Large-tolerance capturing device for underwater unmanned underwater vehicle

Abstract

The invention discloses a large-tolerance capturing device for an unmanned underwater vehicle, and particularly relates to the technical field of ship devices. Comprising a capturing cabin, an inlet is formed in one side of the capturing cabin, a cabin door box is arranged at the inlet, a capturing opening coaxial with the inlet is formed in the cabin door box in a penetrating mode, the size of the capturing opening is not smaller than that of the inlet, and a universal driving assembly is arranged at the position, away from one side of the capturing cabin, of the capturing opening. A shell is connected to the universal driving assembly, the universal driving assembly can drive the shell to rotate and adjust, a first inlet hole with the size larger than that of the underwater vehicle is formed in the center of the shell, a closed opening and closing assembly is arranged at the position of the first inlet hole, and the closed opening and closing assembly can seal or open the first inlet hole. The shell is provided with a trumpet-shaped catching net. By the adoption of the technical scheme, the problem that a traditional unmanned underwater vehicle is low in recovery efficiency is solved, and equipment supply can be conveniently conducted on the underwater vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of ship devices, and in particular to a large-tolerance capture device for an underwater unmanned submersible. Background Art

[0002] As ocean development and utilization continue to move toward the deep sea, underwater vehicles dominated by unmanned technology are gradually becoming the protagonists of future seabed exploration. Traditional unmanned submersibles are mostly disposable products or recovered by surface vessels through salvage, which have the defects of low recovery efficiency and high operational safety risks.

[0003] The underwater replenishment technology of unmanned submersibles is an efficient method that can autonomously navigate and operate underwater for a long time, mainly using submarines or underwater docking platform devices as support platforms. Research on underwater capture technology of unmanned submersibles and designing a fast, accurate and stable underwater capture device can effectively resupply unmanned submersibles, extend the underwater endurance of unmanned submersibles, and expand the seabed exploration range of unmanned submersibles, which is of great significance in the fields of marine science, environment, geography, and military. Summary of the invention

[0004] The present invention aims to provide a large-tolerance capture device for an underwater unmanned submersible, which solves the problem of low recovery efficiency of traditional unmanned submersibles.

[0005] In order to achieve the above-mentioned purpose, the technical solution of the present invention is as follows: A large-tolerance capture device for an underwater unmanned submersible, comprising a capture cabin, an entrance port is provided on one side of the capture cabin, a hatch box is provided at the entrance port, a capture port coaxially arranged with the entrance port is penetrated through the hatch box, a size of the capture port is not less than that of the entrance port, a universal drive assembly is provided at the capture port on the side away from the capture cabin, a shell is connected to the universal drive assembly, the universal drive assembly can drive the shell to rotate and adjust, a first entry hole with a size larger than the submersible is provided at the center of the shell, a closed opening and closing assembly is provided at the first entry hole, the closed opening and closing assembly can realize the sealing or opening of the first entry hole, and the shell is provided with a trumpet-shaped capture net.

[0006] Furthermore, the closed opening and closing assembly includes a plurality of sliding rods, each of which is provided with a fan-shaped locking plate, and all of the locking plates are commonly connected to a rotating tooth plate through corresponding sliding rods, and the rotating tooth plate is rotatably connected to the hatch box, and a plurality of arc grooves slidably connected to the corresponding sliding rods are formed on the rotating tooth plate, and a second entry hole larger than the submersible is formed at the center of the rotating tooth plate, and a locking motor is provided on the outer casing, and a gear meshing with the rotating tooth plate is provided on the locking motor, and all of the locking plates can close the second entry hole under the drive of the locking motor, the gear and the rotating tooth plate.

[0007] Through the above arrangement, after the locking motor is started, the rotating tooth plate can be driven to rotate through the gear. After the rotating tooth plate rotates, the corresponding locking plate is driven to move with the help of the sliding rod, so that all the locking plates are expanded to form an opening or contracted to close the second entry hole, thereby improving the effect and effect of opening or closing the capture cabin.

[0008] Furthermore, the universal drive assembly includes two connecting rings arranged at intervals, a skin is covered between the two connecting rings, each connecting ring has three connecting blocks distributed circumferentially and equidistantly, each connecting block on any connecting ring is ball-connected with two hydraulic cylinders, the free ends of the two hydraulic cylinders on each connecting block are respectively ball-connected to two adjacent connecting blocks on the other connecting ring, and the outer shell is arranged on the connecting ring on the side away from the cabin door box.

