Rotary carrying type multi-AUV (Autonomous Underwater Vehicle) butt joint and transfer device and method capable of keeping self-level

Abstract

The invention relates to a rotary carrying type multi-AUV (Autonomous Underwater Vehicle) butt joint and transfer device and method capable of keeping self-level, and belongs to the field of underwater operation robot equipment. Comprising a butt joint module, a vertical carrying module and a rotary carrying module. The butt joint module comprises a rotary platform with a guide frame, and a first clamping device is arranged on the top face of the rotary platform. A vertical carrying module is mounted on one side of the butt joint module; the vertical carrying module comprises a liftable carrying platform, and a locking device and a second clamping device are arranged on the carrying platform; a rotary carrying module is mounted below the butt joint module; the rotary carrying module comprises a plurality of branch rotating shafts and horizontal plates mounted on each group of branch rotating shafts; and an AUV charging and information interaction device and a third clamping device are arranged on the horizontal plate. According to the device, the AUV butt joint and transfer number is increased, the AUV can be kept horizontal during transfer, preparation is made for follow-up actions such as delivery of the AUV from a warehouse, and the rotation resistance of the mechanism in seawater is reduced due to the fact that independent rotation driving is carried out on the butt joint part.

Description

Technical Field

[0001] The present invention belongs to the field of long-term resident underwater operation robot equipment, and in particular relates to a rotating transport type multi-AUV docking and transfer device and method capable of maintaining self-leveling. Background Art

[0002] Autonomous underwater vehicles (AUVs) play an important role in the development of marine resources. Due to their size limitations, AUVs carry insufficient energy, and in order to perform underwater operations for a long time, AUVs need to be replenished with energy in a timely manner. Underwater docking and recovery devices have better performance than surface docking and recovery devices, and are the focus of research in many scientific research institutions.

[0003] Among the existing patents, such as the patent document with application number 202211014006.5 and titled "A system and method for underwater docking and recovery of active and passive combined AUVs" and the patent document with application number 202311696100.8 and titled "A mechanical guidance and recovery system suitable for underwater docking", their patents can only dock and store one AUV and lack transfer and axial position adjustment devices. Moreover, the device lacks the structural design for charging and information exchange with the AUV, and is not suitable for powering and exchanging information with multiple AUVs.

[0004] The above patents are not applicable to the transportation, storage, and power supply of multiple AUVs, and do not contain the axial position adjustment device for AUVs and the structural design for charging and information exchange for AUVs. Therefore, they are different from the present invention in terms of application objects and functional requirements. The invention combines vertical transportation and rotation transportation to realize the transportation of multiple AUVs. At the same time, the invention separates the docking part from the transportation part, and independently controls the direction of the docking platform. At the same time, the magnetic suction AUV charging and information interaction device charges and exchanges information for the AUV. The magnetic suction charging method greatly reduces the difficulty of docking the charging device. The device not only greatly increases the number of AUV docking and transportation, but also maintains the level of the AUV itself during transportation, preparing for the subsequent AUV exiting the warehouse and other actions. The invention also performs a separate rotation action on the docking part. Compared with rotating the entire device, rotating only the docking part greatly reduces the rotation resistance of the mechanism in seawater. The device can realize the long-term docking and reception of multiple AUVs on the seabed to achieve the task of charging and information exchange. Summary of the invention

[0005] In order to solve the problems that the existing devices are not suitable for transporting, storing and powering multiple AUVs, the present invention proposes a device that can dock and transport multiple AUVs and stay on the seabed for a long time to complete charging and information exchange tasks.

[0006] The present invention provides a self-leveling revolving transport type multi-AUV docking and transfer device, comprising a docking module, a vertical transport module and a revolving transport module; the docking module comprises a revolving platform with a guide frame, and a first clamping device is provided on the top surface of the revolving platform with a guide frame; a vertical transport module is installed on one side of the docking module; the vertical transport module comprises a liftable transport platform, and a locking device and a second clamping device are provided on the transport platform; a revolving transport module is installed below the docking module; the revolving transport module comprises a multi-branch rotating shaft with a multi-group of branch rotating shafts around the center and a horizontal plate installed on each group of branch rotating shafts; when the multi-branch rotating shaft rotates, the horizontal plate always maintains a horizontal state; an AUV charging and information interaction device and a third clamping device are arranged on each of the horizontal plates.

[0007] Furthermore, the rotating platform with the guide frame is driven by a rotating mechanism at the bottom thereof.

[0008] Furthermore, the vertical transport module also includes a lifting mechanism and a chassis; a lifting motor and a screw shaft supported by a bearing seat are provided on the chassis, and the output end of the lifting motor is connected to the screw shaft through a lifting platform coupling; slideways are provided on both sides of the top surface of the chassis and the bottom surface of the transport platform; the lifting mechanism is a scissors frame structure, and sliders are installed on the upper and bottom of the scissors frame structure, and the sliders are arranged on the slides on both sides of the chassis and the transport platform; the screw shaft cooperates with the screw nut, and the screw nut is fixed on the pull rod; studs are connected on both sides of the pull rod, and the studs are connected to the slider on the top surface of the chassis.

[0009] Furthermore, the locking device includes a locking frame and a small motor; the shaft ends on both sides of the locking frame are fixed to the transport platform through ear seats; and the small motor drives the locking frame through a coupling.

