Multi-AUV (Autonomous Underwater Vehicle) butt-joint and vertical transfer system for adjusting postures by using toothed belt

Abstract

The invention discloses a multi-AUV (Autonomous Underwater Vehicle) butt joint and vertical transfer system capable of adjusting postures by using a toothed belt, and relates to the technical field of long-term resident underwater operation robot equipment.The multi-AUV butt joint and vertical transfer system comprises a rotary platform, a turnover device is arranged on the rotary platform, and a lifting device and a circumferential posture adjusting device are arranged above the turnover device; the circumferential posture adjusting device is arranged on the periphery of the lifting device, the positioning device is arranged above the lifting device, the clamping device is arranged above the positioning device, the guide frame is arranged above the clamping device and the circumferential posture adjusting device, and the guide frame is connected to the rotary platform through a supporting column. According to the multi-AUV butt-joint and vertical transfer system capable of adjusting the posture through the toothed belt, the rotation resistance in seawater is reduced, and the multi-AUV butt-joint and vertical transfer system has the advantages of being simple in mechanism, easy to operate, safe, reliable and the like.

Description

Technical Field

[0001] The present invention relates to the technical field of long-term resident underwater operation robot equipment, and in particular to a multi-AUV docking and vertical transfer system utilizing a toothed belt for posture adjustment. Background Art

[0002] In recent years, the application of autonomous underwater vehicles (AUVs) in bathymetry, inspection, maintenance, mine detection, environmental monitoring, surveillance and intervention has achieved rapid development, attracting more and more attention from academic and industrial research teams. However, since the sensors of AUVs need to be maintained frequently and their power storage is very limited, they must be recovered in time through the platform when performing complex tasks to complete the replenishment of power and sensor maintenance. In this context, setting up a docking platform underwater to achieve autonomous docking and recovery of AUVs has become an important research direction.

[0003] Among the existing patents, such as the patent document with application number 202311696100.8 and title “A mechanical guidance and recovery system suitable for underwater docking” and the patent document with application number 202211014006.5 and title “A system and method for underwater docking and recovery of an active and passive combined AUV”, the above patents can only dock one AUV. If you want to dock multiple AUVs, you can only add a docking device, which will cause a waste of funds. In addition, the above patents lack adjustment of the axial and circumferential posture of the AUV, and lack devices for charging and information exchange with the AUV, and are not suitable for charging and information exchange with multiple AUVs.

[0004] The above patents are not applicable to the transportation, storage, and power supply of multiple AUVs, and do not include devices for adjusting the axial and circumferential posture of the AUVs and structural designs for charging and information exchange with the AUVs. Summary of the invention

[0005] The purpose of the present invention is to provide a multi-AUV docking and vertical transfer system that uses a toothed belt for posture adjustment, which solves the problems raised in the above-mentioned background technology. By individually controlling the hydraulic cylinder of the flipping device for flipping control, each AUV does not need to wait in line and can be driven out of the docking system at will, and can even be driven out of the docking device at the same time, so that multiple AUVs can be docked and received on the seabed for a long time to achieve the tasks of charging and information exchange.

[0006] To achieve the above-mentioned object, the present invention provides a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment, comprising a rotating platform, a turning device is arranged on the rotating platform, a lifting device and a circumferential posture adjustment device are arranged above the turning device, the circumferential posture adjustment device is arranged on the periphery of the lifting device, a positioning device is arranged above the lifting device, a clamping device is arranged above the positioning device, a guide frame is arranged above the clamping device and the circumferential posture adjustment device, and the guide frame is connected to the rotating platform through a support column;

[0007] The rotating platform is arranged at the center of the chassis, and a plurality of docking devices are arranged on the chassis. The plurality of docking devices are arranged on the chassis in a circular structure around the rotating platform.

[0008] Preferably, the docking device includes a flippable vertical plate hingedly connected to the chassis, the outer side of the flippable vertical plate is connected to one end of a flip hydraulic cylinder, and the other end of the flip hydraulic cylinder is hingedly connected to the chassis; a charging device and two groups of clamping devices are provided on the inner upper part of the flippable vertical plate, and the two groups of clamping devices are fixed to the flippable vertical plate by connecting V-blocks.

