Novel ROV for recycling AUV

Abstract

The utility model discloses a novel ROV (Remote Operated Vehicle) for recycling AUV (Autonomous Underwater Vehicle), which is characterized in that a guide device is welded at the front end of a robot structure body, a lifting ring is welded on a mechanical claw base, an arc-shaped clamping claw is welded on a rotating shaft, the rotating shaft is mounted on the mechanical claw base under the support of a bearing, and a pin hole of the rotating shaft is connected with a movable end of a hydraulic push rod. The hydraulic push rod is installed on the mechanical claw base, the arc-shaped groove is welded to the lower end of the mechanical claw base, hydraulic oil is stored in the oil tank, the hydraulic pump provides power for the hydraulic push rod of the mechanical claw through the motor, the robot structure body is connected to the mechanical claw base through bolts, and the propeller is installed on the robot structure body. Through the design of the arc-shaped clamping jaw and the arc-shaped groove, the clamping mode of a traditional mechanical jaw is optimized, the size is larger, the error-tolerant rate is lower, and the requirement for control is lower.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, in particular to a novel ROV for recovering AUVs. Background Art

[0002] With the continuous development of marine exploration and submarine engineering, traditional underwater operation methods have many defects, such as low efficiency of manual operation, high risk, and restrictions on the seabed environment. Therefore, underwater robots have become indispensable equipment in the fields of underwater exploration, detection, and maintenance. AUV, as a type of underwater robot, has developed very rapidly, but according to the actual design of AUV, it is difficult to recover in order to meet the streamlined shape. Therefore, a kind of ROV with the advantages of high applicability, simple fishing, large clamping force, and long life of the pneumatic power source equipment is developed, and the response is fast. The robot structure adopts a lattice structure, which is lightweight and meets the strength standards, and the robot body does not need to be sealed to reduce water flow resistance. Therefore, the new ROV for recovering AUV has a wide range of application scenarios. Summary of the invention

[0003] The purpose of the utility model is to provide a new type of ROV for recovering AUV, to facilitate the capture of AUV, and to solve the problems raised in the above background technology.

[0004] In order to achieve the above-mentioned purpose, the utility model provides the following technical solutions.

[0005] A new type of ROV for recovering AUVs is characterized in that a guide device is welded to the front end of a robot structure body, a lifting ring is welded to a mechanical claw base, an arc-shaped clamping claw is welded to a rotating shaft, the rotating shaft is installed on the mechanical claw base under the support of a bearing, a pin hole of the rotating shaft is connected to the active end of a hydraulic push rod, the hydraulic push rod is installed on the mechanical claw base, an arc groove is welded at the lower end of the mechanical claw base, an oil tank stores hydraulic oil, a hydraulic pump provides power to the hydraulic push rod of the mechanical claw through a motor, the robot structure body is connected to the mechanical claw base by bolts, a thruster is installed on the robot body, the thruster is divided into two groups, one group provides floating power, and the other group provides forward and translational power, and the two groups jointly provide power for posture adjustment, an electric energy cabin provides power for the entire capture robot thruster, a buoyancy material is installed under the robot structure body, a binocular camera is installed on the left and right sides of the front end of the robot structure body, and an electronic control cabin is installed on the bottom plate.

[0006] As a further solution of the present invention: the robot structure main body frame is designed to be lightweight, and the robot structure main body frame relies on the mechanical gripper to bear the gravity of the target object.

[0007] As a further solution of the utility model: the arc-shaped clamping claw device designs the mechanical claw according to the shape and size of the target object to be captured.

[0008] As a further solution of the utility model: rubber anti-skid pads are fixedly installed on the arc-shaped clamping claws and the inner wall of the arc-shaped groove.

[0009] As a further solution of the utility model: the front end of the robot structure body is provided with a guiding device, which can guide the AUV into the grasping range of the mechanical claw.

[0010] As a further solution of the utility model: the robot gripping power source is a hydraulic system with a large clamping force, and the thruster power source is an electric energy cabin.

[0011] As a further solution of the utility model: the robot has a binocular camera and has the ability to search for AUV underwater. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 Schematic diagram of a new type of ROV for recovering AUV.

[0013] Figure 2 Schematic diagram of the structure of a new type of ROV mechanical claw for recovering AUV.

