A rotary carrying type multi-aUV docking and transfer device and method capable of keeping self-horizontal

Abstract

This invention relates to a self-leveling rotary transport device and method for docking and transferring multiple AUVs, belonging to the field of underwater robot equipment. It includes a docking module, a vertical transport module, and a rotary transport module. The docking module includes a rotary platform with a guide frame, and a first clamping device is provided on the top surface of the rotary platform. A vertical transport module is installed on one side of the docking module. The vertical transport module includes a liftable transport platform, and a locking device and a second clamping device are provided on the transport platform. The rotary transport module is installed below the docking module. The rotary transport module includes multi-branch shafts and horizontal plates installed on each set of branch shafts. An AUV charging and information interaction device and a third clamping device are arranged on the horizontal plates. This device increases the number of AUVs that can be docked and transferred, and can maintain the horizontal position of the AUVs during transfer, preparing them for subsequent actions such as AUV unloading. This invention also uses a separate rotary drive for the docking part to reduce the rotational resistance of the mechanism in seawater.

Description

Technical Field

[0001] This invention belongs to the field of long-term underwater operation robot equipment, specifically relating to a self-leveling rotary transport multi-AUV docking and transfer device and method. Background Technology

[0002] Autonomous Underwater Vehicles (AUVs) play a crucial role in marine resource development. Due to their size limitations, AUVs have insufficient power reserves, necessitating timely refueling to enable extended underwater operations. Underwater docking and recovery devices offer superior performance compared to surface-to-surface docking and recovery systems, making them a key research focus for many research institutions.

[0003] Among the existing patents, such as the patent document with application number 202211014006.5 entitled "An active and passive combined AUV underwater docking and recovery system and method" and the patent document with application number 202311696100.8 entitled "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 devices lack the structural design for charging and information exchange of AUVs, and are not suitable for powering and exchanging information with multiple AUVs.

[0004] The above patents are not applicable to the transfer, storage, and power supply of multiple AUVs, and none of them include a device for axial position adjustment of AUVs or a structural design for charging and information exchange of AUVs. Therefore, they differ from this invention in terms of application and functional requirements. This invention combines vertical and rotary transport to achieve the transfer of multiple AUVs. Furthermore, this invention separates the docking and transfer parts, allowing for independent directional control of the docking platform. A magnetic AUV charging and information exchange device charges and exchanges information for the AUVs. The magnetic charging method significantly reduces the difficulty of docking the charging device. This device not only greatly increases the number of AUVs that can be docked and transferred, but also maintains the AUVs' horizontal position during transfer, preparing them for subsequent actions such as unloading. This invention also allows for a separate rotation of the docking part; compared to rotating the entire device, rotating only the docking part significantly reduces the rotational resistance of the mechanism in seawater. This device can achieve long-term docking and reception of multiple AUVs on the seabed, enabling charging and information exchange. Summary of the Invention

[0005] To address the problem that existing devices are not suitable for transporting, storing, and powering multiple AUVs, this invention proposes a method that can dock with and transport multiple AUVs, enabling them to remain on the seabed for extended periods to complete charging and information exchange tasks.

[0006] This invention provides a self-leveling, rotary transport multi-AUV docking and transfer device, comprising a docking module, a vertical transport module, and a rotary transport module. The docking module includes a rotary platform with a guide frame, and a first clamping device is provided on the top surface of the rotary platform with the guide frame. A vertical transport module is installed on one side of the docking module. The vertical transport module includes a liftable transport platform, and a locking device and a second clamping device are provided on the transport platform. The rotary transport module is installed below the docking module. The rotary transport module includes a multi-branch shaft with multiple sets of branch shafts around a center and a horizontal plate installed on each set of branch shafts. When the multi-branch shafts rotate, the horizontal plate always remains horizontal. An AUV charging and information interaction device and a third clamping device are arranged on each horizontal plate.

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

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

[0009] Furthermore, the locking device includes a locking frame and a small motor; the two shaft ends of the locking frame are fixed to the transport platform by lugs; 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; each of the horizontal plates has a long shaft end with a keyway at the center of one side end face, the long shaft end with the keyway passes through each branch shaft and is connected to the intermediate connecting rod by a key, and the horizontal plate is fixed to the branch shaft and the intermediate connecting rod by an end cap; the other end of the intermediate connecting rod is equipped with a pulley, the pulley slides in the rear mounting plate with the slide rail; each of the horizontal plates has a short shaft end on the other side end face, and the short shaft ends of every two horizontal plates are connected by a tie rod with a round shaft, the round shaft of the tie rod can slide along the slide groove in the front mounting plate with the slide groove.