[0009] Preferably, the flipping device comprises two bottom support rods fixedly connected to the rotating platform, the two bottom support rods are hingedly connected to one end of the upper pull rod and the lower pull rod through two connecting blocks, and the other ends of the lower pull rod and the upper pull rod are hingedly connected to the flipping platform;

[0010] The lower pull rod is hingedly connected to one end of the supporting hydraulic cylinder, and the other end of the supporting hydraulic cylinder is hingedly connected to the rotating platform through a supporting hydraulic cylinder ear seat.

[0011] Preferably, the lifting device includes a bottom platform arranged on the flip platform, and a lifting motor is arranged on the bottom platform. The output end of the lifting motor is connected to one end of the lifting group screw through a coupling 1, and the other end of the lifting group screw is hingedly connected to the bottom platform through a bearing seat 1.

[0012] Preferably, a screw nut is threadedly connected to the lead screw of the lifting group, and the screw nut is fixed on the pull rod. Studs are connected on both sides of the pull rod, and a slider is provided at the end of the stud away from the pull rod, and the slider is connected to one end of the inner rod. The middle part of the inner rod and the outer rod are hingedly connected by a pin shaft, one end of the outer rod is hingedly connected to the bottom platform, and the other ends of the outer rod and the inner rod are connected to the upper platform.

[0013] Preferably, the positioning device comprises a fixed V-block and a movable V-block arranged above the upper platform, the movable V-block is sleeved on the positioning group lead screw and two guide shafts, the two guide shafts are arranged on both sides of the guide group lead screw, one end of the guide group lead screw close to the fixed V-block is connected to the output end of the movable motor through a coupling 2, the positioning group lead screw is fixed to the upper platform through two bearing seats 2, and the two guide shafts are fixed to the upper platform through two bearing seats 3;

[0014] The movable V-shaped block and the fixed V-shaped block are both fixedly connected with rollers via roller support ear seats.

[0015] Preferably, the clamping device comprises fingers, palms and a clamping hydraulic cylinder arranged on the fixed V-block and the movable V-block, one end of the clamping hydraulic cylinder is hingedly connected to the bottom of the movable V-block or the fixed V-block through a clamping hydraulic cylinder ear seat, the other end of the clamping hydraulic cylinder is hingedly connected to the bottom of the palm, and the top of the palm is hingedly connected to the fingers;

[0016] The fixed V-shaped block and the movable V-shaped block are both provided with connecting shafts, a through hole is opened in the middle of the palm, and the through hole is penetrated by the connecting shaft.

[0017] Preferably, the circumferential posture adjustment device includes a thickened toothed belt, two moving frames are symmetrically sleeved on both ends of the thickened toothed belt, widened gears are arranged inside the two moving frames, the widened gears are meshed with the thickened toothed belt, the widened gears are connected to a rotating motor, and the rotating motor is arranged on one side of the moving frame.

[0018] Preferably, the two movable frames are respectively mounted on two adjustment group screws, each of the adjustment group screws is fixed to the flip platform through two bearing seats four, a transmission motor is provided on one side of the flip platform, the transmission motor is connected to the transmission shaft through a coupling three, both ends of the transmission shaft and the ends of the two adjustment group screws are connected through two bevel gears, and the transmission shaft is fixed to the flip platform through bearing seats five and six.

[0019] Therefore, the present invention adopts a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment, which has the following beneficial effects:

[0020] (1) The present invention adds a turning device based on a connecting rod mechanism, a vertical AUV docking device, etc. The above device can turn the AUV from a horizontal state to a vertical state, so that the AUV can be subsequently transported and stored vertically. The vertical AUV storage method greatly saves the space occupied by the AUV in the docking device and also increases the number of AUVs stored in the docking device.

[0021] (2) In the present invention, the vertical AUV docking devices are deployed in a circular form. Compared with the previous AUV docking devices, this deployment method greatly increases the number of deployed vertical AUV docking devices, and each vertical AUV docking device can be flipped by individually controlling the flipping part hydraulic cylinder, so that each AUV does not need to wait in line and can be driven out of the docking system at will, and can even be driven out of the docking device at the same time, which greatly improves the efficiency of AUV driving out of the docking device.

[0022] (3) The present invention adds a toothed belt circumferential attitude adjustment device, which uses a toothed belt to adjust the circumferential attitude of the AUV. Whether the circumferential position of the AUV is accurate directly affects the subsequent charging and information exchange.

[0023] (4) The only mechanism that needs to rotate in the present invention is the docking device on the middle rotating platform. Therefore, the present invention only needs to drive the middle part to rotate separately. Compared with rotating the entire device, rotating only the docking part greatly reduces the rotational resistance of the mechanism in seawater.

