Underwater docking station and use method thereof

Abstract

The invention provides an underwater docking station and a using method thereof, and belongs to the field of underwater dockes.The underwater docking station is characterized in that a channel used for docking an aircraft is formed in the docking station; the movable part is arranged in the channel and moves along the channel; one end of the channel is communicated with the outside and serves as an inlet end, and the aircraft enters the channel from the inlet end; clamping jaws are arranged on the end face, facing the outside, of the movable part; after the clamping jaw locks the bow part of the aircraft, the movable part drives the aircraft to synchronously move in the direction away from the inlet end, and the aircraft enters the channel; or the movable part drives the aircraft in the channel to synchronously move towards the inlet end, and after the aircraft retreats from the channel, the clamping jaw releases the bow part of the aircraft. The movable part capable of reciprocating is arranged in the channel, the movable part moves forwards to the inlet end of the channel, when the aircraft abuts against the inlet end, the movable part actively captures the aircraft, the bow of the aircraft is locked through the clamping jaw, and the movable part pulls the aircraft to guide the aircraft into the channel.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater docks, and in particular to an underwater dock and a use method thereof. Background Art

[0002] Underwater robots have been increasingly widely used in various fields such as national defense and military industry, offshore oil and gas industry, marine fisheries, and marine scientific expeditions. According to the form of energy supply and the degree of autonomy, underwater robots are generally divided into ROVs and AUVs. The former mainly uses umbilical cables for energy security and realizes remote control of people in the loop; the latter mainly uses airborne energy and can operate autonomously. For AUVs, their limited airborne energy is the main bottleneck that limits their operating time and mission types. Realizing automated underwater energy replenishment is the key to improving the operating efficiency of AUV-type underwater robots. Using an underwater docking station can not only intermittently replenish energy for AUVs and realize the uploading and issuing of data commands, but also realize the safety protection of AUVs in high sea conditions.

[0003] China CN111874194A discloses an AUV underwater docking station and a marine environment observation platform based on a buoy and an AUV. The underwater docking station is usually a cylindrical frame with one end open and the other end closed. After the underwater robot moves and completely enters the docking station, the docking station will lock the underwater robot through a locking mechanism, such as a block or a clamp, to achieve the docking of the underwater robot in the underwater dock. However, when the robot enters the docking station, the robot will still shift relative to the docking station under the force of the water flow, causing the robot to collide or rub against the docking station, causing damage to the docking station and the robot. Summary of the invention

[0004] In view of this, the present invention proposes an underwater docking station and a method of using the same, which are used to solve the problem that when the robot enters the docking station, the robot will be displaced relative to the docking station under the action of water flow, thereby causing collision or friction between the robot and the docking station.

[0005] The technical solution of the present invention is implemented as follows: the present invention provides an underwater dock, including a docking station, in which a channel for docking a vehicle is provided; a movable part, which is arranged in the channel and moves along the channel; wherein one end of the channel is connected to the outside world and is set as an entrance end, and the vehicle enters the channel from the entrance end; a claw is arranged on the end surface of the movable part facing the outside world; after the claw locks the bow of the vehicle, the movable part drives the vehicle to move synchronously in a direction away from the entrance end, and enables the vehicle to enter the channel; or the movable part drives the vehicle in the channel to move synchronously toward the entrance end, and after the vehicle exits the channel, the claw releases the bow of the vehicle.

[0006] On the basis of the above technical solution, preferably, it also includes a plurality of sliding rods, which are arranged in the channel around the axial direction of the channel; a plurality of sliding blocks, which are arranged on the sliding rods one by one and move along the sliding rods; wherein both ends of the sliding rods extend along the axial direction of the channel; a plurality of sliding blocks are connected to the movable part at the same time around the axial direction of the channel, and the sliding blocks drive the movable part to move synchronously along the sliding rod.

[0007] More preferably, it also includes two winding mechanisms, which are arranged on the outer wall of the docking station and at both ends of the channel respectively; wherein the two winding mechanisms are connected by a winding wire, and the slider is arranged on the winding wire, and one of the winding mechanisms winds the wire and drives the sliding rod to move along the sliding rod toward the winding mechanism that is winding the wire.

