A six-degree-of-freedom, all-attitude active docking device for deep-sea underwater vehicles

Abstract

This invention relates to the field of underwater docking technology for underwater vehicles, and discloses a deep-sea underwater vehicle all-attitude active docking device, comprising: a main frame mounted on a base plate, with a vehicle carrier mounted on the main frame, the vehicle carrier positioned above an adjusting base; the vehicle can travel along the x-axis to the top of the vehicle carrier and sink onto it; when the vehicle sinks onto the vehicle carrier, an unbalanced force is generated on the vehicle carrier, which can drive the vehicle carrier to move along the y-axis and z-axis; when the vehicle carrier is in equilibrium, the front end of the vehicle corresponds to the positioning post, and the tail end is in contact with the upper surface of the guide positioning post; an adjusting cylinder is used to drive the guide positioning post to rotate and adjust the vertical distance between the upper surface of the guide positioning post and the base plate. This invention has a simple positioning structure and small size, adaptable to the loading and docking requirements of miniaturized underwater vehicles, and achieves multi-degree-of-freedom attitude adjustment, improving docking positioning accuracy.

Description

Technical Field

[0001] This invention relates to the field of underwater docking technology for vehicles, and in particular to an active docking device for deep-sea underwater vehicles in all attitudes. Background Technology

[0002] With the rapid development of marine resource exploration, environmental monitoring and military reconnaissance, the application scenarios of underwater vehicles are becoming increasingly widespread. In the complex current field and sea conditions of the deep sea, the docking of underwater vehicles with recovery equipment after completing operations has become a key link to ensure the continuity of operations and the safety of equipment.

[0003] The existing docking devices for underwater vehicles and recovery equipment have the following technical defects: 1. Some docking devices use complex positioning structures, which are large in size and heavy in weight, and cannot meet the needs of mounting and docking miniaturized underwater vehicles; 2. Docking devices can generally achieve single-degree-of-freedom or few-degree-of-freedom attitude adjustment, but cannot achieve multi-degree-of-freedom or full-attitude adjustment, resulting in poor docking positioning accuracy.

[0004] In view of this, how to provide a docking device for underwater vehicle recovery that can partially or completely overcome the above-mentioned technical defects is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] The purpose of this invention is to provide an active docking device for deep-sea underwater vehicles in all attitudes, so as to solve the problems existing in the prior art.

[0006] To achieve the above objectives, the present invention provides a deep-sea underwater vehicle all-attitude active docking device, comprising: Base plate; The adjustment base is arranged on the upper surface of the base plate along the x-axis direction. One end of the base is fixed to the base plate by a positioning post, and the other end is hinged to the guide positioning post by the first hinge shaft. An adjusting cylinder is hinged to an adjusting base, and the telescopic rod of the adjusting cylinder is hinged to a guide positioning column; The main frame is set on the base plate, and the vehicle carrier is set on the main frame. The vehicle carrier is located above the adjustment base. The vehicle can travel along the x-axis to the top of the vehicle carrier and sink onto the vehicle carrier. When the vehicle sinks onto the vehicle carrier, the vehicle carrier generates an unbalanced force. The unbalanced force can drive the vehicle carrier to move along the y-axis and z-axis. When the vehicle carrier is in equilibrium, the front end of the vehicle corresponds to the positioning post, and the tail end is in contact with the upper surface of the guide positioning post. The adjustment cylinder is used to drive the guide positioning post to rotate and adjust the vertical distance between the upper surface of the guide positioning post and the base plate.

[0007] Furthermore, one end of the guide positioning post is hinged to the first hinge shaft, and the other end defines a connector with an arc-shaped contact surface, the arc-shaped contact surface of which is connected to the tail end of the vehicle.

[0008] Furthermore, one end of the adjusting base is provided with a connecting hole, the connecting hole being adapted to the shape of the positioning post, and the adjusting base being connected to the positioning post through the connecting hole.

[0009] Furthermore, the bottom of the main frame is connected to the bottom frame, the bottom frame is fixed to the base plate, the positioning column passes through the bottom frame and extends upward, the lower surface of the adjusting base is disposed on the connecting plate, and the connecting plate is disposed on the bottom frame.

[0010] Furthermore, the vehicle carrier includes: A support plate whose upper surface is adapted to the shape of the outer surface of the aircraft; Two linkage adjustment arms are symmetrically arranged on the left and right sides of the support plate along its length. One end of each linkage adjustment arm is movably connected to the support plate, and the other end extends upward and is movably connected to the main frame. The support plate can move between the two linkage adjustment arms along the y-axis and z-axis. The vehicle can sink onto the support plate and press down on it by gravity. At this time, the two linkage adjustment arms and the support plate generate unbalanced forces, causing the support plate to move towards the center between the two linkage adjustment arms. When the two linkage adjustment arms and the support plate reach force balance, the front end of the vehicle corresponds to the positioning post, and the tail end connects to the upper surface of the guide positioning post.

