Recycling attitude correction device for underwater vehicle

Abstract

The invention discloses an underwater vehicle recovery attitude correction device, which belongs to the technical field of underwater vehicles, and comprises a guide cabin section, and a lifting device and a door-shaped correction rod device which are arranged at one end of the guide cabin section, the other end of the guide cabin section is communicated with a storage cabin, used for storing the underwater vehicle, of the recovery platform; the lifting device can do lifting motion relative to the guide cabin section, and a catching rod is installed on the lifting device and used for being grabbed by a manipulator at the head of the underwater vehicle; the door-shaped correction rod device can swing relative to the guide cabin section, and the lifting device is located in a first door-shaped frame of the door-shaped correction rod device. When the underwater vehicle is recycled, the posture of the underwater vehicle grabbing the capturing rod is corrected through the first door-shaped frame, and the lifting device descends by a set height, so that the underwater vehicle is placed in the guide cabin of the guide cabin section.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater vehicles, and in particular relates to a recovery posture correction device for an underwater vehicle. Background Art

[0002] At present, autonomous underwater robots (AUVs) are developing rapidly and their application fields are expanding. AUV platforms are needed to carry out corresponding tasks. At the same time, AUVs are gradually developing towards cluster underwater operations. In the future, the deployment and recovery technology of AUVs will face severe challenges in the context of large-scale application of AUVs. Compared with the AUV deployment process, the AUV recovery process is more complicated and difficult.

[0003] At present, the deployment and recovery of AUVs are mostly seen on manned surface ships, unmanned surface ships, submarines and large aircraft. In-water recovery mostly adopts drilling cage type, sitting type and other technologies, and V-shaped capture type is also used, but these methods are currently only seen in a single capture and then towing method. The AUV's posture is random during capture, and automatic cabin recovery cannot be achieved. Summary of the invention

[0004] In view of this, the present invention provides an underwater vehicle recovery posture correction device, through which the underwater vehicle grasping the capture rod can be corrected in posture and the underwater vehicle can be safely put into the cabin.

[0005] The present invention provides an underwater vehicle recovery posture correction device that adopts the following technical solutions:

[0006] An underwater vehicle recovery attitude correction device comprises a guide cabin section, a lifting device and a door-shaped correction rod device arranged at one end of the guide cabin section;

[0007] The other end of the guide compartment section is in communication with a storage compartment of the recovery platform for storing underwater vehicles;

[0008] The lifting device can perform lifting and lowering motion relative to the guide compartment, and a capture rod is installed on the lifting device for the underwater vehicle head manipulator to grab;

[0009] The door-shaped correction rod device can swing relative to the guide cabin section, and the lifting device is located in the first door-shaped frame of the door-shaped correction rod device;

[0010] During recovery, after the underwater vehicle head manipulator grabs the capture rod, the first door-shaped frame swings clockwise toward the inside of the guide cabin of the guide cabin section, and the posture of the underwater vehicle grabbing the capture rod is corrected by the first door-shaped frame, and the lifting device descends to a set height to place the underwater vehicle in the guide cabin of the guide cabin section.

[0011] Further, the door-shaped correction rod device also includes a correction rod hydraulic cylinder and a second door-shaped frame;

[0012] One end of the correction rod hydraulic cylinder extending away from the piston rod is hinged to the guide cabin section, the piston rod of the correction rod hydraulic cylinder is fixed to the top rod of the second door-shaped frame, and the two side rods of the second door-shaped frame are respectively fixed to the bottom of the two side rods of the first door-shaped frame and then hinged to the guide cabin section;

[0013] When the piston rod of the correction rod hydraulic cylinder is extended, the first door frame is pushed to swing clockwise through the second door frame. When the piston rod of the correction rod hydraulic cylinder is retracted, the first door frame is made to swing counterclockwise through the second door frame.

[0014] Furthermore, a back roller is provided on the top rod of the first door-shaped frame;

[0015] A correction auxiliary roller is provided at the connection between the top rod of the first door-shaped frame and the two side rods of the first door-shaped frame;

[0016] Side rollers are provided on the two side rods of the first door-shaped frame;

[0017] When the first door-shaped frame swings clockwise toward the inside of the guide cabin to correct the posture of the underwater vehicle, the side rollers first contact the sides of the underwater vehicle to limit the lateral swing of the underwater vehicle, and then the back rollers and the correction auxiliary wheels contact the back of the underwater vehicle to limit the swing of the underwater vehicle.

