Large-scale heavy-load UUV (Unmanned Underwater Vehicle) laying and recycling mechanical arm based on series-parallel mechanism and active-passive compliant control

Abstract

The invention discloses a large-scale heavy-load UUV (Unmanned Underwater Vehicle) laying and recycling mechanical arm based on a hybrid mechanism and active and passive compliant control, belongs to the technical field of recycling mechanical arms, and aims to solve the problem that a mechanical structure of an existing mechanical arm is easy to damage due to vibration and overturning load in the UUV recycling process. The device comprises a multi-stage folding and unfolding unit used for adjusting the laying and recycling height, the multi-stage folding and unfolding unit is fixed to the bottom of a laying ship body, and a parking mechanism used for fixing a UUV is installed at the execution end of the multi-stage folding and unfolding unit; a compliance mechanical arm used for assisting the UUV to be in butt joint with the parking mechanism is installed on the front portion of the parking mechanism. A buffering mechanism used for reducing the butt joint impact force of the UUV is installed on the rear portion of the parking mechanism. The large-scale heavy-load UUV recycling device is mainly used for recycling the large-scale heavy-load UUV.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of recovery manipulator, and particularly relates to a large-scale heavy-load UUV launching and recovery manipulator based on a hybrid mechanism and active-passive compliant control. BACKGROUND

[0002] In the efficient and collaborative working scenario of modern task clusters, the role of unmanned underwater vehicles (UUV) in reconnaissance, patrol, alert and defense is indispensable, and large-scale heavy-load UUV has become a key force of new forms of equipment; the equipment development demand for realizing the rapid launching and recovery of large-scale heavy-load UUV is urgent. At present, most of the UUV recovery is carried out by surface ships and waterborne hoisting devices, which has relatively poor secrecy compared with underwater recovery methods, and there are short boards in the control system, for example, using a fishing net to launch and recover the unmanned underwater vehicle cannot control it. Using a hoisting device will completely expose the working target in the field of view, lack the necessary concealment, and have a large noise. In order to improve the problems existing in the current recovery process, some researches have proposed an underwater manipulator launching and recovery method, that is, using a working manipulator in the underwater environment to capture the unmanned underwater vehicle to complete the launching and recovery work. The underwater environment recovery method has smaller noise and better concealment than the water recovery method, but there are other problems. The vibration and overturning load generated by the manipulator during the recovery of the UUV will cause great challenges to the bearing capacity and mechanical structure of the manipulator, and the use of the manipulator as a recovery device also has a constraint range on the size of the UUV. Considering the large inertia of the large-scale heavy-load UUV recovery, the problems of translation, rotation deviation and relative speed of the relative recovery device, it is necessary to adapt to this tolerance to ensure the success rate of recovery, so it is very practical to develop a large-scale heavy-load UUV launching and recovery manipulator based on a hybrid mechanism and active-passive compliant control. SUMMARY

[0003] The present application is to solve the problem that the existing manipulator will generate vibration and overturning load during the recovery of the UUV, which is easy to cause damage to the mechanical structure of the manipulator, and further provides a large-scale heavy-load UUV launching and recovery manipulator based on a hybrid mechanism and active-passive compliant control.

[0004] A large-scale heavy-load UUV launching and recovery manipulator based on a hybrid mechanism and active-passive compliant control, the manipulator comprises a multi-stage folding unit for adjusting the launching and recovery height, and the multi-stage folding unit is fixed at the bottom of the launching ship body.

[0005] A berthing mechanism for fixing the UUV is installed on the execution end of the multi-stage folding unit;

[0006] A compliant manipulator for assisting the UUV to dock with the berthing mechanism is installed at the front of the berthing mechanism.

[0007] The rear part of the parking mechanism is provided with a buffer mechanism for reducing the docking impact force of the UUV;

[0008] Further, the power system integrated in the launching ship body provides power for the multi-stage folding and unfolding unit;

[0009] Further, the folding and unfolding unit comprises a first extension mechanism, the first extension mechanism is installed at the bottom of the launching ship body, a second parallel four-bar linkage folding and unfolding mechanism is installed at the execution end of the first extension mechanism, and the parking mechanism is installed at the execution end of the second parallel four-bar linkage folding and unfolding mechanism; the first extension mechanism and the second parallel four-bar linkage folding and unfolding mechanism are driven by the power system located in the launching ship body;

[0010] Further, the first extension mechanism comprises a middle telescopic support rod, the middle telescopic support rod is inserted into the bottom of the launching ship body and is in sliding connection with the launching ship body, a horizontal mounting plate is fixed to the bottom of the middle telescopic support rod, and one hydraulic push rod is arranged on each side of the middle telescopic support rod; one end of each hydraulic push rod is in rotary connection with the top of the horizontal mounting plate, and the other end of each hydraulic push rod extends into the launching ship body through a guide sleeve and is connected with the power system located in the launching ship body;