[0010] Furthermore, the rotary transport module also includes a rear mounting plate with a slide rail and a front mounting plate with a slide groove; a long axis end with a key groove is provided at the center position of one side end surface of each horizontal plate, the long axis end with the key groove passes through each branch shaft and cooperates with the intermediate connecting rod by a key, and the horizontal plate, the branch shaft and the intermediate connecting rod are fixed by an end cover; a pulley is installed at the other end of the intermediate connecting rod, and the pulley slides in the rear mounting plate with the slide rail; a short axis end is provided on the other side end surface of each horizontal plate, and the short axis ends of every two horizontal plates are connected by a pull rod with a round shaft, and the round shaft of the pull rod with a round shaft can slide along the slide groove in the front mounting plate with the slide groove.

[0011] Furthermore, the first clamping device includes a movable double V-block positioning device and a clamping device based on the rotation of the bevel gear; the movable double V-block positioning device based on the rotation of the bevel gear includes a bevel gear, a bevel gear transmission shaft, a first fixed V-block, and a first movable V-block; the first fixed V-block is fixed to a rotary platform with a guide frame by bolts; the first movable V-block is driven by a long screw shaft, and the long screw shaft is connected to the motor through a coupling; a bevel gear is installed at one end of the long screw shaft, which meshes and rotates with the bevel gear on the bevel gear transmission shaft; bearings supported by bearing seats are arranged at both ends of the bevel gear transmission shaft; the first fixed V The upper ends of the blocks and the first movable V-block are provided with clamping devices; the second clamping device includes a second fixed V-block equipped with a clamping device; the third clamping device includes a movable double V-block positioning device and a clamping device; the movable double V-block positioning device includes a third fixed V-block and a third movable V-block; a boss is provided at one end of the top surface of each horizontal plate, and the third fixed V-block is installed on the boss; the third movable V-block is installed on the part of the top surface of the horizontal plate without a boss through a short screw shaft and a guide rod, and the short screw shaft is connected to the transmission motor through a coupling; the upper ends of the third fixed V-block and the third movable V-block are provided with clamping devices.

[0012] Furthermore, the clamping device includes a mechanical palm and mechanical fingers connected to the mechanical palm. A hole is opened in the middle part of the mechanical palm to connect with the axis on the lower platform. The hole below the mechanical palm is hinged to one end of the hydraulic cylinder, and the other end of the hydraulic cylinder is hinged to the lower platform through the hydraulic cylinder ear seat.

[0013] Furthermore, the charging and information interaction device includes a magnetic AUV charging and information interaction device; the magnetic AUV charging and information interaction device includes a charging base fixed on a horizontal plate by screws and a magnetic plate connected to the charging base by a tension spring; the magnetic plate can slide along a slide groove in the charging base.

[0014] The present invention further provides a method for a self-leveling rotary transport type multi-AUV docking and transfer device, when the AUV needs to be docked and put into the warehouse, the rotary platform with a guide frame rotates to the upstream direction; the AUV sits down on the rotary platform under the guidance of the guide frame; the rotary platform equipped with a first clamping device brings the AUV to the raised transport platform, the first clamping device and the locking device on the transport platform clamp and lock the AUV, the first clamping device on the rotary platform releases the AUV, the transport platform starts to descend, and then the rotary platform returns to its original position to make room for the AUV to be transported downward and wait for the next AUV to be seated; at the same time, the horizontal plate with vacant space in the rotary transport module rotates to a suitable position to prepare to receive the AUV on the lowered transport platform, the third clamping device on the horizontal plate grabs the AUV, and the AUV arrives on the horizontal plate; when the rotary transport module welcomes the next AUV, the multi-branch rotating shaft rotates to rotate other horizontal plates with vacant space to a suitable position to prepare to receive the AUV.

[0015] Furthermore, when the AUV reaches the horizontal plate downward, the AUV is grabbed for charging and information exchange; when the AUV is fully charged, the charging and information exchange devices are powered off, and the rotary transport module turns the AUV to the upper position; since the AUV is always horizontal during transportation, when the AUV reaches the uppermost position, the fixation of the AUV is released, and the AUV can leave the docking device under the action of the thrusters to perform the task.

[0016] The beneficial effects are:

[0017] 1. The present invention separates the docking part and the transfer part of the device and designs them separately. Compared with the device in which the docking part and the transfer part are integrated, the advantage of the separate design of the docking part and the transfer part of the device is that when the device needs to dock with the AUV, the orientation of the docking device needs to be adjusted to ensure the docking against the current, while when the docking part is separated from the transfer part, only the orientation of the docking device needs to be adjusted, and both the influence of the ocean current and the resistance generated by the volume of the device itself are greatly reduced, and the difficulty of driving the device is also greatly reduced, which is conducive to the long-term operation of the docking device underwater.

[0018] 2. The present invention adopts a self-leveling rotary transport mechanism, which can transport multiple AUVs at the same time, and only requires one driving source to drive the device's rotary transport action. In addition, the transport mechanism can ensure that the AUV is always level while transporting the AUV. Since the AUV is generally hung with equipment, if the posture of the AUV changes, it is very easy to cause a collision with the cabin when the AUV leaves the warehouse, and it is not conducive to the posture of the AUV after leaving the warehouse.

