CN107284627A - A kind of UUV Underwater Docking Devices under the conditions of moving base - Google Patents
A kind of UUV Underwater Docking Devices under the conditions of moving base Download PDFInfo
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- CN107284627A CN107284627A CN201710378775.6A CN201710378775A CN107284627A CN 107284627 A CN107284627 A CN 107284627A CN 201710378775 A CN201710378775 A CN 201710378775A CN 107284627 A CN107284627 A CN 107284627A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/004—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned autonomously operating
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/008—Docking stations for unmanned underwater vessels, or the like
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Earth Drilling (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention belongs to underwater mating field, and in particular to the UUV Underwater Docking Devices under the conditions of a kind of moving base.The invention mainly comprises conical oriented module (1), spacing and locating module (2), support and link block (3) and add-on module；UUV enters docking facilities, and UUV hangers touching hanger neck, which is promoted, to travel forward, and triggering control centre switch, tapered guide housing has a series of action.Mobile hanger neck rises, and fixed UUV direction of advance recycles hydraulic means to push up UUV, fixed in the z-axis direction, and the signal control hydraulic means and neck that tapered guide housing is sent by control centre shrink to pack up tapered guide housing.Driven by the hydraulic means on support bar, tapered guiding closure assembly is reached predetermined posture, be recovered in designed docking cylinder unit, complete docking recovery operation.The present invention can realize under the conditions of moving base that the docking facilities automatically adjust posture, coordinate UUV to be docked with female ship, with practicality.
Description
Technical field
The invention belongs to underwater mating field, and in particular to the UUV Underwater Docking Devices under the conditions of a kind of moving base.
Background technology
UAV navigation (Unmanned Underwater Vehicle, UUV) has that scope of activities is big, diving is deep,
Mobility is good, intelligent, the low advantage of operation and maintenance cost, as the mankind in Activities of Ocean, particularly in the activity of deep-sea
Important replacer and executor, be widely used in scientific investigation, the field such as deep ocean work.Although UAV navigation
Can autonomous navigation, but a base or lash ship are needed as platform is ensured, to complete dispensing, the control to UAV navigation
The work such as system, recovery and maintenance.UAV navigation hang platform include that bank base is fixed substantially, underwater surface navigation
The form such as motor platform and artificial or aerial platform.
Current UAV navigation lays and reclaimed many based on the water surface or underwater platform.Water surface arranging device is substantially
It is divided into slideway type, deck heavier-duty, dock type and manually lays.It is current use at most that deck heavier-duty, which lays mode,
Method.Its advantage is to lay to collide relatively fewer, is conducive to protection UAV navigation and internal unit.
In the prior art, by the way of the laying and reclaim generally all using artificial hook unhook of UAV navigation, cloth
When putting and reclaiming, hook unhook action is required under diver water to complete, and this manual type lays and reclaimed nobody under water
ROV, considerably increases the working strength of diver, and operating efficiency is relatively low, when especially sea situation is severe, and this artificial extension takes off
Not only efficiency is low for hook mode, and danger close, and easily diver is damaged.Therefore, Intelligent Underwater Robot is in application
During, with reasonable efficient recovery scheme will greatly improve the disguise of military underwater robot, security, independence and
The simplicity of operation.Therefore, under different sea situations, while how the recovery conscientious to submarine navigation device of safety is research UUV
The important step that can not ignore.
The quantity of energy carried when ROV works under water is limited, and then result in the size of its endurance, to improve
Its working time to underwater robot, it is necessary to be reclaimed and supplement energy and safeguard.
The current specific ways of recycling of UUV can be divided into following three class in detail：Water surface lifting method is that the earliest UUV that implements is returned
It is incorporated as the mode of industry；Underwater mating way of recycling；Carry band way of recycling on the back under water.
