AUV (Autonomous Underwater Vehicle) multi-stage laying and recycling device based on complex sea conditions

Abstract

The invention relates to a laying and recovery device for an offshore AUV experiment. Comprising a fixed frame, a movable frame and an execution mechanism. The whole device is fixed on a mother ship through a fixed frame, namely a welding base on a first-stage frame, and the executing mechanism is connected with the fixed frame through a guide rail sliding block and achieves horizontal movement. Meanwhile, the movable frame, namely the second-stage frame and the third-stage frame, is connected with the first-stage frame through a tilting mechanism, and the second-stage frame and the third-stage frame extend out and tilt by driving corresponding executing mechanisms, so that the laying and recovery of the AUV are completed. The whole device can operate independently, has good compatibility, can be adapted to AUVs of different models, also has good environmental adaptability, and can realize deployment and recovery of the AUVs in a relatively severe environment. According to the device, manpower needed for laying equipment is reduced, and meanwhile operation safety and laying and recycling efficiency are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater unmanned vehicles, and in particular to an AUV multi-stage deployment and recovery device based on complex sea conditions. Background Art

[0002] Automated underwater vehicles are becoming a key tool in marine research and resource exploration. These unmanned submersibles can efficiently collect and monitor data in complex marine environments and are widely used in environmental monitoring, marine biological research, and military reconnaissance. However, the deployment and recovery process of AUVs is an important part of their operation, and traditional technologies have some significant defects that limit the efficiency and safety of AUV operations.

[0003] Traditional AUV deployment and recovery usually rely on human operation, mainly through winches and ropes on ships. This method works relatively smoothly under calm seas, but in harsh ocean conditions, such as large waves, strong winds or low visibility environments, the complexity and risk of operation increase significantly. For example, strong waves can cause uneven force on the AUV during deployment, thereby increasing the risk of damage; during the recovery process, the relative motion between the ship and the AUV is difficult to control, which can easily cause the AUV to lose control or crash.

[0004] In addition, the lack of positioning accuracy of traditional deployment and recovery technology is also a major problem. Due to the lack of a high-precision positioning system, the navigation trajectory of the AUV underwater is often disturbed by various factors, such as ocean currents and temperature changes, making it difficult for it to accurately return to the predetermined recovery location. This not only affects the safe recovery of the AUV, but may also cause the loss or damage of the equipment, thereby affecting the completion of the entire scientific research mission.

[0005] In terms of operational efficiency, traditional technologies often require the cooperation of multiple staff members, and the operation process is complicated and prone to errors. Moreover, at night or in bad weather conditions, the safety hazards of manual operation increase, increasing the potential risk of accidents. In addition, traditional methods are usually unable to monitor the status of AUVs in real time and lack the ability to warn of potential failures, further reducing the reliability of operations.

[0006] Based on this, the present invention proposes an AUV multi-stage deployment and recovery device based on complex sea conditions. Summary of the invention

[0007] The present invention proposes a multi-stage deployment and recovery device for AUVs based on complex sea conditions, overcomes the defects of the above-mentioned existing methods, designs an independently working device, improves the deployment and recovery efficiency, enhances the safety factor of deployment and recovery, and realizes the deployment and recovery of AUVs through a mechanical structure.

[0008] The AUV deployment and recovery device has the ability to work independently and can effectively overcome the impact of sea waves on the AUV recovery process. Through precise control and stable operation, the device ensures that the AUV can still successfully complete the deployment and recovery tasks in a complex marine environment, greatly improving the safety of the operation. Regardless of the changing sea conditions or bad weather, the AUV deployment and recovery device can maintain efficient working performance, ensure the safe recovery of the AUV, reduce potential risks, and provide strong support for marine exploration and research missions.

[0009] The technical solution of the present invention is: a multi-stage AUV deployment and recovery device based on complex sea conditions: including a fixed frame (primary frame) of the AUV and movable and rotatable secondary and tertiary frames connected thereto, the secondary frame and the primary frame movable base use V-blocks to push the device to move horizontally, and the secondary frame is connected to the primary frame through a hydraulic cylinder, and the frame is tilted by the extension of the cylinder. The deployment and recovery of the AUV is then achieved through a winch and a traction rope.

