Underwater deformable recovery robot based on deployable mechanism

Abstract

The invention belongs to the technical field of underwater robots, and particularly relates to an underwater deformable recycling robot based on an extensible mechanism. The first propelling device is mounted at one end of the robot body; the folding bracket is mounted at the other end, far away from the first propelling device, of the robot body; the second propelling device is mounted at the end part of the outer side of the folding bracket; the folding and unfolding intelligent structure is assembled on the folding bracket; the folding and unfolding intelligent structure drives the folding support to be opened or closed. According to the invention, autonomous recovery of the underwater AUV is realized, and the operation difficulty and cost are reduced. By reducing the dependence on manual operation, the requirements for professional operators and high-tech experience are reduced, meanwhile, the labor cost and time are reduced, and the overall operation efficiency is improved.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to an underwater deformable recovery robot based on a deployable mechanism. Background Art

[0002] AUV (Autonomous Underwater Vehicle) is an autonomous underwater robot used to perform underwater tasks and does not require operator control. The docking and recovery of AUV can ensure its charging, data transmission and rapid recovery, which is of great significance to ocean exploration, resource development and environmental monitoring, and is a cutting-edge technology in the field of marine applications.

[0003] The main method of recovering AUVs is manual recovery. This recovery solution requires professional operators to use auxiliary tools such as hook guns to accurately connect the hook to the AUV that has surfaced. Its success is highly dependent on the operator's technical level and experience, and is also affected by the AUV's own motion characteristics and sea conditions. Since the interference of wind and waves on the sea surface will cause the AUV's posture and position to change continuously, manual recovery also has certain requirements for sea conditions, and the effect is better under stable sea conditions. This method not only requires a lot of manpower, material resources and time, but is also easily affected by the complex marine environment, resulting in further increases in operational risks and costs.

[0004] Compared with manual recovery methods, AUV's underwater autonomous recovery technology has reduced the strict requirements on sea conditions to a certain extent and has higher adaptability. At present, the main ways to achieve underwater autonomous recovery include positioning pole docking, underwater docking base station, underwater mechanical arm and underwater rope docking. Each method has its own characteristics and application scenarios, but there are also corresponding technical challenges and limitations.

[0005] Underwater rod and rope guided recovery has the advantage of simple structure, but its controllability is poor, and it is difficult to achieve stable and reliable recovery operations in complex marine environments.

[0006] The underwater robotic arm recovery method captures the AUV through the precise positioning and operation of the robotic arm. Due to the difficulty in ensuring the stability of the water flow disturbance and the recovery platform itself, this method has high requirements on equipment performance and still has certain operational difficulties in a dynamic environment.

[0007] Recovery using an underwater docking station usually adopts an inclusive design, that is, completely wrapping the AUV. To ensure reliability and functionality, the docking station is usually large in size, resulting in high manufacturing costs, significantly increased resistance when sailing in water, and high requirements for the space and carrying capacity of the mother ship or carrier platform. Summary of the invention

[0008] In order to solve the problems in the related art, the present application provides an underwater deformable recovery robot based on a deployable mechanism, which solves the defects mentioned in the background technology.

[0009] The technical solution is as follows: An underwater deformable recovery robot based on an expandable mechanism comprises: a robot body; a first propulsion device installed at one end of the robot body; a folding bracket installed at the other end of the robot body away from the first propulsion device; a second propulsion device installed at the outer end of the folding bracket; a folding intelligent structure assembled on the folding bracket; the folding intelligent structure drives the folding bracket to open or close.

[0010] As a further improvement, the first propulsion device includes four first propellers, and the four first propellers are installed on the four corners of the robot body.

[0011] As a further improvement, the folding bracket comprises four rotating arms, and the four rotating arms are mounted on the robot body via movable parts; the folding and unfolding intelligent structure is mounted between the four rotating arms; and buoyancy blocks are mounted on the rotating arms.

[0012] A further improvement is that the folding and unfolding intelligent structure includes multiple bending rods, every two bending rods form a bending rod group; the two bending rods of each bending rod group are cross-arranged and connected at the center by a fixing piece; the ends of the bending rods between adjacent bending rod groups are connected by a fixing piece; all the bending rod groups form a ring; adjacent bending rod groups are connected to form a rhombus; an underwater servo device is installed on one of the bending rods.

[0013] As a further improvement, the movable part is a hinge part; and the fixed part is a rivet.

[0014] As a further improvement, the underwater servo device uses an electric servo system or a hydraulic servo system.

[0015] By adopting the above technical solution, compared with the prior art, the beneficial effects of the technology of this patent are: 1. The present invention realizes the autonomous recovery of underwater AUV, reduces the difficulty and cost of operation. By reducing the reliance on manual operation, the demand for professional operators and high-tech experience is reduced, while reducing labor costs and time, and improving overall operation efficiency.

[0016] 2. The present invention forms a larger guiding mechanism in the open state, which expands the docking and recovery range of the AUV and improves the success rate of recovery.

[0017] 3. The design of the present invention enhances environmental adaptability. By installing four thrusters on the foldable intelligent structure, it can accelerate to approach the target in the closed state, and can better balance the force and torque in the open state to resist unstable sea conditions.

