Underwater unmanned vehicle docking recovery device and method

Abstract

The invention discloses an underwater unmanned vehicle docking recovery device and method, and relates to the technical field of underwater unmanned vehicles, the device comprises a supporting part, limiting devices are fixedly installed on the two sides of the supporting part, an underwater unmanned vehicle is slidably inserted into the supporting part, each limiting device comprises an extension support and a first alignment clamping key, and the extension support is fixedly connected with the supporting part. The first alignment clamping key is fixedly installed at the top end of the extending support, a supporting bottom plate and a first spring are symmetrically and fixedly installed at the bottom end of the extending support, the first spring is located above the supporting bottom plate, the supporting component comprises a positioning device, transmission devices and a bearing device, and the transmission devices are symmetrically and fixedly installed at the top end of the bearing device; the positioning devices are symmetrically and slidably installed on the two sides, close to the transmission device, of the bearing device. Through the arrangement of the limiting device and the supporting component, the purposes of counterpoint type limiting and fixing and synchronous releasing and guiding-out are achieved in the using process.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater unmanned vehicles, and in particular to an underwater unmanned vehicle docking and recovery device and method. Background Art

[0002] An underwater unmanned vehicle (UUV), also known as an unmanned underwater vehicle, an unmanned submersible, an underwater unmanned combat platform, etc., is a submersible that is self-powered, self-propelled, capable of autonomous control (pre-programmed or real-time adaptive mission control) or minimally monitored, and cable-free (except for data optical cables). The docking and recovery device is a component that can receive an underwater unmanned vehicle. By setting up the docking and recovery device, the underwater unmanned vehicle can be lifted from the water surface to above the water surface, so as to facilitate the movement of the underwater unmanned vehicle onto the ship.

[0003] Currently, when the existing underwater unmanned vehicle docking and recovery devices on the market are in use, since the underwater unmanned vehicle is hooked and lifted by using a hook docking method, the hook and the underwater unmanned vehicle need to be assisted by external components during docking, thus increasing the difficulty of recovering the underwater unmanned vehicle.

[0004] CN104986305A discloses an underwater docking platform capable of autonomously adjusting its attitude, which requires devices such as a docking laser and a photoelectric detector. To a certain extent, there are problems such as complex structure and low docking success rate. At the same time, the existing underwater unmanned vehicle docking and recovery devices cannot perform the functions of alignment type restriction and fixation and synchronous release and export during use. Therefore, an equipment is needed to improve the above problems. Summary of the Invention

[0005] Aiming at the problems existing in the above-mentioned prior art, the present invention provides an underwater unmanned vehicle docking and recovery device and method, which can realize the alignment type restriction and fixation and synchronous release and export of the underwater unmanned vehicle.

[0006] The technical solution adopted by the present invention to solve its technical problems is:

[0007] An underwater unmanned vehicle docking and recovery device and method, including a support component, with limiting devices fixedly installed on both sides of the support component. An underwater unmanned vehicle is slidably inserted into the interior of the support component. The limiting device includes an extension bracket and a first alignment key. The first alignment key is fixedly installed at the top of the extension bracket. At the bottom end of the extension bracket, a support base plate and a first spring are symmetrically fixedly installed, and the first spring is located above the support base plate. The support component includes a positioning device, a transmission device, and a bearing device. The transmission device is symmetrically fixedly installed at the top of the bearing device. The positioning device is symmetrically slidably installed on both sides of the bearing device close to the transmission device. The positioning device is used for cooperation with the transmission device, and under the control of the transmission device, the underwater unmanned vehicle is limited. The transmission device includes a support frame, a gear, and a positioning top frame. The transmission device is used for driving work, and through telescopic control, power transmission can be carried out, so as to control the positioning device to move and realize the limiting drive of the underwater unmanned vehicle. The positioning top frame is arranged at the rear end of the top of the support frame. The gear is rotatably installed at both ends of the top of the support frame. A cylinder is arranged at the top end of the positioning top frame. A synchronous rod is arranged at the bottom end of the cylinder. Second racks are arranged at both ends of the synchronous rod.