[0008] On the basis of the above technical solution, preferably, it further includes several groups of blocks, which are arranged in the channel at intervals along the axial direction of the channel; wherein each group includes at least two blocks, and the blocks of each group are evenly arranged around the axial direction of the channel; after the aircraft moves into the channel, the blocks move toward the aircraft simultaneously along the radial direction of the channel and clamp the aircraft between the blocks, or the blocks move away from the aircraft simultaneously along the radial direction of the channel and release the aircraft.

[0009] More preferably, it also includes a limit portion, which is arranged on the outer wall of the dock and is aligned with the block in the radial direction of the channel; a telescopic mechanism, one end of which is arranged on the block and the other end is arranged on the limit portion; wherein the telescopic mechanism performs a telescopic action and drives the block to move radially along the channel.

[0010] More preferably, it also includes an elastic member, which is arranged between the block and the limit part and whose two ends are respectively connected to the block and the limit part; wherein, the end of the telescopic mechanism toward the limit part is abutted against the limit part; the end of the telescopic mechanism abutting against the limit part is extended, the telescopic mechanism supports the limit part to move the block toward the aircraft, and the elastic member is stretched; the end of the telescopic mechanism abutting against the limit part retracts and breaks contact with the limit part, the elastic member shrinks and rebounds and drives the block to move away from the aircraft, and the end of the telescopic mechanism abutting against the limit part is abutted against the limit part again.

[0011] On the basis of the above technical scheme, preferably, it also includes a plurality of groups of rollers, which are arranged on the inner wall of the channel at intervals along the axial direction of the channel; wherein each group includes at least two rollers, and the rollers of each group are evenly arranged around the axial direction of the channel; when the aircraft moves in the channel, the roller surface of the roller is in close contact with the outer surface of the aircraft, and the roller rolls along the outer surface of the aircraft; the movable part is located between the rollers of the same group and is arranged at intervals from the rollers.

[0012] On the basis of the above technical solution, preferably, it also includes a blocking net, which is arranged at the inlet end of the channel; wherein the blocking net is funnel-shaped, and the inner diameter of the end of the blocking net connected to the inlet end is smaller than the inner diameter thereof away from the inlet end.

[0013] On the basis of the above technical solution, preferably, the radial cross-section of the channel is circular or regular polygonal.

[0014] On the other hand, the present invention also provides a method for using an underwater dock, which uses the above-mentioned underwater dock, including the following steps: step one, in an initial state, the movable part moves to the entrance end of the channel, the bow of the vehicle is aligned with the entrance end of the channel, the vehicle moves forward and approaches the movable part, and the claw locks the bow of the vehicle; step two, the movable part drives the vehicle to move synchronously along the channel in a direction away from the entrance end until the vehicle completely enters the channel and docks; step three, the movable part drives the vehicle to move synchronously along the channel in a direction toward the entrance end until the vehicle completely exits the channel, and the claw releases the vehicle.

[0015] The underwater docking station and the use method thereof of the present invention have the following beneficial effects compared with the prior art:

[0016] (1) The present invention provides a reciprocating movable part in the channel. The movable part moves forward to the entrance of the channel. When the aircraft approaches the entrance, the movable part actively captures the aircraft and locks its bow with a claw. The movable part pulls the aircraft to guide it into the channel, thereby avoiding friction and collision between the aircraft and the inner wall of the channel during the process of entering the dock.

[0017] (2) The present invention provides a clamping claw inside the channel, which can clamp the aircraft after it completely enters the channel, thereby achieving fixation and support for the aircraft when it is docked.

[0018] (3) The present invention arranges rollers on the inner wall of the channel so that the outer wall of the aircraft contacts the rollers. On the one hand, this forms a restriction on the aircraft to prevent the end that is not gripped by the movable part from swinging relative to the gripped end and causing the claw to break. On the other hand, it also allows the aircraft to enter the channel more smoothly and avoids friction and collision between the aircraft and the inner wall of the channel. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A three-dimensional diagram of the underwater docking station of the present invention;

[0021] Figure 2 A three-dimensional diagram of the movable part of the present invention;

[0022] Figure 3A three-dimensional diagram of the underwater docking station of the present invention;

[0023] Figure 4 A three-dimensional diagram of the underwater docking station of the present invention;

[0024] Figure 5 is a top cross-sectional view of the underwater dock of the present invention;

[0025] Figure 6 is a front cross-sectional view of the underwater docking station of the present invention;

[0026] Figure 7 It is a front cross-sectional view of the underwater dock of the present invention.