[0011] Further, the first clamping device includes a movable double V-block positioning device based on bevel gear rotation and a clamping device; the movable double V-block positioning device based on bevel gear rotation includes a bevel gear, a bevel gear drive shaft, a first fixed V-block, and a first movable V-block; the first fixed V-block is bolted to a rotating platform with a guide frame; the first movable V-block is driven by a long lead screw shaft, which is connected to a motor via a coupling; a bevel gear is mounted at one end of the long lead screw shaft, meshing and rotating with the bevel gear on the bevel gear drive shaft; bearings supported by bearing seats are provided at both ends of the bevel gear drive shaft; the first fixed V-block... The upper ends of the molding block and the first movable V-block are provided with clamping devices; the second clamping device includes a second fixed V-block with the clamping device installed; 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; each of the horizontal plates has a boss at one end of its top surface, and the third fixed V-block is installed on the boss; the third movable V-block is installed on the part of the horizontal plate without a boss by means of a short lead screw shaft and a guide rod, and the short lead screw shaft is connected to the transmission motor by means of 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 hand and mechanical fingers connected to the mechanical hand. The middle part of the mechanical hand has an opening that connects to a shaft on the lower platform. The hole at the bottom of the mechanical hand is hinged to one end of a hydraulic cylinder, and the other end of the hydraulic cylinder is hinged to the lower platform through a hydraulic cylinder lug.

[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 to 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 groove in the charging base.

[0014] This invention also provides a method for a self-leveling rotary transport multi-AUV docking and transfer device. When an AUV needs to dock and enter the warehouse, a rotary platform with a guide frame rotates to the counter-current direction. The AUV, guided by the guide frame, sits down on the rotary platform. The rotary platform equipped with a first clamping device brings the AUV to the already raised transport platform. The first clamping device and 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 begins to descend, and then the rotary platform returns to its original position to make room for the downward transport of the AUV and wait for the next AUV to sit down. At the same time, a horizontal plate with empty space in the rotary transport module rotates to a suitable position to receive the AUV that has been lowered on the transport platform. A 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 shaft rotates to rotate other horizontal plates with empty space to a suitable position to receive the AUV.

[0015] Furthermore, when the AUV descends to the horizontal plate, it is grabbed for charging and information exchange; when the AUV is fully charged, the charging and information exchange device is powered off, and the rotary transport module rotates the AUV to the upper position; since the AUV is always horizontal during transport, when the AUV reaches the uppermost compartment, the fixing to the AUV is released, and the AUV can leave the docking device to perform its task under the action of the thruster.

[0016] The beneficial effects are:

[0017] 1. This invention separates the docking part and the transfer part of the device into separate designs. Compared with devices where the docking part and the transfer part are integrated, the advantage of this separate design is that when the device needs to dock with an AUV, the orientation of the docking device needs to be adjusted to ensure docking against the current. However, when the docking part and the transfer part are separated, only the orientation of the docking device needs to be adjusted. This greatly reduces the impact of ocean currents and the resistance generated by the size of the device itself, and also greatly reduces the difficulty of driving the device, 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. This transport mechanism can transport multiple AUVs at the same time, and only one drive source is needed to drive the rotary transport action of the device. In addition, the transport mechanism can ensure that the AUV is always level while transporting the AUV. Since AUVs are generally equipped with equipment, if the posture of the AUV changes, the AUV is very likely to collide with the cabin when leaving the cabin, and it is not conducive to the posture of the AUV after leaving the cabin.

[0019] 3. The magnetic charging and information interaction device used in this invention has advantages over previous charging equipment, such as good compatibility, low charging docking difficulty, and simple device design. Only the axial position of the AUV needs to be adjusted in advance. When the AUV reaches the corresponding position, simply power on the charging device, and the magnetic plate connected to the cable will attach to the corresponding position of the AUV for charging. When the AUV is fully charged, simply disconnect the power to the device; at this time, the magnetic plate loses its magnetism and is pulled back to its original position by the tension spring.

