Quick change-over device for underwater AUV (Autonomous Underwater Vehicle) tool

Abstract

The utility model discloses a quick change-over device for an underwater AUV (Autonomous Underwater Vehicle) tool, and relates to the technical field of deep sea AUV seabed long-term residence type equipment. The locking and positioning mechanism is placed at the lower end of the guiding and positioning mechanism; the tool replacing mechanism is mounted at the rear end of the guiding and positioning mechanism; the guiding and positioning mechanism and the tool replacing mechanism are both mounted at the upper end of the hydraulic power mechanism; according to the locking and positioning mechanism, the three V-shaped baffles are adopted in the upper part, the two supporting rings are arranged in the middles of the two V-shaped baffles in the lower part, the AUV can be fixed to the tangent plane of the V-shaped baffle at the upper end by stretching out and lifting the two supporting rings through the second hydraulic cylinder, and centering of the AUV is achieved; the guiding and positioning mechanism adopts a non-closed convex guiding cover, so that the resistance in water and the weight of the guiding and positioning mechanism are reduced, and the collision force with an AUV (Autonomous Underwater Vehicle) can be reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of deep-sea AUV long-term resident equipment on the seabed, in particular to a rapid switching device for underwater AUV tools. Background Art

[0002] The ocean is the cradle of life, with vast space and rich natural resources. It is a treasure trove of resources and strategic space to support future development. At present, facing the situation of increasingly depleted resources on land and coastal areas, the world's development center is gradually turning to the deep sea. Therefore, we should further increase the importance of developing new deep sea strategic space, independently develop deep sea equipment, and carry out marine research, which is of great significance to the exploration and development of marine resources, national defense and military and other fields.

[0003] Autonomous underwater robot (AUV: Autonomous Underwater Vehicle) is an important underwater vehicle, which is widely used in the fields of marine scientific investigation, oilfield exploration, etc. However, due to the limited tools carried by the AUV itself, different operating tools need to be replaced according to different operating environments. The process of recovering and releasing the AUV again is cumbersome, which greatly increases the cost of using the AUV. However, there is little research on the replacement technology of AUV underwater operating tools in China, and the related technical problems of rapid and accurate tool replacement have not yet been solved. On the one hand, due to the complex seabed conditions, docking is difficult, and existing docking devices are difficult to achieve direct docking. On the other hand, the docking accuracy of existing docking devices is low, and excessive movement will occur during the docking process, resulting in damage to the docking interface, thereby affecting the subsequent replacement of tools.

[0004] Therefore, according to the operating steps of the AUV tool switching operation, an underwater tool quick switching device suitable for deepwater environment is developed. It is very necessary to accurately, reliably and quickly switch a variety of different tools installed with a unified interface to complete various operation tasks. This is of great significance for solving the diversity of deep-sea tasks, improving operational efficiency and reducing costs. Utility Model Content

[0005] The purpose of the utility model is to provide a rapid tool change device for underwater AUVs, which is used to solve the problem of accurately, reliably and quickly changing different tools for an AUV equipped with a unified interface in a deep water environment.

[0006] The technical problem solved by the utility model is achieved by the following technical solutions:

[0007] A quick-change device for underwater AUV tools, comprising:

[0008] Guiding and positioning mechanism;

[0009] A locking and positioning mechanism, wherein the locking and positioning mechanism is placed at the lower end of the guiding and positioning mechanism;

[0010] A tool changing mechanism, wherein the tool changing mechanism is installed at the rear end of the guide positioning mechanism;

[0011] The hydraulic power mechanism, the guide positioning mechanism and the tool changing mechanism are both installed on the upper end of the hydraulic power mechanism.

[0012] Optionally, the guiding and positioning mechanism includes:

[0013] a first base plate, the first base plate being mounted above the hydraulic power mechanism;

[0014] A guide channel, wherein the guide channel is installed at the upper end of the first bottom plate;

[0015] a first guide rail, the first guide rail being fixed on the top of the hydraulic power mechanism;

[0016] A first slider, which is slidably mounted on the first guide rail and fixedly connected to the bottom of the first base plate;

[0017] A guide cover, wherein the guide cover is fixedly mounted at the end of the guide channel;

[0018] A guide frame, wherein the guide frame is fixed on the top of the guide channel;

[0019] A first hydraulic cylinder connecting block, the first hydraulic cylinder connecting block being fixed to the guide channel and the tail end of the first bottom plate;

[0020] A first hydraulic cylinder, which is fixed on the top of the hydraulic power mechanism and drives the first bottom plate to slide through the first hydraulic cylinder connecting block;

[0021] An AUV is placed inside the guide channel.

