clamping arm (2) is an obtuse angle. The linkage arm (202) is provided with a strip-shaped perforation (2021). The second rectangular bracket (4) comprising a rectangular frame (401), wherein circular rods (4011) are provided at the four corner positions of the rectangular frame (401), wherein the four circular rods (4011) are respectively inserted into the strip-shaped through-holes (2021) in the four linkage arms (202), wherein an inner hanging tube (7) is provided at the middle position of the upper part of the first rectangular bracket (1), and an outer hanging tube (3) is provided on the outer side of the inner hanging tube (7), and the lower end of the outer hanging tube (3) is fixedly connected to the top of the second rectangular bracket (4); A first retaining ring (301) is fixed to the top of the outer hanging tube (3), the lower part of the outer hanging tube (3) is an open structure, and the inner lower part of the outer hanging tube (3) is integrally provided with a first retaining ring (301), the lower part of the inner hanging tube (7) is an open structure, and a second retaining ring (701) is integrally formed at the top position of the outer peripheral surface of the inner hanging tube (7), the locking pin (6) is inserted into the inner hanging tube (7), and the inner hanging tube (7) is provided with a first buckle (8) that locks the locking pin (6) as the outer hanging tube (3) moves upward, and there are multiple first buckles (8), and the multiple first buckles (8) are distributed in a ring shape and at equal distances on the inner hanging tube (7), and a second buckle (9) is rotatably provided on the side wall of the inner hanging tube (7) near the position between two adjacent first buckles (8); A metal column (702) is fixed at the inner top of the inner hanging cylinder (7), a circular electromagnet (7021) is fixed at the lower end of the metal column (702), and a ring magnet (6041) adapted to the circular electromagnet (7021) is provided on the upper portion of the locking pin (6).

2. The AUV automatic deployment and recovery device according to claim 1, characterized in that: A fixing ring (103) is fixed at the middle position inside the first rectangular bracket (1), and the fixing ring (103) is fixedly connected to the lower part of the inner hanging tube (7).

3. The AUV automatic deployment and recovery device according to claim 2, characterized in that: The second rectangular bracket (4) further comprises a metal mounting plate (402) fixed at the middle position of the upper portion of the rectangular frame (401), a circular through-hole (4021) being provided at the middle position of the top of the metal mounting plate (402), and the lower portion of the outer hanging tube (3) is welded and fixed to the inner wall of the circular through-hole (4021).

4. The AUV automatic deployment and recovery device according to claim 3, characterized in that: A positioning frame (5) is provided at the lower portion of the first rectangular bracket (1), the positioning frame (5) comprising an arc-shaped positioning plate (501), a vertically arranged guide rod group being provided on both outer arc surfaces of the arc-shaped positioning plate (501), the guide rod group comprising a plurality of guide rods (502), a positioning plate (102) being provided at an inner edge of the first rectangular bracket (1) near the guide rod (502), a positioning hole (1021) for the guide rod (502) to pass through being provided on the positioning plate (102), a first spring (503) being sleeved on the outer peripheral surface of the guide rod (502) near a position between the positioning plate (102) and the arc-shaped positioning plate (501), the upper portion of the guide rod (502) passing through the positioning hole (1021) and fixedly connected to the lower portion of the metal mounting plate (402).

5. The AUV automatic deployment and recovery device according to claim 4, characterized in that: An arc-shaped curved portion (201) is provided at one end of the clamping arm (2) away from the linkage arm (202), and the arc-shaped curved portion (201) bends toward one side of the linkage arm (202).

6. The AUV automatic deployment and recovery device according to claim 5, characterized in that: The locking pin (6) comprises a flange ring (601), a metal pin rod (603) is fixedly provided at the middle position of the top of the flange ring (601), a conical convex ring (604) is sleeved on the metal pin rod (603), a second spring (602) is sleeved on the outer peripheral surface of the metal pin rod (603) at a position close to the conical convex ring (604) and the flange ring (601), a limiting cap (6031) is provided at the top of the metal pin rod (603), a circular groove for accommodating the limiting cap (6031) is provided at the top of the conical convex ring (604), and the annular magnet (6041) is embedded in the top of the conical convex ring (604).

