AUV and submersible collaborative operation equipment and method based on scientific research vessel

Abstract

The present invention relates to the technical field of underwater operation equipment, and discloses an AUV and submersible collaborative operation equipment and method based on a scientific research vessel, comprising a scientific research vessel, wherein a rotating mechanism is provided on the scientific research vessel, wherein the rotating mechanism is used to drive the turntable to rotate, so as to facilitate the supply of the column-type submersible, and a clamping mechanism is connected to the rotating mechanism, wherein the clamping mechanism is used to clamp the column-type submersible, so as to realize collaborative operation of the submersible and the AUV, and to realize adjustment of the scope of collaborative operation, and to recover the damaged AUV when the AUV is damaged, and to adjust the remaining AUVs after the AUV is damaged, so as to ensure the collaborative operation range of the submersible and the AUV, and to ensure the efficiency of the collaborative operation; multiple submersibles can be launched, so that multiple submersibles can operate at the same time, and the submersibles can be recovered after the operation is completed.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater operation equipment, and specifically relates to an AUV and a submersible collaborative operation equipment and method based on a scientific research vessel. Background Art

[0002] Underwater operation equipment refers to the equipment required for various maintenance, survey, construction and other operations in underwater environments. These equipment usually have the ability to withstand extreme marine environments, making deep-sea operations possible. According to different functions and uses, underwater operation equipment can be divided into many types, including but not limited to submersibles, remote-controlled underwater robots, underwater drones, underwater crawlers and various diving equipment.

[0003] At present, when a submersible and an AUV work together, the AUV is basically carried on the submersible for movement, and the scope of the collaborative operation cannot be adjusted. Furthermore, the scope of the collaborative operation cannot be adjusted when the AUV is damaged, and the damaged AUV cannot be recovered in time, making recovery difficult. Summary of the invention

[0004] In view of the above situation, in order to overcome the defects of the prior art, the present invention provides an AUV and submersible collaborative operation device and method based on a scientific research vessel, which effectively solves the problems mentioned in the above background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: an AUV and submersible collaborative operation equipment based on a scientific research vessel, comprising a scientific research vessel, a rotating mechanism is provided on the scientific research vessel, the rotating mechanism is used to drive the turntable to rotate, so as to facilitate the supply of the column-type submersible, the rotating mechanism is connected with a clamping mechanism, the clamping mechanism is used to clamp the column-type submersible to increase the stability of the column-type submersible, the clamping mechanism is connected with a collaborative operation mechanism, the collaborative operation mechanism is used for the AUV and the column-type submersible to perform collaborative operations, the scientific research vessel is connected with a lifting mechanism, the lifting mechanism is used to drive the column-type submersible to lift and lower, so as to facilitate release and recovery, the lifting mechanism is connected with a moving mechanism, the moving mechanism is used to drive the column-type submersible to move, the moving mechanism is connected with a release and recovery mechanism, the release and recovery mechanism is used to release and recover the column-type submersible.

[0006] Preferably, the collaborative working mechanism includes the column-type submersible, which is rotatably connected to a rotating plate, an adjusting gear cavity is provided in the column-type submersible, an adjusting gear shaft is rotatably connected between the end walls of the adjusting gear cavity, the adjusting gear shaft is connected to a power output shaft of an adjusting motor fixedly installed in the column-type submersible, an adjusting gear is fixedly installed on the outer surface of the adjusting gear shaft, the adjusting gear is meshed with an adjusting annular rack, the adjusting annular rack is fixedly installed on the lower part of the rotating plate, an annular slide is provided on the upper surface of the rotating plate, a plurality of electric sliders are slidably connected between the end walls of the annular slide, an adjusting plate is fixedly connected to the upper part of the electric slider, a cable box is fixedly connected to the upper part of the adjusting plate, a cable cavity is provided in the cable box, an electric rotating shaft is rotatably connected between the end walls of the cable cavity, the outer surface of the electric rotating shaft is wrapped around A connecting cable is connected around it, and the end of the connecting cable is connected to the AUV away from the electric rotating shaft. The AUV is inserted into the AUV plug-in frame, and a clamping cavity is provided on the inner surface of the AUV plug-in frame. A clamping electric push rod is evenly fixedly connected to the end wall of the clamping cavity, and the clamping electric push rod clamps the AUV. A fixed plate is symmetrically fixedly connected to the adjustment plate, and an adjusting electric rotating shaft is rotatably connected to the fixed plate. The AUV plug-in frame is fixedly connected between the adjusting electric rotating shafts, and a dial mounting cavity is provided on the rotating plate. A dial is fixedly connected to the bottom wall of the dial mounting cavity, and angle scales are evenly and equidistantly provided on the surface of the dial, and a visual probe is fixedly connected to the lower part of the adjustment plate. The visual probe is used to scan and determine the angle scale, and a plurality of legs are evenly and fixedly connected to the lower part of the column-type submersible.

[0007] Preferably, the lifting mechanism includes a lifting frame fixedly connected to the scientific research ship, the lifting frame is provided with a lifting slide, a lifting screw is rotatably connected between the end walls of the lifting slide, the lifting screw is connected to the power output shaft of the lifting motor fixedly installed in the lifting frame, a lifting nut block is threadedly connected to the outer surface of the lifting screw, the lifting nut block is slidably connected between the end walls of the lifting slide, a cross frame is fixedly connected to the end wall of the lifting nut block, and the cross frame is slidably connected to the lifting frame.