[0024] The technical solution of the present invention is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a structural schematic diagram of an embodiment of a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to the present invention;

[0026] Figure 2 It is a structural schematic diagram of a clamping device of a multi-AUV docking and vertical transfer system that uses a toothed belt for posture adjustment according to the present invention;

[0027] Figure 3 It is a structural schematic diagram of a positioning device for a multi-AUV docking and vertical transfer system that uses a toothed belt for posture adjustment according to the present invention;

[0028] Figure 4 It is a structural schematic diagram of a lifting device of a multi-AUV docking and vertical transfer system that uses a toothed belt for posture adjustment according to the present invention;

[0029] Figure 5It is a structural schematic diagram of a circumferential attitude adjustment device of a multi-AUV docking and vertical transfer system that uses a toothed belt for attitude adjustment according to the present invention;

[0030] Figure 6 It is a structural schematic diagram of a flipping device of a multi-AUV docking and vertical transfer system that uses a toothed belt for posture adjustment according to the present invention;

[0031] Figure 7 It is a structural schematic diagram of a docking device for a multi-AUV docking and vertical transfer system that uses a toothed belt for posture adjustment according to the present invention;

[0032] Figure 8 It is a simplified structural diagram of the working process of "when the docking device is ready to dock" of a multi-AUV docking and vertical transfer system that uses a toothed belt for posture adjustment according to the present invention;

[0033] Fig. 9 This is a simplified structural diagram of the working process of "when the AUV sits down" of a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to the present invention;

[0034] Fig.10 A simplified structural diagram of the working process of "after the AUV completes landing" of a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to the present invention;

[0035] Fig.11 This is a simplified structural diagram of the working process of "AUV axial position accuracy" of a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to the present invention;

[0036] Fig.12 A simplified structural diagram of the working process of "AUVs preparing to perform circumferential posture alignment" of a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to the present invention;

[0037] Fig.13 This is a simplified structural diagram of the working process of "AUVs adjusting their circumferential posture" of a multi-AUV docking and vertical transfer system that uses a toothed belt to adjust their posture in the present invention;

[0038] Fig.14 This is a simplified structural diagram of the working process of "AUV completing circumferential posture adjustment" of a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to the present invention;

[0039] Fig.15 This is a simplified structural diagram of the working process of "when the AUV is flipping" of a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to the present invention;

[0040] Fig.16A simplified structural diagram of the working process of "flipping the AUV to a vertical state" of a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to the present invention;

[0041] Fig.17 It is a simplified structural diagram of the working process of "AUVs are pushed onto a vertical AUV docking device" of a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to the present invention;

[0042] Fig.18 A simplified structural diagram of the working process of "AUV about to exit the docking device" of a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to the present invention;

[0043] Figure numerals: 1. guide frame; 2. clamping device; 3. positioning device; 4. lifting device; 5. support column; 6. circumferential posture adjustment device; 7. charging device; 8. flip device; 9. docking device; 10. chassis; 11. finger; 12. palm; 13. clamping hydraulic cylinder; 14. clamping hydraulic cylinder ear seat; 15. mobile V-block; 16. fixed V-block; 17. roller support ear seat; 18. roller; 19. positioning group screw; 20. bearing seat 2; 21. coupling 2; 22. mobile motor; 23. guide shaft; 24. bearing seat 3; 25. upper platform; 26. inner rod; 27. outer rod; 28. pin; 29. ​​stud; 30. Slider; 31. Bearing seat one; 32. Bottom platform; 33. Lifting group screw; 34. Screw nut; 35. Pull rod; 36. Coupling one; 37. Lifting motor; 38. Thickened toothed belt; 39. Bearing seat four; 40. Adjustment group screw; 41. Widened gear; 42. Moving frame; 43. Rotating motor; 44. Bevel gear; 45. Bearing seat five; 46. Transmission shaft; 47. Bearing seat six; 48. Coupling three; 49. Transmission motor; 50. Bottom support rod; 51. Upper pull rod; 52. Lower pull rod; 53. Flipping platform; 54. Support hydraulic cylinder; 55. Rotating platform; 56. Connecting V-block; 57. Flippable vertical plate; 58. Flipping hydraulic cylinder. DETAILED DESCRIPTION

[0044] The technical solution of the present invention is further described below through the accompanying drawings and embodiments.

