An underwater deformable recovery robot based on deployable mechanism

Abstract

The application belongs to the technical field of underwater robots, and particularly relates to a deformable underwater recovery robot based on a deployable mechanism, which comprises a robot body, a first propelling device installed at one end of the robot body, a folding support installed at the other end of the robot body away from the first propelling device, a second propelling device installed at the outer end of the folding support, and a folding and unfolding intelligent structure assembled on the folding support, wherein the folding and unfolding intelligent structure drives the folding support to open or close. The application realizes autonomous recovery of an underwater AUV, reduces operation difficulty and cost, reduces dependence on manual operation, reduces the demand for professional operators and high technical experience, reduces labor cost and time, and improves overall operation efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater robots, and particularly relates to an underwater deformable recovery robot based on a deployable mechanism. BACKGROUND

[0002] An AUV (Autonomous Underwater Vehicle) is an autonomous underwater robot used to perform underwater tasks without the need for operator control. Docking and recovery of the AUV can ensure its charging, data transmission and rapid recovery, which is of great significance for ocean exploration, resource development and environmental monitoring, and is a frontier technology in the field of marine applications.

[0003] The main recovery method for the AUV is still manual recovery. This recovery scheme requires professional operators to use auxiliary tools such as hooks to accurately connect the hooks to the AUV floating on the water surface, and its success is highly dependent on the technical level and experience of the operators, and is also affected by the motion characteristics of the AUV itself and the sea conditions. Due to the disturbance of the sea surface wind and waves, the attitude and position of the AUV will change constantly, and manual recovery also has certain requirements for sea conditions, and the effect is better in stable sea conditions. This method not only requires a large amount of manpower, material resources and time, but also is easily affected by complex marine environments, resulting in further increase in operation risk and cost.

[0004] Compared with the manual recovery method, the underwater autonomous recovery technology of the AUV reduces the strict requirements for sea conditions to a certain extent and has higher adaptability. At present, the main implementation methods of underwater autonomous recovery include positioning rod docking, underwater docking base, underwater manipulator and underwater rope docking. Each method has its own characteristics and application scenarios, but also has 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 operation in complex marine environments.

[0006] The underwater manipulator recovery method captures the AUV through precise positioning and operation of the manipulator, and it is difficult to ensure the stability of the recovery platform itself due to water flow disturbance, so this method has high requirements for equipment performance and still has certain operation difficulties in dynamic environments.

[0007] The use of underwater docking bases for recovery usually adopts a containment design, that is, the AUV is completely wrapped, and in order to ensure reliability and functionality, the docking base is usually large in size, resulting in high manufacturing cost, significant increase in resistance when sailing in water, and high requirements for the space and carrying capacity of the mother ship or carrying platform. SUMMARY

[0008] To address the problems in the related technologies, this 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:

[0010] An underwater deformable recovery robot based on a deployable mechanism includes: 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; and a folding-out intelligent structure mounted on the folding bracket. The folding-out intelligent structure drives the opening or closing of the folding bracket. The folding bracket includes four rotating arms, which are mounted on the robot body via movable parts. The folding-out intelligent structure is installed between the four rotating arms. Buoyancy blocks are mounted on the rotating arms. The folding-out intelligent structure includes multiple bending rods, with each pair of bending rods forming a bending rod group. The two bending rods in each bending rod group are arranged crosswise and connected at their centers by a fixing member. The ends of the bending rods in sequentially adjacent bending rod groups are connected by a fixing member. All bending rod groups form a ring. Adjacent bending rod groups, when connected, form a rhombus. An underwater servo device is mounted on one of the bending rods.

[0011] In a further improvement, the first propulsion device includes four first thrusters, which are mounted at the four corners of the robot body.

[0012] In a further improvement, the moving part is a hinge; the fixing part is a rivet.

[0013] As a further improvement, the underwater servo device uses an electric servo system or a hydraulic servo system.

[0014] Compared with existing technologies, the beneficial effects of this patented technology, which adopts the above technical solution, are as follows:

[0015] 1. This invention enables autonomous recovery of underwater AUVs, reducing operational difficulty and costs. By reducing reliance on manual operation, it lowers the demand for specialized operators and highly skilled personnel, thereby reducing labor costs and time, and improving overall operational efficiency.

[0016] 2. The present invention forms a guide mechanism with a large area in the open state, which expands the docking and retrieval range of AUVs and improves the success rate of retrieval.

