CN103112561B - 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
CN103112561B
CN103112561B CN201210439839.6A CN201210439839A CN103112561B CN 103112561 B CN103112561 B CN 103112561B CN 201210439839 A CN201210439839 A CN 201210439839A CN 103112561 B CN103112561 B CN 103112561B
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CN
China
Prior art keywords
mechanical arm
antiskid
connecting rod
contiguous block
end
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Application number
CN201210439839.6A
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Chinese (zh)
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CN103112561A (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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Application filed by 哈尔滨工程大学 filed Critical 哈尔滨工程大学
Priority to CN201210439839.6A priority Critical patent/CN103112561B/en
Publication of CN103112561A publication Critical patent/CN103112561A/en
Application granted granted Critical
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 of drive lacking AUV underwater

Technical field

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

Background technology

Along with the research of Intelligent Underwater Robot (AUV) is goed deep into, people start the effective recovery method noting 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 needs the impact in the face of 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 the patent document of 201110382046.0, discloses a kind of large expansion ratio underwater robot recovery device of single degree of freedom symmetrical expression wobble drive.Primarily of compositions such as Through Flow Line (TFL), swing arm, linear pattern extension means, circular ring type extension means and space multiple-limb hinges.Although a cylindrical enclosing region in use can be formed, and under-water robot can be searched in a big way, but under-water robot must axially wrap up completely by it in removal process, this is for the drive lacking under-water robot relying on rudder, oar, the wing to carry out controlling, because the structures such as its rudder, oar, the wing are protruded outside captain boat body.The fixed form of this technical scheme not only can not reach the fixing object reclaiming 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 there is certain antijamming capability, the drive lacking AUV underwater that the AUV being particularly suitable for drive lacking reclaims.

The object of the present invention is achieved like this:

Positioning groove 4 is connected with one end of first connecting rod 5, the other end of first connecting rod 5 is connected with multiport contiguous block 7 through the knock hole on skeleton 10, multiport contiguous block 7 is also connected with one 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, each port of described multiport contiguous block 7 and one end of second mechanical arm 3 hinged, the other end of the second mechanical arm 3 and one end of first mechanical arm 2 hinged, each first mechanical arm 2 is hinged by attaching parts 11 and skeleton 10 again, each first mechanical arm 2 is provided with antiskid 1, around positioning groove 4 axis circumferentially, when positioning groove 4 moves on axis, drive multiport contiguous block 7 to move, the second mechanical arm 3 drives the attaching parts 11 of the first mechanical arm 2 on skeleton 10 to rotate to first mechanical arm 2, second mechanical arm 3.

Drive lacking AUV underwater of the present invention can also comprise:

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

2, antiskid 1 is provided with elastic layer 21 and skid resistant course 20.

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

4, each first mechanical arm 2 is arranged between two antiskid, 1, two antiskid 1 at regular intervals.

Reclaim for avoiding the water surface run into wind, wave, stream interference effect, to prevent from removal process, to the damage that reclaimed AUV may cause, the invention provides a kind of suitable AUV underwater.This device is applicable to Intelligent Underwater Robot, the recovery under water of especially middle-size and small-size drive lacking AUV.This device be a kind of be installed on there is Underwater Navigation ability carrier on, rely on Intelligent Underwater Robot displacement to control, there is the automatic recycling device of certain antijamming capability.

The feature of technical scheme of the present invention is: the state being controlled whole device by positioning groove motion in the axial direction.Positioning groove is connected to connecting rod, connecting rod is connected to contiguous block, each port of contiguous block is outwards connected with mechanical arm, and each mechanical arm be connected with contiguous block can be connected with the mechanical arm be connected on skeleton again, is connected on the mechanical arm on skeleton and antiskid is housed.Like this, when the motion of AUV makes positioning groove produce movement time, contiguous block will be driven to move, thus the motion of driving mechanical arm, the mechanical arm be connected on skeleton will rotate around attaching parts, makes the antiskid on mechanical arm from close to AUV circumference, until encased.When AUV impels positioning groove to move to a certain degree time, being loaded in drg on skeleton can by locked for whole device, thus antiskid can produce pressure in the circumference of AUV, and this pressure can axially produce enough friction force at AUV, be fixed, thus complete recovery.

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

Accompanying drawing explanation

Fig. 1 drive lacking AUV underwater schematic diagram;

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

Fig. 2 b drive lacking AUV underwater working process 2 schematic diagram;

Fig. 2 c drive lacking AUV underwater working process 3 schematic diagram;

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

Fig. 3 b drive lacking 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;

Fig. 6 antiskid is without attaching parts schematic diagram;

Fig. 7 antiskid AUV cross section locking state schematic diagram.

Detailed description of the invention

Below in conjunction with drawings and Examples, the present invention is further described.

In Fig. 1, positioning groove 4 is connected with first connecting rod 5, and first connecting rod 5 is through a knock hole on skeleton 10, and be connected with cross contiguous block 7, cross contiguous block 7 is also connected with second connecting rod 6 in the axial direction, second connecting rod access drg 8.The motion that can be limited positioning groove 4 by the knock hole on drg 8 and skeleton 10 is confined on axis.Capping 9 can fix the position of drg 8 on skeleton 10.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.First mechanical arm 2 is connected with antiskid 1.Whole device ring around positioning groove 4 axis circumferentially.Like this, when positioning groove 4 moves on axis, cross contiguous block 7 can be driven to move, the second mechanical arm 3 can drive the attaching parts 11 of the first mechanical arm 2 on skeleton 10 to rotate, thus realizes the motion of whole device in axis circumference by the motion of positioning groove 4.By skeleton 10, regenerative apparatus can be connected with carrier.

