CN103112561A - Under-actuated AUV (Autonomous Underwater Vehicle) underwater recycling device - Google Patents

Under-actuated AUV (Autonomous Underwater Vehicle) underwater recycling device Download PDF

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Publication number
CN103112561A
CN103112561A CN2012104398396A CN201210439839A CN103112561A CN 103112561 A CN103112561 A CN 103112561A CN 2012104398396 A CN2012104398396 A CN 2012104398396A CN 201210439839 A CN201210439839 A CN 201210439839A CN 103112561 A CN103112561 A CN 103112561A
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CN
China
Prior art keywords
mechanical arm
anti
auv
drive
skidding
Prior art date
Application number
CN2012104398396A
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Chinese (zh)
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CN103112561B (en
Inventor
张英浩
孙玉山
万磊
庞永杰
李岳明
张国成
马珊
何斌
白继嵩
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哈尔滨工程大学
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Priority to CN201210439839.6A priority Critical patent/CN103112561B/en
Publication of CN103112561A publication Critical patent/CN103112561A/en
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Publication of CN103112561B publication Critical patent/CN103112561B/en

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Abstract

The invention provides an under-actuated AUV (Autonomous Underwater Vehicle) underwater recycling device. A locating groove is connected with a first connecting rod, the other end of the first connecting rod is connected with a multi-port connecting block by passing through a locating hole in a skeleton, the multi-port connecting block is also connected with a second connecting rod in the axial direction, the other end of the second connecting rod is connected to a brake, the brake is installed on the skeleton, each port of the multi-port connecting block is hinged with one end of a second mechanical arm, the other end of the second mechanical arm is hinged with one end of a first mechanical arm, each first mechanical arm is hinged with the skeleton through a connecting element, and an antiskid arm is arranged on each first mechanical arm. The antiskid arm and the mechanical arms are arranged in the circumferential direction on the skeleton along the axial line of the locating groove, and the axial movement of the locating groove is controlled to control the circumferential movement of the antiskid arm and the mechanical arms so as to recycle the AUV. The AUV underwater recycling device has a flexible and compact structure and certain anti-interference capability, so that the device is suitable to be applied on submarines or other carriers having underwater locating capability.

Description

A kind ofly owe to drive the AUV underwater

Technical field

What the present invention relates to is a kind of underwater of Intelligent Underwater Robot, is specially adapted to the middle-size and small-size recovery of owing to drive Intelligent Underwater Robot.

Background technology

Along with the research of Intelligent Underwater Robot (AUV) is goed deep into, people begin to note effective recovery method of AUV.The way of recycling of current AUV can be divided into the water surface and two kinds generally under water.Water surface way of recycling need to be faced the impact that wind, wave, stream bring, but way of recycling not only can greatly reduce above-mentioned impact under water, can also increase disguise simultaneously.

Application number is in 201110382046.0 patent document, discloses a kind of large expansion ratio underwater robot recovery device of single degree of freedom symmetrical expression wobble drive.Mainly formed by Through Flow Line (TFL), swing arm, linear pattern extension means, circular ring type extension means and space multiple-limb hinge etc.Although can in use form a cylindrical enclosing region, and can search for under-water robot in a big way, but it must axially wrap up under-water robot in removal process fully, this is for owing of relying on that rudder, oar, the wing control drives under-water robot, because the structures such as its rudder, oar, the wing are protruded outside the captain boat body.The fixed form of this technical scheme not only can not reach the fixing purpose that reclaims this under-water robot, also can cause damage to under-water robot simultaneously.

Summary of the invention

The object of the present invention is to provide a kind of flexible structure compact and have certain antijamming capability, the AUV that is particularly suitable for owing to drive reclaims owes to drive the AUV underwater.

The object of the present invention is achieved like this:

positioning groove 4 is connected with an end of first connecting rod 5, the knock hole that the other end of first connecting rod 5 passes on skeleton 10 is connected with multiport contiguous block 7, multiport contiguous block 7 also is connected with an end of second connecting rod 6 in the axial direction, the other end access drg 8 of second connecting rod 6, drg 8 is installed on skeleton 10, one end of each port of described multiport contiguous block 7 and second mechanical arm 3 is hinged, one end of the other end of the second mechanical arm 3 and first mechanical arm 2 is hinged, each first mechanical arm 2 is hinged by attaching parts 11 and skeleton 10 again, be provided with anti-skidding hand 1 on each first mechanical arm 2, the first mechanical arm 2, the second mechanical arm 3 when positioning groove 4 moves, drive 7 motions of multiport contiguous block around positioning groove 4 axis circumferential arrangement on axis, the second mechanical arm 3 drives the attaching parts 11 of the first mechanical arm 2 on skeleton 10 and rotates.