7. The AUV automatic deployment and recovery device according to claim 6, characterized in that: A sloped portion (801) is provided on one side of the lower portion of the first clip (8), and the upper portion of the sloped portion (801) extends upward to form a first vertical portion (803). A hook portion (802) is provided on the lower portion of the first clip (8) away from the sloped portion (801), and a second metal spring (804) is provided on the side of the first clip (8) close to the hook portion (802). A first rectangular hole (704) adapted to the first clip (8) is provided on the outer circumference of the inner hanging tube (7), and a first metal shaft (7041) is provided on the upper inner portion of the first rectangular hole (704). The upper portion of the first clip (8) is rotatably connected to the first metal shaft (7041). Support ridges (703) distributed in an annular pattern at equal distances are provided at the upper position of the outer circumference of the inner hanging tube (7), and the lower surface of the support ridges (703) is flush with the upper portion of the first vertical portion (803).

8. The AUV automatic deployment and recovery device according to claim 7, characterized in that: The second clip (9) is provided with a second vertical portion (903) on the upper portion, and a protrusion (901) is provided on the side of the second vertical portion (903) close to the inner side of the inner hanging tube (7). The lower portion of the second vertical portion (903) is bent obliquely toward the outer side of the inner hanging tube (7) to form an oblique support portion (902). A second rectangular hole (705) adapted to the second clip (9) is provided at the lower position of the inner side of the inner hanging tube (7). A second metal shaft (7051) is provided at the middle position of the inner side of the second rectangular hole (705). The bent portion of the second clip (9) forms a rotational connection with the second metal shaft (7051).

9. The AUV automatic deployment and recovery device according to claim 8, characterized in that: A first metal spring (7052) is fixed to the lower inner portion of the second rectangular hole (705), and the upper portion of the first metal spring (7052) contacts the side of the diagonal support portion (902) away from the outer suspension tube (3).

10. The method for recovering and using the AUV automatic deployment and recovery device according to claim 9, characterized in that: The steps include: S1: Equipment installation: fix the locking pin (6) to the upper middle position of the AUV equipment through the flange ring (601) on the locking pin (6), and connect the steel cable of the lifting equipment to the lifting ring (302); S2: AUV is launched. The hoisting device is controlled to launch the recovery device carrying the AUV device onto the water surface, and the steel cable of the hoisting device is kept in a relaxed state. Due to the buoyancy and the action of the first spring (503), the second rectangular bracket (4) and the first rectangular bracket (1) are driven to move closer to each other. During the process of moving closer, the circular rod (4011) cooperates with the linkage arm (202) and the strip-shaped perforation (2021) to drive the clamping arm (2) to rotate and expand toward the side away from the first rectangular bracket (1). At the same time, the circular electromagnet (7021) is controlled to be powered off, so that the AUV device can be separated from the recovery device, completing the launch. S3: AUV recovery. Before recovery, the second rectangular bracket (4) is pressed to bring the second rectangular bracket (4) and the first rectangular bracket (1) closer together, and the second buckle (9) is used to restrict the first retaining ring (301). The circular rod (4011), the linkage arm (202) and the strip-shaped perforation (2021) are used to make the linkage arm (202) in the expanded state. Then, the lifting device is controlled to align the inner hanging tube (7) of the recovery device with the locking pin (6), and the locking pin (6) is inserted into the inner hanging tube (7). The circular electromagnet (7021) in the inner hanging tube (7) is controlled to work, and the annular magnet (6041) on the conical convex ring (604) on the locking pin (6) is attracted. ) during the insertion process, the provided protrusion (901) pushes the second buckle (9) to rotate, thereby the diagonal support portion (902) rotates toward the inside of the inner hanging tube (7), and no longer restricts the first retaining ring (301). At this time, the lifting device is controlled to retract the steel cable and pull up the recovery device. Under the weight of the first rectangular bracket (1) and the AUV device, the second rectangular bracket (4) and the clamping arm (2) are pulled apart by a certain distance. In conjunction with the provided circular rod (4011), the linkage arm (202) and the strip-shaped perforation (2021), the linkage arm (202) is rotated toward the side close to the first rectangular bracket (1), clamping the AUV device. The recovery device carrying the AUV device is moved to the ship through the lifting device to complete the recovery.

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