[0008] Specifically, the positioning device includes a first rack, a special-shaped bracket, a limiting card rack, and a side top rack. The first rack is fixedly installed at the top of the special-shaped bracket. The limiting card rack is fixedly installed at the bottom of the special-shaped bracket. The side top rack is fixedly installed at the top of the side end of the special-shaped bracket. A support cavity is fixedly installed at one end of the side top rack away from the special-shaped bracket. A second alignment key is slidably inserted into the bottom end of the interior of the support cavity. A sliding rod is fixedly installed at the top end of the second alignment key. Two second springs are fixedly installed between the support cavity and the second alignment key. A first piston rod is fixedly installed at the top of the sliding rod. A special-shaped air cylinder is fixedly installed at the side end of the support cavity away from the special-shaped bracket. A second piston rod is slidably inserted into the bottom end interior of the special-shaped air cylinder.

[0009] When the special-shaped bracket is displaced, it can drive the second alignment key to pass through the first alignment key, so that when the special-shaped bracket is reset, it can drive the first alignment key to move.

[0010] Specifically, the bearing device includes an extension top frame, a limiting block, a storage cavity and a square groove, the square grooves are symmetrically arranged inside the two sides of the storage cavity, movable grooves are arranged inside the two sides of the storage cavity, and the movable grooves are located below the square grooves, the extension top frame is symmetrically fixedly installed on the top ends of the two sides of the storage cavity, the limiting blocks are fixedly installed on the top ends of the extension top frame away from the storage cavity, guide rods are fixedly installed on the front ends of the two sides of the storage cavity, the outer rings of the guide rods are slidably sleeved with connecting side frames, the rear end of the connecting side frames is fixedly installed with magnetic suction sheets, and the side ends of the connecting side frames close to the storage cavity are fixedly installed with auxiliary limiting plates;

[0011] When the special-shaped bracket moves inward, it can drive the connecting side frame to move inward, so that the auxiliary limiting plate can drive the storage cavity to move toward the inside of the storage cavity.

[0012] Specifically, one end of the first spring facing away from the extension bracket is connected to the side end of the storage cavity close to the guide rod, the support base plate is slidably inserted into the inside of the movable groove, the top end of the special-shaped bracket is slidably inserted into the inner bottom end of the support frame, the support frame is symmetrically fixedly installed on the top of the storage cavity, and the first rack and the second rack are respectively engaged with gears.

[0013] Specifically, the interior of the storage cavity is arranged in a hollow state, and a through hole is opened at the bottom end of the storage cavity, and hooks are fixedly installed at the four corners of the top end of the storage cavity.

[0014] Specifically, the front end of the storage cavity is arranged in a funnel shape, and the side end of the second alignment key away from the second piston rod and the side end of the first alignment key away from the supporting bottom plate are both arranged at a 45° inclination.

[0015] Specifically, the width of the first rack and the second rack are both 1 cm, and the thickness of the gear is 3 cm, and the second rack and the first rack are offset from each other.

[0016] Specifically, movable grooves are provided at the bottom of both ends of the support frame, the interior of the special-shaped gas cylinder is arranged in a hollow state, and a closed cavity is formed between the first piston rod, the special-shaped gas cylinder and the second piston rod, the second piston rod is horizontally aligned with the limiting block, and a connecting frame is fixedly installed between the top end of the sliding rod and the top end of the first piston rod.

[0017] Specifically, the storage cavity further includes a propeller drive system and a rear end guide frame, the rear end guide frame is symmetrically fixedly mounted at the rear end of the storage cavity, and the propeller drive system is fixedly mounted on an end of the rear end guide frame away from the storage cavity.

[0018] A method for docking and recovering an underwater unmanned vehicle comprises the following steps:

[0019] S1. First, connect and assemble the storage cavity with an external hoisting device so that when the hoisting device is started, the whole device can be moved to the water surface, facilitating the docking of the storage cavity with the underwater unmanned vehicle;

[0020] S2. Then, when the underwater unmanned vehicle sails into the interior of the storage cavity, the air cylinder can be started to drive the synchronous rod to move downward, causing the second rack to drive the gear to rotate, so that the first rack can drive the limiting bracket into the interior of the storage cavity until the underwater unmanned vehicle can be restricted between the two limiting brackets. At the same time, the second alignment key will pass through the first alignment key, and the special-shaped bracket can drive the connecting side frame to displace towards the storage cavity, so that the auxiliary limiting plate can enter the interior of the storage cavity, thus preventing the underwater unmanned vehicle from moving out of the interior of the storage cavity;