Of the present inventionly owe to drive the AUV underwater and can also comprise:

1, described drg 8 comprises shell and is placed in locating dowel pin 17, locating dowel pin stabiliser 18 and the energy disperser 19 of shell, and locating dowel pin stabiliser 18 and energy disperser 19 can be made of spring or hydraulic efficiency gear, and described second connecting rod 6 is stepped shaft.

2, be provided with elastic layer 21 and skid resistant course 20 on anti-skidding hand 1.

3, described multiport contiguous block 7 is the cross contiguous block, and namely port number is 4, becomes 90 degree between port.

4, arrange on each first mechanical arm 2 between 1, two anti-skidding hand 1 of two anti-skidding hands at regular intervals.

Be the interference effect of the wind avoiding the water surface to reclaim running into, wave, stream, prevent from the damage that may cause recovery AUV in removal process from the invention provides a kind of suitable AUV underwater.This device is applicable to Intelligent Underwater Robot, the especially middle-size and small-size recovery under water of owing to drive AUV.This device is a kind of being installed on the carrier with stationkeeping ability under water, relies on the Intelligent Underwater Robot displacement to control, and has the automatic recycling device of certain antijamming capability.

The characteristics of technical scheme of the present invention are: the state of controlling whole device by positioning groove motion in the axial direction.Be connected to connecting rod on positioning groove, be connected to contiguous block on connecting rod, each port of contiguous block outwards is connected with mechanical arm, each mechanical arm that is connected with contiguous block again can be connected to skeleton on mechanical arm be connected, be connected to anti-skidding hand be housed on the mechanical arm on skeleton.Like this, when the motion of AUV makes the positioning groove generation mobile, will drive contiguous block and move, thereby driving mechanical arm motion, the mechanical arm that is connected on skeleton will rotate around attaching parts, makes the anti-skidding hand on mechanical arm upwards approaching to AUV from week, until it is encased.When AUV impels positioning groove to move to a certain degree, the drg that is loaded on skeleton can be locked with whole device, thereby anti-skidding hand can upwards produce pressure in the week of AUV, and this pressure can AUV axially on produce enough friction force, be fixed, thereby complete recovery.

The invention has the beneficial effects as follows; can automatically control the recovery of AUV by the motion of AUV; particularly the middle-size and small-size AUV that owes to drive is reclaimed; in removal process; can protect rudder, oar, the wing, GPS positioning antenna and side-scan sonar etc. protrudes from outside the captain boat body or not withstand voltage equipment; and the use of this regenerative apparatus does not need the molded line of original AUV is carried out any improvement, thereby guarantees the hydrodynamic performance of original AUV.

Description of drawings

Fig. 1 owes to drive AUV underwater schematic diagram;

Fig. 2 a owes to drive AUV underwater working process 1 schematic diagram;

Fig. 2 b owes to drive AUV underwater working process 2 schematic diagrams;

Fig. 2 c owes to drive AUV underwater working process 3 schematic diagrams;

Fig. 3 a owes to drive AUV underwater one driving surface readiness for action schematic diagram;

Fig. 3 b owes to drive AUV underwater one driving surface locking state schematic diagram;

Fig. 4 a drg readiness for action schematic diagram;

Fig. 4 b drg locking state schematic diagram;

Fig. 5 cross contiguous block schematic diagram;

The anti-skidding hand of Fig. 6 is without the attaching parts schematic diagram;

The anti-skidding hand AUV of Fig. 7 cross section locking state schematic diagram.

The specific embodiment

The present invention is further described below in conjunction with drawings and Examples.