[0045] Unless otherwise defined, the technical terms or scientific terms used in the present invention should be understood by people with ordinary skills in the field to which the present invention belongs. The words "first", "second" and similar words used in the present invention do not indicate any order, quantity or importance, but are only used to distinguish different components. "Include" or "comprise" and similar words mean that the elements or objects appearing before the word include the elements or objects listed after the word and their equivalents, without excluding other elements or objects. "Connect" or "connected" and similar words are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "Up", "down", "left", "right" and the like are only used to indicate relative positional relationships. When the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0046] Example

[0047] See also Figure 1-18 The present invention provides a multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment, including a rotating platform 55, a turning device 8 is arranged on the rotating platform 55, a lifting device 4 and a circumferential posture adjustment device 6 are arranged above the turning device 8, the circumferential posture adjustment device 6 is arranged on the outer periphery of the lifting device 4, a positioning device 3 is arranged above the lifting device 4, a clamping device 2 is arranged above the positioning device 3, a guide frame 1 is arranged above the clamping device 2 and the circumferential posture adjustment device 6, and the guide frame 1 is connected to the rotating platform 55 through a support column 5. The rotating platform 55 is arranged at the center of the chassis 10, and multiple groups of docking devices 9 are arranged on the chassis 10 in a circular structure around the rotating platform 55. The above-mentioned multiple devices work together to achieve the docking of AUVs and flip the AUVs from a horizontal state to a vertical state.

[0048] like Figure 2 As shown, the clamping device 2 includes fingers 11, palms 12 and clamping hydraulic cylinders 13 arranged on the fixed V-block 16 and the mobile V-block 15. One end of the clamping hydraulic cylinder 13 is hingedly connected to the bottom of the mobile V-block 15 or the fixed V-block 16 through the clamping hydraulic cylinder ear seat 14, and the other end of the clamping hydraulic cylinder 13 is hingedly connected to the bottom of the palm 12. The top of the palm 12 is hingedly connected to the fingers 11. The fixed V-block 16 and the mobile V-block 15 are both provided with connecting shafts, and a through hole is opened in the middle position of the palm 12, and the through hole is penetrated by the connecting shaft. When used specifically, the clamping device 2 is installed on the fixed V-block 16 and the mobile V-block 15 to position and clamp the AUV. Especially when the AUV is in a vertical state or flipped for transportation, the clamping device 2 can firmly clamp it.

[0049] like Figure 3As shown, the positioning device 3 includes a fixed V-block 16 and a mobile V-block 15 arranged above the upper platform 25. The mobile V-block 15 is sleeved on the positioning group lead screw 19 and two guide shafts 23. The two guide shafts 23 are arranged on both sides of the guide group lead screw 19. The end of the guide group lead screw 19 close to the fixed V-block 16 is connected to the output end of the mobile motor 22 through a coupling 21. The positioning group lead screw 19 is fixed on the upper platform 25 through two bearing seats 20, and the two guide shafts 23 are fixed on the upper platform 25 through two bearing seats 3 24. The mobile V-block 15 and the fixed V-block 16 are both fixedly connected with rollers 18 through roller support ear seats 17. When used specifically, the positioning device 3 drives the fixed position lead screw 19 to rotate through the mobile motor 22 and then drives the mobile V-block 15 to move. The mobile V-block 15 and the fixed V-block 16 cooperate with each other to find the axial position of the AUV.

[0050] like Figure 4 As shown, the lifting device 4 includes a bottom platform 32 arranged on the flip platform 53, and a lifting motor 37 is arranged on the bottom platform 32. The output end of the lifting motor 37 is connected to one end of the lifting group screw 33 through a coupling 36, and the other end of the lifting group screw 33 is hingedly connected to the bottom platform 32 through a bearing seat 31. The lifting group screw 33 is connected with a screw nut 34 through a thread, and the screw nut 34 is fixed on the pull rod 35. Both sides of the pull rod 35 are connected with studs 29, and the end of the stud 29 away from the pull rod 35 is provided with a slider 30, and the slider 30 is connected to one end of the inner rod 26. The middle part of the inner rod 26 and the outer rod 27 are hingedly connected through a pin 28. One end of the outer rod 27 is hingedly connected to the bottom platform 32, and the other ends of the outer rod 27 and the inner rod 26 are connected to the upper platform 25. The inner rod 26 and the outer rod 27 form a scissor frame structure. During specific use, the lifting motor 37 drives the lifting group screw 33 to rotate, and under the transmission of the screw nut 34, the pull rod 35 moves. One end of the pull rod 35 is connected to the stud 29, and the stud 29 drives the slider 30 to move, so that the slider 30 drives the inner rod 26 and the outer rod 27 to move, thereby realizing the vertical lifting function. When preparing for docking, the lifting device 4 can lift the mobile V-block 15 and the fixed V-block 16 with the clamping device 2 upwards. When transporting, the lifting device 4 pushes the AUV placed vertically on the flipping device 8 to the docking device 9.