[0021] S3. Finally, start the hoisting device to move the storage cavity upward until the underwater unmanned vehicle is removed from the water surface. Subsequently, when the storage cavity moves close to the ship's deck, start the air cylinder again to drive the synchronous rod to move upward, so that the first rack can move outward, and thus the second alignment key can drive the first alignment key and the support base plate to move outward. When the limiting bracket is disengaged from the underwater unmanned vehicle, the support base plate can be removed from the interior of the storage cavity, so that the underwater unmanned vehicle can be released from the restriction and fall onto a pre-prepared support platform from the interior of the storage cavity to complete the work.

[0022] The beneficial effects of the present invention include:

[0023] (1) In the present invention, the front opening of the storage cavity is funnel-shaped, which facilitates the accurate entry of the underwater unmanned vehicle into the interior of the storage cavity. At the same time, when the air cylinder is opened, it can drive the second rack to move downward, so that the special-shaped bracket can drive the limiting bracket into the interior of the storage cavity to restrict and fix the underwater unmanned vehicle. Moreover, when the special-shaped bracket displaces, it can drive the auxiliary limiting plate to synchronously enter the front end of the interior of the storage cavity, thereby restricting the tail of the underwater unmanned vehicle and preventing the underwater unmanned vehicle from moving out of the interior of the storage cavity, completing the work of quickly docking and recovering the underwater unmanned vehicle;

[0024] (2) When the special-shaped bracket displaces outward in the present invention, it can drive the first alignment key to move outward through the second alignment key. When the limiting bracket is disengaged from the underwater unmanned vehicle, the support base plate can be removed from the bottom end of the interior of the storage cavity, facilitating the removal of the underwater unmanned vehicle from the interior of the storage cavity. Moreover, when the limiting bracket moves to the extreme position, the second piston rod will enter the interior of the special-shaped air cylinder, causing the second alignment key to move upward, so that the first spring can drive the support base plate to reset, facilitating the support work of the support base plate in the interior of the storage cavity and completing the work of synchronously releasing and exporting the underwater unmanned vehicle. Brief Description of the Drawings

[0025] The present invention will be further described below in conjunction with the drawings and embodiments.

[0026] Figure 1 It is a front - view three - dimensional structure schematic diagram of the main body in the present invention.

[0027] Figure 2 It is a front - view three - dimensional structure schematic diagram of the limiting device in the present invention.

[0028] Figure 3 It is a front - view three - dimensional structure schematic diagram of the supporting component in the present invention.

[0029] Figure 4 It is a partial sectional view schematic diagram of the positioning device in the present invention.

[0030] Figure 5 It is a front - view three - dimensional structure schematic diagram of the transmission device in the present invention.

[0031] Figure 6 It is a front - view three - dimensional structure schematic diagram of the carrying device in the present invention.

[0032] Figure 7 It is a bottom - view three - dimensional structure schematic diagram of the carrying device in the present invention.

[0033] Figure 8 It is a front - view three - dimensional structure schematic diagram of the second embodiment of the storage cavity in the present invention.

[0034] In the figure: 1 - limiting device, 2 - supporting component, 3 - underwater unmanned vehicle, 4 - extension bracket, 5 - first alignment key, 6 - first spring, 7 - support base plate, 8 - positioning device, 9 - transmission device, 10 - carrying device, 11 - special - shaped bracket, 12 - side top bracket, 13 - sliding rod, 14 - first rack, 15 - second spring, 16 - first piston rod, 17 - special - shaped air cylinder, 18 - support cavity, 19 - second alignment key, 20 - second piston rod, 21 - limiting bracket, 22 - positioning top bracket, 23 - cylinder, 24 - synchronizing rod, 25 - second rack, 26 - gear, 27 - support frame, 28 - activity groove, 29 - square groove, 30 - magnetic sheet, 31 - guide rod, 32 - connecting side bracket, 33 - auxiliary limiting plate, 34 - storage cavity, 35 - limiting block, 36 - extension top bracket, 37 - propeller drive system, 38 - rear end guide bracket. Detailed Description of the Embodiments

[0035] The present invention will be further described below in conjunction with the drawings.