[0022] Optionally, the locking and positioning mechanism includes:

[0023] A V-shaped baffle, the V-shaped baffle being fixed to the top of the circular portion of the guide channel;

[0024] a second hydraulic cylinder, the second hydraulic cylinder being fixed on top of the first base plate;

[0025] a support ring fixed to the top of the second hydraulic cylinder;

[0026] A support ring gasket is bonded to the inner side of the support ring and contacts the AUV.

[0027] Optionally, the tool changing mechanism comprises:

[0028] A support frame, wherein the support frame is fixed on the top of the hydraulic power mechanism;

[0029] A third bottom plate, the third bottom plate is fixed on the top of the support frame;

[0030] A detection plate, the detection plate is fixed on the top of the third bottom plate;

[0031] A first proximity switch, wherein the first proximity switch is fixedly installed in the circular hole of the detection plate;

[0032] a second guide rail, the second guide rail being fixed to the top of the third bottom plate;

[0033] a second slider, the second slider being slidably mounted on the second guide rail;

[0034] An overall frame, wherein the overall frame is fixed on the top of the second sliding block;

[0035] A second set of locking mechanisms, the second set of locking mechanisms being placed at the lower end of the positioning hole at the rear end of the overall frame;

[0036] A first set of locking mechanisms, the first set of locking mechanisms being placed at the lower end of the positioning hole at the front end of the overall frame;

[0037] A tool end, the tool end being placed in a circular through hole of the overall frame;

[0038] A third hydraulic cylinder, which is fixed on the top of the third bottom plate and drives the entire frame to slide;

[0039] A second proximity switch base, wherein the second proximity switch base is fixed on both sides of the end of the overall frame;

[0040] A second proximity switch, wherein the second proximity switch is fixedly mounted on a second proximity switch base;

[0041] The locking sliding sleeve is clamped and fixed by the second locking mechanism and the first locking mechanism.

[0042] Optionally, the first set of locking mechanisms and the second set of locking mechanisms both include:

[0043] Fourth base plate;

[0044] a third guide rail, the third guide rail being fixed on the top of the fourth bottom plate;

[0045] a third slider, the third slider being slidably mounted on the third guide rail;

[0046] A first connecting plate, wherein the first connecting plate is fixed to the top of the third sliding block;

[0047] A first clamping sleeve support frame, wherein the first clamping sleeve support frame is fixed on the top of the first connecting plate;

[0048] A fourth hydraulic cylinder base, wherein the fourth hydraulic cylinder base is fixed on a fourth bottom plate;

[0049] A fourth hydraulic cylinder, the tail of which is fixed on a fourth hydraulic cylinder base;

[0050] a first intermediate rotating shaft, wherein the first intermediate rotating shaft is mounted on a fourth hydraulic cylinder;

[0051] A first intermediate connecting rod, wherein the first intermediate connecting rod is fixed to an upper end of the first intermediate rotating shaft;

[0052] The first connecting rod is fixed on both sides of the first middle connecting rod and connected to the first connecting plate.

[0053] Optionally, the first set of locking mechanisms further includes:

[0054] A support block is fixed to the inner bottom wall of the overall frame and is fixedly connected to the bottom of the fourth bottom plate.

[0055] Optionally, the second locking mechanism further includes:

[0056] A fifth guide rail, the fifth guide rail being fixed to the inner bottom wall of the overall frame;

[0057] a fifth slider, which is slidably mounted on the fifth guide rail and fixedly connected to the bottom of the fourth base plate;

[0058] A sixth hydraulic cylinder base, wherein the sixth hydraulic cylinder base is fixed to the inner bottom wall of the overall frame;

[0059] The sixth hydraulic cylinder has its tail fixed on the sixth hydraulic cylinder base, and its end portion is fixed in the groove of the fourth bottom plate.

[0060] Optionally, the hydraulic power mechanism includes:

[0061] Hydraulic power housing;

[0062] A hydraulic integrated block, wherein the hydraulic integrated block is fixed inside the hydraulic power housing;

[0063] A hydraulic pump connected to the hydraulic integrated block;

[0064] A motor connected to a hydraulic pump;

[0065] An oil tank is fixed inside the hydraulic power housing.

[0066] The utility model has the following beneficial effects:

[0067] The locking and positioning mechanism adopts three V-shaped baffles in the upper part, and two support rings are installed in the middle of the two V-shaped baffles in the lower part. By extending the second hydraulic cylinder and raising the two support rings, the AUV can be fixed on the section of the upper V-shaped baffle to achieve the centering of the AUV.

