An underwater unmanned vehicle payload capture and correction device, method

Abstract

The application discloses an underwater unmanned vehicle load capturing and correcting device and method, which comprises a guiding device, a capturing rod, a capturing lifting mechanism, a correcting mechanism and a lifting bearing platform. The capturing lifting mechanism is arranged at the end of a vehicle bearing frame, the capturing rod is vertically fixed on the capturing lifting mechanism, and the guiding device is arranged at the top end of the capturing rod and used for guiding a task load to move above the vehicle. After the task load is moved to a position, the task load is fixedly connected with the capturing rod. The correcting mechanism is used for correcting the posture of the task load, and the lifting bearing platform is used for bearing the task load and driving the task load to descend to a limit position to complete recovery. The application can be independently laid back, is safe and efficient, and has a high success rate.

Description

Technical Field

[0001] This invention relates to the field of underwater unmanned vehicle technology, specifically to an underwater unmanned vehicle payload capture and correction device and method. Background Technology

[0002] With the development of science and technology and the demands of marine development, hydrological surveying, and military applications, unmanned aerial vehicles (UAVs) are increasingly being used due to their stealth capabilities, wide operating range, low operational risk, and strong adaptability. The increasingly complex needs of underwater operations place higher demands on the technological integration, mission versatility, and environmental adaptability of UAVs. UAVs perform various underwater tasks by carrying sensors and different mission modules (collectively referred to as payloads). Large underwater vehicles often act as a mother ship carrying several functionally identical payloads, which are deployed and recovered as needed during a mission. Payload deployment typically involves opening a release mechanism and relying on the payload's negative (or positive) buoyancy, which suffers from poor reliability and low efficiency; however, autonomous payload recovery technology has received little research.

[0003] Therefore, it is necessary to propose a safe, efficient, and high-success-rate payload capture and correction device for underwater unmanned vehicles based on autonomous deployment and recovery technology. Summary of the Invention

[0004] In view of this, the present invention provides an underwater unmanned vehicle payload capture and correction device and method, which can be autonomously deployed and returned, and is safe, efficient and has a high success rate.

[0005] The technical solution adopted in this invention is as follows:

[0006] A payload capture and correction device for an underwater unmanned vehicle includes a guidance device, a capture rod, a capture lifting mechanism, a correction mechanism, and a lifting support platform;

[0007] The capture and lifting mechanism is located at the end of the vehicle's support frame. The capture rod is vertically fixed on the capture and lifting mechanism. The guiding device is located at the top of the capture rod and is used to guide the mission payload to travel above the vehicle. After the mission payload travels to the correct position, it is fixedly connected to the capture rod. The correction mechanism is used to correct the attitude of the mission payload. The lifting and support platform is used to carry the mission payload and drive it down to the limit position to complete the recovery.

[0008] Furthermore, the correction mechanism includes an arched gate, a slide rail, a slider, a vertical hydraulic cylinder, and a horizontal drive device;

[0009] The slide rails are symmetrically arranged and horizontally fixed on both sides of the vehicle's support frame. The two sliders move laterally along the slide rails under the drive of the lateral movement drive device. At the same time, the sliders are fixedly connected to the cylinder of the vertical movement hydraulic cylinder. The two sides of the arched door opening are fixedly connected to the top of the piston rod of the vertical movement hydraulic cylinder. The inner wall of the arched door is conformal to the upper surface of the mission load.

[0010] Furthermore, the vertical movement hydraulic cylinder includes an upper correction hydraulic cylinder, a lower correction hydraulic cylinder, a connecting frame I, and a connecting frame II;

[0011] The cylinder barrel of the upper calibration hydraulic cylinder is fixedly connected to the piston rod of the lower calibration hydraulic cylinder through connecting frame I. The lower calibration hydraulic cylinder is fixedly connected to connecting frame II. Connecting frame II is provided with a sliding groove, and the cylinder barrel of the upper calibration hydraulic cylinder can slide up and down along the sliding groove.

[0012] Furthermore, the slide is a dovetail groove, and the cylinder of the upper correction hydraulic cylinder matches the shape of the dovetail groove.

[0013] Furthermore, the lateral movement drive device includes lateral movement hydraulic cylinder I and lateral movement hydraulic cylinder II;

[0014] The cylinder of the transverse hydraulic cylinder I is mounted on the vehicle's support frame. The piston rod of the transverse hydraulic cylinder I is fixedly connected to the cylinder of the transverse hydraulic cylinder II, and the piston rod of the transverse hydraulic cylinder II is fixedly connected to the slider.

[0015] Furthermore, the lifting platform includes a front lifting guide rail, a lifting hydraulic cylinder, a lifting frame, a rear lifting guide rail, and a clamping device; the lifting frame is used to bear the task load.