[0036] Embodiment 1

[0037] As Figure 1, Figure 2 , Figure 3 and Figure 5 As shown in Figure 2 , Figure 3 and Figure 5 , a docking and recovery device for an underwater unmanned vehicle of the present invention includes a support member 2. Limiting devices 1 are fixedly installed on both sides of the support member 2. An underwater unmanned vehicle 3 is slidably inserted into the interior of the support member 2. The limiting device 1 includes an extension bracket 4 and a first alignment key 5. The first alignment key 5 is fixedly installed at the top end of the extension bracket 4. Support bottom plates 7 and first springs 6 are symmetrically and fixedly installed at the bottom end of the extension bracket 4, and the first spring 6 is located above the support bottom plate 7. The support member 2 includes a positioning device 8, a transmission device 9 and a bearing device 10. The transmission devices 9 are symmetrically and fixedly installed at the top end of the bearing device 10. The positioning devices 8 are symmetrically and slidably installed on both sides of the bearing device 10 close to the transmission device 9. The transmission device 9 includes a support frame 27, a gear 26 and a positioning top frame 22. The positioning top frame 22 is fixedly installed at the rear end of the top of the support frame 27. The gear 26 is rotatably installed at both ends of the top of the support frame 27. A cylinder 23 is fixedly installed at the top end of the positioning top frame 22. A synchronous rod 24 is fixedly installed at the bottom end of the cylinder 23. Second racks 25 are fixedly installed at both ends of the synchronous rod 24.

[0038] As Figure 4 shown in Figure 4 , the positioning device 8 includes a first rack 14, a special-shaped bracket 11, a limiting bracket 21 and a side top frame 12. The first rack 14 is fixedly installed at the top end of the special-shaped bracket 11. The limiting bracket 21 is fixedly installed at the bottom end of the special-shaped bracket 11. The side top frame 12 is fixedly installed at the top of the side end of the special-shaped bracket 11. A support cavity 18 is fixedly installed at one end of the side top frame 12 away from the special-shaped bracket 11. A second alignment key 19 is slidably inserted into the bottom end of the interior of the support cavity 18. A sliding rod 13 is fixedly installed at the top end of the second alignment key 19. Two second springs 15 are fixedly installed between the support cavity 18 and the second alignment key 19. A first piston rod 16 is fixedly installed at the top of the sliding rod 13. A special-shaped air cylinder 17 is fixedly installed at the side end of the support cavity 18 away from the special-shaped bracket 11. A second piston rod 20 is slidably inserted into the bottom end interior of the special-shaped air cylinder 17. When the second alignment key 19 completely passes by the first alignment key 5, the elasticity of the second spring 15 will drive the second alignment key 19 to move downward and reset, so that when the special-shaped bracket 11 moves away from one end of the storage cavity 34, the second alignment key 19 squeezes the first alignment key 5 to drive the support bottom plate 7 to move;

[0039] When the special-shaped bracket 11 is displaced, the second alignment key 19 can be driven to pass by the first alignment key 5, so that when the special-shaped bracket 11 is reset, the first alignment key 5 can be driven to move.

[0040] As Figure 6 and Figure 7The carrying device 10 includes an extended top frame 36, a limiting block 35, a storage cavity 34 and a square groove 29. The square groove 29 is symmetrically arranged inside the two sides of the storage cavity 34. A movable groove 28 is arranged inside the two sides of the storage cavity 34, and the movable groove 28 is located below the square groove 29. The extended top frame 36 is symmetrically fixedly installed at the top of the two sides of the storage cavity 34. The limiting block 35 is fixedly installed at the top of the extended top frame 36 away from the storage cavity 34. Guide rods 31 are fixedly installed at the front ends of the two sides of the storage cavity 34. The outer ring of the guide rod 31 can be slidably sleeved with a connecting side frame 32. A magnetic suction sheet 30 is fixedly installed at the rear end of the connecting side frame 32. An auxiliary limiting plate 33 is fixedly installed on the side end of the connecting side frame 32 close to the storage cavity 34. An anti-dropping sheet is fixedly installed on the end of the guide rod 31 away from the storage cavity 34, so that the auxiliary limiting plate 33 can be prevented from falling off when it moves outward to the extreme position.