[0068] The guiding and positioning mechanism adopts a non-closed convex guiding cover, which reduces the resistance in the water and its own weight, and can reduce the collision force with the AUV, improve the guiding performance of the guiding cover, and improve the docking success rate; a guiding frame is installed at the top of the guiding channel, and the AUV gradually adjusts its posture through the guiding frame to reach the circumferential position required for docking; the first guide rail is installed at the bottom, and when the locking and positioning mechanism fixes the AUV, the movement of the guiding channel can be realized by the extension and retraction of the first hydraulic cylinder, driving the AUV to the designated docking position;

[0069] The tool changing mechanism has a first set of locking mechanisms and a second set of locking mechanisms inside. The first set of locking mechanisms is used to hold the tool end and play a role in positioning. The second set of locking mechanisms is used to clamp the sliding sleeve of the tool end and also plays a role in positioning. The second set of locking mechanisms can also drive the movement of the sliding sleeve to achieve locking and unlocking of the tool end and the AUV end.

[0070] The device is fully hydraulically driven and can be flexibly adjusted according to different tool switching processes to achieve a variety of operating modes; it has high reliability and can achieve power distribution by adjusting the overflow valve, reversing valve, etc., making the system configuration more flexible, and compared with electric or pneumatic transmission systems, the hydraulic system itself has a low failure rate and low maintenance cost; the hydraulic cylinder has a large torque output and can well meet the locking work requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] In order to more clearly illustrate the implementation scheme of the utility model or the technical scheme in the prior art, the drawings required for use in the implementation scheme or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation schemes of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0072] Figure 1 This is a schematic diagram of the main structure of the utility model;

[0073] Figure 2 This is a schematic diagram of the structure of the guiding and positioning mechanism of the utility model;

[0074] Figure 3 This is a schematic diagram of the structure of the AUV of the utility model;

[0075] Figure 4 This is a schematic diagram of the locking sleeve structure of the utility model;

[0076] Figure 5 This is a schematic diagram of the tool replacement mechanism structure of the utility model;

[0077] Figure 6 This is a schematic diagram of the first locking mechanism structure of the utility model;

[0078] Figure 7 This is a schematic diagram of the structure of the second locking mechanism of the utility model;

[0079] Figure 8 This is a schematic diagram of the structure of the hydraulic power mechanism of the utility model;

[0080] Fig. 9 This is a schematic diagram of the structure of the fifth sliding block of the utility model.

[0081] In the figure: 100, guide positioning mechanism; 110, first bottom plate; 120, guide channel; 130, first guide rail; 140, first slider; 150, guide cover; 160, guide frame; 170, first hydraulic cylinder connecting block; 180, first hydraulic cylinder; 190, AUV;

[0082] 200, locking and positioning mechanism; 210, V-shaped baffle; 220, second hydraulic cylinder; 230, support ring; 240, support ring gasket;

[0083] 300, tool changing mechanism; 310, support frame; 320, third bottom plate; 330, detection plate; 340, first proximity switch; 350, second guide rail; 360, second slide block; 370, overall frame; 380, second set of locking mechanism; 390, first set of locking mechanism; 3010, tool end; 3011, third hydraulic cylinder; 3012, second proximity switch base; 3013, second proximity switch; 3014, locking sleeve;

[0084] 381, fifth guide rail; 382, ​​fifth slide block; 383, sixth hydraulic cylinder base; 384, sixth hydraulic cylinder;

[0085] 391, support block; 392, fourth bottom plate; 393, third guide rail; 394, third slide block; 395, first connecting plate; 396, first clamping sleeve support frame; 397, fourth hydraulic cylinder base; 398, fourth hydraulic cylinder; 399, intermediate rotating shaft; 3910, intermediate connecting rod; 3911, connecting rod;

[0086] 400, hydraulic power mechanism; 410, hydraulic power housing; 420, hydraulic integrated block; 430, hydraulic pump; 440, motor; 450, oil tank. DETAILED DESCRIPTION

[0087] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below with reference to specific illustrations.

[0088] Reference Figure 1-9 A quick-change device for underwater AUV tools is shown, comprising:

[0089] Guiding and positioning mechanism 100;

[0090] A locking and positioning mechanism 200, which is placed at the lower end of the guiding and positioning mechanism 100;

[0091] A tool replacement mechanism 300, which is installed at the rear end of the guide and positioning mechanism 100;

[0092] The hydraulic power mechanism 400 , the guide positioning mechanism 100 and the tool changing mechanism 300 are all installed on the upper end of the hydraulic power mechanism 400 .