[0019] 3. The magnetic charging and information exchange device used in the present invention has the advantages of good compatibility, low difficulty in charging docking, and simple device compared with previous charging equipment. It is only necessary to adjust the axial position of the AUV in advance. When the AUV reaches the corresponding position, it is only necessary to power on the charging device. At this time, the magnetic plate connected with the cable can be adsorbed on the corresponding position of the AUV for charging. When the AUV is fully charged, it is only necessary to power off the device. At this time, the magnetic plate loses its magnetism and is pulled back to its original position under the action of the tension spring.

[0020] 4. The vertical transport platform with a locking device and a clamping device used in the present invention has a scissor-type transport mechanism that is relatively simple in structure and easy to maintain when the platform is transported vertically. When the AUV is transported vertically, it is unstable to clamp the AUV with only a clamping device on a fixed V-block. Therefore, the present invention adds a set of locking devices to the scissor-type vertical transport platform. Under the joint action of the clamping device and the locking device, the stability of the AUV during vertical transport can be ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 It is a structural diagram of the overall perspective of the present invention;

[0022] Figure 2 It is a structural diagram of a scissor-type vertical transport device with a clamping and locking device of the present invention;

[0023] Figure 3 It is a structural diagram of the rotary transport device capable of maintaining self-leveling of the present invention;

[0024] Figure 4 It is a structural diagram of the connection part of the rotary transport device capable of maintaining self-leveling of the present invention;

[0025] Figure 5 It is a structural diagram of the docking platform with adjustable docking angle of the present invention;

[0026] Figure 6 It is a structural diagram of the mobile double V-block positioning device based on bevel gear transmission of the present invention;

[0027] Figure 7 It is a structural diagram of the mobile double V-block positioning device of the present invention;

[0028] Figure 8 It is a cross-sectional structural diagram of the magnetic charging and information interaction device of the present invention;

[0029] Fig. 9 This is a schematic diagram of the working process of "the device adjusts the docking orientation according to the ocean current" of the present invention;

[0030] Fig.10This is a schematic diagram of the working process of "AUV sitting down" of the present invention;

[0031] Fig.11 This is a schematic diagram of the working process of the "AUV arrival docking device" of the present invention;

[0032] Fig.12 It is a schematic diagram of the working process of "AUV moving toward the vertical transport mechanism" of the present invention;

[0033] Fig.13 It is a schematic diagram of the working process of the "AUV arriving at the scissor-type vertical transport mechanism" of the present invention;

[0034] Fig.14 This is a schematic diagram of the working process of "carrying the AUV downward to the horizontal plate" of the present invention;

[0035] Fig.15 This is a schematic diagram of the working process of "AUV finding the axial position" of the present invention;

[0036] Fig.16 It is a schematic diagram of the working process of "the rotary transport mechanism rotates the empty space to the uppermost position" of the present invention;

[0037] Fig.17 It is a schematic diagram of the working process of "AUV exiting the warehouse" of the present invention.

[0038] Description of symbols in the figure

[0039] Mobile double V-block positioning device based on bevel gear transmission 1, slewing mechanism 2, slewing platform with guide frame 3, clamping device 4, locking device 5, magnetic AUV charging and information interaction device 6, mobile double V-block positioning device 7, scissor-type vertical handling device 8, slewing handling mechanism capable of maintaining self-leveling 9, slewing spindle drive motor 10, device housing 11, device bottom support frame 12, ear seat 13, small motor 14, coupling 15, locking frame 16, mechanical finger 17, mechanical palm 18, hydraulic cylinder 19, hydraulic cylinder ear seat 20, third fixed V-block 21, handling platform 22, inner rod 23, outer rod 24, pin 25, chassis 26, lifting motor 27, lifting platform coupling 28, vertical shaft bearing seat 29, screw shaft 30, pull rod 31, screw nut 32, stud 33, slider 34, bearing 35, rear mounting plate with slide rail 36, intermediate connecting rod 37, six-branch rotating shaft 38, horizontal plate 39, pull rod with round shaft 40, front mounting plate with slide groove 41, end cover 42, pulley 43, key 44, bevel gear 45, bevel gear rotating shaft 46, bearing seat 47, long screw shaft 48, first movable V-block 49 of double screw transmission, motor 50, guide rod 51, short screw shaft 52, third movable V-block 53, transmission motor 54, magnetic suction plate 55, tension spring 56, charging seat 57. Implementation

[0041] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] In the description of the present invention, it should be understood that the terms "upper", "middle", "outer", "inner" and the like indicating directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0043] 1. Overall technical solution of the device

[0044] The present invention is mainly composed of a mobile double V-block positioning device based on bevel gear transmission 1, a slewing mechanism 2, a slewing platform with a guide frame 3, a clamping device 4, a locking device 5, a magnetic AUV charging and information interaction device 6, a mobile double V-block positioning device 7, a scissor-type vertical handling device 8, a slewing handling mechanism that can maintain self-leveling 9, a slewing spindle drive motor 10, a device housing 11, and a device bottom support frame 12. Figure 1 , 5 As shown. First, the rotating platform 3 with a guide frame driven by the rotating mechanism 2 is arranged on the top of the docking device. A set of mobile double V-block positioning devices 1 based on bevel gear transmission is arranged on the rotating platform 3 with a guide frame. A set of scissor-type vertical handling devices 8 is arranged on the right side of the docking device. At the same time, a clamping device and a locking device 5 are arranged on the scissor-type vertical handling device 8. The rotating handling part is mainly realized by a self-leveling rotating handling mechanism 9. The self-leveling rotating handling mechanism 9 is arranged at the center of the docking device. The self-leveling rotating handling mechanism 9 is arranged on the six horizontal plates 39 during transportation to keep themselves level. At the same time, a set of mobile double V-block positioning devices 7 and a set of magnetic AUV charging and information interaction devices 8 are arranged on each horizontal plate 39. The self-leveling rotating handling mechanism 9 is arranged on the docking device and driven by the rotating spindle drive motor 10. The bottom support frame 12 of the device supports the entire device.