[0014] Figure 3 This is a schematic diagram of the ROV robot structure.

[0015] In the figure, 1. guiding device; 2. lifting ring; 3. arc-shaped clamping claw; 4. rotating shaft; 5. mechanical claw base; 6. hydraulic push rod; 7. arc-shaped groove; 8. oil tank; 9. hydraulic pump; 10 motor; 11. thruster; 12. power energy cabin; 13. buoyancy material; 14. camera; 15. electronic control cabin; 16. bottom plate; 17. robot structure body. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0017] A new type of ROV for recovering AUVs, with a guide device welded to the front end of the robot structure body, and a lifting ring welded to the robot. The arc-shaped clamp is welded to the rotating shaft, and the rotating shaft is installed on the mechanical claw base under the support of the bearing. The pin hole of the rotating shaft is connected to the movable end of the hydraulic push rod. The hydraulic push rod is installed on the mechanical claw base. The oil tank stores hydraulic oil, and the hydraulic pump provides power for the hydraulic push rod of the mechanical claw. The robot structure body is connected to the mechanical claw by bolts, and the thruster is installed on the robot body. The thrusters are divided into two groups, one of which provides floating and sinking power, and the other provides forward and translational power. The two groups jointly provide power for posture adjustment. The power energy cabin provides power for the entire capture robot thruster.

[0018] The mechanical claw device can be designed according to different requirements of the AUV.

[0019] It should be noted that the utility model is a new type of ROV for recovering AUVs. Before use, the mechanical claw device is first installed on the robot body by bolts, the hydraulic cylinder returns to the initial state, the target object slides into the arc-shaped clamping claw, and the hydraulic push rod starts to work and pushes forward until it is clamped.

[0020] The robot can be used in high sea conditions. The thrust provided by the eight thrusters is sufficient to overcome the influence of ocean currents, but the premise is that it dives underwater and does not surface.

[0021] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

[0022] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A new type of ROV for recovering AUV, characterized by The guide device (1) is welded to the front end of the robot structure body (17), the lifting ring (2) is welded to the mechanical claw base (5), the arc-shaped clamping claw (3) is welded to the rotating shaft (4), the rotating shaft (4) is installed on the mechanical claw base (5) under the support of the bearing, the pin hole of the rotating shaft (4) is connected to the movable end of the hydraulic push rod (6), the hydraulic push rod (6) is installed on the mechanical claw base (5), the lower end of the mechanical claw base is welded with an arc-shaped groove (7), the oil tank (8) stores hydraulic oil, the hydraulic pump (9) provides power to the hydraulic push rod of the mechanical claw through the motor (10), and the machine The robot structure body (17) is connected to the mechanical claw base (5) by bolts, and the thruster (11) is installed on the robot structure body (17). The thruster is divided into two groups, one of which provides floating power and the other provides forward and translational power. The two groups together provide power for posture adjustment. The power energy cabin (12) provides power for the entire capture robot thruster. The buoyancy material (13) is installed under the robot structure body (17). The binocular camera (14) is installed on the left and right sides of the front end of the robot structure body (17). The electronic control cabin (15) is installed on the bottom plate (16).

2. A novel ROV for recovering AUV according to claim 1, characterized in that: The robot structure body (17) is of lightweight design, and the robot structure body (17) is supported on the mechanical gripper to bear the gravity of the target object.

3. A novel ROV for recovering AUV according to claim 1, characterized in that: The arc-shaped clamping claw (3) device is designed as a mechanical claw according to the shape and size of the target object to be captured.

4. A novel ROV for recovering AUV according to claim 1, characterized in that: Rubber anti-slip pads are fixedly mounted on the inner walls of the arc-shaped clamping jaw (3) and the arc-shaped groove (7).

5. A novel ROV for recovering AUV according to claim 1, characterized in that: The front end of the robot structure body (17) is provided with a guiding device (1) which can guide the AUV into the grasping range of the mechanical claw.

6. A novel ROV for recovering AUV according to claim 1, characterized in that: The robot's gripping power source is a hydraulic system with a large clamping force, and the thruster power source is an electric energy cabin.

7. A novel ROV for recovering AUV according to claim 1, characterized in that: The robot has a binocular camera (14) and has the ability to search for AUVs underwater.

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