Underwater positioning, butting and recycling device for AUV (Autonomous Underwater Vehicle)

Abstract

The invention discloses an underwater positioning, docking and recycling device for an AUV (Autonomous Underwater Vehicle), and belongs to the technical field of ocean engineering equipment. Comprising an auxiliary bearing piece and a transverse butt joint unit, an anti-skid pad provides instantaneous static friction, sensor salient points are elastically embedded with broken stones / sea grass and sense contact pressure in real time, so that the fitting degree of a mounting box and the seabed is larger than or equal to 98%, the point contact inclination error is thoroughly eliminated, and a submillimeter-level reference plane is provided for AUV butt joint; the incident flow area is divided into three micro-vortex generators by a sheet section formed by the inclined supporting pipes, the transverse supporting pipes and the inclined plane ribs of the triangular frame, the differential pressure resistance is reduced, the rated tension of a winch of a mother ship is reduced to 6.5 t from 8 t, the cable diameter is reduced to 24 mm from 28 mm, and the purchase price of the whole mooring system is reduced by 20%; after the flexible expansion supporting sleeve is expanded after being filled with water, a damping ring is formed, the transverse error tolerance is expanded to + / -120mm from + / -50mm, the vortex-induced lateral force is reduced by 35%, the probability of collision deflection of the AUV is greatly reduced, and the actual measurement sea test capture success rate is increased.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of ocean engineering equipment, and particularly relates to an underwater positioning and docking recovery device for an AUV. BACKGROUND

[0002] With the wide application of autonomous underwater vehicles (AUVs) in the fields of ocean resource exploration, seabed pipeline inspection, scientific research investigation and the like, repeated underwater deployment and recovery of the AUVs has become a bottleneck restricting operation efficiency and cost. The traditional docking device has the following outstanding problems: The uneven seabed topography, gravel and impurities such as seaweed make it difficult for the base to be stably attached, and the whole machine is prone to side slipping when adjusting the posture, resulting in an inclined docking reference surface of the AUV and a high docking failure rate; the anti-skid pads and sensor protrusions are mostly fixed or glued, and after wearing, the whole device needs to be disassembled for onshore maintenance, resulting in a large number of inventory types, a long replacement cycle and a large amount of underwater work of divers; the frame is mostly solid in section, has a large flow-encountering area and high differential pressure resistance, and the mother ship needs to be equipped with a large-tonnage winch and a thick cable, thereby increasing the power consumption of the ship and the equipment cost.

[0003] The horizontal cross beam is prone to form a "horizontal sand groove", and after continuous deployment, the sand coverage rate is more than 30%, and the cross beam needs to be regularly dived to flush; the sharp edge structure is less, the local low-pressure area is concentrated, the cavitation inception speed is low, and cavitation is prone to occur under high-speed sea currents; the rigid guide cover has a small tolerance for the transverse position error of the AUV, the collision energy is almost entirely absorbed by the AUV and the cover structure, the impact peak is high, the docking time is long, the AUV needs to start the side thrust auxiliary, and the energy consumption and wear increase; therefore, an underwater positioning and docking recovery device for an AUV is provided. SUMMARY

[0004] The underwater positioning and docking recovery device for the AUV aims at solving the problems in the prior art.

[0005] In order to achieve the above-mentioned purpose, the underwater positioning and docking recovery device for the AUV adopts the following technical scheme: The underwater positioning and docking recovery device for the AUV comprises an auxiliary receiving member and a transverse docking unit, one end of the auxiliary receiving member is transversely installed with the transverse docking unit, the transverse docking unit comprises a receiving cylinder and a docking frame installed at one end of the receiving cylinder, and the other end of the receiving cylinder is inserted and installed on one side of the auxiliary receiving member.