[0008] Preferably, the moving mechanism includes a horizontal slide groove extending through the horizontal frame, and moving slide grooves are symmetrically provided on the end walls of the horizontal slide groove. A moving screw is rotatably connected between the end walls of the moving slide groove, and the moving screw is power-connected to a moving motor. The moving motor is fixedly installed in the horizontal frame, and a moving nut block is threadedly connected to the outer surface of the moving screw rod, and the moving nut block is slidably installed between the end walls of the moving slide groove, and a moving block is fixedly connected between the moving nut blocks, and a through hole is processed on the moving block.

[0009] Preferably, the release and recovery mechanism includes a fixed frame symmetrically arranged on the scientific research ship, the fixed frames are rotatably connected with a rotating shaft, the outer surface of the rotating shaft is fixedly connected with a capstan frame, the outer surface of the capstan frame is wrapped with a lifting rope, the lifting rope is slidably connected to the arc frame, the arc frame is fixedly installed on the upper side edge of the lifting frame, the lifting rope passes through the threading holes, the threading holes are through-machined on the cable tie shaft, the cable tie shaft is rotatably installed between the mounting plates, the mounting plates are symmetrically fixedly installed on the upper part of the lifting frame, the lifting rope is slidably connected to the arc block, the arc block is fixedly installed on the moving block, and the arc block is slidably connected to the cross frame, the end of the lifting rope is fixedly connected to the connecting column, the connecting column is inserted into the through hole, The lower end of the connecting column is fixedly connected to a clamping plate, and clamping grooves are evenly arranged at the lower part of the clamping plate. A clamping screw is rotatably connected between the end walls of the clamping slot, and a release clamp is threadedly connected to the outer surface of the clamping screw, and a clamping platform is clamped between the release clamps, and the clamping platform is fixedly installed on the upper part of the column-type submersible. One end of the rotating shaft extends to the gear cavity, and the gear cavity is arranged in the fixed frame on one side. A driving shaft is rotatably connected between the end walls of the gear cavity, and the driving shaft is connected to the power output shaft of the driving motor. The driving motor is fixedly installed on the end wall of the fixed frame, and a driving gear is fixedly connected to the outer surface of the driving shaft, and the driving gear is meshed with a driven gear, and the driven gear is fixedly installed on the outer surface of the rotating shaft in the gear cavity.

[0010] Preferably, the rotating mechanism includes a rotating gear cavity provided in the scientific research vessel, a rotating gear shaft is rotatably connected between the end walls of the rotating gear cavity, the rotating gear shaft is connected to a power output shaft of a rotating motor fixedly installed in the scientific research vessel, a rotating gear is fixedly connected to the outer surface of the rotating gear shaft, the rotating gear is meshed with a rotating annular rack, the rotating annular rack is fixedly installed at the lower part of the turntable, and the turntable is rotatably installed on the scientific research vessel.

[0011] Preferably, the clamping mechanism includes placement grooves that are evenly and equidistantly arranged on the turntable, the fixed ends of the clamping electric push rods are evenly and fixedly connected to the end walls of the placement grooves, the moving ends of the clamping electric push rods are fixedly connected to clamping plates, the column-type submersible is clamped between the clamping plates, and the column-type submersible is placed in the placement grooves.

[0012] Preferably, the AUV docking frame is connected to an auxiliary recovery mechanism, and the auxiliary recovery mechanism includes an electric telescopic shaft rotatably connected to the end wall of the AUV docking frame, the end of the electric telescopic shaft is fixedly connected to an electric clamp mounting frame, and the end wall of the electric clamp mounting frame is symmetrically fixedly connected to electric clamps, and the electric clamps clamp the AUV.

[0013] Preferably, the research vessel is provided with a control panel, the control panel is provided with a control processor, the control processor is provided with a corresponding control program, and the control processor is signal-connected with electrical components in the equipment.

[0014] The present invention provides a method for collaborative operation of an AUV and a submersible based on a scientific research vessel, based on the above-mentioned collaborative operation device of an AUV and a submersible based on a scientific research vessel, the steps include:

[0015] Step 1: inputting corresponding instructions on the control panel, and the control processor sends corresponding signals to corresponding electrical components after processing, so that the corresponding electrical components move;

[0016] Step 2: The rotating mechanism moves, thereby driving the turntable to rotate, thereby driving the column-type submersible to rotate to a corresponding position;

[0017] Step 3: The lifting mechanism moves, thereby driving the horizontal frame to move downward, so as to facilitate the clamping of the column-type submersible;

[0018] Step 4: The moving mechanism moves, thereby driving the clamping plate to move to the upper side of the column-type submersible, and the release clamping clamps the clamping platform. After clamping, the lifting mechanism moves, thereby driving the column-type submersible to rise, and the moving mechanism moves, thereby driving the column-type submersible to move away from the research vessel;

[0019] Step 5: When clamping, the clamping mechanism moves to release the clamping of the column-type submersible, so as to facilitate the clamping of the column-type submersible;

