An underwater vehicle recovery attitude correction device

Abstract

The application discloses a kind of underwater vehicle recovery posture correction devices, belong to underwater vehicle technical field, including guide cabin section and be set in the lifting device of guide cabin section one end, door-shaped correction rod device;The other end of guide cabin section is communicated with the storage cabin of recovery platform for storing underwater vehicle;Lifting device can be lifted and moved relative to guide cabin section, and lifting device is installed with capture rod, for underwater vehicle head mechanical hand is grabbed with;Door-shaped correction rod device can swing relative to guide cabin section, and lifting device is located in the first door-shaped frame of door-shaped correction rod device.When recovering underwater vehicle, the posture of underwater vehicle that is grabbed in capture rod is corrected by first door-shaped frame, and lifting device is lowered by setting height, so that underwater vehicle is placed in the guide cabin of guide cabin section.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of underwater vehicles, and particularly relates to a device for correcting the posture of an underwater vehicle during recovery. BACKGROUND

[0002] Currently, autonomous underwater vehicles (AUVs) are rapidly developing, and their application fields are continuously expanding. AUV platforms are needed to carry out corresponding operation tasks, and AUVs are gradually developing towards cluster underwater operation. Under the background of large-scale application of AUVs in the future, the deployment and recovery technology will face severe challenges. Compared with the deployment process of AUVs, the recovery process of AUVs is more complex and difficult.

[0003] Currently, the deployment and recovery of AUVs are mostly carried out on manned ships on the water surface, unmanned ships on the water surface, submarines, and large vehicles. In the water, the deployment and recovery are mostly carried out by using a drill cage type, a sitting type, and a V-shaped capture type. However, these methods are currently only used in a single capture and towing mode, and the posture of the AUV is random during capture, and cannot realize automatic entry into the cabin. SUMMARY

[0004] Therefore, the application provides a device for correcting the posture of an underwater vehicle during recovery, which corrects the posture of the underwater vehicle that has gripped a capture rod by using the device, and realizes safe entry of the underwater vehicle into a cabin.

[0005] The device for correcting the posture of an underwater vehicle during recovery provided by the application adopts the following technical scheme:

[0006] The device for correcting the posture of an underwater vehicle during recovery comprises a guide cabin section, a lifting device arranged at one end of the guide cabin section, and a door-shaped correction rod device.

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

[0008] The lifting device can move up and down relative to the guide cabin section, and a capture rod is arranged on the lifting device and used for being gripped by a head manipulator of the underwater vehicle.

[0009] 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.

[0010] During recovery, after the head manipulator of the underwater vehicle grips the capture rod, the first door-shaped frame swings clockwise towards the direction of a guide cabin of the guide cabin section, the posture of the underwater vehicle that has gripped the capture rod is corrected by the first door-shaped frame, and the lifting device is lowered by a set height, so that the underwater vehicle is placed in the guide cabin of the guide cabin section.

[0011] Further, the door-shaped correction rod device further comprises a correction rod hydraulic cylinder and a second door-shaped frame.

[0012] The one end of the correction rod hydraulic cylinder 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 are hinged to the guide cabin section.

[0013] When the piston rod of the correction rod hydraulic cylinder is extended, the first door-shaped frame is pushed to swing clockwise by the second door-shaped frame, and when the piston rod of the correction rod hydraulic cylinder is retracted, the first door-shaped frame is swung counterclockwise by the second door-shaped frame.

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

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

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

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

[0018] Further, the lifting device further comprises a lifting hydraulic cylinder and a secondary slide rail;

[0019] The lifting hydraulic cylinder is fixed 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 and fixedly arranged on the guide cabin section, and the top of the secondary slide rail is provided with the capture rod;

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

[0022] Further, the lifting device further comprises 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] Further, 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 is corrected in posture by the recovery posture correction device to capture the rod, realizes the automatic entry of the underwater vehicle into the cabin type recovery, through the swing of the door-shaped correction rod device and the lifting movement of the lifting device, so that the underwater vehicle can be corrected in posture and safely placed in the guide cabin after capturing the capture rod.

[0027] 2. The second door-shaped frame is connected to the correction rod hydraulic cylinder, the second door-shaped frame is connected to the first door-shaped frame, and then the linear motion of the piston rod of the correction rod hydraulic cylinder is converted into the swing motion of the first door-shaped frame, which is compact and reliable.

[0028] 3. The top rod of the first door-shaped frame is provided with a back roller; the connection between the top rod of the first door-shaped frame and the two side rods of the first door-shaped frame is provided with a correction auxiliary roller; the two side rods of the first door-shaped frame are provided with side rollers; so that the side rollers, the back roller and the correction auxiliary roller correct the posture of the underwater vehicle, and the rolling pressure application mode does not damage the surface of the underwater vehicle and is efficient.