[0006] Preferably, the docking frame comprises a frame body and a bearing frame installed on the side end face of the frame body, the other side end face of the bearing frame is annularly arrayed with a positioning frame, the inner cavity of the frame body is inserted with a driving shaft, and the outer ring of the driving shaft is sleeved with a rotating receiving frame; AUV is inserted into the interval of the positioning frame arranged in multiple groups of annular array, the space surrounded by the multiple groups of positioning frame is the path, the outer end wall of AUV is inserted into the inner cavity of the positioning frame, and the rotation structure formed by the positioning frame and the drive shaft can rotate to receive the contact end of AUV; the multiple groups of positioning frame form an "elastic horn track", AUV is first centered by elasticity and error is reduced when being inserted, and 60% of collision energy is converted into rolling friction; the drive shaft and the rotary receiving frame jointly form a passive rotation pair, so that AUV can still find the right direction by ±180° under the 0.3kn transverse flow speed, the tail does not need to be side-pushed, the docking time is less than 40s, the impact peak is reduced by half, the continuous actions of "collision, centering, rotation and locking" are realized, and the docking success rate is improved.

[0007] Preferably, the docking frame 22 further comprises a support sleeve installed at the interval position of the positioning frame, and the support sleeves are combined to form a cylindrical structure. The support sleeve cylindrical interval grid is replaced by a flexible expansion support sleeve 226: the flexible expansion support sleeve is made of TPU coated cord fabric, and a ring of annular counterweight chain is uniformly distributed at the lower end, which is usually folded and tied outside the positioning frame, and only increases the diameter by 10mm; before AUV is inserted, 0.2MPa low-pressure water is injected through the central air duct of the drive shaft to expand into a horn-shaped flexible cylinder, the caliber is expanded, the flexible skirt automatically wraps the head of AUV, the tolerance of transverse error is improved, and the capture success rate is improved; the flexible expansion support sleeve forms a damping ring with the seabed flow field, reduces the vortex-induced lateral force by 35%, and reduces the probability of AUV "collision deviation"; after recovery, the pressure is released and folded, the overall projection area returns to the original size, does not increase the volume of the storage and release cabin, and meets the compact unmanned mother ship deployment requirements; the silt in the inner cavity of the flexible expansion support sleeve is flushed out in the opposite direction with the pressure relief water flow, realizing self-cleaning, freeing the diver from wiping, and extending the maintenance cycle from quarterly to annual.

[0008] Preferably, the receiving cylinder comprises a cylinder body and a sleeve ring installed at one end of the cylinder body, a communication cavity is formed in the middle position of the sleeve ring, the inner cavity of the communication cavity is communicated with the drive shaft, and the other end of the drive shaft is inserted into one side of the auxiliary receiving part. The cylinder body bears the bending moment and the tension and compression load; the sleeve ring uniformly diffuses the load to the cabin wall of the auxiliary receiving part, and saves the additional reinforcing ring; the communication cavity serves as a hydraulic / gas pressure locking channel, and also serves as an AUV guide rod, so that the same axis is used for "structure, fluid and signal" three functions, the number of parts is reduced by 30%, the sealing points are reduced by 50%, the overall weight is reduced by 15%, and the entire shaft module can be quickly replaced within 1h underwater.

[0009] Preferably, one end of the drive shaft is connected with the rotary receiving frame for rotation, and the drive shaft rotates around the center position of the frame body as a fulcrum.

[0010] Preferably, the auxiliary adapter comprises a mounting box and a blocking box mounted on the end face of the mounting box, the top of the blocking box is mounted with a gravity block, the two sides of the mounting box are mounted with reinforcing blocks, the outer end walls of the reinforcing blocks are each provided with a mounting sheet plate, and the mounting sheet plate and the hand-held frame can swing.

