AUV (Autonomous Underwater Vehicle) underwater deformable docking mechanism based on deployable mechanism

Abstract

The invention belongs to the technical field of underwater robots, and particularly relates to an AUV (autonomous underwater vehicle) underwater deformable docking mechanism based on a deployable mechanism, which is used on an autonomous underwater vehicle and comprises: a frame; the driving device is mounted at the outer bottom of the frame; the transmission device is mounted at the inner bottom of the frame and is in transmission connection with the driving device; and the deformation butt joint assembly is movably installed on the frame, and the deformation butt joint assembly is in transmission connection with the transmission device. In the closed state, the structure is compact, the size and weight are small, the underwater action resistance is small, the structure can be carried on various active butt joint platforms, in addition, in the open state, a guide mechanism with the large area can be formed, and the butt joint recovery success rate is increased.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater robots, and in particular relates to an AUV underwater deformable docking mechanism 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] At present, the most mature and widely used recovery method 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 increased 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] Underwater docking base stations for recovery usually adopt an inclusive design, that is, they completely wrap the AUV. To ensure reliability and functionality, the docking base stations are 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 AUV underwater deformable docking mechanism based on a deployable mechanism, which solves the defects mentioned in the background technology.

[0009] The technical solution is as follows: An AUV underwater deformable docking mechanism based on a deployable mechanism is used on an autonomous underwater submersible, comprising: a frame; a driving device installed on the outer bottom of the frame; a transmission device installed on the inner bottom of the frame and transmission-connected to the driving device; a deformable docking assembly movably installed on the frame, and the deformable docking assembly transmission-connected to the transmission device.

[0010] In a further technical solution, the driving device is a driving motor installed on the outer bottom of the frame.

[0011] In a further technical solution, the transmission device includes an internal gear installed at the bottom of the frame, and a rack is provided on the inner wall of the internal gear; a driving gear is installed on the driving shaft of the driving motor, and the driving gear is meshed with the internal gear. The driving gear rotates to drive the internal gear to rotate.

[0012] In a further technical solution, the deformable docking assembly includes an annular plate installed at the end of the frame, and a plurality of evenly distributed through holes are opened on the annular plate, and a bent rod is passed through each of the through holes; the part of the bent rod extending out of the annular plate is curved; the lower part of the bent rod is sleeved with a driven gear, and the driven gear is meshed and transmission connected with the internal gear.

[0013] In a further technical solution, the transmission device includes an internal gear installed at the bottom of the frame, and a rack is provided on the inner side wall of the internal gear; a driving gear is installed on the driving shaft of the driving motor.

[0014] In a further technical solution, the deformable docking assembly includes an annular plate installed at the end of the frame, and a plurality of evenly distributed through holes are opened on the annular plate, and a bent rod is passed through each of the through holes; the portion of the bent rod extending out of the annular plate is curved; a driven gear is sleeved on the lower part of the bent rod, and the driven gear is meshed and transmission-connected with the internal gear; the driving gear is transmission-connected with one of the driven gears.

[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 is used on AUV to assist docking. The structure of the present invention remains closed when approaching the AUV, which can effectively reduce the resistance of the recovery mother during navigation. When the distance from the AUV is close enough, the deformable docking assembly opens under the drive of the motor to form a conical guide cover, which can effectively improve the docking success rate.

[0016] 2. The structure of the present invention is compact in the closed state, with small volume and weight, small underwater movement resistance, and can be carried on a variety of active docking platforms. In addition, the structure of the present invention can form a large-area guide mechanism in the open state, thereby improving the docking recovery success rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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.

[0018] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of the present invention at one angle.

[0019] Figure 2 It is a three-dimensional structural schematic diagram of another angle of an embodiment of the present invention.

[0020] In the figure: 1. driving gear; 2. driving motor; 3. driven gear; 4. internal gear; 5. frame; 6. annular plate; 7. bent rod. DETAILED DESCRIPTION

[0021] 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.

[0022] 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.

[0023] 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.

[0024] Example 1

[0025] like Figure 1 , Figure 2 The above-mentioned AUV underwater deformable docking mechanism based on a deployable mechanism is used on an autonomous underwater submersible, and includes a frame 5 connected to the autonomous underwater submersible, and a driving motor 2 is provided at the bottom of the frame 5.

[0026] The inner bottom of the frame 5 is provided with a transmission device, which includes an inner gear 4 installed at the inner bottom of the frame 5, and a rack is provided on the inner side wall of the inner gear 4. A driving gear 1 is installed on the driving shaft of the driving motor 2. The deformable docking assembly includes an annular plate 6 installed at the end of the frame 5, and a plurality of evenly distributed through holes are provided on the annular plate 6, and a bent rod 7 is passed through each through hole. The portion of the bent rod 7 extending out of the annular plate 6 is curved. The lower part of the bent rod 7 is sleeved with a driven gear 3, and the driven gear 3 is meshed and connected with the inner gear 4. The driving gear 1 is connected to one of the driven gears 3 in a transmission manner. When the driving motor 2 works, it drives the driving gear 1 to rotate. The power on the driving gear 1 is transmitted to the driven gear 3 and the inner gear 4 in turn, and then drives all the driven gears 3 to rotate. Such a design can synchronously drive all the bent rods 7 to rotate at the same time and in the same direction.

