AUV cluster surface deployment and recovery device

Abstract

The present invention discloses an AUV cluster surface deployment and recovery device, comprising a recovery platform and an AUV, wherein a recovery frame is provided at the tail end of the recovery platform, a plurality of storage slots are provided at the tail end of the recovery platform, a transfer platform is provided inside the recovery frame, transmission belts are symmetrically provided on both sides of the upper end surface of the transfer platform, and transmission rollers are provided at both ends of the inner side of the transmission belt. When the AUV needs to be recovered, when the front end of the AUV is between two transmission belts, the first motor is started, the first motor drives the driving bevel gear to rotate, the driving bevel gear drives the driven bevel gear to rotate, the driven bevel gear drives the transmission roller to rotate, the transmission roller drives the transmission belt to rotate, the two transmission belts clamp the AUV4, and then the second motor is started to drive the first threaded rod to rotate, the first threaded rod drives the transfer platform close to the storage slot, at which time the front end of the AUV falls into the storage slot, thus completing the storage of the AUV, otherwise the AUV is released, which is more efficient than the existing manual release and recovery.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to an AUV cluster surface deployment and recovery device. Background Art

[0002] AUV is an autonomous unmanned underwater robot that performs underwater tasks without the need for operator control. AUV recovery technology is a cutting-edge technology in the field of marine applications that ensures that the AUV can be quickly recovered after completing the specified mission and returning home. The most commonly used recovery method in related technologies is manual salvage by the crew of the mother ship, which is not only very time-consuming and labor-intensive, but also leads to low recovery efficiency. Summary of the invention

[0003] The purpose of the present invention is to solve the above-mentioned problem and to propose an AUV cluster surface deployment and recovery device.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] A surface deployment and recovery device for an AUV cluster comprises a recovery platform and an AUV, wherein a recovery frame is arranged at the rear end of the recovery platform, a plurality of storage slots are arranged at the rear end of the recovery platform, a transfer platform is arranged on the inner side of the recovery frame, transmission belts are symmetrically arranged on both sides of the upper end surface of the transfer platform, transmission rollers are arranged at both ends of the inner side of the transmission belt, a rotating shaft is arranged at the bottom of the transmission roller, the rotating shaft is rotatably connected to the transfer platform, and a transmission mechanism for controlling the rotation of the transmission roller is arranged at the bottom of the transfer platform.

[0006] Preferably, the transmission mechanism includes a limit frame arranged at the bottom of the transfer platform, a first motor is arranged in the limit frame, a driving bevel gear is arranged at the output end of the first motor, a driven bevel gear is arranged at the bottom of the rotating shaft, and the driven bevel gear and the driving bevel gear are meshingly connected.

[0007] Preferably, a transmission plate is provided on the inner side of the recovery frame, a third motor is fixedly connected to the transmission plate, a second threaded rod is provided at the output end of the third motor, a transmission block is provided at the bottom of the transfer platform, and the second threaded rod and the transmission block are threadedly connected.

[0008] Preferably, a limiting rod is fixedly connected to the transmission plate, and the limiting rod passes through the transmission block and is slidably connected to the transmission block.

[0009] Preferably, slide grooves are provided on both sides of the recycling frame, one of the slide grooves is provided with a sliding rod, a first threaded rod is provided in one of the slide grooves, a second motor is provided at the tail end of the recycling frame, and the output end of the second motor is fixedly connected to the first threaded rod.

[0010] Preferably, limit blocks are provided on both sides of the transmission plate, one of the limit blocks is threadedly connected to the first threaded rod, and one of the limit blocks is slidably connected to the sliding rod.

[0011] Preferably, an arc-shaped groove is provided on the transfer platform, a plurality of balls are rotatably connected in the concave surface of the arc-shaped groove, and a plurality of strip grooves are evenly distributed on the side surface of the transmission belt.

[0012] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0013] In the present application, when the AUV needs to be recovered, when the AUV enters the recovery frame, the third motor is started to drive the second threaded rod to rotate, and the second threaded rod drives the transfer platform to move. When the front end of the AUV is between the two transmission belts, the first motor is started, and the first motor drives the driving bevel gear to rotate, and the driving bevel gear drives the driven bevel gear to rotate, and the driven bevel gear drives the transmission roller to rotate, and the transmission roller drives the transmission belt to rotate. The two transmission belts clamp the AUV4, and then start the second motor to drive the first threaded rod to rotate, and the first threaded rod drives the transfer platform close to the storage slot. At this time, the front end of the AUV falls into the storage slot, thus completing the storage of the AUV. Otherwise, the AUV is released, which is more efficient than the existing manual release and recovery. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of a deployment and recovery device provided in accordance with an embodiment of the present invention from a first perspective is shown.