[0011] Preferably, the bottom of the mounting box is arranged with anti-skid pads, and the anti-skid pads are arranged at intervals and mounted with sensor convex points; The staff holds the outer ring of the hand-held frame, so that the hand-held frame can rotate around the mounting sheet plate, thereby adjusting the angle of the mounting box at various angles; the anti-skid pads and the sensor convex points are arranged in pairs around the lower end face of the mounting box, thereby forming a "soft and hard dual-state" bottom foot - the anti-skid pads provide instantaneous static friction to prevent the whole machine from sliding sideways during attitude adjustment, and the sensor convex points can be elastically compressed to "embed" and absorb impurities such as gravel and seaweed on the bottom of the water body and to sense the contact pressure in real time, thereby ensuring that the base is always attached to the seabed and avoiding inclination errors caused by "point contact" to improve the subsequent AUV docking success rate.

[0012] Preferably, the auxiliary adapter further comprises a friction anti-skid pad which can replace the arrangement of the sensor convex points; When there are gravel or silt on the seabed, the anti-skid pads and the sensor convex points can be replaced as a whole by the arranged friction anti-skid pads: the friction anti-skid pads are press-fitted with detachable ultra-high molecular weight polyethylene in the inside, the bottom end is exposed to form a wear-resistant sliding surface, which can be worn or partially crushed, and can be pried out of the sink hole by divers holding tools at any time for replacement, thereby realizing a "no convex point, full plane" bottom foot scheme, which not only maintains the functions of friction and sensing, but also reduces maintenance costs and inventory types Preferably, the blocking box comprises triangular frame diagonal struts and triangular frame cross struts mounted between the two groups of triangular frame diagonal struts, and the edges of the triangular frame cross struts are mounted with triangular frame inclined ribs; The triangular frame diagonal struts, the triangular frame cross struts and the triangular frame inclined ribs are welded into a planar triangular frame to form a "lightweight rigid bulkhead", the weight is only increased by 7%, but the local impact resistance of the blocking box 12 is increased by 1 times, meeting the AUV 1m / s impact specification; the triangular cross section divides the flow area into three thin slices, the equivalent wet surface area is increased but the pressure difference resistance is reduced, and the overall drag force is reduced by 18%, the mooring load of the mother ship is correspondingly reduced, and smaller winches and cable diameters can be used. The 45° inclined surface of the triangular frame inclined rib causes the settled silt to automatically slide to the base under the action of gravity-flow field coupling, avoiding the accumulation of "horizontal sand channels"; after continuous deployment for 30 days, the sand coverage rate on the surface of the frame is less than 5%, and the diver does not need to rinse; the sharp edge triangular rib divides the local low pressure area into multiple small vortexes, the cavitation inception critical speed is increased from 4.2kn to 5.5kn, meeting the long-term deployment requirements in high-speed current areas.

[0013] Compared with the prior art, the present application has the following advantages: The anti-skid pad provides instantaneous static friction, the sensor convex point elastically embeds the gravel / marsh and perceives the contact pressure in real time, the installation box is attached to the seabed with a degree of 98%, the "point contact" inclination error is completely eliminated, and a sub-millimeter level reference plane is provided for AUV docking.

[0014] The thin sheet section formed by the triangular frame inclined support pipe, the cross support pipe and the inclined rib divides the flow area into three micro vortex generators, the differential pressure resistance is reduced, the rated tension of the mother ship winch is reduced from 8t to 6.5t, the cable diameter is reduced from φ28mm to φ24mm, and the purchase price of the whole mooring system is reduced by 20%.

[0015] The 45° inclination of the inclined rib increases the local shear flow velocity, the frame surface sand coverage rate is less than 5% after 30 days of continuous laying, the diver's high-pressure water gun flushing is eliminated, 120h of diving time is saved per year for a single set of device, and the low pressure area is split into multiple micro vortices by the sharp edge triangular rib, so that the cavitation inception speed is increased from 4.2kn to 5.5kn. The device can be laid in a high-speed current area (>1.5m / s) for a long time without cavitation damage.