[0093] Among them, the device is fully hydraulically driven, and can be flexibly adjusted according to different tool switching processes to achieve a variety of operating modes; it has high reliability and can achieve power distribution by adjusting the overflow valve, reversing valve, etc., so that the system configuration is more flexible, and compared with electric or pneumatic transmission systems, the hydraulic system itself has a low failure rate and low maintenance cost; the hydraulic cylinder has a large torque output and can well meet the locking work requirements.

[0094] In some embodiments of the present invention, referring to Figure 2 and Figure 3 As shown, the guiding and positioning mechanism 100 comprises:

[0095] A first bottom plate 110, wherein the first bottom plate 110 is installed above the hydraulic power mechanism 400;

[0096] A guide channel 120, wherein the guide channel 120 is installed at the upper end of the first bottom plate 110;

[0097] A first guide rail 130, the first guide rail 130 is fixed on the top of the hydraulic power mechanism 400;

[0098] A first slider 140, which is slidably mounted on the first guide rail 130 and fixedly connected to the bottom of the first base plate 110;

[0099] A guide cover 150, the guide cover 150 is fixedly mounted at the end of the guide channel 120;

[0100] A guide frame 160, the guide frame 160 is fixed on the top of the guide channel 120;

[0101] A first hydraulic cylinder connection block 170, which is fixed to the guide channel 120 and the tail end of the first bottom plate 110;

[0102] A first hydraulic cylinder 180, which is fixed on the top of the hydraulic power mechanism 400 and drives the first bottom plate 110 to slide through the first hydraulic cylinder connecting block 170;

[0103] AUV190 , AUV190 is placed inside the guide channel 120 .

[0104] Among them, the guide positioning mechanism 100 adopts a non-closed convex guide cover 150, which reduces the resistance in the water and its own weight, and can reduce the collision force with the AUV190, improve the guiding performance of the guide cover 150, and improve the docking success rate; a guide frame 160 is installed at the top of the guide channel 120, and the AUV190 gradually adjusts its posture through the guide frame 160 to reach the circumferential position required for docking; a first guide rail 130 is installed at the bottom, and when the locking and positioning mechanism 200 fixes the AUV190, the movement of the guide channel 120 can be achieved through the extension and contraction of the first hydraulic cylinder 180, driving the AUV190 to reach the designated docking position;

[0105] The first hydraulic cylinder connection block 170 is provided to ensure that the first hydraulic cylinder 180 is fixedly installed, so that the first hydraulic cylinder 180 can normally drive the guide channel 120 to move when it is extended or retracted.

[0106] The guide and positioning mechanism 100 is installed on the hydraulic power mechanism 400 by setting the first base plate 110, so that the guide and positioning mechanism 100 can be used normally.

[0107] In some embodiments of the present invention, referring to Figure 2 and Figure 3 As shown, the locking and positioning mechanism 200 includes:

[0108] A V-shaped baffle 210, which is fixed to the top of the circular portion of the guide channel 120;

[0109] A second hydraulic cylinder 220, the second hydraulic cylinder 220 is fixed on the top of the first bottom plate 110;

[0110] A support ring 230 , the support ring 230 is fixed on the top of the second hydraulic cylinder 220 ;

[0111] The support ring gasket 240 is bonded to the inner side of the support ring 230 and is in contact with the AUV 190 .

[0112] The locking and positioning mechanism 200 has three V-shaped baffles 210 in the upper part, and two support rings 230 are installed in the middle of the two V-shaped baffles 210 in the lower part. By extending the second hydraulic cylinder 220 and raising the two support rings 230, the AUV 190 can be fixed on the section of the upper V-shaped baffle 210 to achieve the centering of the AUV 190.

[0113] The provision of the support ring gasket 240 can reduce the wear of the support ring 230 on the AUV 190 .

[0114] In some embodiments of the present invention, referring to Figure 5 and Figure 4 As shown, the tool changing mechanism 300 includes:

[0115] A support frame 310, the support frame 310 is fixed on the top of the hydraulic power mechanism 400;

[0116] A third bottom plate 320, the third bottom plate 320 is fixed on the top of the support frame 310;

[0117] A detection plate 330, the detection plate 330 is fixed on the top of the third bottom plate 320;

[0118] A first proximity switch 340, wherein the first proximity switch 340 is fixedly mounted in the circular hole of the detection plate 330;

[0119] A second guide rail 350, the second guide rail 350 is fixed on the top of the third bottom plate 320;

[0120] A second slider 360, the second slider 360 is slidably mounted on the second guide rail 350;