[0020] 4. The vertical transport platform with locking and clamping devices used in this invention not only has a relatively simple structure but is also easy to maintain when vertically transporting the platform. Relying solely on a clamping device on a fixed V-block for vertical transport of an AUV is unstable. Therefore, this invention adds a locking device to the scissor-type vertical transport platform. The combined action of the clamping and locking devices ensures the stability of the AUV during vertical transport. Attached Figure Description

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

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

[0023] Figure 3 This is a structural diagram of the self-leveling rotary conveying device of the present invention;

[0024] Figure 4 This is a structural diagram of the connection point of the self-leveling rotary conveying device of the present invention;

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

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

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

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

[0029] Figure 9 This is a schematic diagram of the working process of the device adjusting the docking orientation according to ocean currents in this invention.

[0030] Figure 10This is a schematic diagram of the "AUV sitting downwards" working process of the present invention;

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

[0032] Figure 12 This is a schematic diagram of the working process of "AUV moving towards the vertical transport mechanism" in this invention;

[0033] Figure 13 This is a schematic diagram of the working process of the "AUV arrival scissor lift vertical transport mechanism" of the present invention;

[0034] Figure 14 This is a schematic diagram of the working process of "AUV moving downwards onto a horizontal plate" in this invention;

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

[0036] Figure 16 This is a schematic diagram illustrating the working process of the "rotary conveying mechanism rotating the empty space to the top position" of the present invention;

[0037] Figure 17 This is a schematic diagram of the "AUV outbound" working process of the present invention.

[0038] Explanation of markings in the diagram

[0039] A mobile double V-block positioning device based on bevel gear transmission 1, a rotary mechanism 2, a rotary 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 conveying device 8, a self-leveling rotary conveying mechanism 9, a rotary spindle drive motor 10, a device housing 11, a device bottom support frame 12, an ear seat 13, a small motor 14, a coupling 15, a locking frame 16, a mechanical finger 17, a mechanical hand 18, a hydraulic cylinder 19, a hydraulic cylinder ear seat 20, a third fixed V-block 21, a conveying platform 22, an inner rod 23, an outer rod 24, a pin 25, and a chassis. 26. Lifting motor; 27. Lifting platform coupling; 28. Vertical shaft bearing seat; 29. ​​Lead screw shaft; 30. Tie rod; 31. Lead 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. Tie 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 lead screw shaft; 48. First moving V-block of double lead screw drive; 49. Motor; 50. Guide rod; 51. Short lead screw shaft; 52. Third moving V-block; 53. Drive motor; 54. Magnetic suction plate; 55. Tension spring; 56. Charging base; 57. Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] In the description of this invention, it should be understood that the terms "upper," "middle," "outer," "inner," etc., which indicate orientation or positional relationship, are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the components or elements referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as limiting this invention.

[0042] 1. Overall technical scheme of the device

[0043] This invention patent mainly consists of a mobile double V-block positioning device based on bevel gear transmission 1, a rotary mechanism 2, a rotary 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 conveying device 8, a self-leveling rotary conveying mechanism 9, a rotary spindle drive motor 10, a device housing 11, and a device bottom support frame 12. Figure 1 , 5 As shown. First, the rotary platform 3 with a guide frame, driven by the rotary mechanism 2, is arranged on top of the docking device. A set of mobile double V-block positioning devices 1 based on bevel gear transmission is arranged on the rotary platform 3 with the guide frame. There is a set of scissor-type vertical transport devices 8 on the right side of the docking device. At the same time, the scissor-type vertical transport devices 8 are equipped with clamping devices and locking devices 5. The rotary transport part is mainly realized by the self-leveling rotary transport mechanism 9, which is arranged at the center of the docking device. The self-leveling rotary transport mechanism 9 is arranged so that the six horizontal plates 39 can remain level during transport. 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 rotary transport mechanism 9 is driven by the rotary spindle drive motor 10. The bottom support frame 12 of the device supports the entire device.