[0009] Through the above arrangement, the piston rods of the six hydraulic cylinders are extended or shortened by different distances to adjust the capture angle of the capture net to the submersible, thereby more conveniently realizing the capture and recovery of the submersible.

[0010] Furthermore, a winch is provided on the side of the top of the capture cabin away from the hatch box, and three fixed pulleys are provided inside and outside the capture cabin. The steel rope of the winch is passed through the three fixed pulleys to realize that the steel rope is wound from the tail end outside the capture cabin to the front end, and penetrates from the front end of the capture cabin to the fixed pulley at the tail end inside the capture cabin. A pushing slider that is slidably connected to the inner wall of the capture cabin is connected to the steel rope, and a mobile grabbing assembly is provided on the pushing slider, and the mobile grabbing assembly is used to grab the submersible.

[0011] Through the above arrangement, the mobile grabbing assembly is used to grab the submersible. When the submersible is grabbed, the moving speed of the pushing slider and the mobile grabbing assembly can be controlled with the help of a winch and a steel rope, thereby achieving the effect of buffering and decelerating the submersible.

[0012] Furthermore, the pushing slide block is provided with two symmetrically arranged guide rods, and each of the guide rods is fixedly connected to the inner wall of the capture cabin.

[0013] Through the above arrangement, the guide rod can be used to keep the push slider from deflecting during movement, thereby avoiding damage to the mobile grabbing assembly due to deflection of the push slider, and effectively extending the service life of the mobile grabbing assembly.

[0014] Furthermore, the mobile grasping assembly includes a first mounting frame bolted to the pushing slider, a radar detector is provided on one side of the first mounting frame, the radar detector is electrically connected to a driving motor, the driving motor is connected to two movable claws through a gear set, and the two movable claws are rotatably connected to the first mounting frame.

[0015] Through the above arrangement, when the radar detector recognizes that the submersible has moved to a predetermined position, the radar detector controls the drive motor to drive the movable claws to rotate, thereby grasping and limiting the submersible with the help of the two movable claws.

[0016] Furthermore, a plurality of fixed grabbing assemblies are symmetrically arranged in the capture chamber, and each of the fixed grabbing assemblies includes a second mounting frame arranged on the inner wall of the capture chamber, a linear drive mechanism is provided on one side of the second mounting frame, and a clamping head is fixedly connected to the movable end of the linear drive mechanism.

[0017] Through the above arrangement, when the submersible enters the capture chamber, the linear drive mechanism drives the clamping head to clamp and limit the two sides of the submersible, thereby preventing the submersible from moving irregularly in the capture chamber and damaging the items in the capture chamber, thereby enhancing the stability of the submersible after capture and recovery.

[0018] Furthermore, the movable claw and the clamping head are both provided with buffer pads.

[0019] Through the above arrangement, the hard connection between the movable claw and the clamping head when clamping the submersible can be reduced to a limited extent with the help of the buffer pad, thereby effectively protecting the movable claw and the clamping head.

[0020] Compared with the prior art, this solution has the following beneficial effects:

[0021] 1. This solution can flexibly adjust the angle and position of the capture net through the universal drive component, so as to adapt to unmanned underwater vehicles with different postures and directions, greatly improving the flexibility and adaptability of capture, and ensuring that the target can be effectively captured in various complex underwater environments.

[0022] 2. This solution utilizes a dual clamping mechanism of a mobile grasping component and a fixed grasping component, which can accurately identify and stably clamp the unmanned underwater vehicle, prevent shaking or deviation during the capture process, ensure that the unmanned underwater vehicle enters the capture cabin in the correct posture and position, and improve the accuracy and stability of the capture.

[0023] 3. This solution can realize remote control and automated capture process by integrating the driving mechanism, radar recognition system and automatic control of the universal driving component, reducing human intervention and improving operation efficiency and safety.

[0024] 4. This solution uses a winch to drive the steel rope, which can control the position of the unmanned submersible in the capture chamber after capture, making it convenient for the energy supply equipment to replenish the submersible. After replenishment, the unmanned submersible can also be driven to exit the capture chamber.