[0027] In the initial state, all the bent rods point to the center of the frame, forming a closed state. In this state, the underwater deformable docking mechanism can maintain a low resistance shape. When docking recovery is required, the drive motor drives the driven gear and the internal gear connected to it. Under the transmission of the internal gear, all the driven gears are driven to rotate. The rotation of the driven gear can further drive the bent rods connected to it to rotate. When the bent rod rotates 180 degrees, the maximum opening is formed. The large area of ​​the docking opening can effectively improve the success rate of docking recovery.

[0028] Example 2

[0029] An AUV underwater deformable docking mechanism based on a deployable mechanism is used on an autonomous underwater vehicle, and comprises a frame 5 connected to the autonomous underwater vehicle, wherein a driving motor 2 is provided at the bottom of the frame 5.

[0030] The inner bottom of the frame 5 is provided with a transmission device, which includes an inner gear 4 installed at the inner bottom of the frame 5, and a rack is provided on the inner side wall of the inner gear 4. A driving gear 1 is installed on the driving shaft of the driving motor 2, and the driving gear 1 is meshed with the inner gear 4. The driving gear 1 rotates to drive the inner gear 4 to rotate. The deformation docking assembly includes an annular plate 6 installed at the end of the frame 5, and a plurality of evenly distributed through holes are provided on the annular plate 6, and a bent rod 7 is penetrated in each through hole. The part of the bent rod 7 extending out of the annular plate 6 is curved. The lower part of the bent rod 7 is sleeved with a driven gear 3, and the driven gear 3 is meshed and transmission-connected with the inner gear 4. The driving gear 1 is transmission-connected with the inner gear 4, and the driving motor 2 works to drive the driving gear 1 to rotate. The power on the driving gear 1 is transmitted to the inner gear 4, and then all the driven gears 3 are driven to rotate. Such a design can synchronously drive all the bent rods 7 to rotate at the same time and in the same direction.

[0031] In the initial state, all the curved rods point to the center of the frame, forming a closed state. In this state, the underwater deformable docking mechanism can maintain a low resistance shape. When docking recovery is required, the drive motor drives the inner gear. Under the transmission of the inner gear, all the driven gears are driven to rotate. The rotation of the driven gear can further drive the curved rods connected to it to rotate. When the curved rod rotates 180 degrees, the maximum opening is formed. The large area of ​​the docking opening can effectively improve the success rate of docking recovery.

[0032] The present invention is used on an AUV to assist docking. The structure of the present invention remains in a closed state when approaching the AUV, which can effectively reduce the resistance of the recovery mother body during navigation. When the distance from the AUV is close enough, the deformable docking assembly opens under the drive of the motor to form a conical guide cover, which can effectively improve the docking success rate.

[0033] The structure of the present invention is compact in the closed state, small in size and weight, and has low underwater movement resistance, and can be carried on a variety of active docking platforms. In addition, the structure of the present invention can form a larger guiding mechanism in the open state, thereby improving the docking recovery success rate.

[0034] 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.

[0035] 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 AUV underwater deformable docking mechanism based on a deployable mechanism, used on an autonomous underwater vehicle, characterized in that: include: frame; A driving device mounted on the outer bottom of the frame; A transmission device, installed on the inner bottom of the frame and in transmission connection with the driving device; A deformable docking assembly is movably mounted on the frame, and the deformable docking assembly is transmission-connected to the transmission device.

2. The AUV underwater deformable docking mechanism based on a deployable mechanism according to claim 1, characterized in that: The driving device is a driving motor installed on the outer bottom of the frame.

3. The AUV underwater deformable docking mechanism based on a deployable mechanism according to claim 2, characterized in that: The transmission device includes an internal gear installed at the bottom of the frame, and a rack is provided on the inner side wall of the internal gear; a driving gear is installed on the driving shaft of the driving motor, and the driving gear is meshed with the internal gear. The rotation of the driving gear drives the internal gear to rotate.

4. The AUV underwater deformable docking mechanism based on a deployable mechanism according to claim 3, characterized in that: The deformable docking assembly includes an annular plate installed at the end of the frame, and a plurality of evenly distributed through holes are opened on the annular plate, and a bent rod is passed through each of the through holes; the portion of the bent rod extending out of the annular plate is curved; a driven gear is sleeved on the lower part of the bent rod, and the driven gear is meshed and transmission-connected with the internal gear.

5. The AUV underwater deformable docking mechanism based on a deployable mechanism according to claim 2, characterized in that: The transmission device comprises an internal gear installed at the bottom of the frame, and a rack is provided on the inner side wall of the internal gear; a driving gear is installed on the driving shaft of the driving motor.

6. The AUV underwater deformable docking mechanism based on a deployable mechanism according to claim 5, characterized in that: The deformable docking assembly includes an annular plate installed at the end of the frame, and a plurality of evenly distributed through holes are opened on the annular plate, and a bent rod is passed through each of the through holes; the portion of the bent rod extending out of the annular plate is curved; a driven gear is sleeved on the lower part of the bent rod, and the driven gear is meshed and transmission-connected with the internal gear; the driving gear is transmission-connected with one of the driven gears.

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