[0044] 2. Double V-shaped positioning technology based on bevel gear transmission

[0045] This part mainly consists of a bevel gear drive shaft 46, a bevel gear 45, a cast vertical bearing housing 29, a bearing 35, a coupling 15, a motor 50, a bearing housing 47, a long lead screw shaft 48, a first fixed V-block 21, and a first moving V-block 49 for double lead screw transmission. Figure 6 The aforementioned mobile double V-block positioning device 1 based on bevel gear transmission is 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 is supported by cast vertical bearing seats 29. The bevel gear transmission shaft 46 is driven by a motor 50. The first fixed V-block 21 is fixed to the rotary platform 3 with a guide frame by bolts. The first moving V-block 49 of the double screw transmission can be transmitted with the long screw shaft 48 on both sides. At the same time, a bevel gear 45 is provided at one end of the long screw shaft 48, which can mesh 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 screw shaft 48 to rotate through the bevel gear 45, thereby driving the first moving V-block 49 of the double screw transmission to move.

[0046] Function and technical effect of this part: The design of this part is mainly to take into account that when the AUV needs to move downwards in the scissor lift vertical transport mechanism 8, the first moving V-block 49 of the original double screw drive needs to be retracted to make room for the AUV to descend. At this time, the movement of the V-block is mainly driven by two long screw shafts 48. If two motors are used, it is difficult to ensure that the two long screw shafts 48 are at the same frequency and speed. Therefore, this mechanism uses a motor 50 to drive the bevel gear transmission shaft 46, and then two bevel gears 45 drive the two long screw shafts 48 to rotate.

[0047] 3. Technical solution for the locking device

[0048] This part mainly consists of a locking bracket 16, an ear seat 13, a small motor 14, and a coupling 15. Figure 2 The locking bracket 16 has two protruding shaft ends that can rotate in conjunction with the lug 13. At the same time, the small motor 14 can drive the locking bracket 16 to rotate through the coupling 15, thereby achieving the clamping action on one end of the AUV.

[0049] Function and technical effect of the mechanism: The invention of this part is the locking device 5. Its main function is to take into account that when the scissor-type vertical transport device 8 is vertically transporting the AUV, the clamping device 4 alone has a certain degree of instability. Therefore, the mechanism drives the locking frame 16 to rotate and press the tail of the AUV through the small motor 14 to play a stabilizing role when the AUV is being transported.

[0050] 4. Technical solution for the clamping device

[0051] This part mainly consists of mechanical fingers 17, mechanical palms 18, hydraulic cylinders 19, and hydraulic ear seats 20, such as Figure 2The mechanical finger 17 is connected to the mechanical hand 18. The middle part of the mechanical hand 18 has an opening that connects to the shaft on the V-block. The hole at the bottom of the mechanical hand 18 is hinged to one end of the hydraulic cylinder 19. The other end of the hydraulic cylinder 19 is hinged to the V-block through the hydraulic cylinder lug 20.

[0052] Function and technical effect of the mechanism: The main invention of this part is the clamping device 4, which is installed on the V-block. On the one hand, it plays a positioning role when docking the AUV with the V-block, and on the other hand, it plays a clamping role when the AUV is transported vertically and horizontally.

[0053] 5. Technical solution for vertical handling

[0054] This part mainly consists of a chassis 26, inner rods 23, outer rods 24, pins 25, a lifting motor 27, a lead screw shaft 30, a lead screw nut 32, a vertical bearing seat 29, a tie rod 31, a slider 34, a stud 33, a transport platform 22, and a lifting platform coupling 28. Figure 2 The lower end face of the chassis 26 is connected to the end face of the frame. A lifting motor 27 is provided on the upper end face of the chassis 26. The lead screw shaft 30 is mounted on the chassis 26 through a vertical bearing seat 29. The output end of the lifting motor 27 is connected to the lead screw shaft 30 through a lifting platform coupling 28. The lead screw shaft 30 and the lead screw nut 32 are threaded together. The lead screw nut 32 is fixed to the pull rod 31. Both sides of the pull rod 31 are connected to studs 33, which are connected to the slider 34. The inner rod 23 and the outer rod 24 are combined to form a scissor frame structure. A transport platform 22 is provided on the scissor frame structure.

[0055] Function and technical effect of the mechanism: The main function of this mechanism is to achieve vertical transport of AUVs. It is mainly achieved by the lifting motor 27 driving the lead screw shaft 30 to rotate. The pull rod 31, equipped with a lead screw nut 32, moves under the drive of the lifting motor 27. One end of the pull rod 31 is connected to a slider 34, which in turn drives the inner rod 23 and outer rod 24 of the scissor mechanism to move, thus realizing the vertical lifting function. The scissor-type vertical transport device 8 can then be used to place and vertically transport the AUV. Its main function is to transport the docked AUV downwards to the transfer mechanism for subsequent charging and information exchange.