[0010] In the present invention, the primary frame is equipped with a bottom I-beam, a mobile base, a hydraulic motor, a capstan, a capstan motor, a lifting ring, a sealing block, a guide rail limit block, a slider, a connecting plate, an earring mounting part, a hydraulic cylinder mounting base, a brake device connecting part, a hydraulic cylinder mobile base, a bearing seat, a rack mounting plate, a primary limit block, an anti-drop pin, a base crossbeam, a welding base, a rack, a pom board and a V-block. The bottom I-beam cooperates with the base crossbeam to form an overall frame; the lifting ring and the sealing block cooperate with the base crossbeam to lay out the equipment. The hydraulic motor, the capstan, the capstan motor and the V-block are all installed on the mobile base, and the gears are driven to rotate by the hydraulic motor, and the gear and rack movement are used to realize the translation of the overall device; the earrings below the hydraulic telescopic rod on the secondary frame are connected to the earring mounting parts through the pin shaft, and the hydraulic cylinder mobile base cooperates with the mobile base through the connecting plate. The brake device connector and the bearing seat cooperate with the hydraulic movable base, and the bearing seat is connected to the secondary wheel shaft to ensure that the wheel will not move backward due to the force when the gear stops running.

[0011] In the present invention, the secondary frame has an anti-drop pin frame, a third-level limit baffle, a second-level support frame, an ear shaft boss, an ear shaft end cover, a pulley base, an anti-drop rope U-shaped piece, a second-level pulley, a second-level limit block, a wheel shaft, a second-level beam, a second-level wheel, a wheel mounting frame and a pulley support. The second-level wheel rolls in the groove of the bottom I-beam in the first-level frame. When the gear movement drives the moving base to move, the V-shaped block pushes the second-level beam to make the whole device move horizontally; at the same time, the ear shafts on both sides of the hydraulic cylinder are connected to the ear shaft end cover and the ear shaft boss, and the second and third-level frames are rotated around the wheel shaft through the extension and contraction of the cylinder; the pulley guides the traction rope, and the anti-drop rope U-shaped piece is installed on the top to prevent the traction rope from falling out during the traction process.

[0012] In the present invention, the three-stage frame has a spring connecting plate, a shock-absorbing spring, an automatic rope collector, a trumpet frame, a three-stage pulley, a buffer plate, a buffer bracket, an automatic wire collection mounting frame, a hollow square tube, an AUV slide, a trumpet bracket mounting base, a pulley bracket, an arc-shaped fixed plate, a three-stage main beam, a square tube connecting plate, a bottom pulley, a three-stage wheel and a three-stage frame rotating shaft. The three-stage main beam cooperates with the square tube and the arc-shaped fixed plate through the square tube connecting plate to form the main part of the three-stage frame. The head is equipped with a buffer frame, a spring and a buffer plate to reduce the collision of the AUV. At the same time, the automatic rope collectors on both sides bypass the three-stage pulley and are connected to the traction rope. The AUV slides on the AUV slide installed on the hollow square tube under the action of the traction rope. At the same time, the tail is equipped with a trumpet frame to increase the range of deployment and recovery. At the same time, the head is equipped with a three-stage wheel and a pulley is installed at the bottom of the main beam to realize the movement of the device.

[0013] In the present invention, the tilting mechanism comprises a hydraulic cylinder and a hydraulic telescopic rod, which are respectively connected to the primary and secondary frames to realize the tilting movement.

[0014] In the present invention, the horizontal motion mechanism comprises a mobile base, a hydraulic motor, a winch, a winch motor, a support shaft, a rope pressing buckle, a baffle, a roller shaft, a rope pressing arm and a gear. The horizontal motion of the whole frame is realized by driving the gear rack by the hydraulic motor; the support shaft, the winch, the baffle, the winch motor, the rope pressing buckle, the baffle, the roller shaft and the rope pressing arm constitute the traction device of the equipment, through which the movement of the third-level frame on the second-level frame is realized, thereby realizing the deployment and recovery of the AUV.

[0015] The welding base cooperates with the base crossbeam and is connected to a matching structure on the mother ship through welding, thereby ensuring that the device is stably fixed on the mother ship.

[0016] One end of the brake device connector is connected to a bearing seat and matched with the secondary wheel shaft, and the other end is connected to the hydraulic cylinder movable base, so that the secondary wheel will not move when the device is tilted.

[0017] One end of the traction rope is connected to the rope buckle on the baffle and wound around the winch, and the other end is connected to the AUV head through a hook.