In Fig. 1, positioning groove 4 is connected with first connecting rod 5, and first connecting rod 5 passes a knock hole on skeleton 10, is connected with cross contiguous block 7, and cross contiguous block 7 also is connected with second connecting rod 6 in the axial direction, second connecting rod access drg 8.The motion that can limit positioning groove 4 by the knock hole on drg 8 and skeleton 10 is confined on axis.Capping 9 is the position of drg 8 on skeleton 10 fixedly.In the end of cross contiguous block 7, be connected with the second mechanical arm 3 by attaching parts 11, the second mechanical arm 3 is connected with the first mechanical arm 2 by attaching parts 11 again, and the first mechanical arm 2 is connected with skeleton 10 by attaching parts 11 again simultaneously.Be connected with anti-skidding hand 1 on the first mechanical arm 2.Whole device ring is around positioning groove 4 axis circumferential arrangement.Like this, when positioning groove 4 moves, can drive 7 motions of cross contiguous block on axis, the second mechanical arm 3 can drive the attaching parts 11 of the first mechanical arm 2 on skeleton 10 and rotate, thereby realizes that by the motion of positioning groove 4 whole device is in the circumferential motion of axis.Can regenerative apparatus be connected with carrier by skeleton 10.

In Fig. 2 a, AUV12 enters the recovery state by the guiding of correlation navigation equipment.AUV12 is jointly controlled by rudder, oar, the wing for typically owing to drive mode, simultaneously at external gps antenna 13 and side-scan sonar 14 equipment that protrusion is arranged of captain boat.At this moment, cross contiguous block 7 is controlled by drg and is crushed on stop washer 15, thereby makes whole regenerative apparatus in the open-shaped attitude that makes progress in week.

In Fig. 2 b, after AUV12 adjusted through attitude, its end and positioning groove 4 achieved a butt joint.Positioning groove 4 be designed to taper, ecto-entad shrinks gradually.Its maximum inner diameter is greater than the hull diameter of AUV12, and inner wall smooth.Like this, even if there is certain disturbance in the external world, due to the maximum inner diameter of the positioning groove 4 hull diameter greater than AUV12, also can makes and complete smoothly docking between the two.Simultaneously, due to the inner wall smooth of positioning groove 4, after docking groove 4 is inserted in the end of AUV12, under the angle of rake effect of AUV12, can align with the axis of docking groove 4 is approximate by quick axis with AUV12.

In Fig. 2 c, under the angle of rake effect of AUV12, can promote positioning groove 4 along axial-movement, make cross contiguous block 7 leave stop washer 15.Due to the motion of cross contiguous block 7, can drive the second mechanical arm 3 and the first mechanical arm 2 motions, the first mechanical arm 2 can rotate around attaching parts 11, and drives anti-skidding hand 1 motion.Because parts are circumferential arrangement, so in motion process, anti-skidding hand 1 can shrink to the axis of positioning groove 4, thereby adjust the attitude of AUV12.Can form gradually drain gutter 16 in the motion process of anti-skidding hand 1.Drain gutter 16 can reduce the water resistance in anti-skidding hand 1 motion process.When positioning groove 4 moves to a certain degree, can be undertaken locked by drg.At this moment, AUV12 can be fixing by circumferential anti-skidding hand 1, and the equipment of its upper protrusion such as gps antenna 13 and side-scan sonar 14 etc. all can be avoided contacting with anti-skidding hand 1 simultaneously.After the internal unit of AUV12 detects stablizing of position, can close voluntarily propelling unit.So far, realize the Automatic Recovery Process that whole dependence AUV12 displacement is completed.

In Fig. 3 a and Fig. 3 b, show the overall process of regenerative apparatus work in a driving surface.When AUV12 prepared to reclaim, cross contiguous block 7 was braked device 8 and controls by second connecting rod 6, makes whole regenerative apparatus in the open-shaped attitude that makes progress in week, can make like this AUV12 can have enough motion spaces to adjust attitude before entering positioning groove 4.After AUV12 entered positioning groove 4, whole device can circumferentially forming closed trend, finally can drive drg 8 and enter locking state.At this moment, anti-skidding hand 1 can circumferentially form enough pressure to AUV12, fixes AUV (12) thereby produce enough friction force.By rational design, can make anti-skidding hand (1) final stop place in the pneumatic shell scope of AUV12, and can not encounter gps antenna 13 and other and protrude from equipment outside AUV12 captain boat body in whole motion process, to avoid that the AUV that is reclaimed is caused damage.

