An underwater unmanned vehicle large tolerance capture device

Abstract

The patent application discloses a kind of underwater unmanned underwater vehicle large tolerance capture device, specifically relates to ship device technical field.It includes capture cabin, the side of capture cabin is equipped with entrance, the entrance is equipped with hatch box, the hatch box is penetrated with the capture mouth of being coaxially arranged with entrance, the size of capture mouth is not less than the size of entrance, the capture mouth of side away from capture cabin is equipped with universal drive assembly, the shell is connected on the universal drive assembly, the universal drive assembly can drive shell to rotate adjustment, the center of shell is equipped with first access hole with size greater than submarine, the first access hole is equipped with airtight opening and closing component, the airtight opening and closing component can realize the sealing or opening of first access hole, the shell is equipped with horn-shaped capture net.The technical scheme of the present application solves the problem of low recovery efficiency of traditional unmanned underwater vehicle, so as to supply equipment for submarine.

Description

Technical Field

[0001] This invention relates to the field of ship equipment technology, and in particular to a high-tolerance capture device for underwater unmanned submersibles. Background Technology

[0002] As marine development and utilization continue to expand towards the deep sea, underwater vehicles, primarily based on unmanned technology, are gradually becoming the main players in future seabed exploration. Traditional unmanned underwater vehicles are mostly disposable products or recovered by surface vessels through salvage operations, which suffers from low recovery efficiency and high operational safety risks.

[0003] Underwater resupply technology for unmanned underwater vehicles (UUVs) is a highly efficient method that utilizes submarines or underwater docking platforms as support, enabling autonomous long-range navigation and operations. Research on underwater capture technology for UUVs, and the design of a rapid, accurate, and stable underwater capture device capable of effectively resupplying UUVs, extending their underwater endurance, and expanding their seabed exploration range, holds significant importance in marine science, environment, geography, and military fields. Summary of the Invention

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

[0005] To achieve the above objectives, the technical solution of the present invention is as follows: A large-tolerance capture device for an underwater unmanned submersible includes a capture chamber, an inlet on one side of the capture chamber, a hatch box at the inlet, a capture port coaxially arranged through the hatch box, the size of the capture port being not smaller than the size of the inlet, a universal drive assembly at the capture port on the side away from the capture chamber, a housing connected to the universal drive assembly, the universal drive assembly being able to drive the housing to rotate and adjust, a first entry hole larger than the submersible being opened at the center of the housing, a sealing and opening assembly at the first entry hole, the sealing and opening assembly being able to seal or open the first entry hole, and a funnel-shaped capture net on the housing.

[0006] Furthermore, the sealed opening and closing assembly includes multiple sliding rods, each of which is equipped with a fan-shaped locking plate. All the locking plates are connected to a rotating toothed plate via corresponding sliding rods. The rotating toothed plate is rotatably connected to the hatch box. The rotating toothed plate has multiple arc-shaped grooves that are slidably connected to the corresponding sliding rods. The center of the rotating toothed plate has a second entry hole larger than that of the submarine. The outer shell is equipped with a locking motor, which has a gear that meshes with the rotating toothed plate. All the locking plates can close the second entry hole under the action of the locking motor, the gear, and the rotating toothed plate.

[0007] With the above setup, after the locking motor starts, it can drive the rotating gear plate to rotate via the gear. After the rotating gear plate rotates, it can drive the corresponding locking plate to move via the slide rod, so that all the locking plates can unfold to form an opening or retract to close the second entry hole, thereby improving the effect of opening or closing the capture chamber.

[0008] Furthermore, the universal drive assembly includes two spaced-apart connecting rings, with a skin covering between the two connecting rings. Each connecting ring has three connecting blocks circumferentially distributed at equal intervals. Each connecting block on any connecting ring has two hydraulic cylinders ball-connected to it. The free ends of the two hydraulic cylinders on each connecting block are ball-connected to two adjacent connecting blocks on the other connecting ring. The outer shell is located on the connecting ring on the side away from the hatch box.

[0009] With the above setup, the piston rods of the six hydraulic cylinders can be extended or shortened by different distances to adjust the capture angle of the underwater vehicle by the capture net, making it easier to capture and recover the underwater vehicle.

[0010] Furthermore, a winch is provided on the top of the capture chamber away from the hatch box. Three fixed pulleys are provided both inside and outside the capture chamber. The steel cable of the winch is routed from the tail end outside the capture chamber to the front end through the three fixed pulleys, and then passes through the front end of the capture chamber to the fixed pulley at the tail end inside the capture chamber. A pusher slider is connected to the steel cable and is slidably connected to the inner wall of the capture chamber. A movable grabbing component is provided on the pusher slider, which is used to grab the submersible.