[0011] Further, the second parallel four-bar linkage folding and unfolding mechanism comprises two-stage arm body structures for folding and unfolding, one end of the two-stage arm body structures is fixed to the bottom of the horizontal mounting plate, a first-stage arm body assembly in the two-stage arm body structures is provided with a first driving hydraulic cylinder between the first-stage arm body assembly and the horizontal mounting plate, the first driving hydraulic cylinder is used to adjust the opening and closing angle between the first-stage arm body assembly and the horizontal mounting plate, and a second-stage arm body assembly in the two-stage arm body structures is provided with a second driving hydraulic cylinder between the second-stage arm body assembly and the first-stage arm body assembly, the second driving hydraulic cylinder is used to adjust the opening and closing angle between the second-stage arm body assembly and the first-stage arm body assembly;

[0012] Further, the parking mechanism comprises a limiting ring for fixing the UUV, the tail end of the limiting ring is provided with the buffer mechanism, the front end of the limiting ring is provided with a compliant ring for reducing the docking speed of the UUV, a plurality of flexible speed reduction teeth are equidistantly arranged on the inner wall of the compliant ring in the circumferential direction, and an outer ring is sleeved on the outside of the compliant ring and connected with the compliant ring through a damping assembly;

[0013] Further, the damping assembly comprises eight dampers, the eight dampers are evenly divided into two groups, the two groups of dampers are oppositely arranged along the center line of the height direction of the compliant ring, one end of each damper is hinged to the compliant ring, and the other end of each damper is hinged to the outer ring;

[0014] Further, the compliant manipulator comprises a mounting seat fixed on the outer ring, a first arm body is hinged on the mounting seat, a rotary joint is rotatably connected to the end of the first arm body, a second arm body is hinged on the rotary joint, a third arm body is hinged to the end of the second arm body, and a contact point for adjusting the docking direction of the UUV is hinged to the end of the third arm body.

[0015] Further, the buffer mechanism comprises an outer shell fixed at the end of the limiting ring, a momentum turbine for providing a buffer force is arranged in the inner part of the outer shell, and the axis of the momentum turbine is arranged in line with the axis of the limiting ring, a rotating shaft is inserted into the momentum turbine, the rotating shaft extends to the outside of the outer shell and is connected to the power output shaft of the power motor through a shaft coupling, and the power motor is fixed on the tail of the outer shell through a motor mounting bracket and is used to drive the rotation of the momentum turbine.

[0016] Further, the buffer mechanism comprises an outer shell fixed at the end of the limiting ring, a momentum turbine for providing a buffer force is arranged in the inner part of the outer shell, and the axis of the momentum turbine is arranged in line with the axis of the limiting ring, a rotating shaft is inserted into the momentum turbine, the rotating shaft extends to the outside of the outer shell and is connected to the power output shaft of the power motor through a shaft coupling, and the power motor is fixed on the tail of the outer shell through a motor mounting bracket and is used to drive the rotation of the momentum turbine.

[0017] The sliding structure comprises a motor clamping ring for sleeving on the power motor and a fixing ring for sleeving on the limiting ring, a supporting plate is fixed on the top of the fixing ring, and a telescopic hydraulic cylinder for driving the motor clamping ring to perform telescopic movement along the axis of the limiting ring is mounted on the supporting plate.

[0018] The beneficial effects of the present application relative to the prior art are:

[0019] The large-scale heavy-load UUV deployment and recovery manipulator based on the hybrid mechanism and the active-passive compliant control provided in the present application utilizes the tolerance mechanism combined with the hybrid mechanism, and the active-passive compliant control method can realize the recovery of the large-scale heavy-load UUV in the deep water environment, and the large-scale heavy-load UUV deployment and recovery manipulator based on the hybrid mechanism and the active-passive compliant control is developed, which breaks through the core technologies such as large-tolerance docking capture and lock separation, high-momentum low-impact contact behavior control and rapid energy release mechanism, and rigid-flexible multi-body system hydrodynamics coupling vibration transmission mechanism.

[0020] In the development of the present application, the common problems of space docking and underwater docking are considered: low gravity environment, collision and relative static dynamics process, energy dissipation system, tolerance initial condition is transformed into docking problem, passive docking has low dependence on sensing, but the success rate can be guaranteed, and the introduction of compliant and buffer energy dissipation mechanism in the docking process can effectively reduce the collision impact force peak value, reduce the risk of mechanical system, and realize rapid braking. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 Front view of the mechanical arm according to the present application;

[0022] Figure 2 Right view of the mechanical arm according to the present application;

[0023] Figure 3 Left view of the mechanical arm according to the present application;

[0024] Figure 4 Front view of the multi-stage folding and unfolding unit in the mechanical arm according to the present application;

[0025] Figure 5 Axial view of the parking mechanism in the mechanical arm according to the present application;

[0026] Figure 6 Front view of the parking mechanism in the mechanical arm according to the present application;

[0027] Figure 7 Structural view of the parking mechanism in the mechanical arm according to the present application;

[0028] Figure 8 Structural view of the compliant manipulator in the mechanical arm according to the present application;