[0018] Furthermore, the lifting device also includes a lifting hydraulic cylinder and a secondary slide rail;

[0019] The lifting hydraulic cylinder is fixedly connected to the guide cabin section, and the piston rod of the lifting hydraulic cylinder is in a vertical state;

[0020] The bottom of the secondary slide rail is vertically fixed on the guide cabin section, and the capture rod is installed on the top of the secondary slide rail;

[0021] When the piston rod of the lifting hydraulic cylinder is extended, it can push the secondary slide rail to drive the capture rod to move vertically upward.

[0022] Furthermore, the lifting device also includes a buffer protection device;

[0023] The buffer protection device is installed on the top of the secondary slide rail, and the capture rod is installed on the buffer protection device.

[0024] Furthermore, the guide cabin section is provided with a conveying device for conveying the underwater vehicle placed in the guide cabin of the guide cabin section to the storage cabin of the recovery platform.

[0025] Beneficial effects:

[0026] 1. The underwater vehicle grasping the capture rod is corrected in attitude through the recovery attitude correction device, realizing the automatic cabin recovery of the underwater vehicle. Through the swing of the door-shaped correction rod device and the lifting and lowering movement of the lifting device, the underwater vehicle can be corrected in attitude and safely placed in the guide cabin after grasping the capture rod.

[0027] 2. The second door frame is connected to the first door frame through the correction rod hydraulic cylinder, and the second door frame is connected to the first door frame, thereby converting the linear motion of the piston rod of the correction rod hydraulic cylinder into the swing motion of the first door frame, and the structure is compact and reliable.

[0028] 3. A back roller is provided on the top rod of the first door-shaped frame; correction auxiliary rollers are provided at the connection between the top rod of the first door-shaped frame and the two side rods of the first door-shaped frame; side rollers are provided on the two side rods of the first door-shaped frame; the side rollers, back rollers and correction auxiliary wheels have a correction effect on the posture of the underwater vehicle, and the rolling pressure application method will not damage the surface of the underwater vehicle and is highly efficient.

[0029] 4. The vertical upward movement of the capture rod is achieved through the setting of the lifting hydraulic cylinder and the secondary slide rail, so that the lifting device can quickly respond and adjust the height of the capture rod. When the manipulator at the head of the underwater vehicle grabs the capture rod, the underwater vehicle maintains a safe height relative to the recovery platform to prevent the underwater vehicle from colliding with the recovery platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 A schematic diagram of an underwater vehicle recovery posture correction device provided by the present invention;

[0031] Figure 2 A schematic diagram of another viewing angle of an underwater vehicle recovery posture correction device provided by the present invention;

[0032] Figure 3 A front schematic diagram of an underwater vehicle recovery attitude correction device provided by the present invention;

[0033] Figure 4 A top view of an underwater vehicle recovery posture correction device provided by the present invention;

[0034] Figure 5 A side view of an underwater vehicle recovery posture correction device provided by the present invention;

[0035] Figure 6 A schematic diagram of the installation of the lifting device and the door shape correction rod device provided by the present invention;

[0036] Figure 7 A side schematic diagram of the lifting device provided by the present invention;

[0037] Figure 8A schematic diagram of the back side of the lifting device provided by the present invention;

[0038] Among them, 1-correction auxiliary wheel, 2-guide cabin section, 3-back roller, 4-buffer protection device, 5-side roller, 6-capture rod, 7-secondary slide rail, 8-lifting hydraulic cylinder, 9-second door frame, 10-correction rod hydraulic cylinder, 11-first door frame, 12-articulated mounting seat. DETAILED DESCRIPTION

[0039] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0040] Reference Figure 1-Figure 8 , an underwater vehicle recovery posture correction device (installed on a recovery platform, the recovery platform can be called a large underwater vehicle relative to the underwater vehicle to be recovered, which can be a large autonomous underwater robot AUV), including a guide cabin section 2 and a lifting device and a door-shaped correction rod device arranged at one end of the guide cabin section 2, wherein:

[0041] The other end of the guide cabin section 2 is connected to the storage cabin of the recovery platform for storing underwater vehicles; the lifting device can make lifting movements relative to the guide cabin section 2, and a capture rod 6 is installed on the lifting device for the underwater vehicle head manipulator to grab; the door-shaped correction rod device can swing relative to the guide cabin section 2, and the lifting device is located in the first door-shaped frame 11 of the door-shaped correction rod device; when recovering the underwater vehicle, after the underwater vehicle head manipulator grabs the capture rod 6, the first door-shaped frame 11 swings clockwise toward the inside of the guide cabin section 2, and the posture of the underwater vehicle grabbing the capture rod is corrected by the first door-shaped frame 11, and the lifting device descends to a set height to place the underwater vehicle in the guide cabin of the guide cabin section 2.