[0027] In the figure: 1, docking station; 101, channel; 2, movable part; 21, claw; 3, slide bar; 4, slider; 41, winding mechanism; 5, block; 6, limit part; 7, telescopic mechanism; 8, elastic member; 9, roller; 10, blocking net. DETAILED DESCRIPTION

[0028] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0029] like Figure 1 As shown, combined Figure 2 An underwater docking dock of the present invention includes a docking station 1 and a movable part 2.

[0030] The docking station 1 is provided with a passage 101 for docking the aircraft; the docking station 1 can be sunk in the water by a sling, or fixedly mounted on a platform or wall at a fixed position. One end of the passage 101 is connected to the outside and is set as an entrance end, and the aircraft enters the passage 101 from the entrance end; the other end of the passage 101 can be through or closed, and the inner wall of the inner end of the passage 101 is provided with a mechanical installation interface and electrical and hydraulic interfaces, etc., so as to dock with an underwater aircraft or an underwater robot. The aircraft in this application refers to an underwater drone, a small submersible or a single-person submersible, or a large submarine.

[0031] The movable part 2 is arranged in the channel 101 and moves along the channel 101; a claw 21 is arranged on the end surface of the movable part 2 facing the outside, and the claw 21 is an outward-turning movable structure; a trigger-type pedal mechanism can be arranged on the end surface of the movable part 2 facing the outside, and when the bow of the aircraft touches or hits the pedal, the claw 21 will be triggered to turn inward and grasp the bow of the aircraft. After the claw 21 locks the bow of the aircraft, the movable part 2 drives the aircraft to move synchronously in the direction away from the entrance end, and the aircraft enters the channel 101; or after the movable part 2 drives the aircraft in the channel 101 to move synchronously toward the entrance end, and the aircraft exits the channel 101, the claw 21 releases the bow of the aircraft. Since the relative position of the aircraft and the channel 101 is limited by the movable part 2 during the process of the movable part 2 pulling the aircraft into the channel 101 or pushing the aircraft to exit the channel 101, the aircraft will not rub or collide with the inner wall of the channel 101. The underwater docking station of the present application can not only intermittently replenish energy for the underwater robot and realize the uploading and issuing of data instructions, but also realize the safety protection of the underwater robot in high sea conditions. In addition, the docking station has an external frame, which is a rectangular protection space formed by connecting rods to realize the protection of internal structural parts.

[0032] exist Figure 3 In a preferred embodiment shown, in order to limit the moving direction and moving range of the movable part 2, a sliding rod 3 and a sliding block 4 are also included.

[0033] Among them, a plurality of slide rods 3 are arranged in the channel 101 around the axial direction of the channel 101, and both ends of the slide rods 3 extend axially along the channel 101; the inner diameter of the channel 101 is larger than the outer diameter of the aircraft, and both ends of the slide rods 3 are connected to the inner wall of the channel 101 through support members.

[0034] Several sliders 4 are arranged on the slide bar 3 in a one-to-one correspondence and move along the slide bar 3; several sliders 4 are connected to the movable part 2 axially around the channel 101 at the same time, and the multiple sliders 4 limit the end face direction of the movable part 2 so that the end face of the movable part 2 is parallel to the radial section of the channel 101. The sliders 4 drive the movable part 2 to reciprocate along the slide bar 3 according to the requirements of the aircraft entering or exiting the channel 101.

[0035] exist Figure 5 In a preferred embodiment shown, in order to provide driving force for the movement of the slider 4, a wire winding mechanism 41 is also included.