[0011] With the above setup, the underwater vehicle can be grabbed using a moving gripping component. Once the underwater vehicle is grabbed, the speed of the pusher slider and the moving gripping component can be controlled by a winch and steel cable, thereby achieving the effect of buffering and decelerating the underwater vehicle.

[0012] Furthermore, the push slider is provided with two symmetrically arranged guide rods, each of which is fixedly connected to the inner wall of the capture chamber.

[0013] With the above settings, the guide rod can prevent the push slider from deflecting during its movement, thus avoiding damage to the moving gripping component due to slider deflection and effectively extending the service life of the moving gripping component.

[0014] Furthermore, the mobile gripping component includes a first mounting bracket bolted to a push slider. A radar detector is provided on one side of the first mounting bracket. The radar detector is electrically connected to a drive motor. The drive motor is connected to two movable claws via a gear set. The two movable claws are rotatably connected to the first mounting bracket.

[0015] With the above settings, when the radar detector detects that the underwater vehicle has moved to the predetermined position, the radar detector controls the drive motor to rotate the movable claws, thereby using the two movable claws to grasp and limit the underwater vehicle.

[0016] Furthermore, the capture chamber is symmetrically equipped with multiple fixed gripping components. Each fixed gripping component includes a second mounting bracket disposed on the inner wall of the capture chamber. A linear drive mechanism is provided on one side of the second mounting bracket, and a clamping head is fixedly connected to the moving end of the linear drive mechanism.

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

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

[0019] With the above settings, the hard connection between the moving claw and the gripper head when gripping the submarine can be reduced to a limited extent by the use of the buffer pad, effectively protecting the moving claw and the gripper head.

[0020] Compared with existing technologies, the beneficial effects of this solution are:

[0021] 1. This solution can flexibly adjust the angle and position of the capture net through the universal drive component, thereby adapting to unmanned underwater vehicles with different attitudes and directions, greatly improving the flexibility and adaptability of capture, and ensuring effective target capture in various complex underwater environments.

[0022] 2. This solution utilizes a dual gripping mechanism of mobile and fixed gripping components, which can accurately identify and stably grip the unmanned underwater vehicle (UUV), preventing shaking or displacement during capture and ensuring that the UUV enters the capture chamber in the correct attitude and position, thereby improving the accuracy and stability of capture.

[0023] 3. This solution integrates the automated control of the drive mechanism, radar identification system, and universal drive components, enabling remote operation and automated capture processes, reducing manual intervention, and improving operational efficiency and safety.

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

[0025] 5. This solution uses a fixed semi-enclosed capture chamber as the docking device for the unmanned underwater vehicle (UUV). This allows the UUV to maintain a fixed attitude after successful docking. It is simple in design, has high structural rigidity, long service life and good stability in the underwater environment, and has good economic benefits. When the UUV enters, the entry port is opened by the sealed opening and closing component, while the universal drive component retracts inward. Then, the UUV is clamped by the moving gripping component and the fixed gripping component, which facilitates the clamping and transportation of the UUV into the chamber. Attached Figure Description

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

[0027] Figure 2 This is an axonometric view of a high-tolerance capture device for an underwater unmanned submersible after removing its skin, according to the present invention.

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

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

[0030] Figure 5 This is a schematic diagram of the moving grasping component in this embodiment;

[0031] Figure 6 This is a schematic diagram of the fixed gripping component in this embodiment;

[0032] Figure 7 This is a schematic diagram of the outer shell in this embodiment;

[0033] Figure 8 This is an exploded view of the sealed opening and closing component in this embodiment. Detailed Implementation

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

[0035] The reference numerals in the accompanying drawings include: capture chamber 1, hatch box 2, connecting ring 3, skin 4, connecting block 5, hydraulic cylinder 6, outer shell 7, first entry hole 8, slide bar 9, locking plate 10, rotating toothed 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 bracket 21, radar detector 22, movable claw 23, second mounting bracket 24, linear drive mechanism 25, clamping head 26, and guide block 27.

[0036] Example

[0037] like Figures 1 to 8As shown, a high-tolerance capture device for an underwater unmanned submersible includes a capture chamber 1. An inlet is located on the right side of the capture chamber 1, and a hatch box 2 is welded to the inlet. A capture port, coaxially aligned with the inlet, passes through the hatch box 2, and its size is not smaller than that of the inlet. A universal drive assembly is located at the capture port on the right side of the capture chamber 1, capable of rotating and adjusting the outer shell 7. The universal drive assembly includes two spaced-apart connecting rings 3. The connecting ring 3 on the left is welded to the hatch box 2, and a skin 4 covers the space between the two connecting rings 3. Each connecting ring 3 has three circumferentially equidistant connecting blocks 5. Each connecting block 5 on the left connecting ring 3 has two hydraulic cylinders 6 ball-connected to it. The two hydraulic cylinders 6 on the same connecting block 5 are rotatably connected to both sides of the connecting block 5, and the piston rods of the two hydraulic cylinders 6 on the same connecting block 5 are ball-connected to two adjacent connecting blocks 5 on the other connecting ring 3.