[0029] Figure 9 Front view of the buffer mechanism in the mechanical arm according to the present application;

[0030] Figure 10 Arrangement view of the momentum turbine in the buffer mechanism according to the first embodiment of the present application;

[0031] Figure 11 Front view of the mechanical arm according to the present application;

[0032] Figure 12 Front view of the buffer mechanism in the mechanical arm according to the present application;

[0033] Figure 13 Arrangement view of the momentum turbine in the buffer mechanism according to the present application;

[0034] 1 primary extension mechanism, 11 middle telescopic support rod, 12 guide sleeve, 13 hydraulic push rod, 14 horizontal mounting plate;

[0035] 2 secondary parallel four-bar linkage folding and unfolding mechanism, 21 upper connecting block, 22 middle connecting block, 23 lower connecting block, 24 No. 1 connecting rod, 25 No. 2 connecting rod, 26 No. 3 connecting rod, 27 No. 4 connecting rod, 28 No. 1 driving hydraulic cylinder, 29 No. 2 driving hydraulic cylinder;

[0036] 3 parking mechanism, 31 compliant ring, 32 outer ring, 33 damper, 34 limit ring, 35 flexible deceleration tooth;

[0037] 4 compliant manipulator, 41 mounting seat, 42 first arm body, 43 rotating joint, 44 second arm body, 45 third arm body, 46 contact point;

[0038] 5 buffer mechanism, 51 outer shell, 511 walking channel, 52 power motor, 53 coupling, 54 momentum turbine, 55 motor mounting rack, 56 motor clamping ring, 561 guide sliding block, 57 fixed ring, 58 supporting plate, 581 guide sliding rail, 59 telescopic hydraulic cylinder;

[0039] 6 launching ship body;

[0040] 7 unmanned underwater vehicle. DETAILED DESCRIPTION

[0041] Specific implementation one: combined Figures 1 to 10 In this embodiment, a large-scale heavy-load UUV launching and recovering manipulator based on hybrid mechanism and active-passive compliant control is provided. The manipulator includes a multi-stage folding and unfolding unit for adjusting the launching and recovering height, which is fixed at the bottom of the launching ship body 6;

[0042] A parking mechanism 3 for fixing the UUV is installed on the execution end of the multi-stage folding and unfolding unit;

[0043] A compliant manipulator 4 for assisting the UUV to dock with the parking mechanism 3 is installed at the front of the parking mechanism 3;

[0044] A buffer mechanism 5 for reducing the impact force of UUV docking is installed at the rear of the parking mechanism 3;

[0045] A power system for providing power for the multi-stage folding and unfolding unit is integrated in the launching ship body 6;

[0046] The multi-stage folding and unfolding unit includes a first extension mechanism 1, which is installed at the bottom of the launching ship body 6. A second parallel four-bar linkage folding and unfolding mechanism 2 is installed on the execution end of the first extension mechanism 1. The parking mechanism 3 is installed on the execution end of the second parallel four-bar linkage folding and unfolding mechanism 2. The first extension mechanism 1 and the second parallel four-bar linkage folding and unfolding mechanism 2 are both driven by the power system located in the launching ship body 6;

[0047] The first-stage extension mechanism 1 comprises a middle telescopic support rod 11 which is inserted into the bottom of the delivery hull 6 and is in sliding connection with the delivery hull 6, the bottom of the middle telescopic support rod 11 is fixedly connected with a horizontal mounting plate 14, and the two sides of the middle telescopic support rod 11 are respectively provided with a hydraulic push rod 13, one end of each hydraulic push rod 13 is rotatably connected with the top of the horizontal mounting plate 14, and the other end of each hydraulic push rod 13 extends into the delivery hull 6 through a guide sleeve 12 and is connected with a power system in the delivery hull 6;

[0048] The second-stage parallel four-bar linkage folding and unfolding mechanism 2 comprises a two-stage arm body structure for folding and unfolding, one end of the two-stage arm body structure is fixedly connected with the bottom of the horizontal mounting plate 14, a first-stage arm body assembly in the two-stage arm body structure is provided with a first-stage driving hydraulic cylinder 28 between the first-stage arm body assembly and the horizontal mounting plate 14, the first-stage driving hydraulic cylinder 28 is used to adjust the opening and closing angle between the first-stage arm body assembly and the horizontal mounting plate 14, and a second-stage arm body assembly in the two-stage arm body structure is provided with a second-stage driving hydraulic cylinder 29 between the second-stage arm body assembly and the first-stage arm body assembly, the second-stage driving hydraulic cylinder 29 is used to adjust the opening and closing angle between the second-stage arm body assembly and the first-stage arm body assembly;

[0049] The parking mechanism 3 comprises a limiting ring 34 for fixing the UUV, a buffer mechanism 5 is installed at the tail end of the limiting ring 34, a compliant ring 31 for reducing the docking speed of the UUV is installed at the front end of the limiting ring 34, a plurality of flexible speed reduction teeth 35 are equidistantly arranged on the inner wall of the compliant ring 31 in the circumferential direction, and an outer ring 32 is sleeved outside the compliant ring 31 and is connected with the compliant ring 31 through a damping assembly;