[0041] When the special-shaped bracket 11 moves inward, it can drive the connecting side frame 32 to move inward, so that the auxiliary limiting plate 33 can drive the storage cavity 34 to move inside the storage cavity 34.

[0042] The end of the first spring 6 that faces away from the extension bracket 4 is connected to the side end of the storage cavity 34 near the guide rod 31, the support bottom plate 7 is slidably inserted into the inside of the movable groove 28, the top of the special-shaped bracket 11 is slidably inserted into the bottom end of the inner part of the support frame 27, and the support frame 27 is symmetrically fixedly installed at the top of the storage cavity 34. The first rack 14 and the second rack 25 are respectively engaged with the gear 26. The interior of the storage cavity 34 is set in a hollow state, and a through hole is opened at the bottom end of the storage cavity 34. Hooks are fixedly installed at the four corners of the top of the storage cavity 34. The front end of the storage cavity 34 is set in a funnel state, and the second alignment key 19 faces away from The side end of the second piston rod 20 and the side end of the first alignment key 5 away from the supporting base plate 7 are both inclined at 45°, the width of the first rack 14 and the second rack 25 are both 1 cm, and the thickness of the gear 26 is 3 cm, the second rack 25 and the first rack 14 are staggered with each other, and movable grooves are provided at the bottom of both ends of the support frame 27. The interior of the special-shaped air cylinder 17 is hollow, and a closed cavity is formed between the first piston rod 16, the special-shaped air cylinder 17 and the second piston rod 20. The second piston rod 20 is horizontally aligned with the limiting block 35, and a connecting frame is fixedly installed between the top of the sliding rod 13 and the top of the first piston rod 16.

[0043] The working principle of embodiment 1 is:

[0044] In use, first install and adapt the hook in the hoisting device on the salvage ship to the lifting hooks at the four corners of the top end of the receiving cavity 34. Then, operate the hoisting device to move the whole device to the water surface so that the receiving cavity 34 can approach the underwater unmanned vehicle 3 on the water surface. Subsequently, when the salvage ship moves, it can drive the receiving cavity 34 to approach the underwater unmanned vehicle 3. At the same time, since the front end inside the receiving cavity 34 is funnel-shaped, it is convenient for the underwater unmanned vehicle 3 to accurately enter the inside of the receiving cavity 34. At the same time, when the underwater unmanned vehicle 3 enters the inside of the receiving cavity 34, when the support bottom plate 7 is in a normal state, it can be located inside the receiving cavity 34, so as to prevent the underwater unmanned vehicle 3 from moving out from the bottom end of the receiving cavity 34. Subsequently, the air cylinder 23 can be opened to drive the synchronous rod 24 to move downward. Thus, the second rack 25 can drive the gear 26 to rotate. Through the engagement of the first rack 14 and the gear 26, when the gear 26 rotates, it can drive the first rack 14 to displace in the direction close to the inside of the receiving cavity 34, so that the limiting bracket 21 can contact the outer ring of the underwater unmanned vehicle 3, thereby restricting and fixing the underwater unmanned vehicle 3. At the same time, when the limiting bracket 21 moves into the receiving cavity 34, through the adsorption and fitting of the special-shaped bracket 11 and the magnetic sheet 30, when the special-shaped bracket 11 displaces, it can drive the connecting side frame 32 and the auxiliary limiting plate 33 to move into the receiving cavity 34 at the same time until the two auxiliary limiting plates 33 are in contact with each other, so as to block at the front end inside the receiving cavity 34 and prevent the underwater unmanned vehicle 3 from moving out of the receiving cavity 34. At the same time, when the limiting bracket 21 moves to fit the outer ring surface of the underwater unmanned vehicle 3, it can drive the second alignment key 19 to pass by the first alignment key 5. Through the arrangement of the second spring 15, it allows the second alignment key 19 to displace upward when it contacts the first alignment key 5, which is convenient for the second alignment key 19 to pass by the first alignment key 5. Subsequently, when the underwater unmanned vehicle 3 is fixed inside the receiving cavity 34, operate the hoisting device to move the whole receiving cavity 34 to the deck of the salvage ship. Then, place the external vehicle bracket on the deck. When the bottom end of the receiving cavity 34 approaches and aligns with the bracket, the air cylinder 23 can be opened again to drive the synchronous rod 24 to move upward, so that the second rack 25 can drive the gear 26 to rotate in the reverse direction. Thus, the first rack 14 can displace in the direction away from the receiving cavity 34, so that the limiting bracket 21 can move out of the receiving cavity 34. At the same time, when the limiting bracket 21 displaces to one end away from the receiving cavity 34, it can drive the second alignment key 19 to contact the first alignment key 5. Thus, when the limiting bracket 21 displaces, it can squeeze the first alignment key 5 and the extension bracket 4 to move simultaneously through the second alignment key 19, so that the support bottom plate 7 can move out from the bottom end inside the receiving cavity 34, so as to release the underwater unmanned vehicle 3 while the support bottom plate 7 can move out from the inside of the receiving cavity 34. After that,The underwater unmanned vehicle 3 can fall from the inside of the storage cavity 34 onto a pre-prepared bracket to complete the discharge of the storage cavity 34. Moreover, when the limiting rack 21 moves to the extreme position away from the storage cavity 34, it can drive the second piston rod 20 to contact the limiting block 35. Through the blocking of the limiting block 35, the second piston rod 20 can enter the inside of the special-shaped air cylinder 17, causing the first piston rod 16 to drive the sliding rod 13 and the second alignment key 19 to move upward. The second alignment key 19 can be higher than the first alignment key 5. At this time, the elasticity of the first spring 6 will drive the support bottom plate 7 to quickly move into the storage cavity 34, so as to facilitate the support bottom plate 7 to receive the underwater unmanned vehicle 3 again. When this device is in use, the top of the special-shaped bracket 11 moves in the sliding groove inside the support frame 27, so that the support limiting rack 21 can move in a straight line. At the same time, since the interval between the second rack 25 and the first rack 14 is 1 cm and the synchronizing rod 24 and the first rack 14 are mutually misaligned, it can avoid the interference phenomenon when the second rack 25 and the first rack 14 move, and the work is completed.,