[0020] Step 6: releasing the recovery mechanism to move, thereby driving the column-type submersible into the water, and releasing the column-type submersible. After the release, the column-type submersible dives autonomously;

[0021] Step 7: After diving to the corresponding position, the cooperative operation mechanism moves, so that the column-type submersible and the AUV cooperate with each other, and the position and direct distance angle of the column-type submersible are adjusted;

[0022] Step 8: When the AUV is damaged, the auxiliary recovery mechanism moves, thereby achieving auxiliary recovery of the AUV;

[0023] Step nine: After the operation is completed, the column-type submersible floats to the sea surface, releases the recovery mechanism to move, and clamps and recovers the column-type submersible.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The present invention provides an AUV and submersible collaborative operation device based on a scientific research vessel, which can realize the collaborative operation of the submersible and the AUV, and can adjust the scope of the collaborative operation, and can recycle the damaged AUV when the AUV is damaged, and can adjust the remaining AUVs after the AUV is damaged, so as to ensure the collaborative operation range of the submersible and the AUV, and ensure the efficiency of the collaborative operation.

[0026] 2. The present invention provides an AUV and submersible collaborative operation device based on a scientific research vessel, which can realize the deployment of multiple submersibles, allowing multiple submersibles to operate simultaneously, improving operation efficiency, and can realize the recovery of submersibles after the operation is completed. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings are used to provide further understanding of the present invention and constitute a part of the specification. They are used to explain the present invention together with the embodiments of the present invention and do not constitute a limitation of the present invention.

[0028] In the attached picture:

[0029] Figure 1 It is a schematic diagram of the first direction structure of an AUV and submersible cooperative operation equipment based on a scientific research vessel in the present invention;

[0030] Figure 2 It is a schematic diagram of the structure in the second direction of a cooperative operation device of an AUV and a submersible based on a scientific research vessel in the present invention;

[0031] Figure 3 It is a third-direction structural schematic diagram of an AUV and submersible collaborative operation equipment based on a scientific research vessel in the present invention;

[0032] Figure 4 It is a schematic diagram of the structure of the fourth direction of an AUV and submersible cooperative operation equipment based on a scientific research vessel in the present invention;

[0033] Figure 5 It is a first partial cross-sectional structural schematic diagram of an AUV and submersible cooperative operation equipment based on a scientific research vessel in the present invention;

[0034] Figure 6 It is a schematic diagram of the local directional structure of an AUV and submersible cooperative operation equipment based on a scientific research vessel in the present invention;

[0035] Figure 7 It is a second partial cross-sectional structural schematic diagram of an AUV and submersible cooperative operation equipment based on a scientific research vessel in the present invention;

[0036] Figure 8It is a third partial cross-sectional structural schematic diagram of an AUV and submersible cooperative operation equipment based on a scientific research vessel in the present invention;

[0037] Fig. 9 It is a fourth partial cross-sectional structural schematic diagram of an AUV and submersible cooperative operation equipment based on a scientific research vessel in the present invention;

[0038] Fig.10 It is a structural schematic diagram of the combination of the moving mechanism, the lifting mechanism and the cooperative operation mechanism in the present invention;

[0039] Fig.11 It is a schematic diagram of the structure of the cooperative operation mechanism in the first direction of the present invention;

[0040] Fig.12 It is a schematic diagram of the structure of the cooperative operation mechanism in the present invention in the second direction;

[0041] Fig.13 It is a schematic diagram of the third direction structure of the collaborative operation mechanism in the present invention;

[0042] Fig.14 It is a fifth direction structural schematic diagram of an AUV and submersible cooperative operation equipment based on a scientific research vessel in the present invention;

[0043] Fig.15 for Fig.14 Schematic diagram of the cross-sectional structure at AA in the middle;

[0044] Fig.16 for Fig.15 Schematic diagram of the cross-sectional structure at the middle BB;

[0045] Fig.17 for Fig.15 Schematic diagram of the enlarged structure at point C in the middle.

[0046] In the figure: 1-research vessel, 2-control panel, 3-turntable, 4-rotating plate, 5-fixed plate, 6-adjustment plate, 7-cable box, 8-column submersible, 9-AUV, 10-connecting cable, 11-clamping table, 12-clamping plate, 13-release clamping, 14-cross frame, 15-moving block, 16-horizontal slide, 17-arc block, 18-lifting rope, 19-mounting plate, 20-cable shaft, 21-threading hole, 22-arc frame, 23-fixed frame, 24-lifting slide, 25-lifting screw, 26-clamping slide, 27-moving slide, 28-moving screw, 29-clamping screw, 30-AUV plug-in frame, 31-scale plate, 32-angle scale, 33-electric clamp mounting frame, 34-electric clamp, 35-annular slide, 36-rotating motor, 37-rotating Moving gear shaft, 38-rotating gear, 39-rotating shaft, 40-placing slot, 41-support leg, 42-clamping electric push rod, 43-clamping plate, 44-electric slider, 45-dial installation cavity, 46-electric rotating shaft, 47-electric telescopic rotating shaft, 48-connecting column, 49-lifting nut block, 50-lifting frame, 51-rotating annular rack, 52-cranking frame, 53-visual probe, 54-cable cavity, 55-driving motor, 56-driving gear, 57-driving shaft, 58-rotating gear cavity, 59-driven gear, 60-gear cavity, 61-adjusting electric rotating shaft, 62-moving nut block, 63-support rod, 64-support plate, 65-adjusting gear cavity, 66-adjusting gear shaft, 67-adjusting gear, 68-adjusting annular rack, 69-clamping cavity, 70-clamping electric push rod. DETAILED DESCRIPTION