[0036] Among them, two winding mechanisms 41 are arranged on the outer peripheral wall of the docking station 1 and are respectively arranged at both ends of the channel 101; the two winding mechanisms 41 are connected by winding wires, and the slider 4 is arranged on the winding wires, and one of the winding mechanisms 41 winds the wires and drives the slider 3 to move along the slider 3 toward the winding mechanism 41 that is winding the wires. Although a telescopic rod can also be connected to the slider 4 to drive the slider 4 to move, due to the long length of the aircraft, the telescopic length of the telescopic rod may not meet the moving range requirements of the slider 4; in addition, a rotating motor can also be connected to the end of the slider 3, and the slider 3 is a screw and is screwed to the slider 4. The slider 4 can also be driven to move along the slider 3 by driving the slider 3 to rotate through the rotating motor.

[0037] exist Figure 7 In a preferred embodiment shown, in order to fix the aircraft after it completely enters the channel 101 to prevent it from leaving the channel 101 due to water flow or other factors, a blocking block 5 is also included.

[0038] Among them, several groups of blocks 5 are arranged in the channel 101 at intervals along the axial direction of the channel 101; each group includes at least two blocks 5, and the blocks 5 of each group are evenly arranged around the channel 101 axially; after the aircraft moves into the channel 101, the blocks 5 move toward the aircraft at the same time along the radial direction of the channel 101 and clamp the aircraft between the blocks 5, or the blocks 5 move away from the aircraft at the same time along the radial direction of the channel 101 and release the aircraft. The contact surface between the blocks 5 and the surface of the aircraft is a contoured surface, so that the blocks 5 can fully contact the surface of the aircraft and achieve the purpose of clamping and fixing. At the same time, multiple blocks 5 clamp the aircraft, which also provides support for the aircraft inside the channel 101.

[0039] exist Figure 7 In a preferred embodiment shown, in order to drive the movement of the clamping block 5, a limiting portion 6 and a telescopic mechanism 7 are also included.

[0040] The limiting portion 6 is disposed on the outer peripheral wall of the docking station 1 and is aligned with the clamping block 5 along the radial direction of the channel 101. The position of the limiting portion 6 is fixed.

[0041] One end of the telescopic mechanism 7 is arranged on the clamping block 5 and the other end is arranged on the limiter 6; the telescopic mechanism 7 performs a telescopic action and drives the clamping block 5 to move radially along the channel 101. The telescopic mechanism 7 can be a telescopic lever, a hydraulic cylinder or a telescopic cylinder.

[0042] exist Figure 7 In a preferred embodiment shown, an elastic member 8 is further included to buffer the vibration generated when the clamping block 5 moves and the pressure when the clamping block 5 contacts and clamps the aircraft.

[0043] The elastic member 8 is disposed between the block 5 and the limit portion 6, and its two ends are respectively connected to the block 5 and the limit portion 6. Generally speaking, a pin rod is retracted on the limit portion 6, one end of the pin rod is fixed to the limit portion 6 and the other end is inserted into the block 5, and the elastic member 8 is sleeved on the pin rod.

[0044] When the above technical solution is adopted, the end of the telescopic mechanism 7 toward the limiting portion 6 is abutted against the limiting portion 6; the telescopic mechanism 7 is extended by abutting against the end of the limiting portion 6, and the telescopic mechanism 7 supports the limiting portion 6 to move the block 5 toward the aircraft, and the elastic member 8 is stretched; the end of the telescopic mechanism 7 abutting against the limiting portion 6 is retracted and disengaged from the limiting portion 6, the elastic member 8 shrinks and rebounds and drives the block 5 to move away from the aircraft, and makes the end of the telescopic mechanism 7 abutting against the limiting portion 6 again abut against the limiting portion 6, so that the purpose of pushing the block 5 to move can be achieved by abutting against the limiting portion 6 by the retractable free end of the telescopic mechanism 7.

[0045] exist Figure 6 In a preferred embodiment shown, in order to enable the aircraft to move smoothly in the channel 101, rollers 9 are also included.