[0025] 5. This scheme adopts a fixed semi-enclosed capture cabin as the docking device of the unmanned submersible, which can keep the unmanned submersible in a fixed posture after successful docking. At the same time, it has a simple design, strong structural rigidity, long life and good stability in the underwater environment, and good economic benefits. When the unmanned submersible enters, the entry hole is opened through the closed opening and closing component, and the universal drive component is retracted inward, and then the unmanned submersible is clamped with the help of the mobile grasping component and the fixed grasping component, which is convenient for clamping the unmanned submersible and transporting it into the cabin. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is an axonometric view of a large-tolerance capture device for an underwater unmanned submersible according to the present invention;

[0027] Figure 2 It is an axonometric view of a large tolerance capture device for an underwater unmanned submersible of the present invention after the skin is removed;

[0028] Figure 3 is a schematic diagram of the internal structure of the capture cabin in this embodiment;

[0029] Figure 4 It is a schematic diagram of the structure of the push slider in this embodiment;

[0030] Figure 5 is a schematic diagram of the structure of the mobile grabbing assembly in this embodiment;

[0031] Figure 6 is a schematic diagram of the structure of the fixed grabbing assembly in this embodiment;

[0032] Figure 7 Schematic diagram of the structure of the housing in this embodiment;

[0033] Figure 8 It is an exploded view of the closed opening and closing assembly in this embodiment. DETAILED DESCRIPTION

[0034] The present invention is further described in detail below through specific embodiments:

[0035] The figure marks in the drawings of the specification include: capture cabin 1, door box 2, connecting ring 3, skin 4, connecting block 5, hydraulic cylinder 6, shell 7, first entry hole 8, slide rod 9, locking plate 10, rotating gear plate 11, arc groove 12, locking motor 13, gear 14, capture net 15, winch 16, fixed pulley 17, steel rope 18, pushing slider 19, guide rod 20, first mounting frame 21, radar detector 22, movable claw 23, second mounting frame 24, linear drive mechanism 25, clamping head 26, guide block 27.

[0036] Example

[0037] like Figures 1 to 8As shown, a large tolerance capture device for underwater unmanned submersibles includes a capture cabin 1, an entry port is opened on the right side of the capture cabin 1, a hatch box 2 is welded at the entry port, a capture port coaxially arranged with the entry port is penetrated on the hatch box 2, and the size of the capture port is not less than the size of the entry port. A universal drive assembly is provided at the capture port on the right side of the capture cabin 1, and the universal drive assembly can drive the shell 7 to rotate and adjust. The universal drive assembly includes two spaced connection rings 3, the connection ring 3 on the left side is welded on the hatch box 2, and a skin 4 is covered between the two connection rings 3. Three connection blocks 5 are equidistantly distributed on each connection ring 3 in the circumferential direction, and two hydraulic cylinders 6 are ball-connected on each connection block 5 on the connection ring 3 on the left side, and the two hydraulic cylinders 6 on the same connection block 5 are respectively rotatably connected to the two sides of the connection block 5, and the piston rods of the two hydraulic cylinders 6 on the same connection block 5 are respectively ball-connected to two adjacent connection blocks 5 on another connection ring 3.

[0038] The universal drive assembly is connected to a housing 7, which is arranged on a connecting ring 3 on a side away from the hatch box 2. The housing 7 is provided with an opening for the gear 14 to pass through. A first entry hole 8 having a size larger than that of the submersible is provided at the center of the housing 7. A sealed opening and closing assembly is provided at the first entry hole 8. The sealed opening and closing assembly can seal or open the first entry hole 8. The sealed opening and closing assembly includes a plurality of slide bars 9, each of which is integrally formed with a locking plate 10, and the upper and lower ends of the slide bars 9 are both located outside the locking plate 10. A sliding groove for sliding connection of the upper ends of all the locking plates 10 is provided on the inner side of the housing 7. The lower ends of all the locking plates 10 are commonly connected to a rotating tooth plate 11 through corresponding slide bars 9. The rotating tooth plate 11 is rotatably connected to the connecting ring 3 on the left side. The rotating tooth plate 11 is provided with a plurality of arc grooves 12 corresponding to the slide bars 9. The center of the rotating tooth plate 11 is provided with a second entry hole having a size larger than that of the submersible. The upper side of the housing 7 is bolted with a locking motor 13, and the output shaft of the locking motor 13 is covered with a gear 14 meshing with the rotating gear plate 11, and the gear 14 is arranged at the opening of the housing 7. All the locking plates can close the access hole under the drive of the locking motor 13, the gear 14 and the rotating gear plate 11. The right side of the housing 7 is fixedly connected with a trumpet-shaped capture net 15, which is made of high-strength marine steel.