[0042] In this way, the attitude of the underwater vehicle (relative to the recovery platform, it can be called a small AUV) that grasps the capture rod is corrected through the recovery attitude correction device, thereby realizing the automatic cabin recovery of the underwater vehicle. Through the swing of the door-shaped correction rod device and the lifting and lowering movement of the lifting device, the underwater vehicle can be corrected in attitude and safely placed in the guide cabin after grabbing the capture rod 6.

[0043] As an example, the door-shaped correction rod device also includes a correction rod hydraulic cylinder 10 and a second door-shaped frame 9; the end of the correction rod hydraulic cylinder 10 that extends away from the piston rod is hinged to the guide cabin section 2, the piston rod of the correction rod hydraulic cylinder 10 is fixed to the top rod of the second door-shaped frame 9, and the two side rods of the second door-shaped frame 9 are respectively fixed to the bottom of the two side rods of the first door-shaped frame 11 and then hinged to the hinged mounting seat 12 of the guide cabin section 2; when the piston rod of the correction rod hydraulic cylinder 10 is extended, the first door-shaped frame 11 is pushed to swing clockwise through the second door-shaped frame 9, and when the piston rod of the correction rod hydraulic cylinder 10 is retracted, the first door-shaped frame 11 is swung counterclockwise through the second door-shaped frame 9.

[0044] In this way, the second door frame 9 is connected to the first door frame 11 through the correction rod hydraulic cylinder 10, and the second door frame 9 is connected to the first door frame 11, thereby converting the linear motion of the piston rod of the correction rod hydraulic cylinder 10 into the swing motion of the first door frame 11, and the structure is compact and reliable.

[0045] As an improvement, a back roller 3 is provided on the top rod of the first door-shaped frame 11; a correction auxiliary roller 1 is provided at the connection between the top rod of the first door-shaped frame 11 and the two side rods of the first door-shaped frame 11; side rollers 5 are provided on the two side rods of the first door-shaped frame 11; when the first door-shaped frame 11 swings clockwise in the direction of the guide cabin of the guide cabin section 2 to correct the posture of the underwater vehicle, the side roller 5 first contacts the side of the underwater vehicle (similar to clamping the underwater vehicle with chopsticks) to limit the lateral deflection of the underwater vehicle, and then the back roller 3 and the correction auxiliary wheel 1 contact the back of the underwater vehicle to limit the longitudinal deflection of the underwater vehicle. In this way, the side roller 5, the back roller 3, and the correction auxiliary wheel 1 have a correction effect on the posture of the underwater vehicle, and the rolling pressure application method will not damage the surface of the underwater vehicle and is highly efficient.

[0046] As an example, the lifting device also includes a lifting hydraulic cylinder 8 and a secondary slide rail 7; the lifting hydraulic cylinder 8 is fixed to the guide cabin section 2, and the piston rod of the lifting hydraulic cylinder 8 is in a vertical state; the bottom of the secondary slide rail 7 is vertically fixed to the guide cabin section 2, and a capture rod 6 is installed on the top of the secondary slide rail 7; when the piston rod of the lifting hydraulic cylinder 8 is extended, it can push the secondary slide rail 7 to drive the capture rod 6 to move vertically upward. In this way, through the setting of the lifting hydraulic cylinder 8 and the secondary slide rail 7, the vertical upward movement of the capture rod 6 is realized, so that the lifting device can quickly respond and adjust the height of the capture rod 6, so that when the manipulator at the head of the underwater vehicle grabs the capture rod 6, the underwater vehicle maintains a safe height relative to the recovery platform to prevent the underwater vehicle from colliding with the recovery platform.

[0047] As an improvement, the lifting device further includes a buffer protection device 4; the buffer protection device 4 is installed on the top of the secondary slide rail 7, and the capture rod 6 is installed on the buffer protection device 4. In this way, when the manipulator at the head of the underwater vehicle grabs the capture rod, it can provide buffer protection for the capture rod 6 and protect the lifting hydraulic cylinder 8 from impact. Moreover, because the secondary slide rail 7 can be retracted, the structural mode of the integral combination of the secondary slide rail 7, the buffer protection device 4, and the lifting hydraulic cylinder 8 further improves the buffering effect.

[0048] As an example, a conveying device is provided on the guide cabin section 2 for conveying the underwater vehicle placed in the guide cabin of the guide cabin section 2 to the storage cabin of the recovery platform.