[0050] The damping assembly comprises eight dampers 33 which are evenly divided into two groups, the two groups of dampers 33 are oppositely arranged along the center line of the compliant ring 31 in the height direction, one end of each damper 33 is hingedly connected with the compliant ring 31, and the other end of each damper 33 is hingedly connected with the outer ring 32;

[0051] The compliant manipulator 4 comprises a mounting seat 41 for being fixed on the outer ring 32, a first-stage arm body 42 is hingedly connected on the mounting seat 41, a rotary joint 43 is rotatably connected at the end of the first-stage arm body 42, a second-stage arm body 44 is hingedly connected on the rotary joint 43, a third-stage arm body 45 is hingedly connected at the end of the second-stage arm body 44, and a contact 46 for adjusting the docking direction of the UUV is hingedly connected at the end of the third-stage arm body 45;

[0052] The buffer mechanism 5 comprises a housing 51 fixed at the end of the limiting ring 34, the inside of the housing 51 is provided with a momentum turbine 54 for providing a buffer force, and the axis of the momentum turbine 54 is arranged in line with the axis of the limiting ring 34, a rotating shaft is inserted in the momentum turbine 54, the rotating shaft extends to the outside of the housing 51 and is connected with the power output shaft of a power motor 52 through a shaft coupling 53, the power motor 52 is fixed at the tail of the housing 51 through a motor mounting bracket 55 and is used to drive the rotation of the momentum turbine 54.

[0053] In the embodiment, the multi-stage folding and unfolding unit is used to solve the problem of horizontal posture adjustment and storage of the distal end of the mechanical arm. The multi-stage folding and unfolding unit generally has a two-stage structure. The first stage structure is a one-stage extension mechanism 1. The one-stage extension mechanism 1 mainly relies on two hydraulic push rods 13 to realize work. The cylinder part of the hydraulic push rod 13 is contained in the launching ship body 6. The piston rod end of the hydraulic push rod 13 extends to the lower side of the launching ship body 6. A guide sleeve 12 is arranged at the bottom of the launching ship body 6 and corresponds to the hydraulic push rod 13. The guide sleeve 12 is used to constrain the working path of the piston rod in the hydraulic push rod 13 on the one hand, and a sealing washer is arranged between the guide sleeve 12 and the piston rod in the hydraulic push rod 13 on the other hand, which is beneficial to improve the sealing performance of the bottom of the launching ship body 6. A horizontal mounting plate 14 is used to carry a two-stage parallel four-bar linkage folding and unfolding mechanism 2. A middle telescopic support rod 11 is used to assist the support of the horizontal mounting plate 14 and ensure the stability of the axial movement of the horizontal mounting plate 14 along with the screw rod 13. The unfolding stroke of the one-stage extension mechanism 1 can reach 6096 mm (only the length in the water body), and the height after complete compression is 629 mm (only the length in the water body). The two-stage parallel four-bar linkage folding and unfolding mechanism 2 located below the one-stage extension mechanism 1 can realize the unfolding of single-degree-of-freedom translation.The upper connecting block 21, the middle connecting block 22 and the lower connecting block 23 in the secondary parallel four-bar linkage folding and unfolding mechanism 2 constitute three main nodes, wherein the upper connecting block 21 is used for connecting with the horizontal mounting plate 14, the lower connecting block 23 is used for connecting with the parking mechanism 3, the secondary parallel four-bar linkage folding and unfolding mechanism 2 comprises two parallel four-bar linkage structures, the middle connecting block 22 serves as a connecting inflection point between the two parallel four-bar linkage structures to realize the folding and unfolding action between the two parallel four-bar linkage structures, the first parallel four-bar linkage structure in the secondary parallel four-bar linkage folding and unfolding mechanism 2 is composed of the upper connecting block 21, the middle connecting block 22, a first connecting rod 24 and a second connecting rod 25, wherein the first connecting rod 24 and the second connecting rod 25 are arranged in parallel above and below between the upper connecting block 21 and the middle connecting block 22, and the two ends of the first connecting rod 24 are respectively hinged to the upper connecting block 21 and the middle connecting block 22, and the two ends of the second connecting rod 25 are respectively hinged to the upper connecting block 21 and the middle connecting block 22, the second parallel four-bar linkage structure in the secondary parallel four-bar linkage folding and unfolding mechanism 2 is composed of the middle connecting block 22, the lower connecting block 23, a third connecting rod 26 and a fourth connecting rod 27, the third connecting rod 26 and the fourth connecting rod 27 are arranged in parallel above and below between the middle connecting block 22 and the lower connecting block 23, and the two ends of the third connecting rod 26 are respectively hinged to the middle connecting block 22 and the lower connecting block 23, and the two ends of the fourth connecting rod 27 are respectively hinged to the middle connecting block 22 and the lower connecting block 23, the first parallel four-bar linkage structure and the second parallel four-bar linkage structure adopt independent driving mode, the driving component of the first parallel four-bar linkage structure is a first driving hydraulic cylinder 28, the cylinder body of the first driving hydraulic cylinder 28 is hinged to the horizontal mounting plate 14, and the piston rod end of the first driving hydraulic cylinder 28 is hinged to the second connecting rod 25, when the first driving hydraulic cylinder 28 extends, the first parallel four-bar linkage structure unfolds relative to the horizontal mounting plate 14, when the first driving hydraulic cylinder 28 retracts, the first parallel four-bar linkage structure folds relative to the horizontal mounting plate 14, the driving component of the second parallel four-bar linkage structure is a second driving hydraulic cylinder 29, the cylinder body of the second driving hydraulic cylinder 29 is hinged to the second connecting rod 25, and the piston rod end of the second driving hydraulic cylinder 29 is hinged to the third connecting rod 26, when the second driving hydraulic cylinder 29 extends, the second parallel four-bar linkage structure unfolds relative to the first parallel four-bar linkage structure, when the second driving hydraulic cylinder 29 retracts, the second parallel four-bar linkage structure folds relative to the first parallel four-bar linkage structure;