[0016] The positioning frame elastic horn rail + driving shaft and the rotating bearing receiving frame passive rotating pair realize the continuous actions of "hitting into - centering - rotating - locking", the ±180° self-alignment under the transverse flow of 0.3kn is realized, the docking time is less than 40s, which is 70% shorter than the traditional guide cover, the impact peak is reduced by 50%, the AUV tail does not need to be side-pushed, and the energy consumption is saved by 0.8kWh / once.

[0017] The flexible expansion support sleeve forms a damping ring after being filled with water and expanded, the transverse error tolerance is expanded from ±50mm to ±120mm, the vortex-induced lateral force is reduced by 35%, the probability of AUV "collision deviation" is greatly reduced, and the actual measured sea test capture success rate is increased from 92% to 99.4%.

[0018] The flexible expansion support sleeve is folded to a thickness of less than 10mm after pressure relief, the projection area recovers to the original size, and there is no need to expand the stowage compartment, thereby meeting the laying requirements of a 7m long compact unmanned mother ship. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 A three-dimensional structure diagram of an underwater positioning and docking recovery device for an AUV is provided. Figure 2 A receiving cylinder and docking frame structure diagram of an underwater positioning and docking recovery device for an AUV is provided. Figure 3 A support sleeve structure diagram of an underwater positioning and docking recovery device for an AUV is provided. Figure 4 A receiving cylinder structure diagram of an underwater positioning and docking recovery device for an AUV is provided. Figure 5 Fig. 1 is a schematic diagram of the internal structure of a docking frame of an underwater positioning and docking recovery device for an AUV according to the present application; Figure 6 Fig. 2 is a schematic diagram of the structure of an auxiliary receiving member of an underwater positioning and docking recovery device for an AUV according to the present application; Figure 7 Fig. 3 is an enlarged view of position A of an underwater positioning and docking recovery device for an AUV according to the present application; Figure 8 Fig. 4 is a schematic diagram of the structure of a friction contact pad of an underwater positioning and docking recovery device for an AUV according to the present application; Figure 9 Fig. 5 is a schematic diagram of the structure of a blocking box of an underwater positioning and docking recovery device for an AUV according to the present application.

[0020] Fig. 1 is a schematic diagram of the internal structure of a docking frame of an underwater positioning and docking recovery device for an AUV according to the present application; Fig. 2 is a schematic diagram of the structure of an auxiliary receiving member of an underwater positioning and docking recovery device for an AUV according to the present application; Fig. 3 is an enlarged view of position A of an underwater positioning and docking recovery device for an AUV according to the present application; Fig. 4 is a schematic diagram of the structure of a friction contact pad of an underwater positioning and docking recovery device for an AUV according to the present application; Fig. 5 is a schematic diagram of the structure of a blocking box of an underwater positioning and docking recovery device for an AUV according to the present application. DETAILED DESCRIPTION

[0021] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application.

[0022] Reference Figures 1-9 Embodiment 1: An underwater positioning and docking recovery device for an AUV, comprising an auxiliary receiving member 1 and a transverse docking unit 2, one end of the auxiliary receiving member 1 transversely mounting the transverse docking unit 2, the transverse docking unit 2 comprising a receiving cylinder 21 and a docking frame 22 mounted at one end of the receiving cylinder 21, the other end of the receiving cylinder 21 being inserted and mounted at one side of the auxiliary receiving member 1.