[0016] The front and rear lifting guide rails are respectively installed at the front and rear ends of the aircraft's load-bearing frame. Driven by the lifting hydraulic cylinder, the lifting frame can move up and down along the front and rear lifting guide rails. The clamping device is used to fix the mission load.

[0017] The present invention also provides a method for capturing and correcting the payload of an underwater unmanned vehicle, using the above-mentioned payload capturing and correction device for an underwater unmanned vehicle, and the steps of the capturing and correction method are as follows:

[0018] Step 1: The capture lifting mechanism drives the capture rod to rise until the guidance device extends outside the vehicle; the guidance device sends a signal to guide the mission payload to travel above the vehicle; the mission payload extends its robotic arm to grab the capture rod, completing the capture of the mission payload.

[0019] Step 2: The capture lifting mechanism descends, and the task load descends synchronously. At the same time, the arched gate rises under the drive of the vertical hydraulic cylinder. When the arched gate rises to its maximum height, the capture lifting mechanism stops descending. Under the drive of the horizontal drive device, the arched gate moves to the right past the guide device to the limit position, completing the task load attitude correction.

[0020] Step 3: The lifting platform rises to its limit position, and the task load descends under the external force of the capture rod and the arched gate. When the task load falls into the lifting platform, it is fixed by the lifting platform.

[0021] Step four: The lifting platform lowers the load to its limit position, and the arched gate moves to its limit position to the left under the drive of the lateral movement drive device, thus completing the recovery of the load.

[0022] Beneficial effects:

[0023] 1. This invention guides the mission payload to the vicinity of the mechanism through a guidance device and establishes contact between the payload and the spacecraft through the "grabbing bar" action of the payload. The capture bar extends independently outside the spacecraft cabin to guide and capture the payload, increasing the success rate of capture and greatly reducing the risk of collision, thus improving safety. The correction mechanism corrects the payload attitude, ensuring the accuracy of the payload attitude during recovery and improving the accessibility of the payload during transport inside the spacecraft. The capture mechanism, consisting of the guidance device, capture bar, and capture lifting mechanism, works in coordination with the correction mechanism, possessing the advantages of safety, efficiency, and high success rate.

[0024] 2. The correction mechanism of this invention adopts a transverse correction method, which ensures the safety of the load while guaranteeing the accuracy of the load's attitude during recovery.

[0025] 3. In order to further reserve sufficient navigation space for the load, the present invention increases the vertical stroke of the arched gate and uses two combined hydraulic cylinders for vertical drive, thereby improving the safety of the device.

[0026] 4. The present invention uses a dovetail groove as the slide, which has good guiding properties and can achieve precise guidance and motion control, ensuring the stability and accuracy of the equipment during operation. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the overall structure of the present invention.

[0028] Figure 2 This is a schematic diagram of the correction state of the present invention.

[0029] Among them, 1-Task load, 2-Capture mechanism, 3-Correction mechanism, 4-Slider, 5-Lifting bearing platform, 6-Connecting frame I, 7-Arch door, 8-Manipulator, 9-Guide device, 10-Capture rod, 11-Capture lifting mechanism, 12-Slide rail, 13-Front lifting guide rail, 14-Lifting hydraulic cylinder, 15-Lifting frame, 16-Connecting frame II, 17-Upper correction hydraulic cylinder, 18-Lower correction hydraulic cylinder, 19-Horizontal movement hydraulic cylinder II, 20-Horizontal movement hydraulic cylinder I, 21-Rear lifting guide rail. Detailed Implementation

[0030] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0031] The present invention provides a payload capture and correction device for an underwater unmanned vehicle, including a guidance device 9, a capture rod 10, a capture lifting mechanism 11, a correction mechanism 3, and a lifting support platform 5; the guidance device 9, the capture rod 10, and the capture lifting mechanism 11 constitute the capture mechanism 2.

[0032] The capture and lifting mechanism 11 is located at the end of the vehicle's support frame. The capture rod 10 is vertically fixed to the capture and lifting mechanism 11. The guide device 9 is located at the top of the capture rod 10 and is used to guide the mission payload 1 to travel above the vehicle. The capture and lifting mechanism 11 drives the capture rod 10 and guide device 9, which can be lifted to the top, through a built-in hydraulic cylinder (not shown in the figure). After the mission payload 1 travels to the correct position, a robotic arm 8 extends to grab the capture rod 10 and is fixed to it. The correction mechanism 3 is used to correct the attitude of the mission payload 1. The lifting support platform 5 is used to support the mission payload 1 and drive it down to the limit position to complete the recovery. Figure 1 As shown, the task load 1 is in the storage state in the load capture and correction device at this time. The task load 1 is placed on the lifting frame 15 and fixed by the clamping device (not shown in the figure). The robot arm 8 is retracted into the body of the task load 1.