[0045] 2. Double V-type positioning technology solution based on bevel gear transmission

[0046] This part is mainly composed of a bevel gear transmission shaft 46, a bevel gear 45, a cast vertical bearing seat 29, a bearing 35, a coupling 15, a motor 50, a bearing seat 47, a long screw shaft 48, a first fixed V-block 21, and a first movable V-block 49 of a double screw transmission, such as Figure 6 The movable double V-block positioning device 1 based on bevel gear transmission is integrally arranged on a rotary platform 3 with a guide frame. First, two bevel gears 45 are arranged on a bevel gear transmission shaft 46. Bearings 35 are arranged at both ends of the bevel gear transmission shaft 46, which are supported by a cast vertical bearing seat 29. The bevel gear transmission shaft 46 is driven by a motor 50. The first fixed V-block 21 is fixed on the rotary platform 3 with a guide frame by bolts. Both sides of the first movable V-block 49 of the double lead screw transmission can be transmitted with the long lead screw shaft 48. At the same time, a bevel gear 45 is provided at one end of the long lead screw shaft 48, which can be meshed with the bevel gear 45 on the bevel gear transmission shaft 46. The motor 50 drives the bevel gear transmission shaft 46 to rotate, and the bevel gear transmission shaft 46 drives the long lead screw shaft 48 to rotate through the bevel gear 45, thereby driving the first movable V-block 49 of the double lead screw transmission to move.

[0047] Function and technical effect of this part: The design of this part is mainly based on the consideration that when the AUV is to be transported downward in the scissor-type vertical transport mechanism 8, the first movable V-block 49 of the original double-screw drive needs to be withdrawn to make room for the AUV to descend; at this time, the movement of the V-block is mainly driven by the two long screw shafts 48. If two motors are used, it is difficult to ensure the same frequency and speed of the two long screw shafts 48. Therefore, the mechanism adopts a motor 50 to drive the bevel gear transmission shaft 46, and then the two bevel gears 45 drive the two long screw shafts 48 to rotate.

[0048] 3. Partial technical solution of locking device

[0049] This part is mainly composed of a locking frame 16, an ear seat 13, a small motor 14, and a coupling 15. Figure 2 The shaft ends extending from both ends of the locking frame 16 can rotate in coordination with the ear seat 13, and the small motor 14 can drive the locking frame 16 to rotate through the coupling 15 to achieve the clamping action on one end of the AUV.

[0050] Function and technical effect of the mechanism: This part of the invention is the locking device 5, and its main function is to take into account that when the scissor-type vertical transport device 8 vertically transports the AUV, it only relies on a pair of claws of the clamping device 4 to clamp it, which has certain instability factors. Therefore, the mechanism drives the locking frame 16 to rotate and press the tail of the AUV through a small motor 14 to play a role in stabilizing the AUV when it is being transported.

[0051] 4. Partial technical solution of clamping device

[0052] This part is mainly composed of a mechanical finger 17, a mechanical palm 18, a hydraulic cylinder 19, and a hydraulic ear seat 20. Figure 2The mechanical finger 17 is connected to the mechanical palm 18, the middle part of the mechanical palm 18 is opened with a hole connected to the shaft on the V-block, the hole below the mechanical palm 18 is hinged to one end of the hydraulic cylinder 19, and the other end of the hydraulic cylinder 19 is hinged to the V-block through the hydraulic cylinder ear seat 20.

[0053] Function and technical effect of the mechanism: The invention of this part is mainly a clamping device 4, which is installed on the V-block. On the one hand, it cooperates with the V-block to play a positioning role when docking the AUV, and on the other hand, it plays a role in clamping the AUV when the AUV is transported vertically and horizontally.

[0054] 5. Technical solution for vertical transport

[0055] This part is mainly composed of chassis 26, inner rod 23, outer rod 24, pin 25, lifting motor 27, screw shaft 30, screw nut 32, vertical bearing seat 29, pull rod 31, slider 34, stud 33, handling platform 22, lifting platform coupling 28, such as Figure 2 The lower end surface of the chassis 26 is connected to the end surface of the frame, and the upper end surface of the chassis 26 is provided with a lifting motor 27. The screw shaft 30 is provided on the chassis 26 through a vertical bearing seat 29. The output end of the lifting motor 27 is connected to the screw shaft 30 through a lifting platform coupling 28. The screw shaft 30 and the screw nut 32 are threadedly matched. The screw nut 32 is fixed on the pull rod 31. Both sides of the pull rod 31 are connected with studs 33. The studs 33 are connected to the slider 34. The inner rod 23 and the outer rod 24 are combined into a scissors frame structure, and the carrying platform 22 is provided on the scissors frame structure.