[0045] Embodiment 2

[0046] On the basis of Embodiment 1, as Figure 8 shown, the storage cavity 34 further includes a propeller drive system 37 and a rear end guide frame 38. The rear end guide frame 38 is symmetrically and fixedly installed at the rear end of the storage cavity 34, and the propeller drive system 37 is fixedly installed at one end of the rear end guide frame 38 away from the storage cavity 34.

[0047] When implementing this embodiment, by arranging the propeller drive system 37 at the rear end of the storage cavity 34, the propeller drive system 37 can be started, so that the whole storage cavity 34 can be driven to displace on the water surface. Thus, it is convenient for the salvage ship to dock the storage cavity 34 with the underwater unmanned vehicle 3 without moving, effectively reducing the energy consumption of the salvage ship during driving.

[0048] Embodiment 3

[0049] An underwater unmanned vehicle docking and recovery method includes the following steps:

[0050] S1. First, connect and assemble the storage cavity 34 with an external hoisting device, so that when the hoisting device is started, the whole device can be moved to the water surface to facilitate the docking of the storage cavity 34 with the underwater unmanned vehicle 3;

[0051] S2. Subsequently, when the underwater unmanned vehicle 3 enters the interior of the storage cavity 34, the air cylinder 23 can be activated to drive the synchronous rod 24 to move downward, causing the second rack 25 to drive the gear 26 to rotate. Thus, the first rack 14 can drive the limiting bracket 21 into the interior of the storage cavity 34 until the limiting bracket 21 can limit the underwater unmanned vehicle 3 between the two limiting brackets 21. At the same time, the second alignment key 19 will pass by the first alignment key 5, and the special-shaped bracket 11 can drive the connecting side frame 32 to displace towards the direction close to the storage cavity 34, so that the auxiliary limiting plate 33 can enter the interior of the storage cavity 34, thereby preventing the underwater unmanned vehicle 3 from moving out of the interior of the storage cavity 34;

[0052] S3. Finally, start the lifting device to move the storage cavity 34 upward until the underwater unmanned vehicle 3 is removed from the water surface. Subsequently, when the storage cavity 34 moves close to the ship's deck, activate the air cylinder 23 again to drive the synchronous rod 24 to move upward, so that the first rack 14 can move outward. Thus, the second alignment key 19 can drive the first alignment key 5 and the support base plate 7 to move outward. When the limiting bracket 21 is disengaged from the underwater unmanned vehicle 3, the support base plate 7 can move out of the interior of the storage cavity 34. Thus, the underwater unmanned vehicle 3 can be released from the restriction and fall from the interior of the storage cavity 34 onto the pre-prepared support platform to complete the work.