[0051] like Figure 5As shown, the circumferential posture adjustment device 6 includes a thickened toothed belt 38, two moving frames 42 are symmetrically sleeved at both ends of the thickened toothed belt 38, widened gears 41 are arranged inside the two moving frames 42, the widened gears 41 and the thickened toothed belt 42 are meshed, the thickened toothed belt 38 can rotate under the drive of the widened gears 41, and the moving frames 42 can drive the thickened toothed belt 38 to move under the drive of the transmission motor 49. The widened gear 41 is connected to the rotating motor 43, and the rotating motor 43 is arranged on one side of the moving frame 42. The two moving frames 42 are respectively sleeved on the two adjusting group lead screws 40, each adjusting group lead screw 40 is fixed on the flip platform 53 through two bearing seats 439, and a transmission motor 49 is arranged on one side of the flip platform 53. The transmission motor 49 is connected to the transmission shaft 46 through a coupling 3 48, and both ends of the transmission shaft 46 and the ends of the two adjusting group lead screws 40 are connected through two bevel gears 44. The transmission shaft 46 is fixed on the flip platform 53 through a bearing seat 5 45 and a bearing seat 6 47. The transmission motor 49 drives the transmission shaft 46 to rotate, and the transmission shaft 46 drives the adjusting group lead screw 40 to rotate through the bevel gear 44, thereby driving the moving frames 42 carrying the widening gear 41 on the left and right sides to move. When in use, the movement of the thickened toothed belt 38 is mainly driven by the moving frames 42 on the left and right sides of the thickened toothed belt 38, and the movement of the moving frames 42 is mainly driven by two adjustment group lead screws 40. If two motors are used, it is difficult to ensure the same frequency and speed of the two adjustment group lead screws 40. Therefore, the mechanism uses a transmission motor 49 to drive the transmission shaft 46, and then the two bevel gears 44 drive the two adjustment group lead screws 40 to rotate. At the same time, a rotating motor 43 and a widening gear 41 are installed on the moving frame 42, and the widening gear 41 is driven by the rotating motor 43 to rotate. Since the widening gear 41 and the thickened toothed belt 38 are in meshing relationship, the tightness of the thickened toothed belt 38 can be adjusted by controlling the widening gears 41 on the left and right sides, and the circumferential posture of the AUV can be adjusted by the friction between the thickened toothed belt 38 and the AUV.

[0052] like Figure 6 As shown, the flipping device 8 includes two bottom support rods 50 fixedly connected to the rotating platform 55, and the two bottom support rods 50 are hingedly connected to one end of the upper pull rod 51 and the lower pull rod 52 through two connecting blocks, and the other ends of the lower pull rod 52 and the upper pull rod 51 are hingedly connected to the flipping platform 53. The lower pull rod 52 is hingedly connected to one end of the supporting hydraulic cylinder 54, and the other end of the supporting hydraulic cylinder 54 is hingedly connected to the rotating platform 55 through the supporting hydraulic cylinder ear seat. When in use, the lower pull rod 52 is pulled by driving the supporting hydraulic cylinder 54. Since there is a connecting rod between the upper pull rod 51, the lower pull rod 52 and the flipping platform 53, under the pulling action of the supporting hydraulic cylinder 54, the flipping platform 53 will flip according to the pre-designed trajectory, and the AUV will achieve a vertical state driven by the flipping platform 53.