[0047] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0048] like Figure 1-17As shown, the present invention provides an AUV and submersible collaborative operation equipment based on a scientific research vessel, including a scientific research vessel 1, wherein the scientific research vessel 1 is provided with a rotating mechanism, wherein the rotating mechanism is used to drive the turntable 3 to rotate, so as to facilitate the supply of the column-type submersible 8, wherein the rotating mechanism is connected with a clamping mechanism, wherein the clamping mechanism is used to clamp the column-type submersible 8 to increase the stability of the column-type submersible 8, wherein the clamping mechanism is connected with a collaborative operation mechanism, wherein the collaborative operation mechanism is used for the collaborative operation between the AUV 9 and the column-type submersible 8, wherein the scientific research vessel 1 is connected with a lifting mechanism, wherein the lifting mechanism is used to drive the column-type submersible 8 to be lifted and lowered, so as to facilitate release and recovery, wherein the lifting mechanism is connected with a moving mechanism, wherein the moving mechanism is used to drive the column-type submersible 8 to move, wherein the moving mechanism is connected with a release and recovery mechanism, wherein the release and recovery mechanism is used to release and recover the column-type submersible 8.

[0049] Advantageously, the cooperative operation mechanism includes the column-type submersible 8, which is rotatably connected to a rotating plate 4, an adjusting gear cavity 65 is provided in the column-type submersible 8, an adjusting gear shaft 66 is rotatably connected between the end walls of the adjusting gear cavity 65, the adjusting gear shaft 66 is connected to the power output shaft of the adjusting motor fixedly installed in the column-type submersible 8, an adjusting gear 67 is fixedly installed on the outer surface of the adjusting gear shaft 66, the adjusting gear 67 is meshed with an adjusting annular rack 68, the adjusting annular rack 68 is fixedly installed on the lower part of the rotating plate 4, an annular slide 35 is provided on the upper surface of the rotating plate 4, a plurality of electric sliders 44 are slidably connected between the end walls of the annular slide 35, an adjusting plate 6 is fixedly connected to the upper part of the electric slider 44, a cable box 7 is fixedly connected to the upper part of the adjusting plate 6, a cable cavity 54 is provided in the cable box 7, an electric rotating shaft 46 is rotatably connected between the end walls of the cable cavity 54, and the outer surface of the electric rotating shaft 46 is wound and connected There is a connecting cable 10, the end of the connecting cable 10 away from the electric shaft 46 is connected to the AUV9, the AUV9 is inserted into the AUV plug-in frame 30, the inner surface of the AUV plug-in frame 30 is provided with a clamping cavity 69, the end wall of the clamping cavity 69 is evenly fixedly connected with a clamping electric push rod 70, the clamping electric push rod 70 clamps the AUV9, the adjusting plate 6 is symmetrically fixedly connected with a fixing plate 5, and the fixing plate 5 is rotatably connected with an adjusting electric shaft 61 The AUV docking frame 30 is fixedly connected between the adjusting electric rotating shaft 61, the rotating plate 4 is provided with a dial installation cavity 45, a dial 31 is fixedly connected to the bottom wall of the dial installation cavity 45, and angle scales 32 are evenly and evenly spaced on the surface of the dial 31. A visual probe 53 is fixedly connected to the lower part of the adjusting plate 6, and the visual probe 53 is used to scan and determine the angle scale 32. A plurality of legs 41 are evenly and fixedly connected to the lower part of the column-type submersible 8;

[0050] During operation, the column-type submersible 8 is placed into the water, and the column-type submersible 8 descends in the water. After descending to a suitable position, the adjusting motor is started, thereby driving the adjusting gear shaft 66 to rotate, thereby driving the adjusting gear 67 to rotate, and the adjusting gear 67 is meshed with the adjusting annular rack 68, thereby driving the rotating plate 4 to rotate, thereby driving the AUV9 to move to a corresponding position, so that the adjusting electric rotating shaft 61 rotates, thereby driving the AUV docking frame 30 to rotate to a horizontal direction, so that the clamping electric push rod 70 moves, releases the clamping of the AUV9, and makes the AUV9 move, so that the electric rotating shaft 46 rotates, thereby loosening the connecting cable 10, and when the AUV9 moves Pull the connecting cable 10 to move, and the connecting cable 10 facilitates the recovery of the AUV9. The AUV9 and the column-type submersible 8 work simultaneously, and the working plane constitutes an annular plane, and the radius of the annular plane can be adjusted. When a certain AUV9 is damaged and cannot work normally, the electric slider 44 is energized to make the electric slider 44 slide between the end walls of the annular slide 35, thereby driving the adjustment plate 6 to rotate, thereby driving the visual probe 53 to move and scan the angle scale 32. After scanning the corresponding angle scale 32, the electric slider 44 stops moving, thereby making the angles between the AUV9 that can work normally uniform, ensuring that the working plane is an annular plane.