[0121] An overall frame 370 , the overall frame 370 is fixed on the top of the second sliding block 360 ;

[0122] A second locking mechanism 380 is placed at the lower end of the positioning hole at the rear end of the overall frame 370;

[0123] A first set of locking mechanisms 390, which are placed at the lower end of the positioning holes at the front end of the overall frame 370;

[0124] The tool end 3010 is placed in the circular through hole of the overall frame 370;

[0125] The third hydraulic cylinder 3011 is fixed on the top of the third bottom plate 320 and drives the whole frame 370 to slide;

[0126] A second proximity switch base 3012, the second proximity switch base 3012 is fixed on both sides of the end of the overall frame 370;

[0127] A second proximity switch 3013, which is fixedly mounted on a second proximity switch base 3012;

[0128] The locking sleeve 3014 is clamped and fixed by the second locking mechanism 380 and the first locking mechanism 390 .

[0129] Among them, the tool replacement mechanism 300 has a first set of locking mechanisms 390 and a second set of locking mechanisms 380 inside. The first set of locking mechanisms 390 is used to hold the tool end 3010 and play a positioning role. The second set of locking mechanisms 380 is used to clamp the sliding sleeve of the tool end 3010 and also plays a positioning role. The second set of locking mechanisms 380 can also drive the movement of the sliding sleeve to achieve locking and unlocking of the tool end 3010 and the AUV190 end.

[0130] The second guide rail 350 and the second slider 360 are provided to ensure the normal sliding of the locking sleeve 3014, and the position of the locking sleeve 3014 is adjusted so that the locking sleeve 3014 can be better connected to the AUV 190;

[0131] The support frame 310 and the third base plate 320 are provided to ensure that the tool changing mechanism 300 is properly installed and fixed;

[0132] The overall frame 370 is provided to ensure the installation and use of the first locking mechanism 390 and the second locking mechanism 380;

[0133] The third hydraulic cylinder 3011 is used to drive the first locking mechanism 390 and the second locking mechanism 380 to move, thereby adjusting the positions of the first locking mechanism 390, the second locking mechanism 380 and the locking sleeve 3014;

[0134] The first proximity switch 340 and the second proximity switch 3013 are respectively used to control the first set of locking mechanisms 390 and the second set of locking mechanisms 380 .

[0135] In some embodiments of the present invention, referring to Figure 6 , Figure 7 , Fig. 9 As shown, the first locking mechanism 390 and the second locking mechanism 380 both include:

[0136] Fourth bottom plate 392;

[0137] A third guide rail 393, the third guide rail 393 is fixed on the top of the fourth bottom plate 392;

[0138] A third slider 394, the third slider 394 is slidably mounted on the third guide rail 393;

[0139] A first connecting plate 395, the first connecting plate 395 is fixed on the top of the third sliding block 394;

[0140] A first clamping sleeve support frame 396, the first clamping sleeve support frame 396 is fixed on the top of the first connecting plate 395;

[0141] A fourth hydraulic cylinder base 397, the fourth hydraulic cylinder base 397 is fixed on the fourth bottom plate 392;

[0142] A fourth hydraulic cylinder 398, the tail of the fourth hydraulic cylinder 398 is fixed on a fourth hydraulic cylinder base 397;

[0143] An intermediate rotating shaft 399, wherein the intermediate rotating shaft 399 is mounted on the fourth hydraulic cylinder 398;

[0144] An intermediate connecting rod 3910, the intermediate connecting rod 3910 is fixed to the upper end of the intermediate rotating shaft 399;

[0145] The connecting rod 3911 is fixed on both sides of the middle connecting rod 3910 and connected to the first connecting plate 395 .

[0146] The third guide rail 393 and the third slider 394 are used to cooperate with each other to drive the first clamping sleeve support frame 396 to move horizontally and clamp the locking sleeve 3014;

[0147] Among them, the setting of the fourth hydraulic cylinder 398 drives the middle connecting rod 3910 and the connecting rod 3911 to rotate, so that the middle connecting rod 3910 and the connecting rod 3911 drive the first clamping sleeve support frame 396 to move closer or farther away during the rotation to clamp or release the locking sleeve 3014.

[0148] In some embodiments of the present invention, referring to Figure 6 , Figure 7 , Fig. 9 As shown, the first locking mechanism 390 also includes:

[0149] The support block 391 is fixed to the inner bottom wall of the overall frame 370 and is fixedly connected to the bottom of the fourth bottom plate 392 .

[0150] The arrangement of the support block 391 can ensure the normal installation and use of the first locking mechanism 390 .