[0011] Furthermore, the linkage adjusting arm includes: The upper linkage arm, the main frame has a connecting rod arranged along the x-axis direction, the upper end of the upper linkage arm is hinged to the connecting rod, and the lower end is hinged to the second hinge axis; The lower linkage arm is hinged at one end to the second hinge shaft and at the other end to the supporting carrier plate.

[0012] Furthermore, the upper end of the upper linkage arm is hinged to the upper hinge seat, which is fixedly mounted on the connecting rod; the other end of the lower linkage arm is hinged to the lower hinge seat, which is fixedly mounted on the left and right sides of the supporting carrier plate.

[0013] Furthermore, the main frame is equipped with a non-disruptive scaling capture device, the middle of which defines a through hole. During the process of the vehicle traveling along the x-axis to above the vehicle carrier, the vehicle sinking onto the vehicle carrier, and the unbalanced force driving the vehicle carrier to move along the y-axis and z-axis, the front end of the vehicle is always within the through hole. When the vehicle carrier is in force balance, the non-disruptive scaling capture device actively limits the front end of the vehicle.

[0014] The present invention discloses the following technical effects: This invention employs a positioning structure consisting of a linkage adjustment arm, a support plate, and a main frame. After the vehicle sinks onto the support plate, its own weight can generate an unbalanced force on the positioning structure, causing the support plate to passively move towards the center of the two linkage adjustment arms. After the forces are balanced, the support plate is located at the center of the two linkage adjustment arms and corresponds to the positioning post, thus achieving positioning. The positioning structure is simple and small in size, and can meet the needs of mounting and docking miniaturized underwater vehicles.

[0015] In terms of attitude adjustment, the vehicle can automatically correct its attitude in the y-axis and z-axis directions through the positioning structure, and adjust its position in the x-axis direction through the vehicle's own thrusters. If the vehicle tilts in the x-axis direction, the height of the guide positioning column can be changed by adjusting the cylinder, thereby making the vehicle's attitude return to the correct position. This achieves multi-degree-of-freedom attitude adjustment and improves docking positioning accuracy. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the structure of the present invention; Figure 2 A schematic diagram showing the coordination of the base, positioning post, and guide positioning post; Figure 3 This is a schematic diagram of the support-type carrier plate connection; The components include: 1. base plate; 2. adjusting base; 3. positioning column; 4. guide positioning column; 5. adjusting cylinder; 6. main frame; 7. bottom frame; 8. connecting plate; 9. supporting carrier plate; 10. upper linkage arm; 11. lower linkage arm; 12. upper hinge seat; 13. lower hinge seat. Detailed Implementation

[0018] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0019] Those skilled in the art will understand that the term "comprising" as used in this application means the presence of the stated features, integers, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof. It should be understood that when we say an element is "connected" or "coupled" to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements present. Furthermore, "connected" or "coupled" as used herein can include wireless connections or wireless coupling. The term "and / or" as used herein includes all or any unit and all combinations of one or more associated listed items.

[0020] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figures 1-3 As shown, this embodiment of the invention provides a deep-sea underwater vehicle all-attitude active docking device, comprising: Base plate 1; Adjustable base 2 is arranged on the upper surface of base plate 1 along the x-axis direction. One end of it is fixed to base plate 1 by positioning post 3, and the other end is hinged to guide positioning post 4 by first hinge shaft. Adjusting cylinder 5 is hinged to adjusting base 2, and the telescopic rod of adjusting cylinder 5 is hinged to guide positioning post 4; The main frame 6 is set on the base plate 1, and the vehicle carrier is set on the main frame 6. The vehicle carrier is located above the adjustment base 2. The vehicle can travel along the x-axis to the top of the vehicle carrier and sink onto the vehicle carrier. When the vehicle sinks onto the vehicle carrier, the vehicle carrier generates an unbalanced force. The unbalanced force can drive the vehicle carrier to move along the y-axis and z-axis. When the vehicle carrier is in equilibrium, the front end of the vehicle corresponds to the positioning post 3 and the tail end is in contact with the upper surface of the guide positioning post 4. The adjustment cylinder 5 is used to drive the guide positioning post 4 to rotate and adjust the vertical distance between the upper surface of the guide positioning post 4 and the base plate 1.

[0022] In this embodiment, one end of the guide positioning post 4 is hinged to the first hinge shaft, and the other end defines a connector with an arc-shaped contact surface, which is connected to the tail end of the vehicle.