[0056] 6. Self-leveling rotary conveying technology solution

[0057] This part mainly consists of a horizontal plate 39, a six-branch rotating shaft 38, a central connecting rod 37, a rear mounting plate 36 with a slide rail, a front mounting plate 41 with a slide groove, a tie rod 40 with a round shaft, a pulley 43, an end cover 42, and a key 44. Figure 3 , 4As shown. The intermediate shaft of the six-branch rotating shaft 38 is driven by the rotary spindle drive motor 10. Each branch is rotatably engaged with one end of the long shaft of one of the six horizontal plates 39. The long shafts of the horizontal plates 39 have keyways, and the long shafts with keyways are engaged with the intermediate connecting rod 37 via keys 44. The axial position is mainly determined by connecting an end cap 42 to one end of the horizontal plate 39 with screws, which can limit the axial position at one end. One end of the intermediate connecting rod 37 is engaged with the six-branch rotating shaft 38 via a keyway, and the other end is engaged with a pulley 43, which can slide in the rear mounting plate 36 with a slide rail. The other end of the horizontal plate 39 has a short shaft with a cylindrical boss. The short shaft ends between every two horizontal plates 39 can be connected by a tie rod 40 with a round shaft. At the same time, the round shaft of the tie rod 40 with a round shaft can slide along the groove in the front mounting plate 41 with a slide groove. After installation, when the rotary spindle drive motor 10 drives the six-branch rotating shaft 38 to rotate, the six horizontal plates 39 can achieve 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. The distance between their rotation centers is the same as the center distance between the two holes on the middle connecting rod 37.

[0058] Function and technical effect of the mechanism: This part is mainly the self-leveling rotary transport mechanism 9. This transport mechanism can transport multiple AUVs at the same time, and only one drive source is needed to realize the rotary transport action of the device. In addition, the transport mechanism can ensure that the AUV is always level while transporting the AUV. Since AUVs are generally equipped with equipment, if the posture of the AUV changes, the AUV is prone to collision with the cabin when leaving the cabin, and it is not conducive to the posture of the AUV after leaving the cabin. The leveling plate, which is always level, solves this problem very well.

[0059] 7. Technical solutions for AUV charging and information exchange

[0060] This part mainly consists of a third fixed V-block, a third movable V-block 53, a cast vertical bearing seat 29, a guide rod 51, a drive motor 54, a coupling 15, a short lead screw shaft 52, a bearing 35, a magnetic suction plate 55, a charging base 57, and a tension spring 56. Figure 7 , 8As shown. The fixed V-block is connected to the horizontal plate 39. The two guide rods 51 are fixed to the horizontal plate 39 at both ends by bearings 35 and cast vertical bearing seats 29, respectively. The short lead screw shaft 52 is arranged between the two guide rods 51. At the same time, both ends of the short lead screw shaft 52 are provided with bearings 35 and cast vertical bearing seats 29. One end of the short lead screw shaft 52 is connected to the transmission motor 54 through the coupling 15. The third moving V-block 53 can move a certain distance on the two guide rods 51 through the short lead screw shaft 52. Both types of V-blocks can be separated into left and right parts. The charging base 57 is fixed to the horizontal plate 39 by screws. The magnetic suction plate 55 is connected to the charging base 57 through the tension spring 56. The magnetic suction plate 55 can slide at a small angle along the sliding groove in the charging base 57.

[0061] Function and technical effects of the device: This part of the invention relates to AUV charging and information exchange. It employs a magnetic AUV charging and information exchange device 6, which offers advantages over previous charging equipment, including better compatibility, easier charging docking, and simpler design. The movable double V-block positioning device 7 accurately locates the AUV's axial position. Through the cooperation of the third movable V-block 53 and the third fixed V-block, the AUV can be moved to the ideal position for subsequent charging and information exchange. When the AUV reaches the desired position, simply powering on the charging device allows the magnetic plate 55, connected to the cable, to adhere to the corresponding position for charging. When charging is complete, simply disconnecting the device de-energizes the magnetic plate 55, causing it to lose its magnetism and be pulled back to its original position by the tension spring 56.