[0051] Advantageously, the lifting mechanism comprises a lifting frame 50 fixedly connected to the research vessel 1, the lifting frame 50 is provided with a lifting slot 24, a lifting screw 25 is rotatably connected between the end walls of the lifting slot 24, the lifting screw 25 is connected to the power output shaft of the lifting motor fixedly installed in the lifting frame 50, a lifting nut block 49 is threadedly connected to the outer surface of the lifting screw 25, the lifting nut block 49 is slidably connected between the end walls of the lifting slot 24, a cross frame 14 is fixedly connected to the end wall of the lifting nut block 49, and the cross frame 14 is slidably connected to the lifting frame 50;

[0052] During operation, the lifting motor is started to drive the lifting screw rod 25 to rotate, thereby driving the lifting nut block 49 to move, thereby driving the cross frame 14 to perform lifting movement.

[0053] Advantageously, the moving mechanism includes a horizontal slide 16 provided through the horizontal frame 14, and a moving slide 27 is symmetrically provided on the end wall of the horizontal slide 16, and a moving screw 28 is rotatably connected between the end walls of the moving slide 27, and the moving screw 28 is connected to the power of the moving motor, and the moving motor is fixedly installed in the horizontal frame 14, and a moving nut block 62 is threadedly connected to the outer surface of the moving screw 28, and the moving nut block 62 is slidably installed between the end walls of the moving slide 27, and a moving block 15 is fixedly connected between the moving nut blocks 62, and a through hole is processed on the moving block 15;

[0054] During operation, the moving motor is started to drive the moving screw rod 28 to rotate, and the moving screw rod 28 is threadedly connected to the moving nut block 62, thereby driving the moving block 15 to move, so as to facilitate the clamping and release of the column-type submersible 8.

[0055] Advantageously, the release and recovery mechanism includes a fixed frame 23 symmetrically provided on the scientific research vessel 1, wherein the fixed frames 23 are rotatably connected with a rotating shaft 39, and a capstan frame 52 is fixedly connected to the outer surface of the rotating shaft 39, and a lifting rope 18 is wound and connected to the outer surface of the capstan frame 52, and the lifting rope 18 is slidably connected to the arc frame 22, and the arc frame 22 is fixedly installed on the upper side edge of the lifting frame 50, and the lifting rope 18 passes through between the threading holes 21, and the threading holes 21 are through-machined on the cable shaft 20, and the cable shaft 20 is rotatably installed between the mounting plates 19, and the mounting plates 19 are symmetrically fixedly installed on the upper part of the lifting frame 50, and the lifting rope 18 is slidably connected to the arc block 17, and the arc block 17 is fixedly installed on the moving block 15, and the arc block 17 is slidably connected to the cross frame 14, and the end of the lifting rope 18 is fixedly connected to the connecting column 48, and the connecting column 48 is inserted into the through hole. The lower end of the connecting column 48 is fixedly connected with a clamping plate 12, and the lower part of the clamping plate 12 is evenly provided with clamping grooves 26. A clamping screw 29 is rotatably connected between the end walls of the clamping groove 26. The outer surface of the clamping screw 29 is threadedly connected with a release clamp 13. A clamping platform 11 is clamped between the release clamp 13. The clamping platform 11 is fixedly installed on the upper part of the column-type submersible 8. The end of one side of the rotating shaft 39 extends to the gear cavity 60. The gear cavity 60 is arranged in the fixed frame 23 on one side. A driving shaft 57 is rotatably connected between the end walls of the gear cavity 60. The driving shaft 57 is connected to the power output shaft of the driving motor 55. The driving motor 55 is fixedly installed on the end wall of the fixed frame 23. The outer surface of the driving shaft 57 is fixedly connected with a driving gear 56. The driving gear 56 is meshed with a driven gear 59. The driven gear 59 is fixedly installed on the outer surface of the rotating shaft 39 in the gear cavity 60.

[0056] During operation, the driving motor 55 is started to drive the driving shaft 57 to rotate, thereby driving the driving gear 56 to rotate, and the driving gear 56 is meshed with the driven gear 59, thereby driving the rotating shaft 39 to rotate, thereby driving the capstan 52 to rotate, thereby driving the lifting rope 18 to move, so that the connecting column 48 moves downward, thereby driving the clamping plate 12 to move downward, thereby driving the release clamp 13 to move downward, thereby driving the clamping platform 11 to move downward, thereby driving the column-type submersible 8 to move downward, and after the column-type submersible 8 enters the water, the clamping screw 29 is rotated, thereby driving the release clamp 13 to move, thereby releasing the clamping platform 11.