[0046] Among them, several groups of rollers 9 are arranged on the inner wall of the channel 101 at intervals along the axial direction of the channel 101; each group includes at least two rollers 9, and each roller 9 of each group is evenly arranged around the axial direction of the channel 101; when the aircraft moves in the channel 101, the roller surface of the roller 9 is in close contact with the outer surface of the aircraft. For example, when the aircraft is in the shape of a spindle cone or an ellipsoid, the roller surface of the roller 9 can be in a concave arc shape to better fit the surface of the aircraft, and the roller 9 rolls along the outer surface of the aircraft. In addition, the roller 9 can also prevent the aircraft from rubbing or expanding against the inner wall of the channel 101.

[0047] The movable portion 2 is located between the rollers 9 of the same group and is spaced apart from the rollers 9 to avoid the rollers 9 , so that the slide bar 3 and the slide block 4 are disposed between two rollers 9 .

[0048] exist Figure 4 In a preferred embodiment shown, a blocking net 10 is also included to guide the aircraft into the channel 101 from the entrance end.

[0049] The blocking net 10 is arranged at the inlet end of the channel 101; the blocking net 10 is funnel-shaped, and the inner diameter of the end of the blocking net 10 connected to the inlet end is smaller than the inner diameter of the end away from the inlet end. The blocking net 10 can be a woven net or an elastic skin, or it can be a metal funnel. The inner wall surface of the blocking net 10 forms a guide surface or a guide curved surface that gradually shrinks in cross-sectional size, so as to realize the correction of the lateral position deviation of the underwater robot during the docking process.

[0050] exist Figure 6In a preferred embodiment shown, the radial cross-section of the channel 101 is circular or regular polygonal, and the principle of the solution of the present invention is applicable to aircraft with various outer contour shapes.

[0051] like Figure 1 As shown, combined Figure 2 A method for using an underwater docking station of the present invention, using the above-mentioned underwater docking station, comprises the following steps:

[0052] Step 1: In the initial state, the movable part 2 moves to the entrance end of the passage 101, the bow of the aircraft is aligned with the entrance end of the passage 101, the aircraft moves forward and approaches the movable part 2, and the claw 21 locks the bow of the aircraft. In order to facilitate the aircraft to approach the dock 1 and find and approach the entrance end of the passage 101, a light source or a laser guide component can be set on the outer edge of the entrance end to guide the aircraft.

[0053] Step 2: The movable part 2 drives the aircraft to move synchronously along the channel 101 in a direction away from the entrance end until the aircraft completely enters the channel 101 and stops. When the aircraft enters the channel 101, its outer surface contacts the roller 9 so that it can enter the channel 101 more stably and smoothly; when the aircraft completely enters the channel 101, the clamping block 5 clamps the aircraft under the drive of the telescopic mechanism 7 to fix the aircraft.

[0054] Step three, when the aircraft needs to exit the dock 1, the clamping block 5 releases the aircraft, and then the movable part 2 drives the aircraft to move synchronously along the channel 101 toward the entrance end, until the aircraft completely exits the channel 101, and the claw 21 releases the aircraft.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater docking station, characterized in that: include: A docking station (1) having a passage (101) therein for docking an aircraft; A movable part (2) is arranged in the channel (101) and moves along the channel (101); Wherein, one end of the channel (101) is connected to the outside and is set as an entrance end, and the aircraft enters the channel (101) from the entrance end; The end surface of the movable part (2) facing the outside is provided with a claw (21); after the claw (21) locks the bow of the vehicle, the movable part (2) drives the vehicle to move synchronously in a direction away from the entrance end, and enables the vehicle to enter the channel (101); Alternatively, the movable part (2) drives the aircraft in the channel (101) to move synchronously toward the entrance end, and after the aircraft exits the channel (101), the clamping claw (21) releases the bow of the aircraft.

2. An underwater docking station according to claim 1, characterized in that: Also includes: A plurality of sliding rods (3) are arranged in the channel (101) in an axial direction around the channel (101); A plurality of sliders (4) are arranged on the slider (3) in a one-to-one correspondence and move along the slider (3); Wherein, both ends of the sliding rod (3) extend axially along the channel (101); A plurality of the sliders (4) are simultaneously connected to the movable part (2) axially around the channel (101), and the sliders (4) drive the movable part (2) to move synchronously along the slide rod (3).