Analyze various Underwater Docking Devices both domestic and external, it will be seen that various docking facilities structure type differences compared with
Greatly, the target of docking also differs from one another.Docking facilities need the function difference completed, and the complexity of its structure is also.Example
Such as, small-sized " ISIMI " AUV of South Korea, it is only necessary to carry out underwater mating task, thus docking facilities have only included circular cone guide housing
And guide cylinder, guiding, spacing and positioning function can only be realized；Same " Remus-100 " using circular cone guide frame reclaims dress
Put due to needing to complete charging and data transfer task, thus add charging mechanism, and it is real by the connection of charging mechanism
The locking in docking facilities is showed；" searcher's retracting device can complete the control of itself posture in water, due to recovery
It is larger, and need to complete the slinging and discharging of the task, docking facilities structure is complex；Charging and data biography are completed various
In the docking facilities of transmission function, accurate positioning and locking in docking facilities may be implemented in.
The docking facilities developed herein are mounted on the female ship in deep-sea, are the deep-sea position supplement energy, are passed into row information
Defeated bridge.On the basis of with reference to domestic and international Underwater Docking Device, with reference to the technical indicator of problem, pass through analysis and Docking station
Docking flow, determine the function of retracting device, then study corresponding organization plan.It is deep in view of in different tasks
What extra large position was reclaimed might have in size and structure needs the function of completing may also be different after difference, and recovery, because
This, in the structure design that modular thought is applied to docking facilities, makes docking facilities to carry out work(for different situations
The combination of energy module, flexibly to tackle different recovery targets, completes recovery task.
The content of the invention
The invention aims to exclude the insecurity of recovery waterborne and for existing right under water in the case of deep-sea
Connection device is in the problem of a certain fixed position is relatively difficult to achieve under water, and moving base is carried out by the way that docking facilities are arranged in female ship
Under the conditions of UUV docking, to improve the efficiency of underwater mating.
The object of the present invention is achieved like this：
A kind of UUV Underwater Docking Devices under the conditions of moving base, it is main to include conical oriented module 1, spacing and positioning
Module 2, support and link block 3 and add-on module；
The conical oriented module 1 is supported by support and link block 3；
Described spacing and locating module 2 is connected with conical oriented module 1 by draw off gear 10；
The support and link block 3 are made up of upper brace and bottom support frame, and upper brace connects with add-on module
Connect；
The add-on module includes：Vertical storage release module 4, buffer module 5, locking module 6, charge to connection module 7,
Detection device link block.
Described conical oriented module 1 constitutes a conical guide frame by circular cone guide housing 8；Described circular cone is led
It is welded to cover 8 using aluminium alloy pipe；Axis of great circle is more than having for UUV diameters and circular cone guide housing 8 in circular cone guide housing 8
Effect is oriented to diameter；Big nose circle uses soft resistant material 14 in described circular cone guide housing 8；
When UUV is reclaimed, circular cone guide housing 8 is by the guide housing supporter in support and link block 3 in vertical side
Support and hydraulic means 15 are supported upwards.
Described spacing and locating module 2 is by limiting plate 13, hanger neck 12, spacing cylinder 20, triggering limit switch dress
17, guide cylinder 16, spring assembly 22, triggering limit switch 18 and Signal control Center 19 is put to constitute；
Two described limiting plates 13 constitute the slideway of UUV hangers；UUV hangers neck 12 is welded on spacing cylinder 20
On arc；Described spacing cylinder 20 is connected with triggering limit switch device 17；Put outside the described aluminum pipe of guide cylinder 16 poly-
Tetrafluoroethene pipe；Described guide housing 21 is located at before triggering limit switch 18 with spring assembly 22；Described limiting plate 13, hang
Ear neck 12, spacing cylinder 20, triggering limit switch device 17, guide cylinder 16 and the composition integrative-structure of Signal control Center 19.
Described support and the upper brace of link block 3 are provided with hydraulic means 15, charging module 7 and locking device 6；
Described support and the bottom support frame of link block 3 are made of high-strength corrosion-resisting material, are connected with certain position in female ship
Connect；Cable and the transmission energy, the relevant apparatus of signal are installed in described bottom support frame；
The main vertical storage by the big cylinder single tube of external of vertical storage release module 4 in described add-on module discharges
Device is constituted；Described vertical storage release device is arranged on the pressure hull and spherical sound in outside submarine pressure hull and side of a ship portion
Between；
Described vertical storage release device is main by vertical base cabin device 27, cover device 28 and soft supporting and positioning device
29 compositions.