[0057] Advantageously, the rotating mechanism comprises a rotating gear chamber 58 provided in the research vessel 1, a rotating gear shaft 37 is rotatably connected between the end walls of the rotating gear chamber 58, the rotating gear shaft 37 is connected to the power output shaft of the rotating motor 36 fixedly installed in the research vessel 1, a rotating gear 38 is fixedly connected to the outer surface of the rotating gear shaft 37, the rotating gear 38 is meshed with a rotating annular rack 51, the rotating annular rack 51 is fixedly installed at the lower part of the turntable 3, and the turntable 3 is rotatably installed on the research vessel 1;

[0058] During operation, the rotating motor 36 is started to drive the rotating gear shaft 37 to rotate, thereby driving the rotating gear 38. The rotating gear 38 is meshed with the rotating annular rack 51, thereby driving the turntable 3 to rotate, so as to release the column-type submersible 8.

[0059] Advantageously, the clamping mechanism comprises placement grooves 40 evenly and evenly spaced on the turntable 3, the end walls of the placement grooves 40 are evenly and fixedly connected with fixed ends of clamping electric push rods 42, the moving ends of the clamping electric push rods 42 are fixedly connected with clamping plates 43, the column-type submersible 8 is clamped between the clamping plates 43, and the column-type submersible 8 is placed in the placement grooves 40;

[0060] During operation, when the column-type submersible 8 needs to be clamped and released, the clamping electric push rod 42 is moved, thereby driving the clamping plate 43 to move, thereby releasing the clamping of the column-type submersible 8, making it easier to launch the column-type submersible 8.

[0061] Advantageously, the AUV docking frame 30 is connected with an auxiliary recovery mechanism, and the auxiliary recovery mechanism includes an electric telescopic shaft 47 rotatably connected to the end wall of the AUV docking frame 30, and an electric clamping claw mounting frame 33 is fixedly connected to the end of the electric telescopic shaft 47, and an electric clamping claw 34 is symmetrically fixedly connected to the end wall of the electric clamping claw mounting frame 33, and the electric clamping claw 34 clamps the AUV 9;

[0062] During operation, when recovering the damaged AUV9 that cannot be recovered normally by itself, the electric telescopic shaft 47 is rotated, thereby driving the electric clamp mounting frame 33 to rotate. After rotating to the corresponding position, the electric clamp 34 moves to clamp the AUV9. After clamping, the electric telescopic shaft 47 contracts, thereby driving the AUV9 to be inserted into the AUV docking frame 30.

[0063] Advantageously, the research vessel 1 is provided with a control panel 2, the control panel 2 is provided with a control processor, the control processor is provided with a corresponding control program, and the control processor is connected to the electrical components in the equipment by signals;

[0064] During operation, corresponding operation instructions are inputted on the control panel 2, transmitted to the control processor for processing, and then corresponding signals are sent to corresponding electrical components to make the corresponding electrical components move.

[0065] The present invention provides a method for collaborative operation of an AUV and a submersible based on a scientific research vessel, based on the above-mentioned collaborative operation device of an AUV and a submersible based on a scientific research vessel, the steps include:

[0066] Step 1: inputting corresponding instructions on the control panel 2, and the control processor sends corresponding signals to corresponding electrical components after processing, so that the corresponding electrical components move;

[0067] Step 2: The rotating mechanism moves, thereby driving the turntable 3 to rotate, thereby driving the column-type submersible 8 to rotate to a corresponding position;

[0068] Step 3: The lifting mechanism moves, thereby driving the horizontal frame 14 to move downward, so as to facilitate the clamping of the column-type submersible 8;

[0069] Step 4: The moving mechanism moves, thereby driving the clamping plate 12 to move to the upper side of the column-type submersible 8, and the release clamp 13 clamps the clamping platform 11. After clamping, the lifting mechanism moves, thereby driving the column-type submersible 8 to rise, and the moving mechanism moves, thereby driving the column-type submersible 8 to move away from the research vessel 1;

[0070] Step 5: When clamping, the clamping mechanism moves to release the clamping of the column-type submersible 8, so as to facilitate the clamping of the column-type submersible 8;

[0071] Step 6: releasing the recovery mechanism to move, thereby driving the column-type submersible 8 into the water, and releasing the column-type submersible 8. After the release, the column-type submersible 8 dives autonomously;

[0072] Step 7: After diving to the corresponding position, the cooperative operation mechanism moves, so that the column-type submersible 8 and the AUV 9 cooperate with each other, and the position and direct distance angle of the column-type submersible 8 are adjusted;

[0073] Step 8: When the AUV9 is damaged, the auxiliary recovery mechanism moves, thereby achieving auxiliary recovery of the AUV9;

[0074] Step nine: After the operation is completed, the column-type submersible 8 floats to the sea surface, and the recovery mechanism is released to move, and the column-type submersible 8 is clamped and recovered.