[0018] The hydraulic oil cylinder and the hydraulic telescopic rod are connected with the primary frame and the secondary frame through the ear shaft boss and the ear ring mounting piece.

[0019] Automatic rope retractors are installed on both sides of the three-stage frame, which pass around the three-stage pulley and are connected to the traction rope, and provide a certain pre-tightening force so that the traction rope is always in the middle position of the frame during the retraction and release process.

[0020] The head of the three-stage frame is equipped with a shock-absorbing spring and a buffer plate to reduce the impact on the head of the AUV.

[0021] The three-stage frame can swing up and down around the three-stage frame rotation axis to a certain extent to reduce the impact of wind and waves.

[0022] The beneficial effects of the present invention are: (1) The device can effectively reduce the time and resources required for AUV deployment and recovery. Traditional recovery operations take a long time to complete and rely on a lot of manual operation and coordination. However, this device reduces manual intervention and optimizes the workflow through a highly automated operating system, greatly shortening the deployment and recovery time, thereby reducing operating costs and resource consumption.

[0023] (2) Improve the deployment and recovery efficiency. Due to the control technology and stable working mechanism, the device can efficiently and accurately complete the deployment and recovery tasks of AUVs. Compared with traditional methods, the device can still operate stably under various sea conditions, avoiding recovery failures and greatly improving the efficiency and success rate of the overall operation. In addition, the application of automated control and intelligent perception systems reduces human operational errors, allowing each mission to be executed more efficiently.

[0024] (3) The device helps reduce the possibility of accidents. In the marine environment, factors such as wind and waves, tidal changes, etc. often increase the risk of accidents during the traditional deployment and recovery process. However, this device has strong anti-interference capabilities and can adapt to complex marine climate changes, avoiding accidents caused by equipment failure or improper operation. Through precise control systems and stable structural design, the potential safety hazards in the recovery process are greatly reduced.

[0025] (4) The device has excellent compatibility and can adapt to different types of AUVs. Regardless of the differences in size, weight, design structure or operation mode, the device can be intelligently adjusted according to the characteristics of different types of AUVs, ensuring that a variety of AUVs can successfully complete the deployment and recovery operations, thereby improving its flexibility and convenience in wide application.

[0026] (5) The device can successfully deploy and recover the AUV under harsh environmental conditions. Whether in high winds and waves or extreme weather, the device, with its high stability and durability, ensures that the AUV can successfully complete its mission and ensure the continued progress of scientific research such as ocean exploration. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is the overall structure and assembly diagram of the present invention; Figure 2 It is the primary frame structure and assembly of the present invention; Figure 3 It is the secondary frame structure and assembly diagram of the present invention; Figure 4It is a three-level frame structure and assembly of the present invention; Figure 5 The overall assembly diagram of the mobile frame of the present invention is Figure 6 The hydraulic cylinder assembly diagram of the present invention Figure 7 This is the assembly diagram of the horizontal drive actuator of the present invention Figure 8 This is an expanded view of the deployment and recovery device of the present invention In the figure: 1 bottom I-beam; 2 mobile base; 3 hydraulic motor; 4 winch; 5 winch motor; 6 spring connecting plate; 7 shock-absorbing spring; 8 hydraulic cylinder; 9 automatic rope retractor; 10 three-level crossbeam; 11 pulley bracket mounting hole; 12 bell-mouth rack; 13 three-level pulley; 14 anti-drop pin rack; 15 three-level limit baffle; 16 two-level support frame; 17 ear shaft boss; 18 ear shaft end cover; 19 guide rail; 20 buffer plate; 21 lifting ring; 22 sealing block; 23 guide rail limit block; 24 slider; 25 connecting plate; 26 ear ring mounting piece; 27 hydraulic cylinder mounting base; 28 brake device connecting piece; 29 hydraulic cylinder mobile base; 30 bearing seat; 31 rack mounting plate; 32 first-level limit block; 33 anti-drop pin; 34 base crossbeam; 35 Welding base; 36 rack; 37 pom plate; 38 V-block; 39 pulley base; 40 anti-rope U-shaped piece; 41 secondary pulley; 42 secondary limit block; 43 wheel shaft; 44 secondary beam; 45 secondary wheel; 46 wheel mounting frame; 47 pulley support; 48 buffer bracket; 49 automatic wire take-up mounting frame; 50 hollow square tube; 51 AUV slideway; 52 trumpet bracket mounting base; 53 pulley bracket; 54 arc fixing plate; 55 third-level main beam; 56 square tube connecting plate; 57 bottom pulley; 58 third-level wheel; 59 third-level frame rotating shaft; 60 hydraulic telescopic rod; 61 support shaft; 62 rope buckle; 63 baffle; 64 roller shaft; 65 rope presser arm; 66 gear DETAILED DESCRIPTION

[0028] In addition, it should be noted that the use of terms such as "primary" and "secondary" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the present invention.