[0017] 3. The design of this invention enhances environmental adaptability. By installing four thrusters on the folding intelligent structure, it can accelerate towards the target in the closed state and better balance forces and torques in the open state to resist unstable sea conditions.

[0018] 4. This invention supports unmanned autonomous recycling. The device has good compatibility with automated systems and can be further expanded into a highly autonomous unmanned recycling system. Attached Figure Description

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

[0020] Fig. 1 This is a three-dimensional structural diagram of the present invention.

[0021] Fig. 2 This is a side view of the present invention.

[0022] Fig. 3 This is a top view of the structure of the present invention.

[0023] In the picture:

[0024] 1. First thruster; 2. Robot body; 3. Moving parts; 4. Rotating arm; 5. Buoyancy block; 6. Second thruster; 7. Folding and unfolding intelligent structure; 71. Fixed parts; 72. Bending rod. Detailed Implementation

[0025] Preferred embodiments of the present application will now be described in more detail with reference to the accompanying drawings. While preferred embodiments of the present application are shown in the drawings, it should be understood that the present application may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, 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.

[0026] The terminology used in this application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The singular forms “a,” “the,” and “the” used in this application and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise. It should also be understood that the term “and / or” as used herein refers to and includes any or all possible combinations of one or more of the associated listed items.

[0027] 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 information of the same type from one another. For example, without departing from the scope of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified. Example

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

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

[0030] A folding support is mounted on the robot body 2 at the end furthest from the first propulsion device. A second propulsion device is mounted on the outer end of the folding support. The folding support includes four rotating arms 4, which are mounted on the robot body 2 via movable parts 3. A folding intelligent structure 7 is mounted between the four rotating arms 4, and buoyancy blocks 5 are mounted on the rotating arms 4. 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 mounted on a folding bracket. The folding intelligent structure 7 drives the opening and closing of the folding bracket. The folding intelligent structure 7 includes multiple bending rods 72, with each pair of bending rods 72 forming a bending rod group. The two bending rods 72 in each bending rod group are arranged crosswise and connected at their centers by a fixing member 71. The ends of the bending rods 72 in adjacent bending rod groups are connected by a fixing member 71. All bending rod groups form a ring. Adjacent bending rod groups, when connected, form a rhombus. An underwater servo device is mounted on one of the bending rods 72.

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

[0033] Four thrusters are installed on the folding smart structure. In the closed state, it can accelerate towards the target, and in the open state, it can better balance forces and torques to resist unstable sea conditions.

[0034] This invention enables autonomous recovery of underwater AUVs, reducing operational difficulty and costs. By minimizing reliance on manual operation, it lowers the demand for specialized operators and highly skilled personnel, thereby reducing labor costs and time, and improving overall operational efficiency.

[0035] The present invention forms a guide mechanism with a large area in the open state, which expands the docking and retrieval range of AUVs and improves the success rate of retrieval.

[0036] This invention supports unmanned autonomous recycling. The device is highly compatible with automated systems and can be further expanded into a highly autonomous unmanned recycling system.

[0037] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not covered by this invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0038] It should be understood that the present invention is not limited to the precise structure described above and shown in the accompanying drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. An underwater deformable recovery robot based on a deployable mechanism, characterized in that, include: The robot itself; A first propulsion device is installed at one end of the robot body; A folding bracket is installed at the other end of the robot body, away from the first propulsion device. The second propulsion device is installed at the outer end of the folding bracket; The folding intelligent structure is assembled on the folding bracket; The folding smart structure drives the opening or closing of the folding bracket; The folding support includes four rotating arms, which are mounted on the robot body via movable parts; the folding intelligent structure is installed between the four rotating arms; and buoyancy blocks are mounted on the rotating arms. The folding intelligent structure includes multiple bending rods, with each pair of bending rods forming a bending rod group; the two bending rods in each bending rod group are arranged crosswise and connected at their center by a fixing member; the ends of the bending rods in adjacent bending rod groups are connected by a fixing member; all bending rod groups form a ring; adjacent bending rod groups form a rhombus when connected; and an underwater servo device is installed on one of the bending rods.

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 thrusters, which are mounted at the four corners of the robot body.

3. The underwater deformable recovery robot based on a deployable mechanism according to claim 1, characterized in that, The movable part is a hinge; the fixed part is a rivet.

4. The underwater deformable recovery robot based on a deployable mechanism according to claim 3, characterized in that, The underwater servo device uses an electric servo system or a hydraulic servo system.

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