[0075] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0076] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A research vessel-based AUV and submersible collaborative operation equipment, characterized by: The research vessel (1) comprises a rotating mechanism, the rotating mechanism is used to drive a turntable (3) to rotate, so as to facilitate the supply of a column-type submersible (8), the rotating mechanism is connected to a clamping mechanism, the clamping mechanism is used to clamp the column-type submersible (8) to increase the stability of the column-type submersible (8), the clamping mechanism is connected to a cooperative operation mechanism, the cooperative operation mechanism is used for the AUV (9) and the column-type submersible (8) to perform cooperative operations, the research vessel (1) is connected to a lifting mechanism, the lifting mechanism is used to drive the column-type submersible (8) to lift and lower, so as to facilitate release and recovery, the lifting mechanism is connected to a moving mechanism, the moving mechanism is used to drive the column-type submersible (8) to move, the moving mechanism is connected to a release and recovery mechanism, the release and recovery mechanism is used to release and recover the column-type submersible (8); The cooperative operation mechanism comprises the column-type submersible (8), the column-type submersible (8) is rotatably connected to a rotating plate (4), an adjusting gear chamber (65) is provided in the column-type submersible (8), an adjusting gear shaft (66) is rotatably connected between the end walls of the adjusting gear chamber (65), the adjusting gear shaft (66) is connected to a power output shaft of an adjusting motor fixedly installed in the column-type submersible (8), an adjusting gear (67) is fixedly installed on the outer surface of the adjusting gear shaft (66), and the adjusting gear (67) is meshed with an adjusting annular rack (68) The adjusting annular rack (68) is fixedly mounted on the lower part of the rotating plate (4); an annular slideway (35) is provided on the upper surface of the rotating plate (4); a plurality of electric sliders (44) are slidably connected between the end walls of the annular slideway (35); an adjusting plate (6) is fixedly connected to the upper part of the electric slider (44); a cable box (7) is fixedly connected to the upper part of the adjusting plate (6); a cable cavity (54) is provided in the cable box (7); an electric rotating shaft (46) is rotatably connected between the end walls of the cable cavity (54); a connecting wire is wound around the outer surface of the electric rotating shaft (46) The connecting cable (10) is connected to the AUV (9) at one end away from the electric rotating shaft (46). The AUV (9) is inserted into the AUV plug-in frame (30). The inner surface of the AUV plug-in frame (30) is provided with a clamping cavity (69). The end wall of the clamping cavity (69) is evenly fixedly connected with a clamping electric push rod (70). The clamping electric push rod (70) clamps the AUV (9). The adjusting plate (6) is symmetrically fixedly connected with a fixing plate (5). The fixing plate (5) is rotatably connected with an adjusting electric rotating shaft (61). The AUV docking frame (30) is fixedly connected between the adjusting electric rotating shaft (61), the rotating plate (4) is provided with a dial installation cavity (45), a dial (31) is fixedly connected to the bottom wall of the dial installation cavity (45), the surface of the dial (31) is provided with angle scales (32) evenly and evenly spaced, the lower part of the adjusting plate (6) is fixedly connected with a visual probe (53), the visual probe (53) is used to scan and determine the angle scale (32), and the lower part of the column-type submersible (8) is evenly and fixedly connected with a plurality of legs (41).

2. The AUV and submersible collaborative operation equipment based on a scientific research vessel according to claim 1, characterized in that: The lifting mechanism comprises a lifting frame (50) fixedly connected to the scientific research vessel (1), the lifting frame (50) is provided with a lifting chute (24), a lifting screw rod (25) is rotatably connected between the end walls of the lifting chute (24), the lifting screw rod (25) is connected to the power output shaft of the lifting motor fixedly installed in the lifting frame (50), the outer surface of the lifting screw rod (25) is threadedly connected with a lifting nut block (49), the lifting nut block (49) is slidably connected between the end walls of the lifting chute (24), a cross frame (14) is fixedly connected to the end wall of the lifting nut block (49), and the cross frame (14) is slidably connected to the lifting frame (50).

3. The AUV and submersible collaborative operation equipment based on a scientific research vessel according to claim 2, characterized in that: The moving mechanism comprises a horizontal slide groove (16) passing through the horizontal frame (14), a moving slide groove (27) symmetrically provided on the end wall of the horizontal slide groove (16), a moving screw rod (28) rotatably connected between the end walls of the moving slide groove (27), the moving screw rod (28) is connected to the power of a moving motor, the moving motor is fixedly installed in the horizontal frame (14), a moving nut block (62) is threadedly connected to the outer surface of the moving screw rod (28), the moving nut block (62) is slidably installed between the end walls of the moving slide groove (27), a moving block (15) is fixedly connected between the moving nut blocks (62), and a through hole is processed on the moving block (15).