[0029] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described below in conjunction with the accompanying drawings and embodiments. In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein, and therefore, the present invention is not limited to the specific embodiments disclosed below.

[0030] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the AUV multi-stage deployment and recovery device based on complex sea conditions described in the present invention can be divided into a fixed frame (primary frame) and a mobile frame (secondary and tertiary frames). The fixed frame means that the device is installed on the mother ship, and the entire deployment and recovery process is always connected to the mother ship. The mobile frame means that the device is installed on the fixed frame, and during the deployment and recovery process, the fixed frame can move and tilt, etc., to achieve the deployment and recovery part.

[0031] like Figure 2As shown, the fixed frame, i.e., the primary frame, comprises a bottom I-beam 1, a mobile base 2, a hydraulic motor 3, a winch 4, a winch motor 5, a guide rail 19, a lifting ring 21, a sealing block 22, a guide rail stopper 23, a slider 24, a connecting plate 25, an earring mounting part 26, a hydraulic cylinder mounting base 27, a brake device connecting part 28, a hydraulic cylinder mobile base 29, a bearing seat 30, a rack mounting plate 31, a primary stopper 32, an anti-drop pin 33, a base crossbeam 34, a welding base 35, a rack 36, a pom board 37, and a V-shaped block 38. The primary frame as a whole is supported by two bottom I-beams 1 on both sides of the frame, which are connected to the base crossbeam 34, and their function is to prevent water from forming below the recovery equipment when it is deployed, thereby reducing the corrosion of the equipment by seawater and extending its service life. At the same time, a welding base 35 is connected below the base cross beam 34, wherein the role of the welding base is that since the equipment needs to be fixed on the mother ship, simply placing it flat on the deck may cause the equipment to shake due to wind and waves or the tilt of the hull, which is not conducive to the recovery of the equipment. By installing the welding base 35, it is convenient to set up corresponding facilities on the mother ship, and the two are welded so that the device is firmly fixed on the mother ship. There are sealing blocks 22 connected to the base cross beam 34 on both sides, and the sealing blocks 22 are connected to the lifting ring 21, which is convenient for the deployment of the entire equipment on the mother ship. Above the left and right bottom I-beams 1, guide rails 19 are installed, and their role is to reduce the overall resistance in the overall horizontal movement, while ensuring that the horizontal movement can run smoothly. The hydraulic motor 3, winch 4, winch motor 5 and V-block 38 are installed above the mobile base 2. These are the actuators that make the secondary and tertiary frames move horizontally. At the same time, the mobile base 2 is connected to the hydraulic cylinder mobile base 29 through the connecting plate 25; the hydraulic telescopic rod 60 is connected to the earring mounting member 26, which is connected to the hydraulic cylinder mobile base 29 through the hydraulic cylinder mounting base 27, so that when the hydraulic motor drives the gear 66 and makes the gear 66 move relative to the rack 36 fixed on the rack mounting plate 31, the V-block 38 can push the secondary and tertiary frames and the hydraulic cylinder 8 to move in the horizontal direction at the same time; the hydraulic cylinder mounting base 27 is equipped with a pom board 37, which is used to support the secondary frame when the secondary device is horizontal to reduce the force on the hydraulic cylinder and prevent wear caused by contact with the hydraulic cylinder mounting base 27. At the same time, the guide rail limit block 23 and the primary limit block 32 are used to prevent the frame from moving beyond the maximum distance. The hydraulic cylinder moving base 29 is connected to the brake device connector 28 and the bearing seat 30. Its function is to prevent the wheels from moving due to the backward force when the hydraulic cylinder 8 is extended to tilt the secondary and tertiary frames, causing the movement to be unstable. The hydraulic motor 5 and the driving winch 4 are connected to the AUV head through a hook and a traction rope, so that when the secondary and tertiary frames tilt, the traction rope is controlled by the winch 4, and the weight of the frame and the AUV is used to control the movement of the tertiary frame on the secondary frame.

