Frame type underwater unmanned vehicle docking and recovery device

Abstract

The utility model relates to a kind of underwater unmanned vehicle docking recovery device of frame, belong to underwater unmanned vehicle underwater autonomous docking technical field.The utility model solves the problem that the existing underwater unmanned vehicle docking recovery device structure is complex, operation is complicated, the design of locking mechanism is unreasonable and leads to the poor fixing stability of vehicle after docking.The vehicle guiding device of the utility model is connected with recovery device frame, push-down device is installed above recovery device frame, push-up device is installed below recovery device frame, bow guiding device is installed inside recovery device frame, bow guiding device is arranged in the back half of recovery device frame, locking device is installed on bow guiding device.The underwater unmanned vehicle docking recovery device of the utility model of frame adopts frame structure, each component is connected stably, realizes the fast, accurate control and locking of underwater unmanned vehicle.

Description

Technical Field

[0001] This utility model belongs to the field of underwater autonomous docking technology for underwater unmanned vehicles, specifically relating to a frame-type underwater unmanned vehicle docking and recovery device. Background Technology

[0002] Unmanned underwater vehicles (UUVs), capable of autonomous underwater navigation and performing tasks such as exploration, monitoring, and operations, are widely used in marine resource exploration, marine environmental monitoring, and underwater engineering operations. After completing their missions, UUVs need to be reliably and efficiently docked and recovered to a mother ship or underwater platform for subsequent operations such as data download, equipment maintenance, and energy replenishment.

[0003] Currently, there are many problems with underwater unmanned vehicle docking and recovery devices. Some devices have low guidance accuracy, making it difficult to guide underwater unmanned vehicles accurately into the recovery area in complex water flow environments. The positioning and locking mechanisms of some devices are poorly designed, resulting in poor stability of the vehicle after docking, making it easy for it to shift or even detach from the recovery device. Furthermore, some recovery devices have complex structures, are cumbersome to operate, and have low recovery efficiency, failing to meet the high-efficiency requirements of underwater operations.

[0004] Therefore, this application proposes a framework-based underwater unmanned vehicle docking and recovery device to solve the above problems. Summary of the Invention

[0005] The purpose of this invention is to solve the problems of existing underwater unmanned vehicle docking and recovery devices, such as complex structure, cumbersome operation, and poor stability of the vehicle after docking due to unreasonable locking mechanism design. A brief overview of this invention is provided below to offer a basic understanding of certain aspects of it. It should be understood that this overview is not an exhaustive summary of the invention. It is not intended to identify key or essential parts of the invention, nor is it intended to limit the scope of the invention.

[0006] The technical solution of this utility model:

[0007] A frame-type underwater unmanned vehicle (UAV) docking and recovery device includes a vehicle guide device, a recovery device frame, a downward thrust device, an upward thrust device, a locking device, and a bow guide device. The vehicle guide device is connected to the front end of the recovery device frame. Multiple downward thrust devices are installed on the top of the recovery device frame, and multiple upward thrust devices are installed on the bottom of the recovery device frame. The bow guide device is installed inside the recovery device frame and is located in the rear half of the recovery device frame. The locking device is installed on the bow guide device. The UAV enters the recovery device frame through the vehicle guide device. The position of the UAV is controlled by the downward thrust device and the upward thrust device, and the UAV is positioned by the locking device and the bow guide device.

[0008] Furthermore, multiple vision modules are mounted on top of the recycling device frame.

[0009] Furthermore, the vehicle guidance device has a hollow frustum-shaped structure, with the small-diameter end of the vehicle guidance device connected to the recovery device frame, and the large-diameter end of the vehicle guidance device used to receive the underwater unmanned vehicle.

[0010] Furthermore, the downward pushing device has the same structure as the upward pushing device. The downward pushing device includes a first hydraulic cylinder, a mounting plate, an adjusting seat, and guide rods. The cylinder body of the first hydraulic cylinder is fixed to the frame of the recovery device through the mounting plate. The telescopic end of the first hydraulic cylinder is connected to the adjusting seat. The adjusting seat extends into the frame of the recovery device. The adjusting seat is slidably connected to the mounting plate through two guide rods. The two guide rods are symmetrically arranged on both sides of the first hydraulic cylinder.

[0011] Furthermore, the downward pushing device and the upward pushing device are arranged in a staggered manner on the frame of the recovery device.