[0018] 4. The present invention supports unmanned autonomous recycling. The device has good compatibility with the automation system and can be further expanded into a highly autonomous unmanned recycling system. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0020] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0021] Figure 2 It is a side structural schematic diagram of the present invention.

[0022] Figure 3 It is a schematic diagram of the top structure of the present invention.

[0023] In the figure: 1. First thruster; 2. Robot body; 3. Moving part; 4. Rotating arm; 5. Buoyancy block; 6. Second thruster; 7. Folding and unfolding intelligent structure; 71. Fixing part; 72. Bending rod. DETAILED DESCRIPTION

[0024] The preferred embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although the preferred embodiments of the present application are shown in the accompanying drawings, it should be understood that the present application can be implemented in various forms and should not be limited by the embodiments described herein. On the contrary, these embodiments are provided to make the present application more thorough and complete, and to fully convey the scope of the present application to those skilled in the art.

[0025] The terms used in this application are for the purpose of describing specific embodiments only and are not intended to limit this application. The singular forms of "a", "said" and "the" used in this application and the appended claims are also intended to include plural forms unless the context clearly indicates other meanings. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0026] It should be understood that although the terms "first", "second", "third", etc. may be used in this application to describe various information, this information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of this application, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0027] Example

[0028] like Figure 1-3 As shown, an underwater deformable recovery robot based on a deployable mechanism includes a robot body 2, one end of the robot body 2 is provided with a first propulsion device, and the other end is provided with a second propulsion device.

[0029] The first propulsion device includes four first propellers 1 , which are installed on four corners of the robot body 2 .

[0030] The folding bracket is installed at the other end of the robot body 2 away from the first propulsion device. The second propulsion device is installed at the outer end of the folding bracket. The folding bracket includes four rotating arms 4, and the four rotating arms 4 are installed on the robot body 2 through movable parts 3. The folding intelligent structure 7 is installed between the four rotating arms 4, and the rotating arms 4 are equipped with buoyancy blocks 5. The function of the buoyancy blocks 5 is to control the center of gravity and buoyancy of the entire underwater robot.

[0031] The folding intelligent structure 7 is assembled on the folding bracket. The folding intelligent structure 7 drives the folding bracket to open or close. The folding intelligent structure 7 includes a plurality of bending rods 72, and every two bending rods 72 form a bending rod group. The two bending rods 72 of each bending rod group are cross-arranged and connected at the center by a fixing member 71. The ends of the bending rods 72 between the adjacent bending rod groups are connected by a fixing member 71. All the bending rod groups form a ring. The adjacent bending rod groups are connected to form a rhombus. An underwater servo device is installed on one of the bending rods 72.

[0032] The movable part 3 is a hinge part, and the fixing part 71 is a rivet. The underwater servo device uses an electric servo system or a hydraulic servo system.

[0033] Four thrusters are installed on the foldable intelligent structure, which can accelerate the approach to the target in the closed state and better balance the force and torque in the open state to resist unstable sea conditions.

[0034] The present invention realizes the autonomous recovery of underwater AUV, reduces the difficulty and cost of operation, reduces the reliance on manual operation, reduces the need for professional operators and high-tech experience, reduces labor costs and time, and improves overall operation efficiency.

[0035] The present invention forms a larger-area guide mechanism in the open state, thereby expanding the AUV docking and recovery range and improving the success rate of recovery.

[0036] The present invention supports unmanned autonomous recycling. The device has good compatibility with the automation system and can be further expanded into a highly autonomous unmanned recycling system.

[0037] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art not covered by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0038] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. An underwater deformable recovery robot based on a deployable mechanism, characterized in that: include: Robot body; A first propulsion device, mounted at one end of the robot body; A folding bracket is mounted on the other end of the robot body away from the first propulsion device; A second propulsion device is mounted on the outer end of the folding bracket; A foldable intelligent structure, assembled on the foldable support; The folding and unfolding intelligent structure drives the folding bracket to open or close.

2. The underwater deformable recovery robot based on a deployable mechanism according to claim 1, characterized in that: The first propulsion device includes four first propellers, and the four first propellers are installed on the four corners of the robot body.

3. The underwater deformable recovery robot based on a deployable mechanism according to claim 2, characterized in that: The folding bracket comprises four rotating arms, and the four rotating arms are mounted on the robot body through movable parts; the folding and unfolding intelligent structure is mounted between the four rotating arms; and the rotating arms are equipped with buoyancy blocks.

4. The underwater deformable recovery robot based on a deployable mechanism according to claim 3, characterized in that: The folding and unfolding intelligent structure includes multiple bending rods, and every two bending rods form a bending rod group; the two bending rods of each bending rod group are cross-arranged and connected at the center by a fixing piece; the ends of the bending rods between adjacent bending rod groups are connected by a fixing piece; all the bending rod groups form a ring; adjacent bending rod groups are connected to form a rhombus; an underwater servo device is installed on one of the bending rods.

5. The underwater deformable recovery robot based on a deployable mechanism according to claim 4, characterized in that: The movable part is a hinge part; the fixed part is a rivet.

6. The underwater deformable recovery robot based on a deployable mechanism according to claim 5, characterized in that: The underwater servo device uses an electric servo system or a hydraulic servo system.

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