[0029] 4. Through the setting of the lifting hydraulic cylinder and the secondary slide rail, the vertical upward movement of the capture rod is realized, so that the lifting device can quickly respond and adjust the height of the capture rod, so that when the mechanical hand of the head of the underwater vehicle captures the capture rod, the underwater vehicle maintains a safe height relative to the recovery platform, preventing the underwater vehicle from colliding with the recovery platform. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 A schematic view of an underwater vehicle recovery posture correction device is provided for the present application;

[0031] Figure 2 Another view of the underwater vehicle recovery posture correction device is provided for the present application;

[0032] Figure 3 A front view of the underwater vehicle recovery posture correction device is provided for the present application;

[0033] Figure 4 A top view of the underwater vehicle recovery posture correction device is provided for the present application;

[0034] Figure 5 A side view of the underwater vehicle recovery posture correction device is provided for the present application;

[0035] Figure 6 An installation schematic diagram of the lifting device and the door-shaped correction rod device is provided for the present application;

[0036] Figure 7 A side view of the lifting device is provided for the present application;

[0037] Figure 8The back view of the lifting device provided by the present application is shown in the figure;

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

[0039] The present application will be described in detail below with reference to the accompanying drawings and examples.

[0040] Reference Figures 1-8 The present application is a recovery posture correction device for underwater vehicle (installed on the recovery platform, the recovery platform can be called large underwater vehicle relative to the underwater vehicle to be recovered, which can be large autonomous underwater vehicle AUV), comprising guiding cabin section 2 and lifting device arranged at one end of guiding cabin section 2, door-shaped correction rod device, wherein:

[0041] The other end of guiding cabin section 2 is communicated with the storage cabin of the recovery platform for storing underwater vehicle; the lifting device can make lifting motion relative to guiding cabin section 2, and the catch rod 6 is installed on the lifting device for underwater vehicle head manipulator to grab; the door-shaped correction rod device can swing relative to guiding cabin section 2, and the lifting device is located in the first door frame 11 of the door-shaped correction rod device; when recovering underwater vehicle, the underwater vehicle head manipulator grabs the catch rod 6, and then the first door frame 11 swings clockwise to the direction of guiding cabin section 2 cabin, the posture of the underwater vehicle grabbing the catch rod is corrected through the first door frame 11, and the lifting device is lowered to a set height, so that the underwater vehicle is placed in the guiding cabin of guiding cabin section 2.

[0042] In this way, the posture of the underwater vehicle (relative to the recovery platform, it can be called small AUV) grabbing the catch rod is corrected through the recovery posture correction device, the automatic cabin-entry recovery of underwater vehicle is realized, and through the swinging of the door-shaped correction rod device and the lifting motion of the lifting device, the underwater vehicle can be corrected in posture and safely placed in the guiding cabin after grabbing the catch rod 6.

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

[0044] Thus, the rectification rod hydraulic cylinder 10 is connected with the second door frame 9, the second door frame 9 is connected with the first door frame 11, and the linear motion of the piston rod of the rectification rod hydraulic cylinder 10 is converted into the swing motion of the first door frame 11, so that the structure is compact and reliable.

[0045] As an improvement, the top rod of the first door frame 11 is provided with a back roller 3; the connection position between the top rod of the first door frame 11 and the two side rods of the first door frame 11 is provided with a rectification auxiliary roller 1; the two side rods of the first door frame 11 are provided with side rollers 5; when the first door frame 11 swings clockwise into the guide cabin of the guide cabin section 2 to correct the attitude of the underwater vehicle, first, the side rollers 5 contact the side of the underwater vehicle (similar to clamping the underwater vehicle with chopsticks), which limits the lateral deflection of the underwater vehicle, and then the back roller 3 and the rectification auxiliary roller 1 contact the back of the underwater vehicle, which limits the longitudinal deflection of the underwater vehicle. Thus, the side rollers 5, the back roller 3 and the rectification auxiliary roller 1 correct the attitude of the underwater vehicle, and the rolling pressure application mode does not damage the surface of the underwater vehicle and has high efficiency.

[0046] As an example, the lifting device further comprises 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 the top of the secondary slide rail 7 is provided with a capture rod 6; 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. Thus, through the arrangement 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, and when the mechanical hand at the head of the underwater vehicle grasps the capture rod 6, the underwater vehicle maintains a safe height relative to the recovery platform, preventing the underwater vehicle from colliding with the recovery platform.