[0023] The docking frame 22 comprises a frame body 221 and a bearing frame 222 mounted at the side end face of the frame body 221, an annular array of positioning frames 223 being mounted at the other side end face of the bearing frame 222, a driving shaft 224 being inserted and arranged in the inner cavity of the frame body 221, and a rotating receiving frame 225 being arranged in the outer ring of the driving shaft 224; The AUV is inserted into the space between the positioning racks 223 arranged in a plurality of annular arrays, and the outer end wall of the AUV is inserted into the inner cavity of the positioning rack 223, and the rotation structure formed by the positioning rack 223 and the driving shaft 224 can rotate to receive the contact end of the AUV; the plurality of positioning racks 223 form an elastic horn track, the AUV is first elastically centered and error is reduced when being inserted, and 60% of collision energy is converted into rolling friction; the driving shaft 224 and the rotating receiving rack 225 jointly form a passive rotation pair, so that the AUV can still be self-aligned by ±180° under a 0.3 kn transverse flow speed, the tail does not need to be side-pushed, the docking time is less than 40 s, the impact peak is reduced by half, the continuous actions of "collision, centering, rotation and locking" are realized, and the docking success rate is improved.

[0024] In the embodiment 2, the docking rack 22 further comprises support sleeves 226 installed at the spacing positions of the positioning racks 223, and the support sleeves 226 are combined to form a cylindrical structure; The cylindrical spacing grid of the support sleeves 226 is replaced by flexible expansion support sleeves 226: the flexible expansion support sleeves 226 are made of TPU coated cord fabric, and a ring of annular counterweight chains is uniformly arranged at the lower end, which is folded and tied outside the positioning rack 223 under normal circumstances, and only increases the diameter by 10 mm; before the AUV is inserted, 0.2 MPa low-pressure water is injected through the central air duct of the driving shaft 224 to expand the flexible horn-shaped cylinder, the caliber is expanded, the flexible skirt automatically wraps the head of the AUV, the tolerance of transverse error is improved, and the capture success rate is improved; the flexible expansion support sleeves 226 form a damping ring with the seabed flow field, which reduces the vortex-induced lateral force by 35%, and reduces the probability of AUV "collision deviation"; after recovery, the flexible expansion support sleeves 226 are deflated and folded, the overall projection area returns to the original size, does not increase the volume of the storage and release cabin, and meets the deployment requirements of compact unmanned mother ships; the silt in the inner cavity of the flexible expansion support sleeves 226 is flushed out in the opposite direction with the pressure relief water flow, realizing self-cleaning and eliminating the need for divers to wipe, and the maintenance cycle is extended from quarterly to annual.

[0025] In the embodiment 3, the receiving cylinder 21 comprises a cylinder body 211 and a sleeve ring 212 installed at one end of the cylinder body 211, a communication cavity 213 is formed in the middle of the sleeve ring 212, the inner cavity of the communication cavity 213 is communicated with the driving shaft 224, and the other end of the driving shaft 224 is inserted into one side of the auxiliary receiving part 1; The cylinder body 211 bears the bending moment and the tension and compression load; the sleeve ring 212 uniformly diffuses the load to the cabin wall of the auxiliary receiving part 1, and the additional reinforcing ring is saved; the communication cavity 213 is used as a hydraulic / gas pressure locking channel and an AUV guide rod, so that the same axis is used for three functions of "structure, fluid and signal", the number of parts is reduced by 30%, the sealing points are reduced by 50%, the overall weight is reduced by 15%, and the entire shaft module can be quickly replaced within 1 h underwater.

[0026] In the embodiment 4, one end of the driving shaft 224 is connected with the rotating support frame 225 to rotate, and the driving shaft 224 rotates around the center of the frame body 221 as a fulcrum.

[0027] The auxiliary support 1 comprises a mounting box 11 and a blocking box 12 mounted on the upper end surface of the mounting box 11, the top of the blocking box 12 is mounted with a gravity block 13, the two sides of the mounting box 11 are mounted with reinforcing blocks 14, the outer end walls of the reinforcing blocks 14 are each provided with a mounting sheet plate 15, and the mounting sheet plate 15 and the hand-held frame 16 can swing.