[0023] In this embodiment, one end of the adjusting base 2 is provided with a connecting hole, which is adapted to the shape of the positioning post 3. The adjusting base 2 is connected to the positioning post 3 through the connecting hole.

[0024] In this embodiment, the bottom of the main frame 6 is connected to the bottom frame 7, the bottom frame 7 is fixed to the base plate 1, the positioning column 3 passes through the bottom frame 7 and extends upward, the lower surface of the adjusting base 2 is set on the connecting plate 8, and the connecting plate 8 is set on the bottom frame 7.

[0025] In this embodiment, the vehicle carrier includes: The supporting carrier plate 9 has an upper surface that is adapted to the shape of the outer surface of the aircraft; Two linkage adjustment arms are symmetrically arranged on the left and right sides of the support plate 9 along its length. One end of the linkage adjustment arm is movably connected to the support plate 9, and the other end extends upward and is movably connected to the main frame 6. The support plate 9 can move between the two linkage adjustment arms along the y-axis and z-axis. The vehicle can sink onto the support plate 9 and press down on the support plate 9 by gravity. At this time, the two linkage adjustment arms and the support plate 9 generate unbalanced forces, causing the support plate 9 to move towards the center between the two linkage adjustment arms. When the two linkage adjustment arms and the support plate 9 reach force balance, the front end of the vehicle corresponds to the positioning post 3, and the tail end is connected to the upper surface of the guide positioning post 4.

[0026] In this embodiment, the linkage adjusting arm includes: The upper linkage arm 10 and the main frame 6 have connecting rods arranged along the x-axis. The upper end of the upper linkage arm 10 is hinged to the connecting rods, and the lower end is hinged to the second hinge shaft. The lower linkage arm 11 is hinged at one end to the second hinge shaft and at the other end to the supporting carrier plate 9.

[0027] In this embodiment, the upper end of the upper linkage arm 10 is hinged to the upper hinge seat 12, which is fixedly mounted on the connecting rod; the other end of the lower linkage arm 11 is hinged to the lower hinge seat 13, which is fixedly mounted on the left and right sides of the supporting carrier plate 9.

[0028] In this embodiment, a non-disruptive scaling capture device is provided on the main frame 6. The non-disruptive scaling capture device defines a through hole in the middle. During the process of the vehicle traveling along the x-axis to above the vehicle carrier, the vehicle sinking onto the vehicle carrier, and the unbalanced force driving the vehicle carrier to move along the y-axis and z-axis, the front end of the vehicle is located within the through hole. When the vehicle carrier is in force balance, the non-disruptive scaling capture device actively limits the front end of the vehicle.

[0029] It should be noted that, in this embodiment, the structure of the non-disruptive scaling catcher can adopt the circumferential synchronous contraction structure of the tail nozzle of an aero-engine in the prior art. It can achieve the change of diameter by contracting its own circumferential lobes. When contracting, it circumferentially surrounds and constrains the aircraft, restricting its horizontal lateral, vertical longitudinal translation and roll rotation, thereby achieving attitude limitation and guidance of the aircraft. This non-disruptive scaling catcher has no propulsion components and no additional water flow interference. It only completes the limiting action through mechanical clamping.

[0030] The specific work process is as follows: The vehicle travels along the x-axis to above the main frame 6, then descends onto the supporting platform 9. During descent, the vehicle's position along the x-axis is adjusted by its own propulsion. After descending onto the supporting platform 9, the propulsion stops. The vehicle presses down on the supporting platform 9. If the vehicle is not centered between the two linkage adjustment arms, the supporting platform 9 will inevitably exert different tensions on the two linkage adjustment arms on the left and right sides, resulting in an imbalance of forces on the entire structure. Under the action of this unbalanced force, the supporting platform 9 will automatically move towards the center position between the two linkage adjustment arms. During the movement, the linkage adjustment arms will rotate accordingly. When the supporting platform 9 moves to the center position between the two linkage adjustment arms, the forces are balanced, the front end of the vehicle aligns with the positioning post 3, and the tail end contacts the upper surface of the guide positioning post 4. If the vehicle tilts in the x-axis direction, the guide positioning column 4 can be rotated by adjusting the cylinder 5 and the vertical distance between the upper surface of the guide positioning column 4 and the base plate 1 can be adjusted so that the length direction of the vehicle is parallel to the x-axis direction, thus completing the attitude adjustment and enabling docking operation.

[0031] Before docking, the bow of the spacecraft can be actively limited by a non-disruptive scaling capture device to improve docking stability.

[0032] It should be noted that, in this embodiment, the specific architecture of the main frame 6 is not specifically limited. The main frame 6 is used for the installation of various structures and will not interfere with the movement of the various structures, nor will it affect the travel or sinking process of the vehicle.