[0054] The power source of the hydraulic push rod 13, the first driving hydraulic cylinder 28 and the second driving hydraulic cylinder 29 is a hydraulic subsystem in the power system, which comprises a servo actuator assembly hydraulic source, a distributor, a pipeline system, and a servo actuator assembly comprising a servo actuator and a servo valve, and mainly realizes the driving and servo control functions of the large-scale heavy-load UUV launching and recovering mechanical arm based on the hybrid mechanism and the active-passive compliant control. The hydraulic source provides hydraulic oil with certain pressure and flow rate for the system. The distributor is divided into a main distributor and a sub-distributor, and mainly functions to distribute the flow rate of the hydraulic oil in the system;

[0055] The parking mechanism 3 is the main structure for recovering the UUV in the application, which can complete the six-degree-of-freedom pose correction of the UUV docking. The core of the parking mechanism 3 is realized based on a 6-DOF parallel mechanism, which adopts an anisotropic elliptical distribution mirror symmetry decoupling parallel mechanism (8 dampers 33) design to ensure the space storage capacity and high-precision control performance. The 6-DOF parallel mechanism has intrinsic line decoupling characteristics and low dynamic coupling. It has precise positioning and pointing capability to ensure the alignment and pose adjustment and transfer. The component for docking with the UUV in the parking mechanism 3 is the compliant ring 31, and the outer ring 32 is sleeved outside the compliant ring 31. The outer ring 32 includes two end ring bodies, and a plurality of connecting plates are equidistantly arranged between the two end ring bodies in the circumferential direction. The two ends of each connecting plate are fixedly connected with one of the end ring bodies. The 8 dampers 33 are evenly divided into two groups, and the two groups of dampers 33 are arranged at the two ends of the compliant ring 31, respectively. The four dampers 33 at each end of the compliant ring 31 are equidistantly arranged in the circumferential direction, and the two groups of dampers 33 are arranged in a staggered manner. One end of each damper 33 is hingedly connected with the compliant ring 31, and the other end of each damper 33 is hingedly connected with one of the end ring bodies in the outer ring 32. The compliant ring 31 is floatingly connected in the outer ring 32 through the 8 dampers 33, and the pose correction with the UUV is realized through the free floating of the compliant ring 31 in the outer ring 32. In order to reduce the working speed of the UUV during docking and reduce the impact force of the UUV on the recovery device, a plurality of flexible speed reduction teeth 35 are also arranged on the inner wall of the compliant ring 31 in the circumferential direction. The flexible speed reduction teeth 35 are used to preliminarily slow down the UUV, and at the same time, the flexible speed reduction teeth 35 also cooperate with the limiting grooves on the outer wall of the UUV. When the UUV reaches the recovery position, the flexible speed reduction teeth 35 can be used to assist in fixing the UUV to prevent it from separating from the recovery device;

[0056] In order to improve the working range of the parking mechanism 3, there is a rotating platform between the parking mechanism 3 and the two-stage parallel four-bar linkage folding and unfolding mechanism 2. The rotating platform is fixed at the bottom of the lower connecting block 23, and the power input end thereof is connected with the power output end in the power system. The outer ring 32 is connected with the rotating end of the rotating platform. Under the drive of the rotating platform, the parking mechanism 3 can realize the alignment of horizontal offset ±2m (the main direction is Y direction, and X direction is the heading direction), and can work in the horizontal plane ±110°.

[0057] The compliant manipulator 4 is a two-degree-of-freedom yaw and pitch series mechanism, has a coarse pointing positioning function and an auxiliary compliance function, the coarse pointing positioning function is used for completing the early preparation work of the docking operation, mainly including rotating the docking direction of the UUV, so that the UUV can be accurately docked with the compliant ring 31 and finally enter the limiting ring 34;

[0058] The buffer mechanism 5 is a component part in the application, and its main function is to reduce the impact force of the UUV on the recovery manipulator during docking. The working principle is that the momentum turbine 54 is driven to rotate by the power motor 52 to provide a recoil force for the UUV. The recoil force will continuously reduce the momentum of the UUV when the UUV docks. When the momentum of the UUV is almost exhausted, the berthing mechanism 3 and the compliant manipulator 4 are used for locking and positioning the UUV, the folding and unfolding mechanism is recovered, and one recovery operation is completed.