[0015] Figure 2 A second perspective structural schematic diagram of a deployment and recovery device provided according to an embodiment of the present invention is shown.

[0016] Figure 3 A schematic diagram of the combined structure of an AUV and a transfer platform provided according to an embodiment of the present invention is shown.

[0017] Figure 4 A schematic diagram of the structure of a transfer platform from a first perspective is shown according to an embodiment of the present invention.

[0018] Figure 5 A schematic diagram of the second viewing angle structure of the transfer platform provided according to an embodiment of the present invention is shown.

[0019] Figure 6 A schematic diagram of the structure of a transmission plate provided according to an embodiment of the present invention is shown.

[0020] Legend:

[0021] 1. Recovery platform; 2. Recovery frame; 3. Storage slot; 4. AUV; 5. Slide; 6. Transfer platform; 7. Arc groove; 8. Ball; 9. Rotating shaft; 10. Transmission roller; 11. Transmission belt; 12. Strip groove; 13. Limiting frame; 14. First motor; 15. Driving bevel gear; 16. Driven bevel gear; 17. Transmission plate; 18. Limiting block; 19. First threaded rod; 20. Second motor; 21. Sliding rod; 22. Transmission block; 23. Third motor; 24. Limiting rod; 25. Second threaded rod. DETAILED DESCRIPTION

[0022] The following will be combined with the drawings in 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.

[0023] See also Figure 1-6 , the present invention provides a technical solution:

[0024] A kind of AUV cluster surface deployment and recovery device, including a recovery platform 1 and AUV4, a recovery frame 2 is arranged at the tail end of the recovery platform 1, a plurality of storage slots 3 are arranged at the tail end of the recovery platform 1, a transfer platform 6 is arranged on the inner side of the recovery frame 2, a transmission belt 11 is symmetrically arranged on both sides of the upper end surface of the transfer platform 6, transmission rollers 10 are arranged at both ends of the inner side of the transmission belt 11, a rotating shaft 9 is arranged at the bottom of the transmission roller 10, the rotating shaft 9 is rotatably connected to the transfer platform 6, a transmission mechanism for controlling the rotation of the transmission roller 10 is arranged at the bottom of the transfer platform 6, the transmission mechanism includes a limit frame 13 arranged at the bottom of the transfer platform 6, a first motor 14 is arranged in the limit frame 13, a driving bevel gear 15 is arranged at the output end of the first motor 14, a driven bevel gear 16 is arranged at the bottom of the rotating shaft 9, the driven bevel gear 16 and the driving bevel gear 15 are meshed and connected, a transmission plate 17 is arranged on the inner side of the recovery frame 2, and a third gear 16 is fixedly connected to the transmission plate 17 Motor 23, the output end of the third motor 23 is provided with a second threaded rod 25, a transmission block 22 is provided at the bottom of the transfer platform 6, the second threaded rod 25 is threadedly connected to the transmission block 22, a limit rod 24 is fixedly connected to the transmission plate 17, the limit rod 24 penetrates the transmission block 22 and is slidably connected to the transmission block 22, both sides of the recovery frame 2 are provided with slide grooves 5, one slide groove 5 is provided with a slide rod 21, a first threaded rod 19 is provided in a slide groove 5, a second motor 20 is provided at the tail end of the recovery frame 2, the output end of the second motor 20 is fixedly connected to the first threaded rod 19, limit blocks 18 are provided on both sides of the transmission plate 17, a limit block 18 is threadedly connected to the first threaded rod 19, a limit block 18 is slidably connected to the slide rod 21, an arc groove 7 is opened on the transfer platform 6, a plurality of balls 8 are rotatably connected in the concave surface of the arc groove 7, and a plurality of strip grooves 12 are evenly distributed on the side of the transmission belt 11.

[0025] Specifically, Figure 4 and Figure 4 As shown, the transmission mechanism includes a limit frame 13 arranged at the bottom of the transfer platform 6, a first motor 14 is arranged in the limit frame 13, a driving bevel gear 15 is arranged at the output end of the first motor 14, a driven bevel gear 16 is arranged at the bottom of the rotating shaft 9, and the driven bevel gear 16 and the driving bevel gear 15 are meshingly connected.

[0026] Specifically, Figure 1 and Figure 6 As shown, a transmission plate 17 is provided on the inner side of the recovery frame 2, a third motor 23 is fixedly connected to the transmission plate 17, a second threaded rod 25 is provided at the output end of the third motor 23, a transmission block 22 is provided at the bottom of the transfer platform 6, the second threaded rod 25 is threadedly connected to the transmission block 22, a limiting rod 24 is fixedly connected to the transmission plate 17, the limiting rod 24 passes through the transmission block 22 and is slidably connected to the transmission block 22.