Described vertical base cabin device 27 is the cylindrical drum bottom of with；The described top connection method of vertical base cabin device 27
It is blue；The described the inside of vertical base cabin device 27, which is provided with around UUV paint storage tanks 30, UUV paint storage tanks 30, is provided with gas-tight ring beam 31；
The described bottom of vertical base cabin device 27 is provided with soft supporting and positioning device 29.
The convex film 32 of high intensity is scribbled on described cover device 28；Described cover device 28 is main by cover fence, cylinder
Lid switch lid mechanism, cover unscrew screwing mechanism, cover locking mechanism, cover and hatch board composition；
Described cover switchs lid mechanism, cover and unscrews screwing mechanism and cover locking mechanism using hydraulic jack conduct
Power set.
Buffer module 5 in described add-on module is mainly made up of lid 34, cylinder 35, closure 36；Described is slow
Die block 5 is the seal cavity that an inside is full of hydraulic oil, and sealing state is kept by sealing ring 41 and rubber ring 42；Cylinder 35
Sealed between closure 36 using O-ring 37；Closure 36 can be moved axially along cylinder 35.
Locking module 6 in described add-on module is main by hydraulic cylinder 43, hydraulic lock 45, vee-block 44 and guider
46 are constituted；Described hydraulic lock 45 is locked using mechanical type hydraulic.
Charging in described add-on module is main to connection module 7 by positioning tube 54, double end ball-and-socket hinge device 49, connecting rod
50th, guide head 51, spring 53, sliding cylinder 48, cable 47 and charging connector 52 are constituted；
Described positioning tube 54 is with fixed frame using being fixedly connected, and positioning tube 54 is connected with guider 46；
The described two ends of double end ball-and-socket hinge device 49 are universal ball joint, there is six-freedom degree, and double end ball-and-socket hinge device 49 is floated
Moved end is fixedly connected with guide head 51 by connecting rod 50；Described guide head 51 is a conical structure, and initial position is kept
Vertical state；
The described floating end of double end ball-and-socket hinge device 49 is connected by four springs 53 with sliding cylinder 48；Described double end ball pivot
Zhong Ge inside parts UNICOM of mechanism is disposed with cable 47.
The present invention has the following effects that：
The present invention can be realized under the conditions of moving base, and posture is automatically adjusted using docking facilities, coordinate UUV to enter with female ship
Row docking, it is different from prior art design, with advanced and specific aim；Be suitable for small-sized UUV lays recovery；Tool
There is preferable practicality.
Brief description of the drawings
Fig. 1 is docking facilities action flow chart during UUV is docked and is discharged.
Fig. 2 is the schematic diagram of docking facilities.
Fig. 3 is the schematic diagram of part on docking facilities after assembling.
Fig. 4 is spacing and locating module schematic diagram.
Fig. 5 is the schematic diagram of vertical storage release module.
Fig. 6 is buffer module two-dimensional representation.
Fig. 7 is locking module two-dimensional representation.
Fig. 8 is charging to connection module two-dimensional representation.
Embodiment
The present invention is described further below in conjunction with the accompanying drawings.
Embodiment 1
The invention provides the UUV Underwater Docking Devices under the conditions of a kind of moving base, belong to underwater mating field.The present invention
Purpose is that insecurity and existing Underwater Docking Device in order to exclude recovery waterborne are in a certain fixed position under water, for
The problem of relatively difficult to achieve in the case of deep-sea, docked by the way that docking facilities to be arranged on to the UUV in female ship under the conditions of progress moving base,
To improve the efficiency of underwater mating.