[0059] Specific implementation method two: combined with Figures 4 to 8 and Figures 11 to 13 This embodiment provides a large-scale heavy-load UUV deployment and recovery manipulator based on a hybrid mechanism and active-passive compliant control. The manipulator includes a multi-stage folding and unfolding unit for adjusting the deployment and recovery height, and the multi-stage folding and unfolding unit is fixed at the bottom of the launching ship body 6.

[0060] A berthing mechanism 3 for fixing the UUV is installed on the execution end of the multi-stage folding and unfolding unit;

[0061] A compliant manipulator 4 for assisting the UUV to dock with the berthing mechanism 3 is installed at the front of the berthing mechanism 3;

[0062] A buffer mechanism 5 for reducing the impact force of the UUV during docking is installed at the rear of the berthing mechanism 3;

[0063] A power system for providing power for the multi-stage folding and unfolding unit is integrated in the launching ship body 6;

[0064] The folding and unfolding unit includes a first extension mechanism 1, the first extension mechanism 1 is installed at the bottom of the launching ship body 6, a second parallel four-bar linkage folding and unfolding mechanism 2 is installed on the execution end of the first extension mechanism 1, the berthing mechanism 3 is installed on the execution end of the second parallel four-bar linkage folding and unfolding mechanism 2, and the first extension mechanism 1 and the second parallel four-bar linkage folding and unfolding mechanism 2 are driven by the power system located in the launching ship body 6;

[0065] The first-stage extension mechanism 1 comprises a middle telescopic support rod 11 which is inserted into the bottom of the delivery hull 6 and is in sliding connection with the delivery hull 6, the bottom of the middle telescopic support rod 11 is fixedly connected with a horizontal mounting plate 14, and the two sides of the middle telescopic support rod 11 are respectively provided with a hydraulic push rod 13, one end of each hydraulic push rod 13 is rotatably connected with the top of the horizontal mounting plate 14, and the other end of each hydraulic push rod 13 extends into the delivery hull 6 through a guide sleeve 12 and is connected with a power system in the delivery hull 6;

[0066] The second-stage parallel four-bar linkage folding and unfolding mechanism 2 comprises a two-stage arm body structure for folding and unfolding, one end of the two-stage arm body structure is fixedly connected with the bottom of the horizontal mounting plate 14, a first-stage arm body assembly in the two-stage arm body structure is provided with a first-stage driving hydraulic cylinder 28 between the first-stage arm body assembly and the horizontal mounting plate 14, the first-stage driving hydraulic cylinder 28 is used to adjust the opening and closing angle between the first-stage arm body assembly and the horizontal mounting plate 14, and a second-stage arm body assembly in the two-stage arm body structure is provided with a second-stage driving hydraulic cylinder 29 between the second-stage arm body assembly and the first-stage arm body assembly, the second-stage driving hydraulic cylinder 29 is used to adjust the opening and closing angle between the second-stage arm body assembly and the first-stage arm body assembly;

[0067] The parking mechanism 3 comprises a limiting ring 34 for fixing the UUV, a buffer mechanism 5 is installed at the tail end of the limiting ring 34, a compliant ring 31 for reducing the docking speed of the UUV is installed at the front end of the limiting ring 34, a plurality of flexible speed reduction teeth 35 are equidistantly arranged on the inner wall of the compliant ring 31 in the circumferential direction, and an outer ring 32 is sleeved outside the compliant ring 31 and is connected with the compliant ring 31 through a damping assembly;

[0068] The damping assembly comprises eight dampers 33 which are evenly divided into two groups, the two groups of dampers 33 are oppositely arranged along the center line of the compliant ring 31 in the height direction, one end of each damper 33 is hingedly connected with the compliant ring 31, and the other end of each damper 33 is hingedly connected with the outer ring 32;

[0069] The compliant manipulator 4 comprises a mounting seat 41 for being fixed on the outer ring 32, a first-stage arm body 42 is hingedly connected to the mounting seat 41, a rotary joint 43 is rotatably connected to the end of the first-stage arm body 42, a second-stage arm body 44 is hingedly connected to the rotary joint 43, a third-stage arm body 45 is hingedly connected to the end of the second-stage arm body 44, and a contact 46 for adjusting the docking direction of the UUV is hingedly connected to the end of the third-stage arm body 45;

[0070] The buffer mechanism 5 comprises a shell 51 fixed at the end of the limiting ring 34, the inside of the shell 51 is provided with a momentum turbine 54 for providing a buffer force, the axis of the momentum turbine 54 is arranged in line with the axis of the limiting ring 34, a rotating shaft is inserted in the momentum turbine 54, the rotating shaft extends to the outside of the shell 51 and is connected with the power output shaft of the power motor 52 through a shaft coupling 53, the power motor 52 is fixed on the limiting ring 34 through a sliding structure and is used for driving the momentum turbine 54 to rotate;

[0071] The sliding structure comprises a motor clamping ring 56 sleeved on the power motor 52 and a fixed ring 57 sleeved on the limiting ring 34, the top of the fixed ring 57 is fixed with a supporting plate 58, and the supporting plate 58 is provided with a telescopic hydraulic cylinder 59 used for driving the motor clamping ring 56 to perform telescopic movement along the axis of the limiting ring 34.