[0033] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0034] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0035] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0036] The embodiments described above are merely preferred embodiments of the present invention and are not intended to limit the scope of the present invention. Various modifications and improvements made by those skilled in the art to the technical solutions of the present invention without departing from the spirit of the present invention should fall within the protection scope defined by the claims of the present invention.

Claims

1. A full-attitude active docking device for a deep-sea underwater vehicle, characterized in that, include: Base plate (1); Adjustment base (2) is arranged on the upper surface of base plate (1) along the x-axis direction. One end of it is fixed to base plate (1) by positioning column (3), and the other end is hinged to guide positioning column (4) by first hinge shaft. The adjusting cylinder (5) is hinged to the adjusting base (2), and the telescopic rod of the adjusting cylinder (5) is hinged to the guide positioning column (4); The main frame (6) is set on the base plate (1). The main frame (6) is equipped with a vehicle carrier, which is located above the adjustment base (2). The vehicle can travel along the x-axis to the top of the vehicle carrier and sink onto the vehicle carrier. When the vehicle sinks onto the vehicle carrier, the vehicle carrier generates an unbalanced force. The unbalanced force can drive the vehicle carrier to move along the y-axis and z-axis. When the vehicle carrier is in equilibrium, the front end of the vehicle corresponds to the positioning column (3), and the tail end is connected to the upper surface of the guide positioning column (4). The adjustment cylinder (5) is used to drive the guide positioning column (4) to rotate and adjust the vertical distance between the upper surface of the guide positioning column (4) and the base plate (1). The vehicle carrier includes: The supporting plate (9) has an upper surface that is adapted to the shape of the outer surface of the aircraft; Two linkage adjustment arms are symmetrically arranged on the left and right sides of the support plate (9) along its length. One end of the linkage adjustment arm is movably connected to the support plate (9), and the other end extends upward and is movably connected to the main frame (6). The support plate (9) can move between the two linkage adjustment arms along the y-axis and z-axis. The vehicle can sink onto the support plate (9) and press down on the support plate (9) by gravity. At this time, the two linkage adjustment arms and the support plate (9) generate unbalanced forces, causing the support plate (9) to move towards the center between the two linkage adjustment arms. When the two linkage adjustment arms and the support plate (9) reach force balance, the front end of the vehicle corresponds to the positioning column (3), and the tail end is connected to the upper surface of the guide positioning column (4). The linkage adjusting arm includes: The upper linkage arm (10) has a connecting rod arranged along the x-axis direction. The upper end of the upper linkage arm (10) is hinged to the connecting rod, and the lower end is hinged to the second hinge axis. The lower linkage arm (11) is hinged at one end to the second hinge shaft and at the other end to the supporting carrier plate (9).

2. The deep-sea underwater vehicle all-attitude active docking device according to claim 1, characterized in that, One end of the guide positioning post (4) is hinged to the first hinge shaft, and the other end defines a connector with an arc-shaped contact surface. The arc-shaped contact surface of the connector is connected to the tail end of the vehicle.

3. The deep-sea underwater vehicle all-attitude active docking device according to claim 1, characterized in that, One end of the adjustment base (2) is provided with a connecting hole, which is adapted to the shape of the positioning column (3). The adjustment base (2) is connected to the positioning column (3) through the connecting hole.

4. The deep-sea underwater vehicle all-attitude active docking device according to claim 3, characterized in that, The bottom of the main frame (6) is connected to the bottom frame (7), the bottom frame (7) is fixed on the base plate (1), the positioning column (3) passes through the bottom frame (7) and extends upward, the lower surface of the adjusting base (2) is set on the connecting plate (8), and the connecting plate (8) is set on the bottom frame (7).

5. The deep-sea underwater vehicle all-attitude active docking device according to claim 1, characterized in that, The upper end of the upper linkage arm (10) is hinged to the upper hinge seat (12), which is fixedly mounted on the connecting rod; the other end of the lower linkage arm (11) is hinged to the lower hinge seat (13), which is fixedly mounted on the left and right sides of the supporting plate (9).

6. A deep-sea underwater vehicle all-attitude active docking device according to any one of claims 1-5, characterized in that, The main frame (6) is provided with a non-disruptive scaling capture device. The non-disruptive scaling capture device defines a through hole in the middle. During the process of the vehicle traveling along the x-axis to above the vehicle carrier, the vehicle sinking onto the vehicle carrier, and the unbalanced force driving the vehicle carrier to move along the y-axis and z-axis, the front end of the vehicle is located within the through hole. When the vehicle carrier is in force balance, the non-disruptive scaling capture device actively limits the front end of the vehicle.

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