[0028] In the embodiment 5, the bottom of the mounting box 11 is arranged with anti-skid pads 17, and the anti-skid pads 17 are arranged at interval positions and are mounted with sensor convex points 18; The staff holds the outer ring of the hand-held frame 16, so that the hand-held frame 16 can rotate around the mounting sheet plate 15 as a fulcrum, thereby adjusting the angle of the mounting box 11 at various angles; the lower end surface of the mounting box 11 is taken as a support point, the anti-skid pads 17 and the sensor convex points 18 are arranged in pairs, forming a “soft and hard dual-state” bottom foot, the anti-skid pads 17 provide instantaneous static friction to prevent the whole machine from sliding sideways during posture adjustment, the sensor convex points 18 can be elastically compressed, and the impurities such as gravel and seaweed on the bottom of the water body are “embedded” and absorbed, and the contact pressure is sensed in real time, so that the base is always attached to the seabed, the inclination error caused by “point contact” is avoided, and the subsequent AUV docking success rate is improved.

[0029] In the embodiment 6, the auxiliary support 1 further comprises friction anti-skid pads 19 which can replace the arrangement of the sensor convex points 18; When there are gravel or silt on the seabed, the anti-skid pads 17 and the sensor convex points 18 can be replaced as a whole by the arranged friction anti-skid pads 19: the friction anti-skid pads 19 are pressed into the detachable ultrahigh molecular weight polyethylene, the bottom end is exposed to form a wear-resistant sliding surface, which can be worn or partially crushed, and can be removed from the sink hole by the diver holding a tool at any time for replacement, realizing a “no convex point, full plane” bottom foot scheme, which not only maintains the functions of friction and sensing, but also reduces the maintenance cost and the number of types in stock In the embodiment 7, the blocking box 12 comprises triangular frame diagonal struts 121 and triangular frame cross struts 122 mounted between the two groups of triangular frame diagonal struts 121, and the edges of the triangular frame cross struts 122 are mounted with triangular frame inclined ribs 123. The triangular frame inclined bracing pipe 121, the triangular frame cross bracing pipe 122 and the triangular frame inclined plane rib 123 are welded into a planar triangular frame to form a "lightweight rigid bulkhead", which only increases the weight by 7%, but increases the local impact resistance of the blocking box 12 by 1 times, meeting the 1 m / s impact specification of the AUV. The triangular cross section divides the flow area into three thin slices, which increases the equivalent wet surface area but reduces the pressure difference resistance, and the overall drag force is reduced by 18%, the mooring load of the mother ship is correspondingly reduced, and a smaller winch and cable diameter can be used. The 45° inclined plane of the triangular frame inclined plane rib 123 makes the settled silt automatically slide to the base under the action of gravity-flow field coupling, avoiding the accumulation of "horizontal sand grooves"; after 30 days of continuous deployment, the silt coverage rate on the surface of the frame is less than 5%, and there is no need for divers to flush; the acute edge triangular rib divides the local low pressure area into multiple small vortexes, and the cavitation inception critical speed is increased from 4.2 kn to 5.5 kn, meeting the long-term deployment requirements in high-speed current areas.

[0030] In summary: the staff holds the outer ring of the hand-held frame 16, so that the hand-held frame 16 can rotate around the mounting plate 15 as a fulcrum, thereby adjusting the angle of the mounting box 11 at various angles; the lower end surface of the mounting box 11 is used as a support point, and the anti-skid pads 17 and the sensor protrusions 18 are laid in pairs to form "soft and hard dual-state" bottom feet - the anti-skid pads 17 provide instantaneous static friction to prevent the whole machine from sliding sideways during attitude adjustment, and the sensor protrusions 18 can be elastically compressed to "embed" and absorb impurities such as rocks and seaweed on the bottom of the water body and sense the contact pressure in real time, ensuring that the base is always in contact with the seabed, avoiding the inclination error caused by "point contact", and improving the subsequent AUV docking success rate.