[0072] The difference between the technical scheme provided in the embodiment and the technical scheme in the first embodiment is that the buffer mechanism 5 is further optimized, in the embodiment, the momentum turbine 54 can move in the same direction along the movement direction of the UUV under the driving of the telescopic hydraulic cylinder 59, in combination with Figure 13 As shown in the figure, in the embodiment, a running channel 511 is added in the shell 51, and the initial position of the momentum turbine 54 is also moved from the tail of the shell 51 to the front end of the shell 51, when the UUV is to be docked with the recovery device, the momentum turbine 54 is driven to rotate by the power motor 52 and provides a recoil force, at the same time, the telescopic hydraulic cylinder 59 drives the momentum turbine 54 to move synchronously to the tail of the shell 51 in the process of moving the UUV to the limiting ring 34, so as to ensure the continuity of the recoil force and further ensure the stability of the docking of the UUV and the recovery device.

[0073] The above has disclosed the preferred embodiments of the present application, however, is not used to limit the present application, any person skilled in the art, without departing from the technical scheme of the present application, can make some changes or modifications to the above disclosed structure and technical content for equivalent embodiments, but any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present application, all still belong to the technical scheme range of the present application.

[0074] Working principle

[0075] The working principle of the present application will be described below with the structure disclosed in the second embodiment;

[0076] The application firstly assembles each component according to the connection relationship in the second embodiment of the embodiment, and puts the mechanical arm structure into the recovery water area. When the UUV approaches the recovery device, the multi-stage folding and unfolding unit is unfolded to a suitable size, and the working angle of the parking mechanism 3 is adjusted to make the axis of the parking mechanism 3 and the axis of the unmanned underwater vehicle be centered. The unmanned underwater vehicle continues to move forward, and when it is about to enter the parking mechanism 3, the momentum turbine 54 performs a recoil operation. The momentum turbine 54 slides with the forward movement of the unmanned underwater vehicle under the drive of the telescopic hydraulic cylinder 59. The turbine recoil produces a buffering effect to reduce the kinetic energy of the unmanned underwater vehicle. When the momentum of the unmanned underwater vehicle is almost exhausted, it is locked and positioned by the parking mechanism 3 and the compliant manipulator 4. The folding and unfolding mechanism is recovered, and a recovery operation is completed;

[0077] When the UUV is deployed, the inverse operation of UUV recovery is performed. When the UUV is deployed, the compliant manipulator 4 is unlocked and restrained to the UUV. At the same time, the momentum turbine 54 performs a positive shock operation. Under the action of the positive shock force provided by the momentum turbine 54 and the driving force of the UUV itself, the UUV can release the constraint of the flexible deceleration tooth 35 in the parking mechanism 3 to separate from the parking mechanism 3 and perform underwater free navigation.

Claims

1. A large-scale, heavy-duty UUV deployment and retrieval robotic arm based on a hybrid mechanism and active / passive compliant control, characterized in that: The robotic arm includes a multi-stage folding unit for adjusting the deployment and retrieval height, which is fixed to the bottom of the deployment hull (6); The execution end of the multi-stage unfolding unit is equipped with a parking mechanism for fixing the UUV (3); The front of the parking mechanism (3) is equipped with an compliant manipulator (4) to assist the UUV in docking with the parking mechanism (3). The rear of the mooring mechanism (3) is equipped with a buffer mechanism (5) to reduce the impact force of UUV docking.

2. The robotic arm for deploying and retrieving large-scale heavy-duty UUVs based on a hybrid mechanism and active / passive compliant control, as described in claim 1, is characterized in that: The launch hull (6) integrates a power system that provides power to the multi-stage folding units.

3. The large-scale heavy-duty UUV deployment and retrieval robotic arm based on a hybrid mechanism and active-passive compliant control as described in claim 2, characterized in that: The multi-stage folding unit includes a first-stage extension mechanism (1), which is installed at the bottom of the launch hull (6). A second-stage parallel four-bar folding mechanism (2) is installed on the execution end of the first-stage extension mechanism (1). A mooring mechanism (3) is installed on the execution end of the second-stage parallel four-bar folding mechanism (2). Both the first-stage extension mechanism (1) and the second-stage parallel four-bar folding mechanism (2) are powered by a power system located in the launch hull (6).