In Fig. 4 a and Fig. 4 b, show the inside keystone configuration that is fixed in drg in skeleton 10.Except shell, drg mainly is made of locating dowel pin 17, locating dowel pin stabiliser 18 and energy disperser 19.Locating dowel pin stabiliser 18 and energy disperser 19 can be made of spring, also can be made of hydraulic efficiency gear.Second connecting rod 6 is stepped shaft.When the regenerative apparatus readiness for action, energy disperser 19 can force second connecting rod 6 to move outside drg, thereby makes whole regenerative apparatus become open configuration in the circumference.This moment, locating dowel pin 17 was the axial-movement to second connecting rod 6 under the effect of locating dowel pin stabiliser 18.Although there is circumferential pressure in 17 pairs of second connecting rods 6 of locating dowel pin, owing to having the drag reduction structure between locating dowel pin 17 and second connecting rod 6, so do not affect the axial motion of second connecting rod 6.When regenerative apparatus reclaimed AUV, second connecting rod 6 moved to a certain degree, and locating dowel pin 17 can enter the cascaded surface of second connecting rod 6, thereby whole drg is locked.The second connecting rod 6 of this moment can't move, and the state of this moment can allow whole regenerative apparatus produce fixed effect to AUV.Under readiness for action, the position at locating dowel pin 17 places can form insurance like this apart from another ladder one segment distance of second connecting rod 6, prevents the axial motion of the second connecting rod 6 that causes due to ocean current, aquatic organism or other reasons, avoids the drg mistake locked.

In Fig. 5, the port number of cross contiguous block is 4, becomes 90 degree between port, connecting bore is arranged, and on the surface, connecting bore is arranged also, conveniently is connected with other parts.The cross contiguous block can be adjusted angle between port number and port according to actual conditions.

In Fig. 6, anti-skidding hand mainly is made of skid resistant course 20 and elastic layer 21 except shell and attaching parts.

In Fig. 7, anti-skidding hand meeting circumferential arrangement, and at the side camber towards AUV.Like this, in the process of regenerative apparatus recovery AUV12, the anti-skidding hand of circumferential arrangement can be controlled the attitude of AUV12 when shrinking to the regenerative apparatus axis, finally adjust the dead in line of its axis regenerative apparatus.When drg was in locking state, 21 of elastic layers formed circumferential pressure by compression energy, make skid resistant course 20 can produce enough friction force to AUV to be fixed.Can form drain gutter 16 when anti-skidding hand circumferential closure, can reduce like this water resistance that anti-skidding hand produces when the regenerative apparatus axis shrinks.

Claims (9)

1. owe to drive the AUV underwater for one kind, it is characterized in that: positioning groove (4) is connected with an end of first connecting rod (5), the knock hole that the other end of first connecting rod (5) passes on skeleton (10) is connected with multiport contiguous block (7), multiport contiguous block (7) also is connected with an end of second connecting rod (6) in the axial direction, the other end access drg (8) of second connecting rod (6), drg (8) is installed on skeleton (10), one end of each port of described multiport contiguous block (7) and second mechanical arm (3) is hinged, one end of the other end of the second mechanical arm (3) and first mechanical arm (2) is hinged, each first mechanical arm (2) is hinged by attaching parts (11) and skeleton (10) again, be provided with anti-skidding hand (1) on each first mechanical arm (2), the first mechanical arm (2), the second mechanical arm (3) are around positioning groove (4) axis circumferential arrangement, when positioning groove (4) moves on axis, drive multiport contiguous block (7) motion, the second mechanical arm (3) drives the attaching parts (11) of the first mechanical arm (2) on skeleton (10) and rotates.
2. according to claim 1ly owe to drive the AUV underwater, it is characterized in that: described drg (8) comprises shell and is placed in locating dowel pin (17), locating dowel pin stabiliser (18) and the energy disperser (19) of shell, locating dowel pin stabiliser (18) and energy disperser (19) can be made of spring or hydraulic efficiency gear, and described second connecting rod (6) is stepped shaft.
3. according to claim 1 and 2ly owe to drive the AUV underwater, it is characterized in that: be provided with elastic layer (21) and skid resistant course (20) on anti-skidding hand (1).
4. according to claim 1 and 2ly owe to drive the AUV underwater, it is characterized in that: described multiport contiguous block (7) is the cross contiguous block, and namely port number is 4, becomes 90 degree between port.
5. according to claim 3ly owe to drive the AUV underwater, it is characterized in that: described multiport contiguous block (7) is the cross contiguous block, and namely port number is 4, becomes 90 degree between port.
6. according to claim 1 and 2ly owe to drive the AUV underwater, it is characterized in that: on each first mechanical arm (2), two anti-skidding hands (1) are set, at regular intervals between two anti-skidding hands (1).
7. according to claim 3ly owe to drive the AUV underwater, it is characterized in that: on each first mechanical arm (2), two anti-skidding hands (1) are set, at regular intervals between two anti-skidding hands (1).
8. according to claim 4ly owe to drive the AUV underwater, it is characterized in that: on each first mechanical arm (2), two anti-skidding hands (1) are set, at regular intervals between two anti-skidding hands (1).
9. according to claim 5ly owe to drive the AUV underwater, it is characterized in that: on each first mechanical arm (2), two anti-skidding hands (1) are set, at regular intervals between two anti-skidding hands (1).
CN201210439839.6A 2012-11-07 2012-11-07 Under-actuated AUV (Autonomous Underwater Vehicle) underwater recycling device CN103112561B (en)