[0032] like Figure 3 The secondary frame shown includes an anti-drop pin frame 14, a third-level limit baffle 15, a second-level support frame 16, an ear shaft boss 17, an ear shaft end cover 18, a pulley base 39, an anti-drop rope U-shaped piece 40, a second-level pulley 41, a second-level limit block 42, a wheel shaft 43, a second-level crossbeam 44, a second-level wheel 45, a wheel mounting frame 46 and a pulley support 47. The secondary frame plays the role of connecting the third-level and the first-level frames, and is also a frame for tilting and translational movements. The secondary frame is mainly composed of a second-level support frame 16 and a second-level crossbeam 44. The second-level wheel 45 is connected to the wheel shaft 43 and the wheel mounting frame 46, so that it can make the entire frame roll between the grooves of the I-beam 1 at the bottom of the first-level frame, thereby achieving horizontal movement. The head of the secondary frame is equipped with a second-level pulley 41 and a pulley mounting frame 46 to use the pulley to guide the traction rope, so that the traction rope always remains parallel to the axis of the AUV during the process of traction of the AUV. A rope-preventing U-shaped member 40 is installed above the pulley 41 to prevent the rope from detaching from the pulley during traction. A secondary limit block 42 and a tertiary limit baffle 15 are installed on the groove and tail of the secondary support frame 16 to limit the movement of the tertiary frame and ensure that the movement of the tertiary frame will not deviate from the track.

[0033] like Figure 4As shown, the three-stage frame includes a spring connecting plate 6, a shock absorbing spring 7, an automatic rope take-up device 9, a bell-mouth frame 12, a three-stage pulley 13, a buffer plate 20, a buffer bracket 48, an automatic wire take-up mounting frame 49, a square tube 50, an AUV slide 51, a bell-mouth bracket mounting base 52, a pulley bracket 53, an arc-shaped fixing plate 54, a three-stage main beam 55, a square tube connecting plate 56, a bottom pulley 57, a three-stage wheel 58 and a three-stage wheel rotating shaft 59. The three-stage frame is the main part for carrying the AUV, which is mainly composed of a square tube 50, an arc-shaped fixing plate 54, a three-stage main beam 55 and a square tube connecting plate 56. A buffer bracket 48 is installed at the head, and is connected to the spring connecting plate 6, the shock absorbing spring 7 and the buffer plate 20. Since the energy required for the movement of the three-stage frame comes from the traction of the winch, the gravity of the frame and the AUV itself, the three-stage frame can be smoothly recovered only when the AUV head contacts the frame head during recovery. Adding a shock absorbing device between the two can reduce the impact on the AUV head during traction. The automatic rope retractor 9 installed on both sides bypasses the three-stage pulley 13 to connect it with the traction rope, and provides a pre-tightening force to ensure that the traction rope is always kept in the center position during the pulling process of the AUV to prevent it from deflecting and causing the AUV to collide. When the three-stage frame moves, the three-stage wheel 58 runs in the groove inside the secondary support frame 16, and the bottom pulley 57 installed under the three-stage main beam 55 moves on the secondary support frame 16 to reduce the friction resistance during movement. Due to the influence of wind and waves, the AUV will be impacted in different directions during recovery, so the three-stage frame can rotate around the three-stage frame rotation axis 59 at a certain angle to reduce the impact of wind and waves on the device. At the same time, an AUV slide 51 is connected to the square tube 50, and its material is polytetrafluoroethylene, which can reduce the friction of the AUV on the frame. The bell-mouth rack 12 at the tail is connected to the square tube through the bell-mouth bracket mounting base 52, and its main function is to increase the range of deployment and recovery and improve the efficiency of equipment recovery.

[0034] like Figure 5 The secondary and third level structures and assembly diagrams are shown. The secondary wheels 45 in the secondary frame roll on the grooves in the bottom I-beam 1, and the V-block 38 pushes the secondary crossbeam 44 at the head of the secondary frame, thereby realizing the movement of the secondary frame. The rotational movement is mainly achieved by the extension and contraction of the hydraulic cylinder 8, as shown in FIG. Figure 6It is a structural diagram of a hydraulic cylinder, which is mainly composed of a hydraulic cylinder 8 and a hydraulic telescopic rod 60. The ear shafts on both sides of the hydraulic cylinder 8 are connected to the ear shaft boss 17 and the ear shaft end cover 18. The earring holes on the lower hydraulic telescopic rod 60 are inserted into the middle of the two earring mounting parts 26 in the primary frame to achieve fixation, thereby connecting the secondary frame with the primary frame. The hydraulic cylinder 8 performs telescopic movement on the hydraulic telescopic rod 60 to achieve the rotation movement of the secondary frame. Similarly, the third-level wheel 58 in the third-level frame rolls on the groove in the second-level support frame 16 in the second-level frame, and the bottom pulley 57 under the third-level main beam 55 also slides on the top. The movement of the third-level frame on the secondary frame is achieved by controlling the traction rope and relying on the frame and the weight of the AUV.