[0012] Furthermore, the bow guiding device includes an upper frame, a lower frame, a guide connecting rod, an upper flare, a lower flare, an upward thrust hydraulic cylinder, and a bow locking hydraulic cylinder. The upper frame and the lower frame are connected by the guide connecting rod. The upper flare is installed on the upper frame, and the lower flare is installed on the lower frame. The upper and lower flares are used to restrict the circumferential movement of the underwater unmanned vehicle. The cylinder body of the upward thrust hydraulic cylinder is installed on the recovery device frame, and the telescopic end of the upward thrust hydraulic cylinder is connected to the lower flare. The cylinder body of the bow locking hydraulic cylinder is installed on the upper frame, and the telescopic end of the bow locking hydraulic cylinder extends out to cooperate with the locking device to restrict the forward and backward movement of the underwater unmanned vehicle.

[0013] Furthermore, the locking device includes a second hydraulic cylinder and a locking block. The cylinder body of the second hydraulic cylinder is mounted on the upper frame, and the telescopic end of the second hydraulic cylinder is connected to the locking block. The locking block cooperates with the lifting lug of the underwater unmanned vehicle to restrict the underwater unmanned vehicle from moving backward.

[0014] Furthermore, multiple bow guide shafts are connected between the upper frame and the lower frame.

[0015] This utility model has the following beneficial effects:

[0016] 1. The frame-type underwater unmanned vehicle docking and recovery device of this utility model adopts a frame structure, with each component connected firmly, realizing rapid and precise control and locking of the underwater unmanned vehicle, reducing human intervention, lowering usage risks and costs, and improving recovery efficiency.

[0017] 2. The frame-type underwater unmanned vehicle docking and recovery device of this utility model adopts a hollow truncated cone-shaped vehicle guiding device. The large-diameter end provides a wide receiving range, and the small-diameter end precisely docks with the frame of the recovery device. Even if the underwater unmanned vehicle has a certain positional deviation, it can smoothly enter the recovery area through the guiding effect of the cone surface, effectively solving the problems of low guiding accuracy and high docking difficulty of existing devices.

[0018] 3. The frame-type underwater unmanned vehicle docking and recovery device of this utility model features a staggered arrangement of the downward and upward pushing devices, which enables uniform force application and precise adjustment in the vertical direction of the underwater unmanned vehicle, avoiding excessive local force that could damage the equipment. The coordinated action of the upper and lower flared openings of the bow guide device effectively restricts the circumferential movement of the vehicle, ensuring attitude stability. The locking device works in conjunction with the bow locking hydraulic cylinder to form a double limit in the forward and backward directions, which significantly improves the fixation stability compared to existing positioning mechanisms and effectively copes with the impact of complex underwater currents. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the overall structure of a frame-type underwater unmanned vehicle docking and recovery device.

[0020] Figure 2 This is a front view of a frame-type underwater unmanned vehicle docking and recovery device;

[0021] Figure 3 This is a schematic diagram of the bow guide device;

[0022] Figure 4 This is a schematic diagram of an underwater unmanned vehicle positioning itself in the forward and backward directions using a locking device and a bow locking hydraulic cylinder.

[0023] Figure 5 This is a schematic diagram of the push-down device.

[0024] In the diagram: 1-Unmanned underwater vehicle, 2-Vehicle guidance device, 3-Recovery device frame, 4-Pushing device, 5-Pushing device, 6-Locking device, 7-Bow guidance device, 8-Vision module, 11-Lifting lug, 41-First hydraulic cylinder, 42-Mounting plate, 43-Adjusting seat, 44-Guide rod, 61-Second hydraulic cylinder, 62-Locking block, 71-Upper frame, 72-Lower frame, 73-Guide connecting rod, 74-Upper flare, 75-Lower flare, 76-Bow guide shaft, 77-Pushing hydraulic cylinder, 78-Bow locking hydraulic cylinder. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of this utility model clearer, the present utility model is described below with reference to specific embodiments shown in the accompanying drawings. However, it should be understood that these descriptions are merely exemplary and not intended to limit the scope of the present utility model. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the present utility model.