[0062] 8. Process of achieving the patent objective

[0063] Firstly, when multiple AUVs need to charge and exchange information, docking is required. To ensure a high success rate and stability, counter-current docking is necessary. This requires driving the rotary mechanism 2 to rotate the guide frame-equipped rotary platform 3 in the counter-current direction. When the AUV is at a greater distance, underwater acoustic positioning is used; when it is closer, optical positioning is achieved using an underwater camera. When the AUV detects the docking device, the all-wheel-drive AUV, guided by the guide frame, can lower itself onto the movable double V-block positioning device 1 based on bevel gear transmission. Then, the clamping device 4 on its first fixed V-block 21 and the first movable V-block 49 driven by the double screw drives clamps the AUV. When the AUV's position is fully determined, the first fixed V-block 21... The clamping device 4 on the fixed V-block 21 is released, and the clamping device 4 on the first moving V-block 49 driven by the double screw clamps the AUV. The motor 50 on the moving double V-block positioning device 1 based on bevel gear transmission drives the first moving V-block 49 driven by the double screw to move. At the same time, the scissor lift platform 8 raises the transport platform 22 with the second fixed V-block. The first moving V-block 49 driven by the double screw brings the AUV to the second fixed V-block on the already raised transport platform 22. The clamping device 4 on the transport platform 22 clamps the AUV, and the locking device 5 locks the AUV under the drive of its small motor 14. The clamping device 4 on the rotary platform 3 with the guide frame... Released, the first moving V-block 49, driven by a double lead screw on the rotary platform 3 with a guide frame, returns to its original position to make room for the downward transport of the AUV and to welcome the next AUV; after the locking device 5 locks the AUV, the scissor-type vertical transport mechanism 8 moves to transport the AUV downward. Before this, the self-leveling rotary transport mechanism 9 rotates the horizontal plate 39 with available space to a suitable position to receive the vertically transported AUV. When the AUV reaches the horizontal plate 39, the third fixed V-block and the third moving V-block 53 with clamping devices on the horizontal plate 39 can move the AUV to align its axial position; after the axial position of the AUV on the horizontal plate 39 is aligned, the magnetic suction... When the charging and information exchange device 6 is powered on, the magnetic suction plate 55 is attracted to 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. At this time, the magnetic suction plate 55 is separated from the AUV under the action of the tension spring 56, and then the self-leveling rotary conveying mechanism 9 is driven to rotate the AUV to the upper position. Since the AUV is always level during the transport, when the AUV reaches the uppermost compartment, its own posture is already horizontal, which can ensure the stability of the posture when leaving the compartment. The clamping devices on the third fixed V-block and the third moving V-block 53 can be released, and then the AUV can leave the docking device under the action of the thruster to perform the task.

[0064] The working principle of this implementation method is as follows: Eight cases, A and H, are discussed separately:

[0065] A: The process of "adjusting the docking orientation of the device according to the ocean current" is as follows: Figure 9

[0066] When an AUV needs to be docked, the docking system needs to be prepared in advance. In order to ensure the stability of the AUV docking, it is necessary to dock against the current. At this time, the rotating platform 3 with the guide frame needs to be adjusted by driving the rotating mechanism 2 to make it consistent with the direction of the ocean current, and the clamping device 4 on the rotating platform 3 with the guide frame is opened to clamp the AUV that is sitting down.

[0067] B: The "AUV downward positioning" process, such as Figure 10

[0068] The all-wheel drive AUV sits down under the action of its thrusters and is positioned on the first clamping device on the rotating platform 3 with the guide frame, guided by the guide frame.

[0069] C: The process of "AUV arriving at the docking device", such as Figure 11

[0070] At this point, the AUV is already positioned on the rotating platform 3 with the guide frame. The gripper of the clamping device 4 clamps the AUV, and the rotating platform 3 with the guide frame gradually returns to its original position under the action of the rotating mechanism 2.

[0071] D: The process of "AUV moving towards the vertical transport mechanism", such as Figure 12

[0072] The scissor lift vertical transport device 8 is raised, the clamping device 4 on the liftable transport platform 22 opens, and the gripper on the first fixed V-block 21 on the rotating platform 3 with the guide frame opens. The clamping device on the first movable V-block 49 continues to clamp. Driven by the movable double V-block positioning device 1 based on bevel gear transmission, the first movable V-block 49 moves the AUV onto the transport platform 22 of the scissor lift vertical transport device 8.