[0151] In some embodiments of the present invention, referring to Figure 6 , Figure 7 , Fig. 9 As shown, the second locking mechanism 380 also includes:

[0152] A fifth guide rail 381, the fifth guide rail 381 is fixed to the inner bottom wall of the overall frame 370;

[0153] A fifth slider 382, ​​which is slidably mounted on the fifth guide rail 381 and fixedly connected to the bottom of the fourth bottom plate 392;

[0154] A sixth hydraulic cylinder base 383, the sixth hydraulic cylinder base 383 is fixed to the inner bottom wall of the overall frame 370;

[0155] The sixth hydraulic cylinder 384 , the tail of the sixth hydraulic cylinder 384 is fixed on the sixth hydraulic cylinder base 383 , and the end of the sixth hydraulic cylinder 384 is fixed in the groove of the fourth bottom plate 392 .

[0156] The fifth guide rail 381 and the fifth slider 382 are provided to enable the second locking mechanism 380 to slide relative to the first locking mechanism 390 , thereby changing the relative distance between the second locking mechanism 380 and the first locking mechanism 390 .

[0157] The sixth hydraulic cylinder 384 is used to push the second locking mechanism 380 to move, so that the second locking mechanism 380 can move normally.

[0158] In some embodiments of the present invention, referring to Figure 8 As shown, the hydraulic power mechanism 400 includes:

[0159] Hydraulic power housing 410;

[0160] A hydraulic integrated block 420, which is fixed inside the hydraulic power housing 410;

[0161] A hydraulic pump 430 , the hydraulic pump 430 is connected to the hydraulic integrated block 420 ;

[0162] A motor 440 , wherein the motor 440 is connected to the hydraulic pump 430 ;

[0163] The oil tank 450 is fixed inside the hydraulic power housing 410 .

[0164] The method for controlling replacement based on the underwater AUV tool quick change device comprises the following steps:

[0165] S1: The AUV 190 enters the entire device through the guide cover 150 in the guide positioning mechanism 100, and the guide frame 160 in the guide channel 120 adjusts the posture of the AUV 190 to an ideal docking state by guiding the circumferential position of the positioning fin of the AUV 190;

[0166] S2: When the AUV 190 reaches the designated position of the guide channel 120, the second hydraulic cylinder 220 in the locking and positioning mechanism 200 drives the support ring 230 to fix the AUV 190 at the lower end of the V-shaped baffle 210 in the guide channel 120, and then the first hydraulic cylinder 180 drives the guide and positioning mechanism 100 and the locking and positioning mechanism 200 as well as the fixed AUV 190 to reach the designated position;

[0167] S3: When the first proximity switch 340 detects that the AUV 190 reaches the designated position, the second locking mechanism 380 unlocks the tool end 3010, and then the third hydraulic cylinder 3011 pushes the tool end 3010 to complete the assembly with the AUV 190;

[0168] S4: When the AUV 190 detects that the assembly with the tool end 3010 is completed, the tool changing mechanism 300 cancels the clamping of the tool end 3010, the locking and positioning mechanism 200 cancels the fixation of the AUV 190, and the AUV 190 exits the whole device, completing the assembly with the tool end 3010;

[0169] S5: When AUV190 performs tool replacement, steps S1 and S2 are repeated. When the tool replacement mechanism 300 detects the tool end 3010, the second locking mechanism 380 and the first locking mechanism 390 clamp the tool end 3010, and then the second locking mechanism 380 pulls the locking sleeve 3014 to unlock the tool end 3010, and the third hydraulic cylinder 3011 retracts to complete the separation of the tool end 3010 from the AUV190. When the AUV190 cannot detect the tool end 3010, it means that the tool end 3010 and the AUV190 have been successfully separated, and then the locking and positioning mechanism 200 cancels the fixation of the AUV190, and the AUV190 exits the tool replacement mechanism 300 to complete the separation from the tool end 3010.

[0170] S6: When AUV190 changes tools, repeat steps S1, S2, and S3, then drive the second gear through the third motor to drive the entire tool tray to rotate to the empty tool library, control the second hydraulic cylinder 220 to push out the tool changing mechanism 300, control the tool end 3010 to rotate the steering plate, drive the connected steering cam to rotate to the farthest rest end, push the push rods on both sides to move outward, and at the same time drive the connecting rod 3911 to rotate around the axis on the release locking shell, buckle the wedge block at one end of the connecting rod 3911 on the slot of the tool end 3010 for locking, and then control the hydraulic cylinder to retract to separate the tool end 3010 from the AUV190 end, complete the storage of the existing tools, and repeat steps S4 and S5 to achieve tool replacement.