[0026] The connections mentioned in this utility model are divided into fixed connections and detachable connections. Fixed connections (i.e., non-detachable connections) include, but are not limited to, conventional fixed connection methods such as folded connections, riveted connections, adhesive connections, and welded connections. Detachable connections include, but are not limited to, conventional disassembly methods such as threaded connections, snap-fit ​​connections, pin connections, and hinged connections. When a specific connection method is not explicitly defined, it is assumed that at least one existing connection method can always be found to achieve the function, and those skilled in the art can choose according to their needs. For example, a welded connection can be chosen for fixed connections, and a hinged connection can be chosen for detachable connections.

[0027] Example 1, combined with Figures 1-5 This embodiment describes a frame-type underwater unmanned vehicle (UAV) docking and recovery device, including a vehicle guide device 2, a recovery device frame 3, a downward push device 4, an upward push device 5, a locking device 6, and a bow guide device 7. The vehicle guide device 2 is connected to the front end of the recovery device frame 3. Multiple downward push devices 4 are installed on the top of the recovery device frame 3, and multiple upward push devices 5 are installed on the bottom of the recovery device frame 3. The bow guide device 7 is installed inside the recovery device frame 3 and is located in the rear half of the recovery device frame 3. The locking device 6 is installed on the bow guide device 7. The underwater UAV 1 enters the recovery device frame 3 through the vehicle guide device 2. The position of the underwater UAV 1 is controlled by the downward push device 4 and the upward push device 5, and the underwater UAV is positioned by the locking device 6 and the bow guide device 7.

[0028] When the underwater unmanned vehicle 1 completes its mission and needs to be recovered, the docking and recovery device is installed at a designated position on the mother ship or underwater platform. The vision modules 8 are activated. Two vision modules 8 are installed above the recovery device frame 3. The vision modules 8 are cameras, model ZF-IPC-02B11. The underwater unmanned vehicle 1 navigates towards the entrance of the vehicle guide device 2. Under the guidance of the hollow frustum structure of the vehicle guide device 2, it gradually approaches and enters the recovery device frame 3. The vision modules 8 collect the position information of the underwater unmanned vehicle 1 in real time and transmit the information to the control system. The control system controls the first hydraulic cylinder 41 of the push device 4 and the push device 5 to move according to the position information, driving the adjustment seat 43 to move and make certain adjustments to the vertical position of the underwater unmanned vehicle 1 so that it is always at a suitable height.

[0029] As the underwater unmanned vehicle 1 continues to travel, its bow enters between the upper horn 74 and the lower horn 75 of the bow guide device 7. When the vision module 8 detects that the underwater unmanned vehicle 1 has reached the preset positioning position, the upward hydraulic cylinder 77 extends, driving the lower horn 75 to move upward. Under the action of the guide connecting rod 73 and the bow guide shaft 76, it is ensured that the lower horn 75 and the lower frame 72 move vertically upward until the upper horn 74 and the lower horn 75 position the underwater unmanned vehicle 1, completing the circumferential limit of the underwater unmanned vehicle 1 in the up, down, left, and right directions. Then, the extension end of the second hydraulic cylinder 61 of the locking device 6 extends, driving the locking block 62 to extend and cooperate with the lifting lug 11 of the underwater unmanned vehicle 1. The locking block 62 is located behind the lifting lug 11, restricting the underwater unmanned vehicle 1 from moving backward. Finally, the bow locking hydraulic cylinder 78 is driven, and its extension end extends and abuts against the front end of the bow of the underwater unmanned vehicle 1. At this moment, the underwater unmanned vehicle 1 was reliably located in all directions (up, down, left, right, forward, and backward), achieving precise docking and recovery.

[0030] After recovery, the underwater unmanned vehicle 1 is subjected to operations such as data download, equipment maintenance, and energy replenishment. When it is necessary to release the underwater unmanned vehicle 1, the telescopic ends of the second hydraulic cylinder 61 and the bow locking hydraulic cylinder 78 of the locking device 6 retract, releasing the forward and backward positioning restriction of the underwater unmanned vehicle 1. The upward pushing hydraulic cylinder 77 retracts, the lower frame 72 and the lower flared mouth 75 move downward, gradually moving away from the upper flared mouth 74, releasing the circumferential restriction of the underwater unmanned vehicle 1. The downward pushing device 4 and the upward pushing device 5 reset, and the underwater unmanned vehicle 1 drives out from the recovery device frame 3 to carry out the next operation.