[0073] E: The process of "AUV arriving at the scissor lift vertical transport mechanism", such as Figure 13

[0074] At this time, the AUV has reached the transport platform 22 of the scissor lift vertical transport device 8. The AUV comes into contact with the second fixed V-block on its transport platform 22. The clamping device 4 on the second fixed V-block clamps the AUV, and at the same time, the locking device 5 locks the AUV. The first moving 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 downwards.

[0075] F: The process of "moving the AUV downwards onto the horizontal plate", as follows Figure 14

[0076] At this time, the scissor lift vertical transport device 8 moves the AUV downwards onto the horizontal plate of the self-leveling rotary transport mechanism 9. The clamping device 4 on the third moving V-block 53 on the horizontal plate 39 clamps the AUV, and the clamping device 4 and locking device 5 on the scissor lift vertical transport device 8 are released. The AUV adjusts its axial position under the action of the third moving V-block 53 on the horizontal plate 39.

[0077] G: The process of "AUV locating axial position", such as Figure 15

[0078] At this point, the AUV has moved to the appropriate axial position under the action of the third moving V-block 53 on the horizontal plate 39. The gripper 4 on the third fixed V-block can clamp the AUV, and then subsequent charging and information exchange can be carried out.

[0079] H: The process of "the rotary conveying mechanism returning the empty space to the top position" is as follows: Figure 16

[0080] When an AUV completes docking, the rotary spindle drive motor 10 can drive the self-leveling rotary transport mechanism 9 to transfer the docked horizontal plate 39 downwards, while the un-docked horizontal plate 39 is moved to the uppermost position suitable for docking.

[0081] I: The "AUV outbound" process, such as Figure 17

[0082] Once the AUV has completed charging and information exchange, it can be moved to the top position by the self-leveling rotary transport mechanism 9. The grippers of the clamping device 4 on its horizontal plate 39 will then release, and the AUV can leave the device under the action of the thruster.

[0083] In summary, this invention discloses a self-leveling rotary transport multi-AUV docking device, belonging to the field of long-term underwater operation robot equipment. This invention 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 top of the docking device. The vertical transport section mainly consists of the scissor-type vertical transport device 8, the clamping device 4, and the locking device 5. Meanwhile, the rotary transport section mainly consists 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, and a rotary spindle drive motor 10, which work together to achieve the rotary transport of multiple AUVs while maintaining the AUV's own level. This invention combines vertical transport and rotary transport to achieve the transfer of multiple AUVs. Furthermore, this invention separates the docking section from the transport section, allowing for independent directional control of the docking platform. Simultaneously, the magnetic AUV charging and information interaction device charges and exchanges information with the AUVs. This device not only significantly increases the number of AUVs that can be docked and transported, but also maintains the AUV's level during transport, preparing it for subsequent actions such as AUV unloading. The invention also allows for separate rotary motion of the docking section; compared to rotating the entire device, rotating only the docking section significantly reduces the rotational resistance of the mechanism in seawater. This device has the advantages of simple structure, easy operation, and high safety and reliability.

[0084] In the description of this specification, references to terms such as "an embodiment," "example," "specific example," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0085] The preferred embodiments of the present invention disclosed above are merely illustrative of the invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the invention to the specific implementations described. Clearly, many modifications and variations can be made based on the content of this specification. This specification selects and specifically describes these embodiments to better explain the principles and practical applications of the invention, thereby enabling those skilled in the art to better understand and utilize the invention. The 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, Includes docking module, vertical transport module and rotary transport module; The docking module includes a rotary platform (3) with a guide frame, and a first clamping device is provided on the top surface of the rotary platform (3) with the guide frame; a vertical transport module is installed on one side of the docking module; the vertical transport module includes a liftable transport platform (22), and a locking device (5) and a second clamping device are provided on the transport platform (22); a rotary transport module is installed below the docking module; the rotary transport module includes a multi-branch shaft (38) with multiple sets of branch shafts around the center and a horizontal plate installed on each set of branch shafts; when the multi-branch shaft (38) rotates, the horizontal plate always remains horizontal; an AUV charging and information interaction device and a third clamping device are arranged on each horizontal plate; the rotary platform (3) with the guide frame is driven by the rotary mechanism (2) at its bottom; 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; each of the horizontal plates has a long shaft end with a keyway at the center of one side end face, the long shaft end with the keyway passes through each branch shaft and is connected to the intermediate connecting rod by a key, and the horizontal plate is fixed to the branch shaft and the intermediate connecting rod by an end cover; the other end of the intermediate connecting rod is equipped with a pulley, the pulley slides in the rear mounting plate (36) with a slide rail; each of the horizontal plates has a short shaft end on the other side end face, and the short shaft ends of every two horizontal plates are connected by a tie rod with a round shaft, the round shaft of the tie rod with a round shaft can slide along the slide groove in the front mounting plate (41) with a slide groove.