[0038] A housing 7 is connected to the universal drive assembly. The housing 7 is located on the connecting ring 3 on the side away from the hatch box 2. The housing 7 has an opening for the gear 14 to pass through. A first entry hole 8 larger than the submersible is opened at the center of the housing 7. A sealing and opening assembly is provided at the first entry hole 8, which can seal or open the first entry hole 8. The sealing and opening assembly includes multiple slide rods 9, each slide rod 9 has a locking plate 10 integrally formed on it, and the upper and lower ends of the slide rods 9 are located outside the locking plates 10. A sliding groove is opened on the inner side of the housing 7 for the upper ends of all the locking plates 10 to slide. The lower ends of all the locking plates 10 are connected to a rotating toothed plate 11 through the corresponding slide rods 9. The rotating toothed plate 11 is rotatably connected to the connecting ring 3 on the left side. The rotating toothed plate 11 has multiple arc-shaped grooves 12 corresponding to the slide rods 9. A second entry hole larger than the submersible is opened at the center of the rotating toothed plate 11. A locking motor 13 is bolted to the upper side of the housing 7. A gear 14, which meshes with a rotating gear plate 11, is mounted on the output shaft of the locking motor 13. The gear 14 is positioned at the opening of the housing 7. All locking plates can close the entry hole under the action of the locking motor 13, the gear 14, and the rotating gear plate 11. A trumpet-shaped capture net 15, made of high-strength marine steel, is fixedly connected to the right side of the housing 7.

[0039] A winch 16 is bolted to the left side of the top of the capture chamber 1. Fixed pulleys 17 are fixedly connected to the left and right sides of the top and the right side of the upper surface inside the capture chamber 1. The steel cable 18 of the winch 16 is routed through the three fixed pulleys 17, allowing it to wind from the tail end outside the capture chamber 1 to the front end, then pass through the front end into the capture chamber 1 and extend to the fixed pulley 17 at the tail end. A pusher slider 19, slidably connected to the inner wall of the capture chamber 1, is connected to the steel cable 18. Two symmetrically arranged guide rods 20 pass through the pusher slider 19, symmetrically positioned on both sides of the steel cable 18. Each guide rod 20 is fixedly connected to the inner wall of the capture chamber 1, ensuring the stability of the pusher slider 19's movement. A moving gripping assembly is mounted on the pusher slider 19 for gripping the submersible. The mobile gripping assembly includes a first mounting frame 21 bolted to the push 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 drive motor. The drive motor is bolted to the first mounting frame 21. The drive 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 meshing gears. A rotating shaft is provided on the upper part of the gear. The rotating shaft is fixedly connected to the end of the corresponding movable claw 23. The rotating shaft is rotatably connected to the first mounting frame 21.

[0040] The capture chamber 1 is also symmetrically equipped with four fixed gripping components, which are symmetrically arranged on the front and rear inner walls of the capture chamber 1. Each fixed gripping component includes a second mounting bracket 24 mounted on the inner wall of the capture chamber 1. A linear drive mechanism 25 is mounted on one side of the second mounting bracket 24. In this embodiment, the linear drive mechanism 25 is a linear motor, and a gripping head 26 is fixedly connected to the moving end of the linear drive mechanism 25. A sonar detector is also mounted on the second mounting bracket 24 to monitor whether the underwater vehicle has moved to the predetermined position. In this embodiment, both the movable claw 23 and the gripping head 26 are equipped with buffer pads. The buffer pads enable the movable claw 23 and the gripping head 26 to maintain soft contact with the underwater vehicle, thereby extending the service life of the movable claw 23 and the underwater vehicle. Two guide blocks 27 are also spaced apart at the bottom of the capture chamber 1 to facilitate stable movement of the underwater vehicle within the capture chamber 1.

[0041] The working process of this embodiment:

[0042] When the submersible docks with the capture device, it moves towards the capture net 15 at a speed of 0.1-0.5 m / s. The funnel-shaped capture net 15 can capture the submersible over a wide area. After the submersible enters the capture net 15, the six hydraulic cylinders 6 in the universal drive assembly adjust the docking angle of the capture net 15, thereby guiding the submersible into the capture chamber 1. Once the submersible is inside the capture net 15, the locking motor 13 drives the gear 14 to rotate. The rotation of the gear 14, in turn, drives the sliding rod 9 and the locking plate 10 to move along the arc-shaped groove 12 by rotating the gear plate 11. This causes all the locking plates 10 to move outward and unfold, thereby opening the first entry hole 8 and allowing the submersible to enter the capture chamber 1.