[0039] A winch 16 is bolted to the left side of the top of the capture chamber 1, and fixed pulleys 17 are fixedly connected to the left and right sides of the top of the capture chamber 1 and the right side of the upper surface. The steel rope 18 of the winch 16 is wound from the tail end outside the capture chamber 1 to the front end through three fixed pulleys 17, and penetrates from the front end of the capture chamber 1 into the capture chamber 1 and extends to the fixed pulley 17 at the tail end. A push slider 19 is connected to the steel rope 18 and is slidably connected to the inner wall of the capture chamber 1. Two symmetrically arranged guide rods 20 are penetrated on the push slider 19. The two guide rods 20 are symmetrically arranged on both sides of the steel rope 18. Each guide rod 20 is fixedly connected to the inner wall of the capture chamber 1. With the help of the guide rods 20, the stability of the movement of the push slider 19 can be maintained. A mobile grab assembly is provided on the push slider 19, and the mobile grab assembly is used to grab the submersible. The mobile grasping assembly includes a first mounting frame 21 bolted to the pushing slider 19, a radar detector 22 is provided on one side of the first mounting frame 21, the radar detector 22 is electrically connected to a driving motor, the driving motor is bolted to the first mounting frame 21, the driving motor is connected to two movable claws 23 through a gear set, the two movable claws 23 are rotatably connected to the first mounting frame 21, in this embodiment, the gear set is a pair of mutually meshing gears, a rotating shaft is passed through the gear, the rotating shaft is fixedly connected to the end of the corresponding movable claw 23, and the rotating shaft is rotatably connected to the first mounting frame 21.

[0040] Four fixed grab assemblies are symmetrically arranged in the capture chamber 1, and the four fixed grab assemblies are symmetrically arranged on the front and rear inner walls of the capture chamber 1. Each fixed grab assembly includes a second mounting frame 24 arranged on the inner wall of the capture chamber 1, and a linear drive mechanism 25 is installed on one side of the second mounting frame 24. In this embodiment, the linear drive mechanism 25 adopts a linear motor, and the moving end of the linear drive mechanism 25 is fixedly connected to a clamping head 26; a sonar detector is also installed on the second mounting frame 24, and the sonar detector is used to monitor whether the submersible moves to a predetermined position. In this embodiment, a buffer pad is provided on the movable claw 23 and the clamping head 26, and the buffer pad can keep the movable claw 23 and the clamping head 26 in soft contact with the submersible, thereby extending the service life of the movable claw 23 and the submersible. Two guide blocks 27 are also arranged at intervals at the bottom of the capture chamber 1, and the two guide blocks 27 facilitate the stable movement of the submersible in the capture chamber 1.

[0041] The working process of this embodiment:

[0042] When the submersible docks with the capture device, the submersible moves toward the capture net 15 of the capture device at a speed of 0.1-0.5m / s. The trumpet-shaped capture net 15 can capture the submersible in a large range. After the submersible enters the capture net 15, the six hydraulic cylinders 6 in the universal drive assembly are used to adjust the docking angle of the capture net 15, thereby guiding the submersible into the capture chamber 1. When the submersible enters the capture net 15, the locking motor 13 drives the gear 14 to rotate. After the gear 14 rotates, the sliding rod 9 and the locking plate 10 are driven to move along the arc groove 12 by rotating the tooth plate 11, so that all the locking plates 10 move outward and unfold, thereby opening the first entry hole 8 to allow the submersible to enter the capture chamber 1.

[0043] When the submersible enters the capture chamber 1, the radar detector in the mobile grasping assembly senses that the submersible has entered the predetermined position, and drives the movable claws 23 to rotate through the driving motor and the gear 14 group, and clamps the submersible with the help of the two movable claws 23. At the same time, the winch 16 is started to drive the push slider 19 to slowly move toward the tail of the capture chamber 1, thereby achieving the purpose of buffering and decelerating the submersible. At the same time, the guide rod 20 and the guide block 26 can respectively maintain the stability of the push slider 19 and the movement of the submersible. When the submersible moves slowly under the traction of the push slider 19 and the steel rope 18, the sonar detector can check whether the submersible has reached the predetermined position. If the submersible reaches the predetermined position, the linear drive mechanism 25 is started to drive the clamping head 26 to clamp the side wall of the submersible, thereby maintaining the stability of the submersible in the capture chamber 1.