[0031] When there are rocks or silt on the seabed, the anti-skid pads 17 and the sensor protrusions 18 can be replaced by the arranged friction anti-skid pads 19: the friction anti-skid pads 19 are over-pressed into detachable ultra-high molecular weight polyethylene, the bottom end is exposed to form a wear-resistant sliding surface, which can be worn or locally crushed, and can be replaced by divers holding tools from the sink hole at any time, realizing a "no protrusion, full plane" bottom foot scheme, which not only maintains the friction-sensing dual function, but also reduces maintenance costs and inventory types.

[0032] The triangular frame inclined bracing pipe 121, the triangular frame cross bracing pipe 122 and the triangular frame inclined rib 123 are welded into a planar triangular frame to form a "lightweight rigid bulkhead", the weight of which only increases by 7%, but the local collision resistance of the blocking box 12 is increased by 1 times, meeting the 1m / s collision impact specification of the AUV, the triangular cross section divides the flow area into three thin pieces, the equivalent wet surface area is increased but the pressure difference resistance is reduced, the overall drag force is reduced by 18%, the mooring load of the mother ship is correspondingly reduced, and a smaller winch and cable diameter can be used.

[0033] The AUV is inserted into the space between the multiple groups of positioning frames 223 arranged in a ring array, and the space formed by the multiple groups of positioning frames 223 is used as a path, the outer end wall of the AUV is inserted into the inner cavity of the positioning frame 223, and the rotation structure formed by the positioning frame 223 and the driving shaft 224 can rotate to receive the contact end of the AUV; the multiple groups of positioning frames 223 form an "elastic horn track", the AUV is first centered elastically and the error is reduced when being inserted, and 60% of the collision energy is converted into rolling friction; the driving shaft 224 and the rotating receiving frame 225 together form a passive rotation pair, so that the AUV can still be self-aligned by ±180° under a 0.3kn transverse flow speed, the tail does not need to be side-pushed, the docking time is less than 40s, the impact peak is reduced by half, the continuous actions of "collision, centering, rotation and locking" are realized, and the docking success rate is improved.

[0034] The cylindrical spacing grid of the support sleeve 226 is replaced by a flexible expansion support sleeve 226: the flexible expansion support sleeve 226 is made of TPU coated cord fabric, and a ring of counterweight chains is uniformly distributed at the lower end, which is folded and tied outside the positioning frame 223 under normal circumstances, and only increases the diameter by 10mm; before the AUV is inserted, 0.2MPa low-pressure water is injected through the central air duct of the driving shaft 224 to expand into a horn-shaped flexible cylinder, the caliber is expanded, the flexible skirt automatically wraps the head of the AUV, the tolerance of transverse error is increased, and the capture success rate is improved; the flexible expansion support sleeve 226 forms a damping ring with the sea bottom flow field, reducing the vortex-induced lateral force by 35% and reducing the probability of "collision and deviation" of the AUV; after recovery, the flexible expansion support sleeve 226 is deflated and folded, the overall projection area returns to the original size, without increasing the volume of the launching and receiving cabin, meeting the compact unmanned mother ship launching requirements; the silt in the inner cavity of the flexible expansion support sleeve 226 is flushed out in the opposite direction with the pressure relief water flow, realizing self-cleaning and eliminating the need for divers to wipe, and extending the maintenance cycle from quarterly to annual.

[0035] The cylinder 211 bears the bending moment and the tension and compression load; the sleeve joint ring 212 evenly spreads the load to the auxiliary bearing part 1 bulkhead, and saves the additional reinforcing ring; the communication cavity 213 is used as the hydraulic / pneumatic locking channel, and is also the AUV guide rod, so that the three functions of structure, fluid and signal share the same axis, the number of parts is reduced by 30%, the sealing points are reduced by 50%, the overall weight is reduced by 15%, and the entire shaft module is allowed to be quickly replaced within 1h underwater.

[0036] The above is the whole working principle of the present application.

[0037] In the present application, the mounting mode, connection mode or setting mode of all the components described above are common mechanical modes, and the specific structure, model and coefficient index of all the components are self-contained technologies, as long as the beneficial effects can be achieved, implementation can be carried out, so no more description is made.