[0047] As an improvement, the lifting device further comprises 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. Thus, when the mechanical hand at the head of the underwater vehicle grasps the capture rod, the buffer protection device 4 provides buffer protection for the capture rod 6, and at the same time, the lifting hydraulic cylinder 8 is protected from impact. Moreover, because the secondary slide rail 7 can be extended and retracted, the overall structure 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, the guide cabin section 2 is provided with a conveying device for conveying the underwater vehicle placed in the guide cabin of the guide cabin section 2 into 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] (i) The recovery platform issues a recovery command, and the hatch of the recovery platform opens, exposing the underwater vehicle's recovery attitude correction device;

[0051] (ii) The piston rod of the hydraulic cylinder 10 retracts, rotating the first portal frame 11 to a vertical position;

[0052] (iii) When the piston rod of the lifting hydraulic cylinder 8 extends to its maximum height, it will simultaneously drive the secondary slide rail 7, the buffer protection device 4 and the capture rod 6 to the highest position.

[0053] (iv) The underwater vehicle travels towards the capture rod 6 and is eventually grabbed by the manipulator at the head of the underwater vehicle. During the grabbing process, the buffer protection device 4 will play a buffering role.

[0054] (V) After the recovery platform receives the successful capture feedback information, the piston rod of the correction rod hydraulic cylinder 10 extends, and the first portal frame 11 swings in the direction of the guide compartment 2 inside the guide compartment. Figure 1 (The middle swings in a clockwise direction), the side rollers 5 on both sides of the first portal frame 11 will roll from the head to the tail of the underwater vehicle, and then the back roller 3 and the correction auxiliary wheel 1 will also generate force and act on the back of the underwater vehicle, so that the underwater vehicle can perform attitude correction when the manipulator grabs the capture rod 6.

[0055] (vi) When the piston rod of the correction rod hydraulic cylinder 10 extends to a certain length, the piston rod of the lifting hydraulic cylinder 8 begins to retract. Under the combined action of the correction rod hydraulic cylinder 10 and the lifting hydraulic cylinder 8, the underwater vehicle is placed in the guidance compartment of the guidance section 2, and finally transported to the storage compartment of the recovery platform by the conveying device set in the guidance compartment of the guidance section 2.

[0056] 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. An underwater vehicle recovery attitude correction device, comprising: The guide cabin section and the lifting device and the door-shaped correction rod device arranged at one end of the guide cabin section are included; The other end of the guide cabin section is communicated with the storage cabin of the recovery platform for storing underwater vehicles; The lifting device can move up and down relative to the guide cabin section, and the catching rod is installed on the lifting device for being grabbed by the head mechanical hand 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 the first door-shaped frame of the door-shaped correction rod device; When the underwater vehicle head mechanical hand grabs the catching rod during recovery, the first door-shaped frame swings clockwise to the direction of the guide cabin cabin of the guide cabin section, the posture of the underwater vehicle grabbing the catching rod is corrected through the first door-shaped frame, and the lifting device is lowered by a set height to place the underwater vehicle in the guide cabin cabin of the guide cabin section; A back roller is arranged on the top rod of the first door-shaped frame; A correction auxiliary roller is arranged 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 arranged on the two side rods of the first door-shaped frame; When the first door-shaped frame swings clockwise to the direction of the guide cabin cabin to correct the posture of the underwater vehicle, first, the side rollers contact the side of the underwater vehicle to limit the lateral yaw of the underwater vehicle, and then the back roller and the correction auxiliary roller contact the back of the underwater vehicle to limit the yaw of the underwater vehicle.

2. The underwater vehicle recovery attitude correction device of claim 1, wherein, The door-shaped correction rod device further includes a correction rod hydraulic cylinder and a second door-shaped frame; One end of the correction rod hydraulic cylinder 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 are hinged to the guide cabin section; When the piston rod of the correction rod hydraulic cylinder is extended, the first door-shaped frame is pushed to swing clockwise by the second door-shaped frame, and when the piston rod of the correction rod hydraulic cylinder is retracted, the first door-shaped frame is made to swing counterclockwise by the second door-shaped frame.

3. The underwater vehicle recovery attitude correction device of claim 1, wherein, The lifting device further includes a lifting hydraulic cylinder and a secondary slide rail; The lifting hydraulic cylinder is fixed 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 to the guide cabin section, and the top of the secondary slide rail is provided with the catching rod; When the piston rod of the lifting hydraulic cylinder is extended, the secondary slide rail can be pushed to drive the catching rod to move vertically upward.

4. The underwater vehicle recovery attitude correction device of claim 3, wherein, The lifting device further includes a buffer protection device; The buffer protection device is installed on the top of the secondary slide rail, and the catching rod is installed on the buffer protection device.

5. The device according to any one of claims 1 to 4, wherein A conveying device is arranged on the guide cabin section to convey the underwater vehicle placed in the guide cabin cabin of the guide cabin section to the storage cabin of the recovery platform.

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