[0053] like Figure 7 As shown, the docking device 9 includes a reversible vertical plate 57 hingedly connected to the chassis 10, the outer side of the reversible vertical plate 57 is connected to one end of a reversing hydraulic cylinder 58, the other end of the reversing hydraulic cylinder 58 is hingedly connected to the chassis 10, and two reversing hydraulic cylinders 58 are provided, and the reversing action of the reversible vertical plate 57 is realized by the two reversing hydraulic cylinders 58. The upper inner part of the reversible vertical plate 57 is provided with a charging device 7 and two sets of clamping devices 8, and the two sets of clamping devices 8 are fixed on the reversible vertical plate 57 by connecting V-shaped blocks 56. The charging device 7 can charge and exchange information for the AUV when it is vertically docked on the reversible vertical plate 57. When used specifically, the reversing device 8 flips the AUV from a horizontal state to a vertical standing state. The docking device 9 mainly realizes the vertical storage of the AUV. The vertical AUV storage method greatly saves the space occupied by the AUV in the docking device and also increases the number of docked and stored AUVs.

[0054] The implementation process of the entire structure is as follows:

[0055] When multiple AUVs need to charge or exchange information, they need to enter the warehouse. In most cases, they need to dock upstream. At this time, it is necessary to drive the rotating platform 55 to align the direction of the guide frame 1 with the direction of the ocean current, and the lifting device 4 installed on the flip platform 53 of the flip device 8 drives the positioning device 3 to rise, and the fingers 11 of the clamping device 2 open to prepare to clamp the AUV.

[0056] When the AUV is at a long distance, hydroacoustic positioning is adopted. When the distance is close, optical positioning is adopted by underwater cameras. When the AUV finds the docking device, the full-drive AUV can be guided by the guide frame to sit down on the positioning device 3. When the AUV completes the sitting action, the clamping device 2 can be controlled to clamp. When the clamping is successful, due to the deviation of the axial position of the AUV, the axial position can be accurately found by controlling the positioning device 3. When the circumferential position of the AUV deviates, the adjustment mechanism 6 can be controlled to adjust the circumferential posture of the AUV. After the axial and circumferential postures of the AUV are adjusted, the wireless charging device 7 can charge the AUV. The difficulty of finding the position accurately, after the AUV completes the posture adjustment, the clamping device 2 clamps the AUV, and then the AUV is flipped under the action of the flipping device 8. By adjusting the rotating platform 55 to align it with a docking device 9, the AUV is pushed vertically to the docking device 9 under the action of the lifting device 4. The clamping device 2 on the docking device 9 clamps the AUV so that the AUV completes the goal of docking at the docking device 9. When the AUV docks at the docking device 9, the charging device 7 can be used to charge and exchange information for the AUV. Whenever an AUV completes docking, it can be rotated and transported to a docking device 9 with a vacant position by controlling the rotating platform 55. When an AUV completes charging and information exchange and needs to go out to perform a task, the docking device 9 can be flipped to a certain angle with the horizontal plane by controlling the flipping hydraulic cylinder 58. At this time, the two pairs of clamping device 2 claws are opened, and the AUV is driven out of the docking platform obliquely upward along the vertical AUV docking device 9 at a certain angle to the horizontal plane under the action of the thruster.

[0057] The working principle of this implementation method is divided into ten working processes AJ and discussed separately (in order to clearly show the action process of the mechanism, Figure 8-Figure 18 Only one vertical AUV docking device is shown in the work process. In fact, there are multiple vertical AUV docking devices arranged in a circle around the periphery):

[0058] A. When the docking device is ready to dock

[0059] like Figure 8 As shown, when an AUV needs to dock, the docking system needs to be prepared in advance, such as Figure 8 As shown, it is first necessary to drive the rotating platform 55 to rotate the guide frame 1 and the docking device as a whole to the upstream direction, which can improve the success rate of docking. At the same time, the lifting device 4 holds the positioning device 3 with the clamping device 2 upward, and the fingers 11 and palm 12 of the clamping device 2 are opened to prepare for clamping.

[0060] B. When the AUV is sitting down

[0061] like Fig. 9As shown, when the AUV reaches the designated position, the all-wheel drive AUV sits down along the guide frame 1 under the action of the thruster.

[0062] C. After the AUV completes its landing

[0063] like Fig.10 As shown, when the AUV sits on the positioning device 3 with the clamping device 2, the fingers 11 and the palm 12 of the clamping device 2 clamp the AUV, and at the same time, the lifting device 4 drives the above device to descend downward.

[0064] D. AUV axial position determination

[0065] like Fig.11 As shown, when the AUV needs to adjust the axial position, the fingers 11 and palm 12 on the fixed V-block 16 in the positioning device 3 are loosened, and the fingers 11 and palm 12 on the mobile V-block 15 continue to be clamped, and then the AUV aligns the axial posture under the guidance of the mobile V-block 15.