[0031] This embodiment is merely an exemplary illustration of this application and does not limit its scope of protection. Those skilled in the art can make partial changes to it, as long as they do not exceed the spirit and essence of this application, they are all within the scope of protection of this application.

Claims

1. A frame-type underwater unmanned vehicle docking and recovery device, characterized in that: The device includes a vehicle guidance device (2), a recovery device frame (3), a pusher (4), a pusher (5), a locking device (6), and a bow guidance device (7). The vehicle guidance device (2) is connected to the front end of the recovery device frame (3). Multiple pushers (4) are installed above the recovery device frame (3), and multiple pushers (5) are installed below the recovery device frame (3). The bow guidance device (7) is installed inside the recovery device frame (3) and is located in the rear half of the recovery device frame (3). The locking device (6) is installed on the bow guidance device (7). The underwater unmanned vehicle (1) enters the recovery device frame (3) through the vehicle guidance device (2). The position of the underwater unmanned vehicle (1) is controlled by the pusher (4) and the pusher (5). The underwater unmanned vehicle is positioned by the locking device (6) and the bow guidance device (7).

2. The frame-type underwater unmanned vehicle docking and recovery device according to claim 1, characterized in that: Multiple vision modules (8) are installed on the top of the frame (3) of the recycling device.

3. A frame-type underwater unmanned vehicle docking and recovery device according to claim 2, characterized in that: The vehicle guidance device (2) is a hollow frustum structure. The small diameter end of the vehicle guidance device (2) is connected to the recovery device frame (3), and the large diameter end of the vehicle guidance device (2) is used to receive the underwater unmanned vehicle (1).

4. A frame-type underwater unmanned vehicle docking and recovery device according to claim 1 or 3, characterized in that: The pushing device (4) has the same structure as the pushing device (5). The pushing device (4) includes a first hydraulic cylinder (41), a mounting plate (42), an adjusting seat (43), and guide rods (44). The cylinder body of the first hydraulic cylinder (41) is fixed on the frame (3) of the recycling device through the mounting plate (42). The telescopic end of the first hydraulic cylinder (41) is connected to the adjusting seat (43). The adjusting seat (43) extends into the frame (3) of the recycling device. The adjusting seat (43) is slidably connected to the mounting plate (42) through two guide rods (44). The two guide rods (44) are symmetrically arranged on both sides of the first hydraulic cylinder (41).

5. A frame-type underwater unmanned vehicle docking and recovery device according to claim 4, characterized in that: The downward pushing device (4) and the upward pushing device (5) are arranged in a staggered manner on the frame (3) of the recycling device.

6. A frame-type underwater unmanned vehicle docking and recovery device according to claim 1 or 3, characterized in that: The bow guide device (7) includes an upper frame (71), a lower frame (72), a guide connecting rod (73), an upper flared end (74), a lower flared end (75), an upward thrust hydraulic cylinder (77), and a bow locking hydraulic cylinder (78). The upper frame (71) and the lower frame (72) are connected by the guide connecting rod (73). The upper flared end (74) is mounted on the upper frame (71), and the lower flared end (75) is mounted on the lower frame (72). 74) and the lower horn (75) are used to restrict the circumferential movement of the underwater unmanned vehicle (1). The cylinder body of the upper push hydraulic cylinder (77) is installed on the recovery device frame (3). The telescopic end of the upper push hydraulic cylinder (77) is connected to the lower horn (75). The cylinder body of the bow locking hydraulic cylinder (78) is installed on the upper frame (71). The telescopic end of the bow locking hydraulic cylinder (78) extends out and cooperates with the locking device (6) to restrict the forward and backward movement of the underwater unmanned vehicle (1).

7. A frame-type underwater unmanned vehicle docking and recovery device according to claim 6, characterized in that: The locking device (6) includes a second hydraulic cylinder (61) and a locking block (62). The cylinder body of the second hydraulic cylinder (61) is mounted on the upper frame (71). The telescopic end of the second hydraulic cylinder (61) is connected to the locking block (62). The locking block (62) cooperates with the lug (11) of the underwater unmanned vehicle (1) to restrict the underwater unmanned vehicle (1) from moving backward.

8. A frame-type underwater unmanned vehicle docking and recovery device according to claim 7, characterized in that: Multiple bow guide shafts (76) are connected between the upper frame (71) and the lower frame (72).

Images