[0056] Function and technical effect of the mechanism: The main function of the mechanism is to realize the vertical transportation of the AUV, mainly through the lifting motor 27 to drive the screw shaft 30 to rotate, the pull rod 31 with the screw nut 32 moves under the drive of the lifting motor 27, and one end of the pull rod 31 is connected to a slider 34, so that the slider 34 drives the inner rod 23 and the outer rod 24 of the scissor mechanism to move, thereby realizing the vertical lifting function, and the AUV can be placed on the scissor-type vertical transportation device 8 to carry the AUV vertically. It mainly realizes the transportation of the docked AUV downward to the transfer mechanism for subsequent charging and information exchange.

[0057] 6. Rotary handling technology that can maintain self-leveling

[0058] This part is mainly composed of a horizontal plate 39, a six-branch rotating shaft 38, an intermediate connecting rod 37, a rear mounting plate 36 with a slide rail, a front mounting plate 41 with a slide groove, a pull rod 40 with a round shaft, a pulley 43, an end cover 42, and a key 44. Figure 3 , 4As shown. The middle shaft of the six-branch rotating shaft 38 is driven by the rotary main shaft driving motor 10, and its branches are respectively rotated with the long shafts at one end of the six horizontal plates 39, and the long shafts of the horizontal plates 39 have keyways, and the long shafts with keyways are matched with the middle connecting rod 37 through keys 44, and the axial position is mainly positioned by connecting an end cap 42 at one end of the horizontal plate 39 with screws to limit the axial position of one end. One end of the middle connecting rod 37 is matched with the six-branch rotating shaft 38 through a keyway, and one end is matched with a pulley 43, and the pulley 43 can slide in the rear mounting plate 36 with a slide rail. The other end of the horizontal plate 39 has a short axis with a cylindrical boss. The short axis ends between every two horizontal plates 39 can be connected by a pull rod 40 with a round axis. At the same time, the round axis of the pull rod 40 with a round axis can slide along the slide groove in the front mounting plate 41 with a slide groove. When the installation is completed, when the rotary spindle drive motor 10 drives the six-branch rotating shaft 38 to rotate, the six horizontal plates 39 can realize horizontal rotation along the circumference. It is worth noting that the rotation center of the six-branch rotating shaft 38 and the rotation center of the rear mounting plate 36 with a slide rail are not concentric, and the distance between the two rotation centers is the same as the center distance of the two end holes on the middle connecting rod 37.

[0059] Function and technical effect of the mechanism: This part is mainly a self-leveling rotating transport mechanism 9, which can transport multiple AUVs at the same time, and only needs one driving source to realize the rotation and transportation of the device. In addition, the transport mechanism can transport the AUV while ensuring that the AUV is always level. Since the AUV is generally hung with equipment, if the posture of the AUV changes, it is very easy to cause a collision with the cabin when the AUV leaves the warehouse, and it is not conducive to the posture of the AUV after leaving the warehouse. The horizontal plate is always level, which solves this problem well.

[0060] 7. Technical solutions for AUV charging and information exchange

[0061] This part is mainly composed of a third fixed V-block, a third movable V-block 53, a cast vertical bearing seat 29, a guide rod 51, a transmission motor 54, a coupling 15, a short screw shaft 52, a bearing 35, a magnetic suction plate 55, a charging seat 57, and a tension spring 56. Figure 7 , 8As shown. The fixed V-block is connected to the horizontal plate 39, and the two ends of the two guide rods 51 are fixed to the horizontal plate 39 by bearings 35 and cast vertical bearing seats 29 respectively. The short screw shaft 52 is arranged in the middle of the two guide rods 51, and the two ends of the short screw shaft 52 are provided with bearings 35 and cast vertical bearing seats 29, wherein one end of the short screw shaft 52 is connected to the transmission motor 54 through the coupling 15, and the third movable V-block 53 can move a distance on the two guide rods 51 through the short screw shaft 52, and the two V-blocks can be split into left and right parts, the charging seat 57 is fixed to the horizontal plate 39 by screws, and the magnetic suction plate 55 is connected to the charging seat 57 by tension springs 56, and the magnetic suction plate 55 can slide at a small angle along the slide groove in the charging seat 57.

[0062] Function and technical effect of the mechanism: This part of the invention is the AUV charging and information exchange part. The use of a magnetic AUV charging and information exchange device 6 to charge and exchange information with the AUV has the advantages of good compatibility, low difficulty in charging and docking, and simple device compared to previous charging equipment. The mobile double V-block positioning device 7 can accurately locate the axial position of the AUV. The third mobile V-block 53 and the third fixed V-block can be used to move the AUV to an ideal position to facilitate subsequent charging and information exchange with the AUV. When the AUV reaches the corresponding position, it only needs to power on the charging device. At this time, the magnetic plate 55 connected to the cable can be adsorbed on the corresponding position of the AUV for charging. When the AUV is fully charged, it only needs to power off the device. At this time, the magnetic plate 55 loses its magnetism and is pulled back to its original position under the action of the tension spring 56.