4. The AUV and submersible collaborative operation equipment based on a scientific research vessel according to claim 3, characterized in that: The release and recovery mechanism comprises a fixed frame (23) symmetrically arranged on the research vessel (1), a rotating shaft (39) is rotatably connected between the fixed frames (23), a capstan frame (52) is fixedly connected to the outer surface of the rotating shaft (39), a lifting rope (18) is wound around the outer surface of the capstan frame (52), the lifting rope (18) is slidably connected to the arc frame (22), the arc frame (22) is fixedly installed on the upper side edge of the lifting frame (50), the lifting rope (18) passes through the threading holes (21), and the threading holes (21) are connected to the lifting rope (18). ) is through-machined on the cable tie shaft (20), the cable tie shaft (20) is rotatably mounted between the mounting plates (19), the mounting plates (19) are symmetrically fixedly mounted on the upper part of the lifting frame (50), the lifting rope (18) is slidably connected to the arc block (17), the arc block (17) is fixedly mounted on the moving block (15), and the arc block (17) is slidably connected to the cross frame (14), the end of the lifting rope (18) is fixedly connected to the connecting column (48), the connecting column (48) is inserted into the through hole, and the connecting The lower end of the connecting column (48) is fixedly connected with a clamping plate (12), and the lower part of the clamping plate (12) is evenly provided with clamping grooves (26), and the end walls of the clamping grooves (26) are rotatably connected with a clamping screw (29), and the outer surface of the clamping screw (29) is threadedly connected with a release clamp (13), and a clamping platform (11) is clamped between the release clamp (13), and the clamping platform (11) is fixedly installed on the upper part of the column-type submersible (8), and the end of one side of the rotating shaft (39) extends to the gear cavity (60), and the gear cavity (60 ) is arranged in the fixed frame (23) on one side, a driving shaft (57) is rotatably connected between the end walls of the gear chamber (60), the driving shaft (57) is connected to the power output shaft of the driving motor (55), the driving motor (55) is fixedly installed on the end wall of the fixed frame (23), the outer surface of the driving shaft (57) is fixedly connected to a driving gear (56), the driving gear (56) is meshed with a driven gear (59), and the driven gear (59) is fixedly installed on the outer surface of the rotating shaft (39) in the gear chamber (60).

5. The AUV and submersible cooperative operation equipment based on a scientific research vessel according to claim 4, characterized in that: The rotating mechanism comprises a rotating gear chamber (58) arranged in the scientific research vessel (1), a rotating gear shaft (37) is rotatably connected between the end walls of the rotating gear chamber (58), the rotating gear shaft (37) is connected to the power output shaft of a rotating motor (36) fixedly installed in the scientific research vessel (1), the outer surface of the rotating gear shaft (37) is fixedly connected to a rotating gear (38), the rotating gear (38) is meshed with a rotating annular rack (51), the rotating annular rack (51) is fixedly installed at the lower part of the turntable (3), and the turntable (3) is rotatably installed on the scientific research vessel (1).

6. The AUV and submersible collaborative operation equipment based on a scientific research vessel according to claim 5, characterized in that: The clamping mechanism comprises placement grooves (40) uniformly and evenly spaced on the turntable (3), the fixed ends of the clamping electric push rods (42) being uniformly fixedly connected to the end walls of the placement grooves (40), the moving ends of the clamping electric push rods (42) being fixedly connected to the clamping plates (43), the column-type submersible (8) being clamped between the clamping plates (43), and the column-type submersible (8) being placed in the placement grooves (40).

7. The AUV and submersible collaborative operation equipment based on a scientific research vessel according to claim 6, characterized in that: The AUV docking frame (30) is connected to an auxiliary recovery mechanism, the auxiliary recovery mechanism comprising an electric telescopic shaft (47) rotatably connected to the end wall of the AUV docking frame (30), the end of the electric telescopic shaft (47) being fixedly connected to an electric clamping claw mounting frame (33), the end wall of the electric clamping claw mounting frame (33) being symmetrically fixedly connected to electric clamping claws (34), the electric clamping claws (34) clamping the AUV (9).

8. The AUV and submersible collaborative operation equipment based on a scientific research vessel according to claim 7, characterized in that: The scientific research vessel (1) is provided with a control panel (2), the control panel (2) is provided with a control processor, the control processor is provided with a corresponding control program, and the control processor is signal-connected with electrical components in the equipment.

9. A method for cooperative operation of an AUV and a submersible based on a scientific research vessel, based on the cooperative operation device of an AUV and a submersible based on a scientific research vessel as claimed in claim 8, characterized in that: include: Step 1: inputting a corresponding instruction on the control panel (2), and the control processor sends a corresponding signal to the corresponding electrical component after processing, so that the corresponding electrical component moves; Step 2: The rotating mechanism moves, thereby driving the rotating disk (3) to rotate, thereby driving the column-type submersible (8) to rotate to a corresponding position; Step 3: The lifting mechanism moves, thereby driving the horizontal frame (14) to move downward, so as to facilitate the clamping of the column-type submersible (8); Step 4: The moving mechanism moves, thereby driving the clamping plate (12) to move to the upper side of the column-type submersible (8), and the release clamp (13) clamps the clamping platform (11). After clamping, the lifting mechanism moves, thereby driving the column-type submersible (8) to rise, and the moving mechanism moves, thereby driving the column-type submersible (8) to move away from the research vessel (1); Step 5: When clamping, the clamping mechanism moves to release the clamping of the column-type submersible (8), so as to facilitate the clamping of the column-type submersible (8); Step 6: releasing the recovery mechanism to move, thereby driving the column-type submersible (8) into the water, and releasing the column-type submersible (8). After the release, the column-type submersible (8) dives autonomously; Step 7: After diving to the corresponding position, the cooperative operation mechanism moves, so that the column-type submersible (8) and the AUV (9) cooperate with each other, and the position and direct distance angle of the column-type submersible (8) are adjusted; Step eight: when the AUV (9) is damaged, the auxiliary recovery mechanism moves, thereby achieving auxiliary recovery of the AUV (9); Step nine: After the operation is completed, the column-type submersible (8) floats up to the sea surface, and the recovery mechanism is released to move, and the column-type submersible (8) is clamped and recovered.

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