[0044] When the submersible is replenished, the clamping head 26 is reset by the linear drive mechanism 25, and then the winch 16 is started, and the winch 16 drives the steel rope 18 and the push slider 19 to move to the right side of the capture chamber 1, so that the submersible can slowly withdraw from the capture chamber 1.

[0045] The above are only embodiments of the present invention, and the common knowledge such as the known specific structures and / or characteristics in the scheme are not described in detail here. It should be pointed out that for those skilled in the art, several deformations and improvements can be made without departing from the structure of the present invention, which should also be regarded as the protection scope of the present invention, and these will not affect the effect of the implementation of the present invention and the practicality of the patent. The scope of protection required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A large tolerance capture device for an underwater unmanned submersible, characterized in that: It includes a capture cabin, an entrance is provided on one side of the capture cabin, a hatch box is provided at the entrance, a capture port coaxially arranged with the entrance is penetrated through the hatch box, the size of the capture port is not less than the size of the entrance, a universal drive assembly is provided at the capture port on the side away from the capture cabin, a shell is connected to the universal drive assembly, the universal drive assembly can drive the shell to rotate and adjust, a first entry hole with a size larger than that of the submersible is provided at the center of the shell, a closed opening and closing assembly is provided at the first entry hole, the closed opening and closing assembly can achieve the sealing or opening of the first entry hole, and the shell is provided with a trumpet-shaped capture net.

2. The large tolerance capture device for underwater unmanned submersible according to claim 1, characterized in that: The closed opening and closing assembly includes a plurality of sliding rods, each of which is provided with a fan-shaped locking plate, and all of the locking plates are connected to a rotating tooth plate through corresponding sliding rods, and the rotating tooth plate is rotatably connected to the door box, and a plurality of arc grooves slidably connected to the corresponding sliding rods are formed on the rotating tooth plate, and a second entry hole larger than the submersible is formed at the center of the rotating tooth plate, and a locking motor is provided on the outer shell, and a gear meshing with the rotating tooth plate is provided on the locking motor, and all of the locking plates can close the second entry hole under the drive of the locking motor, the gear and the rotating tooth plate.

3. The large tolerance capture device for underwater unmanned submersible according to claim 1, characterized in that: The universal drive assembly includes two connecting rings arranged at intervals, a skin is covered between the two connecting rings, and each connecting ring has three connecting blocks distributed circumferentially and equidistantly. Two hydraulic cylinders are ball-connected to each connecting block on any connecting ring, and the free ends of the two hydraulic cylinders on each connecting block are respectively ball-connected to two adjacent connecting blocks on another connecting ring, and the outer shell is arranged on the connecting ring away from the side of the door box.

4. The large tolerance capture device for underwater unmanned submersible according to claim 1, characterized in that: A winch is provided on the side of the top of the capture cabin away from the hatch box, and three fixed pulleys are provided inside and outside the capture cabin. The steel rope of the winch is passed through the three fixed pulleys to realize the steel rope being wound from the tail end outside the capture cabin to the front end, and passing from the front end of the capture cabin to the fixed pulley at the tail end inside the capture cabin. A pushing slider that is slidably connected to the inner wall of the capture cabin is connected to the steel rope, and a mobile grabbing assembly is provided on the pushing slider, and the mobile grabbing assembly is used to grab the submersible.

5. The large tolerance capture device for underwater unmanned submersible according to claim 4, characterized in that: The pushing slide block is provided with two symmetrically arranged guide rods, and each of the guide rods is fixedly connected to the inner wall of the capture cabin.

6. The large tolerance capture device for underwater unmanned submersible according to claim 4, characterized in that: The mobile grasping assembly includes a first mounting frame bolted to the pushing slider, a radar detector is provided on one side of the first mounting frame, the radar detector is electrically connected to a driving motor, the driving motor is connected to two movable claws through a gear set, and the two movable claws are rotatably connected to the first mounting frame.

7. The large tolerance capture device for underwater unmanned submersible according to claim 1, characterized in that: A plurality of fixed grabbing assemblies are symmetrically arranged in the capture chamber, each of which comprises a second mounting frame arranged on the inner wall of the capture chamber, a linear drive mechanism is arranged on one side of the second mounting frame, and a clamping head is fixedly connected to the movable end of the linear drive mechanism.

8. A large tolerance capture device for underwater unmanned submersibles according to claim 6 or 7, characterized in that: The movable claw and the clamping head are both provided with buffer pads.

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