[0063] 8. Process of achieving patent purpose

[0064] First, when multiple AUVs need to charge and exchange information, they need to dock and enter the warehouse. In order to ensure the docking success rate and stability, upstream docking is required. At this time, the slewing mechanism 2 needs to be driven to drive the slewing platform 3 with the guide frame to rotate in the upstream direction; when the AUV is at a long distance, hydroacoustic positioning is adopted, and when the distance is close, an underwater camera is used for optical positioning. When the AUV finds the docking device, the full-drive AUV can be guided by the guide frame to sit down on the mobile double V-block positioning device 1 based on bevel gear transmission, and then the clamping device 4 on the first fixed V-block 21 and the first mobile V-block 49 driven by the double screw drives clamps the AUV; when the AUV is completely positioned, the first fixed V-block 21 and the first mobile V-block 49 driven by the double screw drive are actuated to clamp the AUV; The clamping device 4 on the fixed V-block 21 is released, and the clamping device 4 on the first mobile V-block 49 driven by the double screw clamps the AUV, and the first mobile V-block 49 driven by the double screw is driven to move by driving the motor 50 on the mobile double V-block positioning device 1 based on the bevel gear transmission; at the same time, the scissor-type vertical transport platform 8 raises the transport platform 22 with the second fixed V-block, and the first mobile V-block 49 driven by the double screw brings the AUV to the second fixed V-block on the raised transport platform 22, and the clamping device 4 on the transport platform 22 clamps the AUV, and at the same time, the locking device 5 locks the AUV under the drive of its small motor 14, and the clamping device 4 on the rotary platform 3 with the guide frame is released. After the AUV is released, the first movable V-block 49 driven by the double screw on the rotary platform 3 with the guide frame returns to its original position to make room for the AUV to be transported downward and to welcome the next AUV; after the locking device 5 locks the AUV, the scissor-type vertical transport mechanism 8 is actuated to transport the AUV downward. Before this, the rotary transport mechanism 9 which can be kept horizontal can rotate the horizontal plate 39 with a vacant space to a suitable position to prepare to receive the AUV for vertical transport. When the AUV reaches the horizontal plate 39 downward, the third fixed V-block with a clamping device and the third movable V-block 53 on the horizontal plate 39 can move the AUV to find the axial position; after the axial position of the AUV on the horizontal plate 39 is found, the magnetic suction type When the charging and information exchange device 6 is powered on, the magnetic plate 55 is adsorbed at a suitable position below the AUV under the action of magnetic force; when the AUV is fully charged, the magnetic charging and information exchange device 6 is powered off, and the magnetic plate 55 is separated from the AUV under the action of the tension spring 56, and then the self-horizontal rotary transport mechanism 9 is driven to rotate the AUV to the upper position; since the AUV is always horizontal during transportation, when the AUV reaches the uppermost warehouse, the posture of the AUV itself is already horizontal, which can ensure the stability of the posture when leaving the warehouse, and the clamping devices on the third fixed V-block and the third movable V-block 53 can be controlled to release, and then the AUV can leave the docking device under the action of the thruster to perform the task.

[0065] The working principle of this implementation method is as follows: Eight cases of AH are discussed separately:

[0066] A: The process of "the device adjusts its docking position according to the ocean current" is as follows: Fig. 9

[0067] When an AUV needs to dock, the docking system needs to be prepared in advance. In order to ensure the stability of the AUV during docking, it is necessary to dock against the current. At this time, it is necessary to adjust the rotating platform 3 with a guide frame by driving the rotating mechanism 2 to make it consistent with the direction of the ocean current, and open the clamping device 4 on the rotating platform 3 with a guide frame to prepare to clamp the AUV that has landed.

[0068] B: The process of "AUV landing" Fig.10

[0069] The all-wheel drive AUV sits down under the action of its thruster, and is guided by the guide frame and sits on the first clamping device on the rotating platform 3 with the guide frame.

[0070] C: "AUV arrives at the docking device" process, such as Fig.11

[0071] At this time, the AUV has been placed on the rotating platform 3 with the guide frame, the claws of the clamping device 4 clamp the AUV, and the rotating platform 3 with the guide frame gradually returns to the normal position under the action of the rotating mechanism 2.

[0072] D: The process of "AUV moving to the vertical transport mechanism", such as Fig.12

[0073] The scissors-type vertical transport device 8 is raised, the clamping device 4 on the liftable transport platform 22 is opened, and the claws on the first fixed V-block 21 on the rotating platform 3 with a guide frame are opened, and the clamping device on the first movable V-block 49 continues to clamp, and the first movable V-block 49 is driven by the mobile double V-block positioning device 1 based on bevel gear transmission to move the AUV to the transport platform 22 of the scissors-type vertical transport device 8.

[0074] E: The process of "AUV reaching the scissor-type vertical transport mechanism", such as Fig.13

[0075] At this time, the AUV has reached the transport platform 22 of the scissor-type vertical transport device 8, and the AUV contacts the second fixed V-block on its transport platform 22. The clamping device 4 on the second fixed V-block clamps the AUV, and the locking device 5 is actuated to lock the AUV. The first movable V-block 49 on the rotating platform 3 with the guide frame is withdrawn to its original position to make room for the AUV to be transported downward.

[0076] F: The process of “carrying the AUV down to the horizontal plate”, such as Fig.14

[0077] At this time, the scissors-type vertical transport device 8 transports the AUV downward to the horizontal plate on the rotating transport mechanism 9 that can maintain self-horizontality, the clamping device 4 on the third movable V-block 53 on the horizontal plate 39 clamps the AUV, the clamping device 4 and the locking device 5 on the scissors-type vertical transport device 8 are released, and the AUV adjusts its axial position driven by the third movable V-block 53 on the horizontal plate 39.