[0171] Working method of the utility model:

[0172] After the underwater AUV190 tool quick-change device is dropped to the seabed, the guide cover 150 provides guidance for the AUV190, so that the AUV190 smoothly enters the guide channel 120. As the AUV190 continues to move forward, the guide frame 160 adjusts the posture of the AUV190 to an ideal docking state by guiding the circumferential position of the positioning fin of the AUV190; when the AUV190 reaches the specified position, the second hydraulic cylinder 220 in the locking and positioning mechanism 200 drives the support ring 230 to fix the AUV190 at the lower end of the V-shaped baffle 210 in the guide channel 120, and then the first hydraulic cylinder 180 drives the guide positioning mechanism 100 and the locking and positioning mechanism 200 as well as the fixed AUV190 to reach the specified position;

[0173] When the first proximity switch 340 in the tool changing mechanism 300 detects the AUV 190, the sixth hydraulic cylinder 384 pulls the second locking mechanism 380 to move toward the tool end 3010, and at the same time drives the locking sleeve 3014 to move, so as to unlock the tool end 3010. Then the third hydraulic cylinder 3011 pushes the tool changing mechanism 300 to move toward the AUV 190, so as to dock the AUV 190 with the tool end 3010. When the AUV 190 controls the manipulator of the tool end 3010 to rotate and the second proximity switch 3013 cannot detect the tool end 3010, the third hydraulic cylinder 3011 drives the second locking mechanism 380 to move toward the tool end 3010, and at the same time drives the locking sleeve 3014 to move, so as to unlock the tool end 3010. The sixth hydraulic cylinder 384 in the second set of locking mechanisms 380 drives the locking sleeve 3014 back to its original position, thereby locking the AUV 190 and the tool end 3010. Then, the second set of locking mechanisms 380 and the first set of locking mechanisms 390 that hold the tool end 3010 are released at the same time to complete the locking of the tool end 3010. The first hydraulic cylinder 180 also drives the AUV 190 back to its initial position. Finally, the second hydraulic cylinder 220 retracts to unlock the AUV 190. The AUV 190 can then withdraw from the entire device with the tool end 3010 to complete the assembly of the tool.

[0174] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A quick-change device for underwater AUV tools, characterized in that: include: A guiding and positioning mechanism (100); A locking and positioning mechanism (200), wherein the locking and positioning mechanism (200) is placed at the lower end of the guiding and positioning mechanism (100); A tool replacement mechanism (300), wherein the tool replacement mechanism (300) is installed at the rear end of the guide positioning mechanism (100); The hydraulic power mechanism (400) is provided, and the guide positioning mechanism (100) and the tool replacement mechanism (300) are both installed on the upper end of the hydraulic power mechanism (400).

2. The quick-change device for underwater AUV tools according to claim 1, characterized in that: The guiding and positioning mechanism (100) comprises: A first base plate (110), the first base plate (110) being installed above the hydraulic power mechanism (400); A guide channel (120), wherein the guide channel (120) is installed at the upper end of the first bottom plate (110); A first guide rail (130), wherein the first guide rail (130) is fixed on the top of the hydraulic power mechanism (400); A first sliding block (140), the first sliding block (140) is slidably mounted on the first guide rail (130) and is fixedly connected to the bottom of the first bottom plate (110); A guide cover (150), wherein the guide cover (150) is fixedly mounted on an end of the guide channel (120); A guide frame (160), wherein the guide frame (160) is fixed on the top of the guide channel (120); A first hydraulic cylinder connection block (170), the first hydraulic cylinder connection block (170) being fixed to the guide channel (120) and the tail end of the first bottom plate (110); A first hydraulic cylinder (180), the first hydraulic cylinder (180) being fixed on the top of the hydraulic power mechanism (400) and driving the first bottom plate (110) to slide via a first hydraulic cylinder connecting block (170); An AUV (190) is placed inside the guide channel (120).

3. The quick-change device for underwater AUV tools according to claim 1, characterized in that: The locking and positioning mechanism (200) comprises: A V-shaped baffle (210), wherein the V-shaped baffle (210) is fixed to the top of the circular portion of the guide channel (120); a second hydraulic cylinder (220), the second hydraulic cylinder (220) being fixed on the top of the first bottom plate (110); A support ring (230), wherein the support ring (230) is fixed on the top of the second hydraulic cylinder (220); A support ring gasket (240) is bonded to the inner side of the support ring (230) and is in contact with the AUV (190).