[0035] like Figure 7 As shown, the structure of the horizontal drive actuator includes a mobile base 2, a hydraulic motor 3, a winch 4, a winch motor 5, a support shaft 61, a rope clamp 62, a baffle 63, a roller shaft 64, a rope clamp arm 65 and a gear 66. The main function of the support shaft 61 is to fix the baffle 63 to prevent the winch from falling out. A rope clamp 62 is installed on one side of the baffle 63 to fix one end of the traction rope. At the same time, a rope clamp arm 65 and a roller shaft 64 are connected to the support shaft, and their main function is to make the traction rope wrap smoothly on the winch when the traction rope is retracted. The hydraulic motor 3 is connected to the gear 66 for the horizontal movement of the drive device.

[0036] The overall working state of the device mainly includes the deployment and recovery state. The working process of the deployment and recovery device of the offshore AUV experiment is as follows. First, when the AUV is deployed, the AUV is placed on the three-stage frame, the traction rope is connected to the head of the AUV, and the hydraulic motor 3 is driven to drive the gear 66 to rotate. The gear 66 is meshed with the rack 36 to drive the mobile base 2 to move, so that the V-block pushes the secondary crossbeam 44, thereby pushing the secondary frame and the tertiary frame to move as a whole. When the frame runs to the specified position, the hydraulic motor 3 is turned off, the hydraulic cylinder motor valve is opened, and the hydraulic cylinder 8 is pushed out along the hydraulic telescopic rod 60. The ear shafts on both sides of the hydraulic cylinder 8 are connected to the ear shaft boss 17 and the ear shaft end cover 18 of the secondary frame, so that the secondary frame and the tertiary frame rotate around the wheel shaft 43. When it rotates to a certain angle, the winch motor 5 of the winch 4 is turned on, so that the AUV and the tertiary frame slide down along the secondary frame by their own gravity. Finally, the traction rope is unhooked from the AUV, the AUV is started, and it drives away from the current position, thereby realizing the deployment of the AUV. When recovering the AUV, the AUV head is connected to the traction rope, the winch motor 5 of the winch 4 is turned on, the traction rope is retracted, and the AUV is pulled back. When the AUV head enters the recovery range of the bell mouth 12 of the deployment device, the traction speed is reduced, so that the AUV head slowly enters the three-stage frame, and the AUV cabin shell slides on the AUV slideway 52 installed on the hollow square tube 50 and gradually approaches the three-stage frame head. When the AUV head contacts the buffer plate 20 and begins to compress the shock-absorbing spring 7, when The elastic force of the compressed spring can overcome the required resistance, driving the AUV and the three-stage frame to slide upward. When the three-stage wheel 58 contacts the two-stage limit block 42, the three-stage frame has been completely retracted. At this time, the hydraulic cylinder 8 is driven to retract until the three-stage frame and the two-stage frame reach a horizontal state. At this time, the hydraulic motor 3 is driven to drive the gear 66 to rotate in the opposite direction to retract the frame to the initial position. Finally, after checking that the equipment is correct, the anti-drop pin 33 is inserted into the hole on the anti-drop pin frame 14 to complete the recovery of the AUV.

[0037] like Figure 8 As shown, it is the expansion diagram after the device performs horizontal and tilting movements.

[0038] The above description is only a preferred embodiment of the present invention and does not limit the present invention in other forms. Any technician familiar with the profession may use the technical content disclosed above to change or modify it into an equivalent embodiment with equivalent changes and apply it to other fields. However, any simple modification, equivalent change and modification made to the above embodiment based on the technical essence of the present invention without departing from the content of the technical solution of the present invention still falls within the protection scope of the technical solution of the present invention.