4. The large-scale heavy-duty UUV deployment and retrieval robotic arm based on a hybrid mechanism and active-passive compliant control as described in claim 3, characterized in that: The first-level extension mechanism (1) includes a central telescopic support rod (11), which is inserted into the bottom of the launch vessel (6) and slidably connected to the launch vessel (6). A horizontal mounting plate (14) is fixed to the bottom of the central telescopic support rod (11). A hydraulic push rod (13) is provided on each side of the central telescopic support rod (11). One end of each hydraulic push rod (13) is rotatably connected to the top of the horizontal mounting plate (14), and the other end of each hydraulic push rod (13) extends into the launch vessel (6) through a guide sleeve (12) and is connected to the power system located in the launch vessel (6).

5. The large-scale heavy-duty UUV deployment and retrieval robotic arm based on a hybrid mechanism and active-passive compliant control as described in claim 4, characterized in that: The two-stage parallel four-bar folding mechanism (2) includes a two-stage boom structure for folding and unfolding. One end of the two-stage boom structure is fixed to the bottom of the horizontal mounting plate (14). A first-stage boom assembly in the two-stage boom structure is provided between the first-stage boom assembly and the horizontal mounting plate (14). The first-stage boom assembly (28) is used to adjust the opening and closing angle between the first-stage boom assembly and the horizontal mounting plate (14). A second-stage boom assembly (29) is provided between the first-stage boom assembly in the two-stage boom structure and the second-stage boom assembly in the two-stage boom structure. The second-stage boom assembly (29) is used to adjust the opening and closing angle between the second-stage boom assembly and the first-stage boom assembly.

6. The large-scale heavy-duty UUV deployment and retrieval robotic arm based on a hybrid mechanism and active-passive compliant control as described in claim 5, characterized in that: The parking mechanism (3) includes a limiting ring (34) for fixing the UUV. A buffer mechanism (5) is installed at the tail end of the limiting ring (34). A compliant ring (31) for reducing the docking speed of the UUV is installed at the front end of the limiting ring (34). Multiple flexible deceleration teeth (35) are provided at equal intervals along the circumference on the inner wall of the compliant ring (31). An outer ring (32) is sleeved on the outside of the compliant ring (31). The outer ring (32) is connected to the compliant ring (31) through a damping component.

7. The large-scale heavy-duty UUV deployment and retrieval robotic arm based on a hybrid mechanism and active-passive compliant control as described in claim 6, characterized in that: The damping assembly includes eight dampers (33), which are divided into two groups. The two groups of dampers (33) are staggered relative to each other along the center line of the compliant ring (31). One end of each damper (33) is hinged to the compliant ring (31), and the other end of each damper (33) is hinged to the outer ring (32).

8. The large-scale heavy-duty UUV deployment and retrieval robotic arm based on a hybrid mechanism and active-passive compliant control as described in claim 7, characterized in that: The compliant manipulator (4) includes a mounting base (41) for fixing to an outer ring (32), a first arm body (42) is hinged to the mounting base (41), a rotary joint (43) is rotatably connected to the end of the first arm body (42), a second arm body (44) is hinged to the rotary joint (43), a third arm body (45) is hinged to the end of the second arm body (44), and a contact (46) for adjusting the docking direction of the UUV is hinged to the end of the third arm body (45).

9. A large-scale heavy-duty UUV deployment and retrieval robotic arm based on a hybrid mechanism and active-passive compliant control as described in claim 8, characterized in that: The buffer mechanism (5) includes a housing (51) for fixing to the end of the limiting ring (34). Inside the housing (51) is a momentum turbine (54) for providing buffering force. The axis of the momentum turbine (54) is collinear with the axis of the limiting ring (34). A rotating shaft is inserted in the momentum turbine (54). The rotating shaft extends to the outside of the housing (51) and is connected to the power output shaft of the power motor (52) through a coupling (53). The power motor (52) is fixed to the tail of the housing (51) through a motor mounting bracket (55) and is used to drive the momentum turbine (54) to rotate.

10. A large-scale heavy-duty UUV deployment and retrieval robotic arm based on a hybrid mechanism and active-passive compliant control as described in claim 9, characterized in that: The buffer mechanism (5) includes a housing (51) for fixing to the end of the limiting ring (34). Inside the housing (51) is a momentum turbine (54) for providing buffering force. The axis of the momentum turbine (54) is collinear with the axis of the limiting ring (34). A rotating shaft is inserted in the momentum turbine (54). The rotating shaft extends to the outside of the housing (51) and is connected to the power output shaft of the power motor (52) through a coupling (53). The power motor (52) is fixed on the limiting ring (34) through a sliding structure and is used to drive the momentum turbine (54) to rotate. The sliding structure includes a motor clamping ring (56) for mounting on the power motor (52) and a fixing ring (57) for mounting on the limiting ring (34). A support plate (58) is fixed on the top of the fixing ring (57), and a telescopic hydraulic cylinder (59) is installed on the support plate (58) for driving the motor clamping ring (56) to telescopically move along the axial direction of the limiting ring (34).

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