[0043] Once the submersible enters the capture chamber 1, the radar detector in the moving grasping assembly senses that the submersible has reached the predetermined position. It then drives the movable claws 23 to rotate via the drive motor and gear set 14, clamping the submersible with the two movable claws 23. Simultaneously, the winch 16 is activated to slowly move the push slider 19 towards the tail end of the capture chamber 1, thus buffering and decelerating the submersible. The guide rod 20 and guide block 27 maintain the stability of the push slider 19 and the submersible's movement. As the submersible moves slowly under the traction of the push slider 19 and steel cable 18, the sonar detector can check whether the submersible has reached the predetermined position. If the submersible has reached the predetermined position, the linear drive mechanism 25 is activated to drive the clamping head 26 to clamp the side wall of the submersible, thus maintaining the submersible's stability within the capture chamber 1.

[0044] After the submersible is resupplyed, the clamping head 26 is reset by the linear drive mechanism 25, and then the winch 16 is started. The winch 16 drives the steel cable 18 and the pusher slider 19 to move to the right side of the capture chamber 1, so that the submersible can slowly exit from the capture chamber 1.

[0045] The above are merely embodiments of the present invention, and common knowledge such as specific structures and / or characteristics in the solutions are not described in detail here. It should be noted that those skilled in the art can make various modifications and improvements without departing from the structure of the present invention, and these should also be considered within the scope of protection of the present invention. These modifications and improvements will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A high-tolerance capture device for underwater unmanned submersibles, characterized in that: The device includes a capture chamber, an entrance on one side of which is equipped with a hatch box. A capture port, coaxially aligned with the entrance, is passed through the hatch box. The size of the capture port is not smaller than that of the entrance. A universal drive assembly is located at the capture port on the side away from the capture chamber. A housing is connected to the universal drive assembly, which can rotate and adjust the housing. A first entry hole, larger than that of the submersible, is located at the center of the housing. A sealing and opening assembly is located at the first entry hole, which can seal or open the first entry hole. The housing is equipped with a funnel-shaped capture net. The sealed opening and closing assembly includes multiple sliding rods, each of which is equipped with a fan-shaped locking plate. All the locking plates are connected to a rotating toothed plate via corresponding sliding rods. The rotating toothed plate is rotatably connected to the hatch box. The rotating toothed plate has multiple arc-shaped grooves that slide with the corresponding sliding rods. The center of the rotating toothed plate has a second entry hole larger than that of the submarine. The outer shell is equipped with a locking motor, which has a gear that meshes with the rotating toothed plate. All the locking plates can close the second entry hole under the action of the locking motor, the gear, and the rotating toothed plate.

2. The underwater unmanned submersible high-tolerance capture device according to claim 1, characterized in that: The universal drive assembly includes two spaced-apart connecting rings with a skin covering between them. Each connecting ring has three connecting blocks circumferentially distributed at equal intervals. Each connecting block on any connecting ring has two hydraulic cylinders ball-connected to it. The free ends of the two hydraulic cylinders on each connecting block are ball-connected to two adjacent connecting blocks on the other connecting ring. The outer shell is located on the connecting ring on the side away from the hatch box.

3. The underwater unmanned submersible high-tolerance capture device according to claim 1, characterized in that: A winch is located on the top of the capture chamber, away from the hatch box. Three fixed pulleys are provided both inside and outside the capture chamber. The steel cable of the winch is routed from the tail end outside the capture chamber to the front end through the three fixed pulleys, and then passes through the front end of the capture chamber to the fixed pulley at the tail end inside the capture chamber. A pusher slider is connected to the steel cable and is slidably connected to the inner wall of the capture chamber. A movable grabbing component is provided on the pusher slider, which is used to grab the submersible.

4. The underwater unmanned submersible high-tolerance capture device according to claim 3, characterized in that: The pusher slider is provided with two symmetrically arranged guide rods, each of which is fixedly connected to the inner wall of the capture chamber.

5. The underwater unmanned submersible high-tolerance capture device according to claim 3, characterized in that: The mobile gripping assembly includes a first mounting bracket bolted to a push slider. A radar detector is provided on one side of the first mounting bracket. The radar detector is electrically connected to a drive motor. The drive motor is connected to two movable claws via a gear set. The two movable claws are rotatably connected to the first mounting bracket.

6. The underwater unmanned submersible high-tolerance capture device according to claim 5, characterized in that: The capture chamber is also symmetrically equipped with multiple fixed gripping components. Each fixed gripping component includes a second mounting bracket set on the inner wall of the capture chamber. A linear drive mechanism is provided on one side of the second mounting bracket, and a clamping head is fixedly connected to the moving end of the linear drive mechanism.

7. A high-tolerance capture device for underwater unmanned submersibles according to claim 6, characterized in that: Both the movable claw and the gripper head are equipped with buffer pads.

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