3. An underwater dock according to claim 2, characterized in that: Also includes: Two wire winding mechanisms (41) are arranged on the outer peripheral wall of the docking station (1) and are respectively arranged at two ends of the channel (101); The two winding mechanisms (41) are connected by a winding wire, the slider (4) is arranged on the winding wire, and one of the winding mechanisms (41) winds the winding wire and drives the slide bar (3) to move along the slide bar (3) toward the winding mechanism (41) that is winding the winding wire.

4. The underwater dock according to claim 1, characterized in that: Also includes: A plurality of groups of card blocks (5) are arranged in the channel (101) at intervals along the axial direction of the channel (101); Each group comprises at least two of the clamping blocks (5), and the clamping blocks (5) of each group are evenly arranged axially around the channel (101); after the aircraft moves into the channel (101), the clamping blocks (5) simultaneously move toward the aircraft in the radial direction of the channel (101) and clamp the aircraft between the clamping blocks (5), or the clamping blocks (5) simultaneously move away from the aircraft in the radial direction of the channel (101) and release the aircraft.

5. The underwater dock according to claim 4, characterized in that: Also includes: A limiting portion (6) is arranged on the outer peripheral wall of the docking station (1) and is aligned with the block (5) along the radial direction of the channel (101); A telescopic mechanism (7), one end of which is arranged on the clamping block (5) and the other end of which is arranged on the limiting portion (6); The telescopic mechanism (7) performs a telescopic action and drives the clamping block (5) to move radially along the channel (101).

6. The underwater dock according to claim 5, characterized in that: Also includes: An elastic member (8) is arranged between the clamping block (5) and the limiting portion (6), and its two ends are respectively connected to the clamping block (5) and the limiting portion (6); Wherein, the end of the telescopic mechanism (7) facing the limiting portion (6) is abutted against the limiting portion (6); The telescopic mechanism (7) abuts against the end of the limiting portion (6) to extend, the telescopic mechanism (7) abuts against the limiting portion (6) to move the block (5) toward the aircraft, and the elastic member (8) is stretched; The end of the telescopic mechanism (7) that abuts against the limiting portion (6) retracts and breaks contact with the limiting portion (6), the elastic member (8) contracts and rebounds and drives the clamping block (5) to move away from the aircraft, and causes the end of the telescopic mechanism (7) that abuts against the limiting portion (6) to abut against the limiting portion (6) again.

7. The underwater dock according to claim 1, characterized in that: Also includes: A plurality of groups of rollers (9) are arranged on the inner wall of the channel (101) at intervals along the axial direction of the channel (101); Each group includes at least two rollers (9), and each roller (9) of each group is evenly arranged around the channel (101) in an axial direction; when the aircraft moves in the channel (101), the roller surface of the roller (9) is in close contact with the outer surface of the aircraft, and the roller (9) rolls along the outer surface of the aircraft; The movable part (2) is located between the rollers (9) of the same group and is spaced apart from the rollers (9).

8. The underwater dock according to claim 1, characterized in that: Also includes: A blocking net (10) is arranged at the inlet end of the channel (101); The blocking net (10) is funnel-shaped, and the inner diameter of the end of the blocking net (10) connected to the inlet end is smaller than the inner diameter of the end away from the inlet end.

9. The underwater dock according to claim 1, characterized in that: The radial cross-section of the channel (101) is circular or regular polygonal.

10. A method for using an underwater dock, characterized in that: The underwater docking station according to any one of claims 1 to 9 comprises the following steps: Step 1: In an initial state, the movable part (2) moves to the entrance end of the passage (101), the bow of the vehicle is aligned with the entrance end of the passage (101), the vehicle moves forward and approaches the movable part (2), and the claw (21) locks the bow of the vehicle; Step 2: the movable part (2) drives the vehicle to move synchronously along the channel (101) in a direction away from the entrance end until the vehicle completely enters the channel (101) and docks; Step three, the movable part (2) drives the aircraft to move synchronously along the channel (101) toward the entrance end until the aircraft completely exits the channel (101), and the claw (21) releases the aircraft.

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