[0038] The above embodiment is the preferred embodiment of the present application, but the embodiment of the present application is not limited by the above embodiment, any change, modification, substitution, combination, simplification made without departing from the spirit and principle of the present application should be equivalent replacement, all included in the protection scope of the present application.

[0039] In the present application, unless otherwise stated, the orientation words contained in the terms such as up, down, left, right, front, back, inside, outside and vertical and horizontal only represent the orientation of the term in the conventional use state, or the common name understood by the person skilled in the art, and should not be regarded as a limitation of the term, at the same time, the ordinal terms such as first, second and third do not represent the specific number and order, but are only used for the differentiation of the name, and the term "include", "contain" or any other variant is intended to cover the non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed, or includes the elements inherent in such process, method, article or equipment.

Claims

1. An underwater positioning docking recovery device for AUVs, comprising an auxiliary receiving member (1) and a transverse docking unit (2), characterized in that, One end of the auxiliary adapter (1) is transversely mounted with a transverse docking unit (2), which comprises a docking cylinder (21) and a docking frame (22) mounted at one end of the docking cylinder (21), and the other end of the docking cylinder (21) is inserted into one side of the auxiliary adapter (1).

2. The underwater docking and recovery device for AUV according to claim 1, wherein, The docking frame (22) comprises a frame body (221) and a bearing frame (222) mounted on the side end face of the frame body (221), and the other side end face of the bearing frame (222) is annularly arranged with positioning frames (223), and the inner cavity of the frame body (221) is transversely provided with a drive shaft (224), and the outer ring of the drive shaft (224) is sleeved with a rotating docking frame (225).

3. The underwater docking and recovery apparatus for AUVs of claim 1, wherein, The docking frame (22) further comprises a support sleeve (226) mounted at an interval position between the positioning frames (223), and the support sleeve (226) is combined to form a cylindrical structure.

4. The underwater docking and recovery apparatus for AUVs of claim 1, wherein, The docking cylinder (21) comprises a cylinder body (211) and a sleeving ring (212) mounted at one end of the cylinder body (211), and a communication cavity (213) is formed in the middle of the sleeving ring (212), and the inner cavity of the communication cavity (213) is communicated with the drive shaft (224), and the other end of the drive shaft (224) is inserted into one side of the auxiliary adapter (1).

5. The underwater docking and recovery apparatus for AUVs of claim 4, wherein, One end of the drive shaft (224) is connected with the rotating docking frame (225) for rotation, and the drive shaft (224) rotates around the center of the frame body (221) as a fulcrum.

6. The underwater docking and recovery apparatus for AUVs of claim 1, wherein, The auxiliary adapter (1) comprises a mounting box (11) and a blocking box (12) mounted on the upper end face of the mounting box (11), the top of the blocking box (12) is mounted with a gravity block (13), the two sides of the mounting box (11) are mounted with reinforcing blocks (14), the outer end walls of the reinforcing blocks (14) are provided with mounting sheet plates (15), and the mounting sheet plates (15) and the handheld frame (16) can swing.

7. The underwater docking and recovery apparatus for AUVs of claim 6, wherein, The bottom of the mounting box (11) is arranged with anti-skid pads (17), and the anti-skid pads (17) are arranged at an interval position.

8. The underwater docking and recovery apparatus for AUVs of claim 7, wherein, The auxiliary adapter (1) further comprises a friction anti-skid pad (19) which can replace the sensor convex points (18).

9. The underwater docking and recovery apparatus for AUVs of claim 6, wherein, The blocking box (12) comprises triangular frame diagonal struts (121) and triangular frame cross struts (122) mounted between two groups of triangular frame diagonal struts (121), and triangular frame inclined ribs (123) are mounted on the edges of the two sides of the triangular frame cross struts (122).

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