Claims

1. A multi-stage deployment and recovery device for AUVs based on complex sea conditions, the device is divided into a fixed frame (primary frame) and a mobile frame (secondary and tertiary frames). The primary frame is composed of a bottom I-beam (1), a base crossbeam (34) and a welded base (35) to form its main structure, a guide rail (19) and a slider (24) are installed above the bottom I-beam, and the slider (24) is connected to the mobile base (2) and the hydraulic cylinder mobile base (29), on which the actuator of the device is installed. The actuator comprises a mobile base (2), a hydraulic motor (3), a winch (4), a winch motor (5), a hydraulic cylinder (8), a rack (36), a hydraulic telescopic rod (60), a support shaft (61), a rope pressing buckle (62), a baffle (63), a roller shaft (64), a rope pressing device support arm (65) and a gear (66). The motor drives the gear (66) and the rack (36), the winch (4) rotates and the hydraulic cylinder (8) is extended and retracted, so that the secondary and tertiary frames are translated and tilted. At the same time, the brake device connector (28) and the bearing seat (30) are connected to the wheel shaft (43) to limit the movement of the secondary wheel (45) during rotation. The entire device is installed based on the bottom I-beam (1). In the secondary frame, the secondary support frame (16) is connected to the primary frame through a hydraulic cylinder (8), an ear shaft boss (17), an ear shaft end cover (18), an ear ring mounting member (26), and a hydraulic telescopic rod (60), and the rotation of the secondary frame is achieved through the telescopic movement of the hydraulic cylinder (60); In the three-stage frame, the hollow square tube (50) is connected to the three-stage main beam (55) through the square tube connecting plate (56), and rolls in the groove of the second-stage support frame (16) through the three-stage wheel (58) and the bottom pulley (57). Finally, the AUV head is used to support the buffer plate (20), compress the shock-absorbing spring (7), and the AUV is pulled through the traction rope lock to realize the recovery of the three-stage frame. During the deployment and recovery process, the horizontal movement of the three-stage frame is achieved by lowering the rope, and the three-stage frame is released by the weight of the frame and the AUV; at the same time, during the deployment and recovery process, the automatic rope retractor (9) bypasses the three-stage pulley (13) and is connected to the traction rope, so that the rope is always at the center of the frame, and the three-stage frame can swing to a certain extent around the three-stage frame rotation axis (59), reducing the influence of excessive swing and vibration of the device caused by wind and waves. The power required to complete the movement of the entire three-stage frame comes from its own weight and the weight of the traction rope, so that there is no need to install a power device on the three-stage frame.

2. The AUV multi-stage deployment and recovery device based on complex sea conditions according to claim 1 is characterized by: The frame structure is made of aluminum alloy to reduce the weight of the frame.

3. The AUV multi-stage deployment and recovery device based on complex sea conditions according to claim 1 is characterized in that: A welding base (35) is arranged below the base cross beam (34) in the primary frame. The welding base (35) is made of 304 stainless steel, which is convenient for welding and fixing of the device.

4. The AUV multi-stage deployment and recovery device based on complex sea conditions according to claim 1 is characterized by: A brake device connector is connected below the hydraulic cylinder movable base (29), and a bearing seat (30) is mounted on the head thereof and connected to the wheel shaft to prevent the wheel from moving backward when the device is subjected to force.

5. The deployment and recovery device for marine AUV experiments according to claim 1, characterized in that: The device comprises a hydraulic cylinder (8) and a hydraulic telescopic rod (60) having an ear shaft and an earring hole at one end, which are respectively connected to the ear shaft boss (17), the ear shaft end cover (18) and the earring mounting member (26), and the frame rotation is realized by the telescopic movement of the hydraulic cylinder (8).

6. The AUV multi-stage deployment and recovery device based on complex sea conditions according to claim 1 is characterized by: Automatic rope retractors are installed on both sides of the three-stage frame, passing through the three-stage pulley (13) and connected to the traction rope, which provides a certain pre-tightening force so that the traction rope is always in the middle position of the frame during the retraction and release process.

7. The AUV multi-stage deployment and recovery device based on complex sea conditions according to claim 1 is characterized by: The AUV slideway (51) is made of polytetrafluoroethylene material, which reduces the resistance of the AUV when sliding.

8. The AUV multi-stage deployment and recovery device based on complex sea conditions according to claim 1 is characterized by: The tail of the three-stage frame is provided with a trumpet-shaped frame (12), which is in the shape of a trumpet to expand the deployment and recovery range and improve efficiency.

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