[0078] G: The process of "AUV finding the axial position" Fig.15

[0079] At this time, the AUV has been moved to a suitable axial position by the belt of the third movable V-block 53 on the horizontal plate 39, and the claws of the clamping device 4 on the third fixed V-block can clamp the AUV, and then subsequent charging and information exchange can be carried out.

[0080] H: "The rotary transport mechanism rotates the empty space to the uppermost position" process, such as Fig.16

[0081] When an AUV completes docking, it can drive the rotating main shaft drive motor 10 to drive the self-horizontal rotating transport mechanism 9 to transport the docked horizontal plate 39 downward, and rotate the undocked horizontal plate 39 to the topmost position suitable for docking.

[0082] I: The process of “AUV leaving the warehouse”, such as Fig.17

[0083] When the AUV has completed charging and information exchange, it can be transported to the uppermost position under the action of the rotating transport mechanism 9 that can maintain self-leveling, and the claws of the clamping device 4 on its horizontal plate 39 are released. At this time, the AUV can leave the device under the action of the thruster.

[0084] In summary, the present invention patent discloses a self-leveling rotary transport type multi-AUV docking device, and the present invention patent belongs to the field of long-term resident underwater operation robot equipment. The present invention patent mainly consists of a mobile double V-block positioning device 1 based on bevel gear transmission, a rotary mechanism 2, a rotary platform 3 with a guide frame, a clamping device 4, a locking device 5, a magnetic AUV charging and information interaction device 6, a mobile double V-block positioning device 7, a scissor-type vertical transport device 8, a self-leveling rotary transport mechanism 9, a rotary spindle drive motor 10, a device housing 11, and a device bottom support frame 12. The rotary platform 3 with a guide frame driven by the rotary mechanism 2 is arranged on the top of the docking device, and the vertical transport part is mainly composed of a scissor-type vertical transport device 8, a clamping device 4, a locking device 5, etc. At the same time, the rotary transport part is mainly composed of a self-leveling rotary transport mechanism 9, a mobile double V-block positioning device 7, a magnetic AUV charging and information interaction device 6, a rotary main shaft drive motor 10, etc., which work together to realize the rotary transport of multiple AUVs while maintaining the level of the AUV itself. The invention combines vertical transport and rotary transport to realize the transportation of multiple AUVs. At the same time, the invention separates the docking part from the transport part, and independently controls the direction of the docking platform. At the same time, the magnetic AUV charging and information interaction device charges and exchanges information for the AUV. The device not only greatly increases the number of AUV docking and transportation, but also maintains the level of the AUV itself during transportation, preparing for the subsequent actions of the AUV out of the warehouse, etc. The invention also performs a separate rotation action on the docking part. Compared with rotating the device as a whole, rotating only the docking part greatly reduces the rotation resistance of the mechanism in seawater. The device has the advantages of simple structure, simple operation, safety and reliability.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "example", "specific example", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0086] The preferred embodiments of the present invention disclosed above are only used to help illustrate the present invention. The preferred embodiments do not describe all the details in detail, nor do they limit the invention to the specific implementation methods described. Obviously, many modifications and changes can be made according to the content of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, so that those skilled in the art can understand and use the present invention well. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A self-leveling rotary transport multi-AUV docking and transfer device, characterized in that: It includes a docking module, a vertical transport module and a rotary transport module; The docking module comprises a rotating platform (3) with a guide frame, and a first clamping device is provided on the top surface of the rotating platform (3) with a guide frame; a vertical transport module is installed on one side of the docking module; the vertical transport module comprises a liftable transport platform (22), and a locking device (5) and a second clamping device are provided on the transport platform (22); a rotating transport module is installed below the docking module; the rotating transport module comprises a multi-branch rotating shaft (38) having a plurality of groups of branch rotating shafts around a center and a horizontal plate installed on each group of branch rotating shafts; when the multi-branch rotating shaft (38) rotates, the horizontal plate always maintains a horizontal state; each of the horizontal plates is arranged with an AUV charging and information interaction device and a third clamping device.

2. The self-leveling rotary transport multi-AUV docking and transfer device according to claim 1 is characterized in that: The rotating platform (3) with the guide frame is driven by a rotating mechanism (2) at its bottom.

3. The self-leveling rotary transport multi-AUV docking and transfer device according to claim 1 is characterized in that: The vertical transport module also includes a lifting mechanism and a chassis (26); The chassis (26) is provided with a lifting motor (27) and a screw shaft (30) supported by a bearing seat, and the output end of the lifting motor (27) is connected to the screw shaft (30) through a lifting platform coupling (28); slideways are provided on both sides of the top surface of the chassis (26) and the bottom surface of the transport platform (22); the lifting mechanism is a scissor frame structure, and sliders are installed on the upper and bottom of the scissor frame structure, and the sliders are arranged on the slideways on both sides of the chassis (26) and the transport platform (22); the screw shaft (30) cooperates with the screw nut (32), and the screw nut (32) is fixed on the pull rod (31); the studs (33) are connected on both sides of the pull rod (31), and the studs (33) are connected to the sliders on the top surface of the chassis (26).