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CN103112561B CN103112561B (en) 2015-05-20

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104890835A (en) * 2015-06-09 2015-09-09 哈尔滨工程大学 Submersible vehicle recycling and laying device capable of recycling and laying at two stages
CN108622333A (en) * 2018-05-28 2018-10-09 哈尔滨工程大学 A kind of more UUV lay recycling docking facilities and its lay recovery method
CN109263839A (en) * 2018-11-07 2019-01-25 哈尔滨工程大学 A kind of underwater robot recovery device

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US7025014B1 (en) * 2004-03-03 2006-04-11 The United States Of America As Represented By The Secretary Of The Navy Sea vessel retrieval of unmanned underwater vehicles
CN102490878A (en) * 2011-11-25 2012-06-13 北京航空航天大学 Single-degree-of-freedom symmetrical type swing-driven underwater robot recovery device with large expansion ratio
CN202292762U (en) * 2011-10-25 2012-07-04 浙江大学 Fruit/vegetable picking under-actuated mechanical manipulator
CN102554914A (en) * 2012-01-06 2012-07-11 上海大学 Novel three-degrees-of-freedom under-actuated mechanism
CN202379064U (en) * 2011-12-26 2012-08-15 中国科学院沈阳自动化研究所 Launching and retrieval device for autonomous underwater vehicle
CN202400265U (en) * 2011-12-28 2012-08-29 中国科学院沈阳自动化研究所 Underwater robot recycling system

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5762390A (en) * 1996-07-16 1998-06-09 Universite Laval Underactuated mechanical finger with return actuation
US7025014B1 (en) * 2004-03-03 2006-04-11 The United States Of America As Represented By The Secretary Of The Navy Sea vessel retrieval of unmanned underwater vehicles
CN202292762U (en) * 2011-10-25 2012-07-04 浙江大学 Fruit/vegetable picking under-actuated mechanical manipulator
CN102490878A (en) * 2011-11-25 2012-06-13 北京航空航天大学 Single-degree-of-freedom symmetrical type swing-driven underwater robot recovery device with large expansion ratio
CN202379064U (en) * 2011-12-26 2012-08-15 中国科学院沈阳自动化研究所 Launching and retrieval device for autonomous underwater vehicle
CN202400265U (en) * 2011-12-28 2012-08-29 中国科学院沈阳自动化研究所 Underwater robot recycling system
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104890835A (en) * 2015-06-09 2015-09-09 哈尔滨工程大学 Submersible vehicle recycling and laying device capable of recycling and laying at two stages
CN108622333A (en) * 2018-05-28 2018-10-09 哈尔滨工程大学 A kind of more UUV lay recycling docking facilities and its lay recovery method
CN109263839A (en) * 2018-11-07 2019-01-25 哈尔滨工程大学 A kind of underwater robot recovery device

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Effective date of registration: 20170207

Address after: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001

Patentee after: Science Park Development Co., Ltd. of Harbin Engineering University

Patentee after: Gao Liangtian

Patentee after: Sun Yushan

Patentee after: Jia Hui

Address before: 150001 Heilongjiang, Nangang District, Nantong street,, Harbin Engineering University, Department of Intellectual Property Office

Patentee before: Harbin Engineering Univ.

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Effective date of registration: 20170906

Address after: 150028, Heilongjiang hi tech Industrial Development Zone, Harbin science and technology innovation city, innovation and entrepreneurship Plaza, building 15 (192 bright moon street) torch networking building, room 349

Patentee after: Harbin ha te special equipment technology development Co., Ltd.

Address before: 15 Heilongjiang, Nangang Province, Nantong street, building No. 258, building, ship, floor, No. 150001

Co-patentee before: Gao Liangtian

Patentee before: Science Park Development Co., Ltd. of Harbin Engineering University

Co-patentee before: Sun Yushan

Co-patentee before: Jia Hui