Claims

1. An underwater unmanned vehicle docking and recovery device, characterized in that, It comprises a support component (2), both sides of which are provided with limiting devices (1), and an underwater unmanned vehicle (3) is slidably inserted inside the support component (2); The limiting device (1) comprises an extension bracket (4) and a first alignment key (5), wherein the first alignment key (5) is arranged at the top end of the extension bracket (4), and a supporting bottom plate (7) and a first spring (6) are symmetrically arranged at the bottom end of the extension bracket (4), and the first spring (6) is located above the supporting bottom plate (7); The supporting component (2) comprises a positioning device (8), a transmission device (9) and a bearing device (10), wherein the transmission device (9) is symmetrically arranged at the top end of the bearing device (10); The positioning device (8) is symmetrically slidably mounted on both sides of the carrying device (10) close to the transmission device (9). The positioning device (8) is used to cooperate with the transmission device (9) and, under the control of the transmission device (9), to limit the position of the underwater unmanned vehicle (3); The transmission device (9) comprises a support frame (27), a gear (26) and a positioning top frame (22); the transmission device (9) realizes limited driving of the underwater unmanned vehicle (3) by telescopically controlling the positioning device (8); the positioning top frame (22) is arranged at the top rear end of the support frame (27); the gear (26) is rotatably mounted at the top two ends of the support frame (27); a cylinder (23) is arranged at the top of the positioning top frame (22); a synchronization rod (24) is arranged at the bottom end of the cylinder (23); and second racks (25) are arranged at both ends of the synchronization rod (24).

2. The underwater unmanned vehicle docking and recovery device according to claim 1, characterized in that: The positioning device (8) comprises a first rack (14), a special-shaped bracket (11), a limiting bracket (21) and a side top bracket (12), wherein the first rack (14) is arranged at the top end of the special-shaped bracket (11), the limiting bracket (21) is arranged at the bottom end of the special-shaped bracket (11), the side top bracket (12) is arranged at the top end of the side end of the special-shaped bracket (11), and a support cavity (18) is arranged at one end of the side top bracket (12) away from the special-shaped bracket (11), and the inner bottom of the support cavity (18) is A second alignment key (19) is slidably inserted at the end, a sliding rod (13) is arranged at the top of the second alignment key (19), two second springs (15) are arranged between the support cavity (18) and the second alignment key (19), a first piston rod (16) is arranged at the top of the sliding rod (13), a side end of the support cavity (18) away from the special-shaped bracket (11) is provided with a special-shaped gas cylinder (17), and a second piston rod (20) is slidably inserted inside the bottom end of the special-shaped gas cylinder (17); When the special-shaped bracket (11) is displaced, it can drive the second alignment key (19) to pass through the first alignment key (5), so that when the special-shaped bracket (11) is reset, it can drive the first alignment key (5) to move.

3. The underwater unmanned vehicle docking and recovery device according to claim 2, characterized in that: The bearing device (10) comprises an extended top frame (36), a limiting block (35), a storage cavity (34) and a square groove (29), wherein the square groove (29) is symmetrically arranged inside the two sides of the storage cavity (34), movable grooves (28) are arranged inside the two sides of the storage cavity (34), and the movable grooves (28) are located below the square grooves (29), the extended top frame (36) is symmetrically arranged at the top ends of the two sides of the storage cavity (34), the limiting block (35) is arranged at the top end of the extended top frame (36) away from the storage cavity (34), guide rods (31) are arranged at the front ends of the two sides of the storage cavity (34), the outer ring of the guide rod (31) is slidably sleeved with a connecting side frame (32), the rear end of the connecting side frame (32) is provided with a magnetic suction sheet (30), and the side end of the connecting side frame (32) close to the storage cavity (34) is provided with an auxiliary limiting plate (33); When the special-shaped bracket (11) moves inward, it can drive the connecting side frame (32) to move inward, thereby assisting the limiting plate (33) to drive the storage cavity (34) to move toward the inside of the storage cavity (34).