[0033] Specifically, the correction mechanism 3 is located outside the capture mechanism 2. This correction mechanism 3 includes an arched gate 7, slide rails 12, sliders 4, a vertical hydraulic cylinder, and a horizontal drive device. The slide rails 12 are symmetrically arranged and horizontally fixed on both sides of the vehicle's support frame. Two sliders 4 move laterally along the slide rails 12 under the drive of the horizontal drive device. Simultaneously, the sliders 4 are fixedly connected to the cylinder of the vertical hydraulic cylinder. The two sides of the opening of the arched gate 7 are fixedly connected to the top of the piston rod of the vertical hydraulic cylinder. The inner wall of the arched gate 7 is conformal to the upper surface of the mission payload 1. Driven by the vertical hydraulic cylinder and the horizontal drive device, the arched gate 7 can move vertically and laterally. During the lateral movement of the arched gate 7, the attitude correction of the mission payload 1 is achieved.

[0034] In this embodiment, the vertical movement hydraulic cylinder includes an upper correction hydraulic cylinder 17, a lower correction hydraulic cylinder 18, a connecting frame I 6, and a connecting frame II 16. The cylinder barrel of the upper correction hydraulic cylinder 17 is fixedly connected to the piston rod of the lower correction hydraulic cylinder 18 through the connecting frame I 6. The lower correction hydraulic cylinder 18 is fixedly connected to the connecting frame II 16. The connecting frame II 16 is provided with a vertical sliding groove, along which the cylinder barrel of the upper correction hydraulic cylinder 17 can slide up and down. Preferably, the sliding groove is a dovetail groove, and the cylinder barrel of the upper correction hydraulic cylinder 17 matches the shape of the dovetail groove.

[0035] The lateral movement drive device includes a lateral movement hydraulic cylinder I 20 and a lateral movement hydraulic cylinder II 19. The cylinder of the lateral movement hydraulic cylinder I 20 is mounted on the carrier frame of the aircraft. The piston rod of the lateral movement hydraulic cylinder I 20 is fixedly connected to the cylinder of the lateral movement hydraulic cylinder II 19. The piston rod of the lateral movement hydraulic cylinder II 19 is fixedly connected to the slider 4 and can move laterally along the slide rail 12.

[0036] The lifting platform 5 includes a front lifting guide rail 13, a lifting hydraulic cylinder 14, a lifting frame 15, a rear lifting guide rail 21, and a clamping device. The lifting frame 15 is used to carry the mission load 1. The front lifting guide rail 13 and the rear lifting guide rail 21 are respectively installed at the front and rear ends of the aircraft's carrying frame. Driven by the lifting hydraulic cylinder 14, the lifting frame 15 can move up and down along the front lifting guide rail 13 and the rear lifting guide rail 21. The clamping device is used to fix the mission load 1.

[0037] The present invention also provides a method for capturing and correcting the payload of an underwater unmanned vehicle, using the above-mentioned underwater unmanned vehicle payload capturing and correction device, and the steps of the capturing and correction method are as follows:

[0038] Step 1: When the mission payload 1 needs to be recovered, the capture lifting mechanism 11 drives the capture rod 10 to rise until the guidance device 9 extends outside the vehicle; the guidance device 9 sends a signal to guide the mission payload 1 to travel above the vehicle; the mission payload 1 extends the robotic arm 8 to grab the capture rod 10, thus completing the capture of the mission payload 1.

[0039] Specifically, at this point, only the capture lever 10 extends far beyond the vehicle, leaving sufficient navigation space for the mission payload 1, which greatly reduces the risk of collision even if capture fails. At the same time, the length of the capture lever 10 is much greater than the vertical dimension at the joint of the manipulator 8's "grab lever," improving the success rate of the "grab lever."

[0040] Step two: After capture is completed, the capture lifting mechanism 11 descends, and the task load 1 descends synchronously. Simultaneously, the arched gate 7 rises under the drive of the upper correction hydraulic cylinder 17 and the lower correction hydraulic cylinder 18. When the arched gate 7 reaches its maximum height, the capture lifting mechanism 11 stops descending. Figure 2As shown, the arched gate 7, driven by the horizontal hydraulic cylinder I 20 and the horizontal hydraulic cylinder II 19, moves to the right beyond the guide device 9 to the extreme position, completing the attitude correction of the task load 1, avoiding the scraping and collision when the task load 1 falls into the lifting frame 15, and ensuring the safety of the task load 1.

[0041] Step 3: After the calibration is completed, the lifting frame 15 rises to the limit position under the drive of the lifting hydraulic cylinder 14. The task load 1 descends under the external force of the capture rod 10 and the arched door 7. When the task load 1 falls into the lifting frame 15, the clamping device (not shown in the figure) on the lifting bearing platform 5 fixes the task load 1.