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

3. The self-leveling rotary transport multi-AUV docking and transfer device according to claim 1, characterized in that, The locking device (5) includes a locking frame (16) and a small motor (14); the two shaft ends of the locking frame (16) are fixed to the transport platform (22) by ear seats (13); the small motor (14) drives the locking frame (16) through a coupling (15).

4. The self-leveling rotary transport multi-AUV docking and transfer device according to claim 1, characterized in that, The first clamping device includes a movable double V-block positioning device (1) based on bevel gear rotation and a clamping device; the movable double V-block positioning device (1) based on bevel gear rotation includes a bevel gear, a bevel gear drive shaft (46), a first fixed V-block, and a first movable V-block; the first fixed V-block is fixed to a rotating platform (3) with a guide frame by bolts; the first movable V-block is driven by a long screw shaft (48), which is connected to a motor (50) through a coupling; a bevel gear is installed at one end of the long screw shaft (48), which meshes with the bevel gear on the bevel gear drive shaft (46); bearings (35) supported by bearing seats are provided at both ends of the bevel gear drive shaft (46); clamping devices are provided at the upper ends of the first fixed V-block and the first movable V-block; The second clamping device includes a second fixed V-block on which a clamping device is mounted; The third clamping device includes a movable double V-block positioning device (7) and a clamping device; the movable double V-block positioning device (7) 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 by means of a short lead screw shaft (52) and a guide rod (51), and the short lead screw shaft (52) is connected to the transmission motor (53) by means of a coupling; the upper ends of the third fixed V-block and the third movable V-block are provided with clamping devices.

5. A self-leveling rotary transport multi-AUV docking and transfer device according to claim 4, characterized in that, The clamping device includes a mechanical hand and mechanical fingers connected to the mechanical hand. The middle part of the mechanical hand has an opening that connects to a shaft on the platform below. The hole at the bottom of the mechanical hand is hinged to one end of a hydraulic cylinder, and the other end of the hydraulic cylinder is hinged to the platform below through a hydraulic cylinder lug.

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

7. A method for a self-leveling rotary transport multi-AUV docking and transfer device as described in claim 1, characterized in that, When an AUV needs to dock and enter the warehouse, the rotary platform (3) with the guide frame rotates to the opposite direction; the AUV is guided by the guide frame and sits down on the rotary platform (3); the rotary platform (3) equipped with the first clamping device brings the AUV to the already raised transport platform (22), the first clamping device and locking device on the transport platform (22) clamp and lock the AUV, the first clamping device on the rotary platform (3) releases the AUV, the transport platform (22) begins to descend, and then the first clamping device on the rotary platform (3) returns to its original position to make room for the AUV to move down and wait for the next AUV to sit down; at the same time, the horizontal plate with empty space in the rotary transport module rotates to a suitable position to prepare to receive the AUV on the already 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 rotary transport module welcomes the next AUV, the multi-branch rotating shaft (38) rotates to rotate other horizontal plates with empty space to a suitable position to prepare to receive the AUV.

8. The method for a self-leveling rotary transport multi-AUV docking and transfer device according to claim 7, characterized in that, When the AUV descends to the horizontal plate, it is grabbed for charging and information exchange. When the AUV is fully charged, the charging and information exchange device is powered off, and the rotary transport module rotates the AUV to the upper position. Since the AUV is always horizontal during transport, when the AUV reaches the uppermost compartment, the fixing to the AUV is released, and the AUV can leave the docking device to perform its mission under the action of the thruster.

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