4. The underwater unmanned vehicle docking and recovery device according to claim 3, characterized in that: One end of the first spring (6) facing away from the extension bracket (4) is connected to the side end of the storage cavity (34) close to the guide rod (31), the support base plate (7) is slidably inserted into the inside of the movable groove (28), the top end of the special-shaped bracket (11) is slidably inserted into the bottom end of the inside of the support frame (27), the support frame (27) is symmetrically arranged at the top of the storage cavity (34), and the first rack (14) and the second rack (25) are respectively engaged with the gear (26).

5. The underwater unmanned vehicle docking and recovery device according to claim 3, characterized in that: The interior of the storage cavity (34) is arranged in a hollow state, and a through hole is provided at the bottom end of the storage cavity (34), and hooks are provided at the four corners of the top end of the storage cavity (34).

6. The underwater unmanned vehicle docking and recovery device and method according to claim 3, characterized in that: The front end of the storage cavity (34) is arranged in a funnel shape, and the side end of the second alignment key (19) away from the second piston rod (20) and the side end of the first alignment key (5) away from the supporting bottom plate (7) are both arranged at a 45° inclination.

7. The underwater unmanned vehicle docking and recovery device according to claim 4, characterized in that: The width of the first rack (14) and the second rack (25) are both 1 centimeter, and the thickness of the gear (26) is 3 centimeters. The second rack (25) and the first rack (14) are offset from each other.

8. The underwater unmanned vehicle docking and recovery device according to claim 3, characterized in that: The bottom ends of both sides of the support frame (27) are provided with movable slots. The inside of the special-shaped air cylinder (17) is provided in a hollow state, and a sealed cavity is formed among the first piston rod (16), the special-shaped air cylinder (17) and the second piston rod (20). The second piston rod (20) is horizontally aligned with the limiting block (35). A connecting frame is arranged between the top end of the sliding rod (13) and the top end of the first piston rod (16).

9. An underwater unmanned vehicle docking and recovery device according to any one of claims 3-8, characterized in that: The storage cavity (34) further includes a propeller drive system (37) and a rear guide frame (38). The rear guide frame (38) is symmetrically arranged at the rear end of the storage cavity (34). The propeller drive system (37) is arranged at one end of the rear guide frame (38) away from the storage cavity (34).

10. A method for docking and recovering an underwater unmanned vehicle, which uses an underwater unmanned vehicle docking and recovery device as described in any one of claims 1-9, characterized in that, It includes the following steps: S1. Connect and assemble the storage cavity (34) with an external lifting device, so that when the lifting device is started, the whole device is moved to the water surface to facilitate the docking of the storage cavity (34) with the underwater unmanned vehicle (3). S2. When the underwater unmanned vehicle (3) sails into the inside of the storage cavity (34), start the air cylinder (23) to drive the synchronous rod (24) to move downward, so that the second rack (25) drives the gear (26) to rotate, and thus the first rack (14) can drive the limiting rack (21) into the inside of the storage cavity (34) until the limiting rack (21) restricts the underwater unmanned vehicle (3) between the two limiting racks (21). At the same time, the second alignment key (19) passes through the first alignment key (5), and the special-shaped support (11) can drive the connecting side frame (32) to displace towards the storage cavity (34), so that the auxiliary limiting plate (33) enters the inside of the storage cavity (34), thereby preventing the underwater unmanned vehicle (3) from moving out of the inside of the storage cavity (34). S3. Start the lifting device to move the storage cavity (34) upward until the underwater unmanned vehicle (3) is removed from the water surface. Subsequently, when the storage cavity (34) moves close to the ship's deck, start the air cylinder (23) again to drive the synchronous rod (24) to move upward, so that the first rack (14) moves outward, and thus the second alignment key (19) can drive the first alignment key (5) and the support bottom plate (7) to move outward. When the limiting rack (21) is separated from the underwater unmanned vehicle (3), the support bottom plate (7) moves out of the inside of the storage cavity (34), so that the underwater unmanned vehicle (3) loses its restraint and falls from the inside of the storage cavity (34) onto a pre-prepared support platform to complete the work.

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