4. The quick-change device for underwater AUV tools according to claim 1, characterized in that: The tool changing mechanism (300) comprises: A support frame (310), wherein the support frame (310) is fixed on the top of the hydraulic power mechanism (400); A third bottom plate (320), wherein the third bottom plate (320) is fixed on the top of the support frame (310); A detection plate (330), wherein the detection plate (330) is fixed on the top of the third bottom plate (320); A first proximity switch (340), wherein the first proximity switch (340) is fixedly mounted in the circular hole of the detection plate (330); A second guide rail (350), wherein the second guide rail (350) is fixed on the top of the third bottom plate (320); A second slider (360), the second slider (360) being slidably mounted on the second guide rail (350); An overall frame (370), wherein the overall frame (370) is fixed on the top of the second sliding block (360); A second set of locking mechanisms (380), the second set of locking mechanisms (380) being placed at the lower end of the positioning hole at the rear end of the overall frame (370); A first set of locking mechanisms (390), the first set of locking mechanisms (390) being placed at the lower end of the positioning hole at the front end of the overall frame (370); A tool end (3010), wherein the tool end (3010) is placed in a circular through hole of the overall frame (370); A third hydraulic cylinder (3011), wherein the third hydraulic cylinder (3011) is fixed on the top of the third bottom plate (320) and drives the entire frame (370) to slide; A second proximity switch base (3012), wherein the second proximity switch base (3012) is fixed on both sides of the end of the overall frame (370); A second proximity switch (3013), wherein the second proximity switch (3013) is fixedly mounted on a second proximity switch base (3012); A locking sleeve (3014), wherein the locking sleeve (3014) is clamped and fixed by the second locking mechanism (380) and the first locking mechanism (390).

5. The quick-change device for underwater AUV tools according to claim 4, characterized in that: The first set of locking mechanisms (390) and the second set of locking mechanisms (380) both include: a fourth bottom plate (392); A third guide rail (393), wherein the third guide rail (393) is fixed on the top of the fourth bottom plate (392); A third slider (394), the third slider (394) being slidably mounted on the third guide rail (393); A first connecting plate (395), wherein the first connecting plate (395) is fixed on the top of the third sliding block (394); A first clamping sleeve support frame (396), wherein the first clamping sleeve support frame (396) is fixed on the top of the first connecting plate (395); A fourth hydraulic cylinder base (397), wherein the fourth hydraulic cylinder base (397) is fixed on the fourth bottom plate (392); A fourth hydraulic cylinder (398), the tail of the fourth hydraulic cylinder (398) being fixed on a fourth hydraulic cylinder base (397); A first intermediate rotating shaft (399), wherein the first intermediate rotating shaft (399) is mounted on a fourth hydraulic cylinder (398); A first intermediate connecting rod (3910), wherein the first intermediate connecting rod (3910) is fixed to the upper end of the first intermediate rotating shaft (399); A first connecting rod (3911), wherein the first connecting rod (3911) is fixed on both sides of the first intermediate connecting rod (3910) and connected to the first connecting plate (395).

6. The quick-change device for underwater AUV tools according to claim 4, characterized in that: The first set of locking mechanisms (390) further comprises: A support block (391), wherein the support block (391) is fixed to the inner bottom wall of the overall frame (370) and is fixedly connected to the bottom of the fourth bottom plate (392).

7. The quick-change device for underwater AUV tools according to claim 4, characterized in that: The second locking mechanism (380) further comprises: A fifth guide rail (381), wherein the fifth guide rail (381) is fixed to the inner bottom wall of the overall frame (370); a fifth slider (382), the fifth slider (382) being slidably mounted on the fifth guide rail (381) and fixedly connected to the bottom of the fourth bottom plate (392); A sixth hydraulic cylinder base (383), wherein the sixth hydraulic cylinder base (383) is fixed to the inner bottom wall of the overall frame (370); A sixth hydraulic cylinder (384), wherein the tail of the sixth hydraulic cylinder (384) is fixed on the sixth hydraulic cylinder base (383), and the end of the sixth hydraulic cylinder (384) is fixed in the groove of the fourth bottom plate (392).

8. The quick-change device for underwater AUV tools according to claim 1, characterized in that: The hydraulic power mechanism (400) comprises: Hydraulic power housing (410); A hydraulic integrated block (420), wherein the hydraulic integrated block (420) is fixed inside the hydraulic power housing (410); A hydraulic pump (430), wherein the hydraulic pump (430) is connected to the hydraulic integrated block (420); A motor (440), wherein the motor (440) is connected to the hydraulic pump (430); An oil tank (450) is fixed inside the hydraulic power housing (410).

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