4. The self-leveling rotary transport multi-AUV docking and transfer device according to claim 1 is characterized in that: The locking device (5) comprises a locking frame (16) and a small motor (14); the shaft ends on both sides of the locking frame (16) are fixed to the transport platform (22) through ear seats (13); and the small motor (14) drives the locking frame (16) through a coupling (15).

5. The self-leveling rotating transport multi-AUV docking and transfer device according to claim 1 is characterized in that: The rotary transport module also includes a rear mounting plate (36) with a slide rail and a front mounting plate (41) with a slide groove; A long axis end with a keyway is provided at the center position of one side end face of each of the horizontal plates. The long axis end with the keyway passes through each branch shaft and cooperates with the intermediate connecting rod through a key. The horizontal plate, the branch shaft and the intermediate connecting rod are fixed by an end cover; a pulley is installed at the other end of the intermediate connecting rod, and the pulley slides in the rear mounting plate (36) with a slide rail; a short axis end is provided at the other side end face of each of the horizontal plates, and the short axis ends of every two horizontal plates are connected by a pull rod with a round shaft, and the round shaft of the pull rod with a round shaft can slide along the slide groove in the front mounting plate (41) with a slide groove.

6. The self-leveling rotating transport multi-AUV docking and transfer device according to claim 1 is characterized in that: The first clamping device comprises a movable double V-block positioning device (1) based on the rotation of a bevel gear and a clamping device; the movable double V-block positioning device (1) based on the rotation of a bevel gear comprises a bevel gear, a bevel gear transmission shaft (46), a first fixed V-block, and a first movable V-block; the first fixed V-block is fixed to a rotary platform (3) with a guide frame by bolts; the first movable V-block is driven by a long screw shaft (48), and the long screw shaft (48) is connected to a motor (50) through a coupling; a bevel gear is installed at one end of the long screw shaft (48) and meshes and rotates with the bevel gear on the bevel gear transmission shaft (46); bearings (35) supported by bearing seats are arranged at both ends of the bevel gear transmission shaft (46); and clamping devices are arranged at the upper ends of the first fixed V-block and the first movable V-block; The second clamping device comprises a second fixed V-shaped block equipped with a clamping device; The third clamping device comprises a movable double V-block positioning device (7) and a clamping device; the movable double V-block positioning device (7) comprises a third fixed V-block and a third movable V-block; a boss is provided at one end of the top surface of each horizontal plate, and the third fixed V-block is mounted on the boss; the third movable V-block is mounted on the portion of the top surface of the horizontal plate where the boss is not provided via a short screw shaft (52) and a guide rod (51), and the short screw shaft (52) is connected to a transmission motor (53) via a coupling; and a clamping device is provided at the upper ends of the third fixed V-block and the third movable V-block.

7. The self-leveling rotating transport multi-AUV docking and transfer device according to claim 6 is characterized in that: The clamping device includes a mechanical palm and mechanical fingers connected to the mechanical palm. A hole is opened in the middle part of the mechanical palm to connect with the shaft on the lower platform. The hole below the mechanical palm is hinged to one end of the hydraulic cylinder, and the other end of the hydraulic cylinder is hinged to the lower platform through a hydraulic cylinder ear seat.

8. The self-leveling rotary transport multi-AUV docking and transfer device according to claim 1, characterized in that: The charging and information interaction device comprises a magnetic AUV charging and information interaction device (6); the magnetic AUV charging and information interaction device (6) comprises a charging seat (57) fixed on a horizontal plate (39) by screws and a magnetic attraction plate (55) connected to the charging seat (57) by a tension spring (56); the magnetic attraction plate (55) can slide along a slide groove in the charging seat (57).

9. A method for docking and transferring a rotating transport type multi-AUV capable of maintaining self-leveling according to claim 1, characterized in that: When the AUV needs to be docked and put into the warehouse, the rotating platform (3) with the guide frame rotates in the upstream direction; the AUV is guided by the guide frame and sits down on the rotating platform (3); the rotating platform (3) equipped with the first clamping device brings the AUV to the raised transport platform (22), the first clamping device and the locking device on the transport platform (22) clamp and lock the AUV, the first clamping device on the rotating platform (3) releases the AUV, the transport platform (22) starts to descend, and then the first clamping device on the rotating platform (3) returns to its original position to make room for the AUV to be transported downward and wait for the next AUV to be seated; at the same time, the horizontal plate with vacant space in the rotating transport module rotates to a suitable position to prepare to receive the AUV on the lowered transport platform (22), the third clamping device on the horizontal plate grabs the AUV, and the AUV arrives on the horizontal plate; when the rotating transport module welcomes the next AUV, the multi-branch rotating shaft (38) rotates to rotate other horizontal plates with vacant space to a suitable position to prepare to receive the AUV.

10. The method for docking and transferring a rotating transport type multi-AUV capable of maintaining self-leveling according to claim 9, characterized in that: When the AUV reaches the horizontal plate downward, the AUV is grabbed for charging and information exchange; when the AUV is fully charged, the charging and information exchange devices are powered off, and the rotary transport module moves the AUV to the upper position; since the AUV is always horizontal during transportation, when the AUV reaches the uppermost position, the fixation of the AUV is released, and the AUV can leave the docking device under the action of the thrusters to perform the task.

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