[0066] E. AUV prepares to find the circumferential attitude

[0067] like Fig.12 As shown in Figure 2, when the AUV wants to adjust its circumferential attitude, Fig.12 As shown, first, the transmission motor 49 drives the transmission shaft 46 to rotate, and then the two bevel gears 44 drive the two adjustment group lead screws 40 to rotate. Then, the moving frame 42 with the thickened toothed belt 38 is driven to move, and the moving frame 42 with the thickened toothed belt 38 stops when it moves to the top of the middle part of the AUV.

[0068] F. AUV adjusts its circumferential attitude

[0069] like Fig.13 As shown, first, the clamping device 2 is released. Since the widened gear 41 and the thickened toothed belt 38 are in meshing relationship, the tightness of the thickened toothed belt 38 can be adjusted by controlling the rotation of the widened gears 41 on the left and right sides, and the circumferential posture of the AUV can be adjusted by the friction between the thickened toothed belt 38 and the AUV.

[0070] G. AUV completes circumferential attitude adjustment

[0071] like Fig.14 As shown, when the AUV completes the circumferential posture adjustment, the fingers 11 and palm 12 of the clamping device 2 clamp the AUV, and then loosen the thickened toothed belt 38 by controlling the rotation of the widened gears 41 on the left and right sides, and then drive the transmission motor 49 to move the moving frame 42 with the thickened toothed belt 38 to the edge position of the flip platform 53.

[0072] H. When the AUV is flipped

[0073] like Fig.15 As shown, this part mainly pulls the lower pull rod 52 through the supporting hydraulic cylinder 54. Since there is a connecting rod between the upper pull rod 51, the lower pull rod 52 and the flip platform 53, the flip platform 53 will flip according to the pre-designed trajectory through the pulling action of the supporting hydraulic cylinder 54.

[0074] I. AUV flips to a vertical position

[0075] like Fig.16 As shown, when the AUV is flipped to a vertical state, the AUV is aligned with a docking device 9 with an empty space by driving the rotary platform 55 to rotate, and the fingers 11 and palm 12 of the clamping device 2 on the docking device 9 are opened.

[0076] J. The AUV is pushed onto the vertical AUV docking device

[0077] like Fig.17 As shown, the AUV in a vertical state is pushed onto the docking device 9 by the lifting device 4, and the clamping device 2 on the docking device 9 clamps the AUV so that the AUV completes the docking on the docking device 9, and the fingers 11 and palms 12 on the clamping device 4 are released. When the AUV is docked on the docking device 9, the charging device 7 can be used to charge the AUV and exchange information.

[0078] K. The AUV is about to leave the docking device

[0079] like Fig.18 As shown, when an AUV completes charging and information exchange and needs to go out to perform a mission, the docking device 9 can be flipped to a certain angle with the horizontal plane by controlling the flip hydraulic cylinder 58. At this time, the two pairs of fingers and palms 12 of the clamping device 2 are opened, and the AUV, under the action of the thruster, drives obliquely upward along the docking device 9 at a certain angle to the horizontal plane to exit the docking platform.

[0080] This system invention changes the previous horizontal storage method of AUV to vertical storage. The vertical storage method of AUV greatly saves the storage space of the docking device. Each vertical AUV docking device can be flipped by individually controlling the flipping part hydraulic cylinder, so that each AUV does not need to wait in line and can be driven out of the docking system at will, and even all AUVs can be driven out of the docking device at the same time. At the same time, this system also uses a toothed belt to adjust the circumferential posture of the AUV, which is ready for subsequent charging and information exchange. In addition, this system only needs to perform a separate rotation drive on the middle part. Compared with rotating the device as a whole, rotating only the docking part greatly reduces the rotation resistance of the mechanism in seawater.

[0081] Therefore, the present invention adopts the above-mentioned structure of a multi-AUV docking and vertical transfer system that uses a toothed belt for posture adjustment. It only needs to drive the middle part to rotate separately. Compared with rotating the entire device, rotating only the docking part greatly reduces the rotational resistance of the entire system in seawater, and has the advantages of simple structure, simple operation, safety and reliability.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical solution of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical solution to deviate from the spirit and scope of the technical solution of the present invention.