[0027] Specifically, Figure 1 and Figure 2As shown, slide grooves 5 are provided on both sides of the recycling frame 2, one slide groove 5 is provided with a slide rod 21, a first threaded rod 19 is provided in a slide groove 5, a second motor 20 is provided at the tail end of the recycling frame 2, the output end of the second motor 20 is fixedly connected to the first threaded rod 19, and limit blocks 18 are provided on both sides of the transmission plate 17, one limit block 18 is threadedly connected to the first threaded rod 19, and one limit block 18 is slidably connected to the slide rod 21.

[0028] Specifically, Figure 4 and Figure 5 As shown, an arc-shaped groove 7 is provided on the transfer platform 6, a plurality of balls 8 are rotatably connected in the concave surface of the arc-shaped groove 7, and a plurality of strip grooves 12 are evenly distributed on the side of the transmission belt 11.

[0029] In summary, the present embodiment provides an AUV cluster surface deployment and recovery device. When the AUV4 needs to be recovered, when the AUV4 enters the recovery frame 2, the third motor 23 is started to drive the second threaded rod 25 to rotate, and the second threaded rod 25 drives the transfer platform 6 to move. When the front end of the AUV4 is between the two transmission belts 11, the first motor 14 is started, and the first motor 14 drives the driving bevel gear 15 to rotate, and the driving bevel gear 15 drives the driven bevel gear 16 to rotate, and the driven bevel gear 16 drives the transmission roller 10 to rotate, and the transmission roller 10 drives the transmission belt 11 to rotate. The two transmission belts 11 clamp the AUV4, and then start the second motor 20 to drive the first threaded rod 19 to rotate, and the first threaded rod 19 drives the transfer platform 6 to approach the storage slot 3. At this time, the front end of the AUV4 falls into the storage slot 3, so that the storage of the AUV4 is completed, otherwise the AUV4 is released.

[0030] The above description of the embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An AUV cluster surface deployment and recovery device, comprising a recovery platform (1) and an AUV (4), characterized in that: A recycling frame (2) is arranged at the rear end of the recycling platform (1), a plurality of storage slots (3) are arranged at the rear end of the recycling platform (1), a transfer platform (6) is arranged on the inner side of the recycling frame (2), transmission belts (11) are symmetrically arranged on both sides of the upper end surface of the transfer platform (6), transmission rollers (10) are arranged at both ends of the inner side of the transmission belt (11), a rotating shaft (9) is arranged at the bottom of the transmission roller (10), the rotating shaft (9) and the transfer platform (6) are rotatably connected, and a transmission mechanism for controlling the rotation of the transmission roller (10) is arranged at the bottom of the transfer platform (6).

2. The AUV cluster surface deployment and recovery device according to claim 1, characterized in that: The transmission mechanism comprises a limit frame (13) arranged at the bottom of the transfer platform (6), a first motor (14) is arranged in the limit frame (13), a driving bevel gear (15) is arranged at the output end of the first motor (14), a driven bevel gear (16) is arranged at the bottom of the rotating shaft (9), and the driven bevel gear (16) and the driving bevel gear (15) are meshingly connected.

3. The AUV cluster surface deployment and recovery device according to claim 2, characterized in that: A transmission plate (17) is arranged on the inner side of the recovery frame (2), a third motor (23) is fixedly connected to the transmission plate (17), a second threaded rod (25) is arranged at the output end of the third motor (23), a transmission block (22) is arranged at the bottom of the transfer platform (6), and the second threaded rod (25) and the transmission block (22) are threadedly connected.

4. The AUV cluster surface deployment and recovery device according to claim 3, characterized in that: A limiting rod (24) is fixedly connected to the transmission plate (17), and the limiting rod (24) passes through the transmission block (22) and is slidably connected to the transmission block (22).

5. The AUV cluster surface deployment and recovery device according to claim 4, characterized in that: Slide grooves (5) are provided on both sides of the recovery frame (2), one of the slide grooves (5) is provided with a slide rod (21), a first threaded rod (19) is provided in one of the slide grooves (5), a second motor (20) is provided at the rear end of the recovery frame (2), and an output end of the second motor (20) is fixedly connected to the first threaded rod (19).

6. The AUV cluster surface deployment and recovery device according to claim 5, characterized in that: Limit blocks (18) are provided on both sides of the transmission plate (17); one of the limit blocks (18) is threadedly connected to the first threaded rod (19); and one of the limit blocks (18) is slidably connected to the sliding rod (21).

7. The AUV cluster surface deployment and recovery device according to claim 2, characterized in that: The transfer platform (6) is provided with an arc-shaped groove (7), a plurality of balls (8) are rotatably connected in the concave surface of the arc-shaped groove (7), and a plurality of strip grooves (12) are evenly distributed on the side surface of the transmission belt (11).

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