[0042] Step four: The lifting frame 15 lowers the task load 1 to its limit position, and the arched door 7 moves to its limit position to the left under the drive of the horizontal hydraulic cylinder I 20 and the horizontal hydraulic cylinder II 19, thus completing the recovery of the task load 1.

[0043] When the task load 1 is released, the lifting frame 15 can lift the task load 1 under the drive of the lifting hydraulic cylinder 14.

[0044] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A payload capture and correction device for an underwater unmanned vehicle, characterized in that, Includes a guide device, a capture rod, a capture lifting mechanism, a correction mechanism, and a lifting support platform; The capture lifting mechanism is located at the end of the vehicle's support frame. The capture rod is vertically fixed on the capture lifting mechanism. The guiding device is located at the top of the capture rod and is used to guide the mission payload to travel above the vehicle. After the mission payload travels to the correct position, it is fixedly connected to the capture rod. The correction mechanism is used to correct the attitude of the mission payload. The lifting support platform is used to carry the mission payload and drive the mission payload down to the limit position to complete the recovery. The correction mechanism includes an arched gate, slide rails, sliders, a vertical hydraulic cylinder, and a horizontal drive device. The slide rails are symmetrically arranged and horizontally fixed on both sides of the vehicle's support frame. The two sliders move laterally along the slide rails under the drive of the horizontal drive device. At the same time, the sliders are fixedly connected to the cylinder of the vertical hydraulic cylinder. The two sides of the arched gate opening are fixedly connected to the top of the piston rod of the vertical hydraulic cylinder. The inner wall of the arched gate is conformal to the upper surface of the mission load.

2. The underwater unmanned vehicle payload capture and correction device as described in claim 1, characterized in that, The vertical movement hydraulic cylinder includes an upper correction hydraulic cylinder, a lower correction hydraulic cylinder, a connecting frame I, and a connecting frame II; The cylinder barrel of the upper calibration hydraulic cylinder is fixedly connected to the piston rod of the lower calibration hydraulic cylinder through connecting frame I. The lower calibration hydraulic cylinder is fixedly connected to connecting frame II. Connecting frame II is provided with a sliding groove, and the cylinder barrel of the upper calibration hydraulic cylinder can slide up and down along the sliding groove.

3. The underwater unmanned vehicle payload capture and correction device as described in claim 2, characterized in that, The slide is a dovetail groove, and the cylinder of the upper correction hydraulic cylinder matches the shape of the dovetail groove.

4. The underwater unmanned vehicle payload capture and correction device as described in claim 1 or 2, characterized in that, The lateral movement drive device includes lateral movement hydraulic cylinder I and lateral movement hydraulic cylinder II; The cylinder of the transverse hydraulic cylinder I is mounted on the vehicle's support frame. The piston rod of the transverse hydraulic cylinder I is fixedly connected to the cylinder of the transverse hydraulic cylinder II, and the piston rod of the transverse hydraulic cylinder II is fixedly connected to the slider.

5. The underwater unmanned vehicle payload capture and correction device as described in claim 1, characterized in that, The lifting platform includes a front lifting guide rail, a lifting hydraulic cylinder, a lifting frame, a rear lifting guide rail, and a clamping device; the lifting frame is used to bear the task load. The front and rear lifting guide rails are respectively installed at the front and rear ends of the aircraft's load-bearing frame. Driven by the lifting hydraulic cylinder, the lifting frame can move up and down along the front and rear lifting guide rails. The clamping device is used to fix the mission load.

6. A method for payload acquisition and correction of an underwater unmanned vehicle, characterized in that, The underwater unmanned vehicle payload capture and correction device as described in claim 1 comprises the following steps: Step 1: The capture lifting mechanism drives the capture rod to rise until the guidance device extends outside the vehicle; the guidance device sends a signal to guide the mission payload to travel above the vehicle; the mission payload extends its robotic arm to grab the capture rod, completing the capture of the mission payload. Step 2: The capture lifting mechanism descends, and the task load descends synchronously. At the same time, the arched gate rises under the drive of the vertical hydraulic cylinder. When the arched gate rises to its maximum height, the capture lifting mechanism stops descending. Under the drive of the horizontal drive device, the arched gate moves to the right past the guide device to the limit position, completing the task load attitude correction. Step 3: The lifting platform rises to its limit position, and the task load descends under the external force of the capture rod and the arched gate. When the task load falls into the lifting platform, it is fixed by the lifting platform. Step four: The lifting platform lowers the load to its limit position, and the arched gate moves to its limit position to the left under the drive of the lateral movement drive device, thus completing the recovery of the load.

Images