Claims

1. A multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment, characterized in that: It comprises a rotating platform, a turning device is arranged on the rotating platform, a lifting device and a circumferential posture adjustment device are arranged above the turning device, the circumferential posture adjustment device is arranged on the periphery of the lifting device, a positioning device is arranged above the lifting device, a clamping device is arranged above the positioning device, a guide frame is arranged above the clamping device and the circumferential posture adjustment device, and the guide frame is connected to the rotating platform through a support column; The rotating platform is arranged at the center of the chassis, and a plurality of docking devices are arranged on the chassis. The plurality of docking devices are arranged on the chassis in a circular structure around the rotating platform.

2. The multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to claim 1, characterized in that: The docking device includes a reversible vertical plate hingedly connected to the chassis, the outer side of the reversible vertical plate is connected to one end of a reversing hydraulic cylinder, and the other end of the reversing hydraulic cylinder is hingedly connected to the chassis; a charging device and two groups of clamping devices are provided on the inner upper part of the reversible vertical plate, and the two groups of clamping devices are fixed to the reversible vertical plate by connecting V-blocks.

3. The multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to claim 2, characterized in that: The flipping device comprises two bottom support rods fixedly connected to the rotating platform, the two bottom support rods are hingedly connected to one end of the upper pull rod and the lower pull rod through two connecting blocks, and the other ends of the lower pull rod and the upper pull rod are hingedly connected to the flipping platform; The lower pull rod is hingedly connected to one end of the supporting hydraulic cylinder, and the other end of the supporting hydraulic cylinder is hingedly connected to the rotating platform through a supporting hydraulic cylinder ear seat.

4. The multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to claim 3 is characterized in that: The lifting device includes a bottom platform arranged on the flip platform, a lifting motor is arranged on the bottom platform, the output end of the lifting motor is connected to one end of the lifting group screw through a coupling 1, and the other end of the lifting group screw is hingedly connected to the bottom platform through a bearing seat 1.

5. The multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to claim 4, characterized in that: A screw nut is threadedly connected to the lead screw of the lifting group, and the screw nut is fixed on the pull rod. Studs are connected on both sides of the pull rod. A slider is provided at the end of the stud away from the pull rod, and the slider is connected to one end of the inner rod. The middle parts of the inner rod and the outer rod are hingedly connected by a pin shaft, one end of the outer rod is hingedly connected to the bottom platform, and the other ends of the outer rod and the inner rod are connected to the upper platform.

6. The multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to claim 5, characterized in that: The positioning device comprises a fixed V-block and a movable V-block arranged above the upper platform, the movable V-block is sleeved on the positioning group lead screw and two guide shafts, the two guide shafts are arranged on both sides of the guide group lead screw, one end of the guide group lead screw close to the fixed V-block is connected to the output end of the movable motor through a coupling 2, the positioning group lead screw is fixed to the upper platform through two bearing seats 2, and the two guide shafts are fixed to the upper platform through two bearing seats 3; The movable V-shaped block and the fixed V-shaped block are both fixedly connected with rollers via roller support ear seats.

7. The multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to claim 6, characterized in that: The clamping device comprises fingers, palms and a clamping hydraulic cylinder arranged on the fixed V-shaped block and the movable V-shaped block, one end of the clamping hydraulic cylinder is hingedly connected to the bottom of the movable V-shaped block or the fixed V-shaped block through a clamping hydraulic cylinder ear seat, the other end of the clamping hydraulic cylinder is hingedly connected to the bottom of the palm, and the top of the palm is hingedly connected to the fingers; The fixed V-shaped block and the movable V-shaped block are both provided with connecting shafts, a through hole is opened in the middle of the palm, and the through hole is penetrated by the connecting shaft.

8. The multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to claim 7, characterized in that: The circumferential posture adjustment device includes a thickened toothed belt, and two moving frames are symmetrically sleeved on both ends of the thickened toothed belt. Widened gears are arranged inside the two moving frames. The widened gears are meshed with the thickened toothed belt, and the widened gears are connected to a rotating motor. The rotating motor is arranged on one side of the moving frame.

9. The multi-AUV docking and vertical transfer system using a toothed belt for posture adjustment according to claim 8, characterized in that: The two movable frames are respectively mounted on two adjustment group screws, each of the adjustment group screws is fixed to the flip platform through two bearing seats four, a transmission motor is arranged on one side of the flip platform, the transmission motor is connected to the transmission shaft through a coupling three, both ends of the transmission shaft and the ends of the two adjustment group screws are connected through two bevel gears, and the transmission shaft is fixed to the flip platform through bearing seats five and six.

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