In Fig. 2 a, AUV12 enters recovery state by the guiding of correlation navigation equipment.AUV12 is typical underactuated control mode, is jointly controlled by rudder, oar, the wing, simultaneously at external gps antenna 13 and side-scan sonar 14 equipment having protrusion of captain boat.Now, cross contiguous block 7 is controlled to be crushed on stop washer 15 by drg, thus makes whole regenerative apparatus open-shaped state in the circumferential.

In Fig. 2 b, AUV12 is after pose adjustment, and its end and positioning groove 4 achieve 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 the external world exists certain disturbance, the maximum inner diameter due to positioning groove 4 is greater than the hull diameter of AUV12, also can make to complete docking smoothly between the two.Meanwhile, 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, understand the axis approximate alignment fast by the axis of AUV12 and docking groove 4.

In Fig. 2 c, under the angle of rake effect of AUV12, positioning groove 4 can be promoted along axial-movement, make cross contiguous block 7 leave stop washer 15.Due to the motion of cross contiguous block 7, the second mechanical arm 3 and the first mechanical arm 2 can be driven to move, the first mechanical arm 2 can rotate around attaching parts 11, and drives antiskid 1 to move.Because parts are in circumferentially, so in motion process, antiskid 1 can be shunk to the axis of positioning groove 4, thus the attitude of adjustment AUV12.Drain gutter 16 can be formed gradually in the motion process of antiskid 1.Drain gutter 16 can reduce the water resistance in antiskid 1 motion process.When positioning groove 4 moves to a certain degree, can be undertaken locked by drg.Now, AUV12 can be fixed by the antiskid 1 of circumference, and equipment such as gps antenna 13 and side-scan sonar 14 grade it protruded all can be avoided contacting with antiskid 1 simultaneously.After the internal unit of AUV12 detects stablizing of position, propelling unit can be closed voluntarily.So far, the Automatic Recovery Process that whole dependence AUV12 displacement completes is realized.

In Fig. 3 a and Fig. 3 b, in a driving surface, show the overall process of regenerative apparatus work.When AUV12 prepares to reclaim, cross contiguous block 7 is braked device 8 and is controlled by second connecting rod 6, makes whole regenerative apparatus open-shaped state in the circumferential, and AUV12 can be made like this to have enough motion spaces to adjust attitude before entering positioning groove 4.After AUV12 enters positioning groove 4, whole device can form closed trend in circumference, and drg 8 finally can be driven to enter locking state.Now, antiskid 1 can form enough pressure in circumference to AUV12, thus produces enough friction force and fix AUV (12).By rational design, the stop place that antiskid (1) can be made final is in the pneumatic shell scope of AUV12, and in whole motion process, all can not encounter gps antenna 13 and other protrude from equipment outside AUV12 captain boat body, to avoid causing damage to reclaimed AUV.

In Fig. 4 a and Fig. 4 b, the inside keystone configuration of drg in skeleton 10 is fixed in display.Except shell, drg is formed primarily 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 up of spring, also can be made up of hydraulic efficiency gear.Second connecting rod 6 is stepped shaft.When regenerative apparatus readiness for action, energy disperser 19 can force second connecting rod 6 to move outside drg, thus makes whole regenerative apparatus become open configuration in the circumference.Now locating dowel pin 17 is the axial-movement to second connecting rod 6 under the effect of locating dowel pin stabiliser 18.Although locating dowel pin 17 pairs of second connecting rods 6 exist circumferential pressure, owing to there is drag reduction structures 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 reclaims AUV, second connecting rod 6 moves to a certain degree, and locating dowel pin 17 can enter the cascaded surface of second connecting rod 6, thus by locked for whole drg.Second connecting rod 6 now cannot move, and state now can allow whole regenerative apparatus produce fixed effect to AUV.In the standby state, the position at locating dowel pin 17 place apart from another ladder one segment distance of second connecting rod 6, can form insurance like this, prevents the axial motion of the second connecting rod 6 caused due to ocean current, aquatic organism or other reasons, avoids drg by mistake locked.

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

In Fig. 6, antiskid, except shell and attaching parts, is formed primarily of skid resistant course 20 and elastic layer 21.

In Fig. 7, antiskid can circumferentially, and at the side camber towards AUV.Like this, when regenerative apparatus reclaims in the process of AUV12, antiskid circumferentially can while shrinking to regenerative apparatus axis, the attitude of control AUV12, the dead in line of final its axis regenerative apparatus of adjustment.When drg is in locking state, elastic layer 21 forms circumferential pressure by compression energy, makes skid resistant course 20 can produce enough friction force to AUV to be fixed.Drain gutter 16 can be formed when antiskid circumferential closure, the water resistance that antiskid produces when regenerative apparatus axis shrinks can be reduced like this.

Claims (9)

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

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Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104890835B (en) * 2015-06-09 2017-05-24 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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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
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

Patent Citations (7)

* 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
CN102554914A (en) * 2012-01-06 2012-07-11 上海大学 Novel three-degrees-of-freedom under-actuated mechanism

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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