[0049] As an example, the working process of the underwater vehicle recovery attitude correction device is as follows:

[0050] (1) The recovery platform issues a recovery command, and the hatch of the recovery platform opens, so that the recovery attitude correction device of the underwater vehicle is exposed;

[0051] (ii) the piston rod of the correction rod hydraulic cylinder 10 is retracted to rotate the first door frame 11 to a vertical state;

[0052] (iii) The piston rod of the lifting hydraulic cylinder 8 is extended to the maximum height, and at the same time, the secondary slide rail 7, the buffer protection device 4 and the capture rod 6 are raised to the highest position;

[0053] (iv) the underwater vehicle sails towards the capture rod 6, and finally the capture rod 6 is grabbed by the underwater vehicle head manipulator, and the buffer protection device 4 plays a buffering role during the grabbing process;

[0054] (V) After the recovery platform receives the feedback information of successful grabbing, the piston rod of the correction rod hydraulic cylinder 10 extends, and the first door frame 11 swings toward the inner direction of the guide cabin of the guide cabin section 2 ( Figure 1 The side rollers 5 on both sides of the first door-shaped frame 11 will roll from the head to the tail of the underwater vehicle, and then the back rollers 3 and the correction auxiliary wheels 1 will also generate force and act on the back of the underwater vehicle, so that the underwater vehicle can perform posture correction when the manipulator grabs the capture rod 6;

[0055] (vi) When the piston rod of the correction rod hydraulic cylinder 10 is extended to a certain length, the piston rod of the lifting hydraulic cylinder 8 begins to retract, and the underwater vehicle is placed in the guide cabin of the guide cabin section 2 under the coordinated action of the correction rod hydraulic cylinder 10 and the lifting hydraulic cylinder 8, and is finally transported to the storage cabin of the recovery platform by the conveying device arranged in the guide cabin of the guide section 2.

[0056] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater vehicle recovery attitude correction device, characterized in that: It includes a guide cabin section, a lifting device and a door-shaped correction rod device arranged at one end of the guide cabin section; The other end of the guide compartment section is in communication with a storage compartment of the recovery platform for storing underwater vehicles; The lifting device can perform lifting and lowering motion relative to the guide compartment, and a capture rod is installed on the lifting device for the underwater vehicle head manipulator to grab; The door-shaped correction rod device can swing relative to the guide cabin section, and the lifting device is located in the first door-shaped frame of the door-shaped correction rod device; During recovery, after the underwater vehicle head manipulator grabs the capture rod, the first door-shaped frame swings clockwise toward the inside of the guide cabin of the guide cabin section, and the posture of the underwater vehicle grabbing the capture rod is corrected by the first door-shaped frame, and the lifting device descends to a set height to place the underwater vehicle in the guide cabin of the guide cabin section.

2. The underwater vehicle recovery posture correction device according to claim 1, characterized in that: The door-shaped correction rod device also includes a correction rod hydraulic cylinder and a second door-shaped frame; One end of the correction rod hydraulic cylinder extending away from the piston rod is hinged to the guide cabin section, the piston rod of the correction rod hydraulic cylinder is fixed to the top rod of the second door-shaped frame, and the two side rods of the second door-shaped frame are respectively fixed to the bottom of the two side rods of the first door-shaped frame and then hinged to the guide cabin section; When the piston rod of the correction rod hydraulic cylinder is extended, the first door frame is pushed to swing clockwise through the second door frame. When the piston rod of the correction rod hydraulic cylinder is retracted, the first door frame is made to swing counterclockwise through the second door frame.

3. The underwater vehicle recovery posture correction device according to claim 1, characterized in that: A back roller is provided on the top rod of the first door-shaped frame; A correction auxiliary roller is provided at the connection between the top rod of the first door-shaped frame and the two side rods of the first door-shaped frame; Side rollers are provided on the two side rods of the first door-shaped frame; When the first door-shaped frame swings clockwise toward the inside of the guide cabin to correct the posture of the underwater vehicle, the side rollers first contact the sides of the underwater vehicle to limit the lateral swing of the underwater vehicle, and then the back rollers and the correction auxiliary wheels contact the back of the underwater vehicle to limit the swing of the underwater vehicle.

4. The underwater vehicle recovery posture correction device according to claim 1, characterized in that: The lifting device also includes a lifting hydraulic cylinder and a secondary slide rail; The lifting hydraulic cylinder is fixedly connected to the guide cabin section, and the piston rod of the lifting hydraulic cylinder is in a vertical state; The bottom of the secondary slide rail is vertically fixed on the guide cabin section, and the capture rod is installed on the top of the secondary slide rail; When the piston rod of the lifting hydraulic cylinder is extended, it can push the secondary slide rail to drive the capture rod to move vertically upward.

5. The underwater vehicle recovery posture correction device according to claim 1, characterized in that: The lifting device also includes a buffer protection device; The buffer protection device is installed on the top of the secondary slide rail, and the capture rod is installed on the buffer protection device.

6. The underwater vehicle recovery posture correction device according to any one of claims 1 to 5, characterized in that: The guide cabin section is provided with a conveying device for conveying the underwater vehicle placed in the guide cabin of the guide cabin section to the storage cabin of the recovery platform.

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