A kind of UUV Underwater Docking Devices under the conditions of moving base, docking facilities include the basic training such as guiding, spacing, positioning
Can and rotate, buffering, locking, the additional function such as charging inlet connection, docking facilities mainly include conical oriented module 1, limit
Position and locating module include reclaiming guide cylinder, spacing location structure etc., buffer module, locking module, the support of docking facilities and
Link block, hydraulic pressure and control system.Into docking facilities, when hanger touching hanger neck promotes it to travel forward, buffering
The damage brought is hit in its mitigation that is designed as of module, and it now triggers control centre's switch, tapered to lead according to setting before
A series of action is had to cover.Mobile hanger neck rises, and fixed UUV direction of advance recycles hydraulic means to push up
Dynamic UUV, makes it fix in the z-axis direction, simultaneously, and the signal that tapered guide housing is sent by control centre controls hydraulic pressure
Device and neck shrink to pack up tapered guide housing.At all after hours, the hydraulic means driving on support bar, makes to lead
Predetermined posture is reached to closure assembly, is recovered among designed docking cylinder unit, completes docking recovery operation.Docking facilities
Docking and release flow combination Fig. 1 shown in.
The present invention can realize under the conditions of moving base that the docking facilities automatically adjust posture, coordinate UUV to be carried out with female ship
Docking, it is different compared with other people design, with good advance and specific aim.Be suitable for small-sized UUV lays recovery,
With preferable practicality.
With reference to shown in Fig. 1 to Fig. 8, the UUV Underwater Docking Devices under the conditions of a kind of moving base of the invention, it is characterised in that：
Docking facilities mainly include conical oriented module 1, spacing and locating module 2, the support of docking facilities and link block 3, attached
Plus module includes：Vertical storage release module 4, buffer module 5, locking module 6, charging connect mould to connection module 7, detection device
Block.It is furnished with hydraulic control system in pyramid type guide housing 8.
Described conical oriented module 1 is using conical guide frame, with reference to shown in Fig. 3, realizes when being docked to UUV
It is oriented to.Circular cone guide housing 8 is welded using aluminium alloy pipe, and guide housing axis of great circle is about four times of UUV diameters, is much larger than
Effective guiding diameter of conical cover guide housing 8, main purpose is to expand between the sonar transducer array unit arranged thereon
Distance, improve sonar transducer array measurement accuracy.When carrying out UUV recovery, guide housing supporter in the vertical direction, which is supported, leads
Supported to cover, then by hydraulic means 15, the hydraulic means 9 on guide housing holding level, spacing location-plate 13 is drawn pyramid type
The draw off gear 10 of guide housing 8 is fixed to position as shown in the figure, and by neck 11, complete UUV recovery preparation, UUV along
Guide cylinder 16 advances, when recovery is finished, and UUV hangers drive trigger switch device 17 to trigger by the stop motion of UUV hangers neck 12
Limit switch 18, Signal control Center 19 sends series of orders, including on packing up for neck 11, and spacing location-plate 13
Hydraulic means 9 promote the tapered draw off gear of guide housing 8 to move forward between two necks 11, complete cone-shaped hood 8 contraction work
Make, the big nose circle of cone-shaped hood 8 uses soft resistant material 14.
Limiting plate 13, guide cylinder 16 complete the spacing of UUV jointly in described spacing and locating module recovery docking cylinder
And positioning.Shown in structure combination Fig. 4, two limiting plates 13 constitute the slideway of hanger, and limiting plate 13 normal thereto is responsible for limitation
The motion of its direction of advance, hanger neck is welded to the arc on spacing cylinder.When UUV enters in guide cylinder, hanger
It has been limited in slideway and has moved by hanger neck 12, now UUV is not limited in vertical direction and the direction of advance free degree, UUV
Move on, when UUV hangers encounter UUV hanger necks 12, its direction of advance is also restrained, UUV completes positioning, limited post
Body 20 drives triggering limit switch device 17 to advance, and its direction of advance is limited by guide housing 21, is protected jointly with spring assembly 22
Shield touches limit switch 18, and the signal for positioning completion can be passed to control centre 19 by triggering limit switch 18, and hydraulic means 23 is pushed away
Dynamic mobile hanger neck 24, UUV hangers are stuck in spacing sawtooth 25, and UUV is fixed with hydraulic lock 26, complete UUV recovery with
Afterwards, spring assembly 22 can prevent it from persistently triggering by trigger switch device 17 away from switch 18.In order to reduce UUV bodies with
Friction damaged probability between guide cylinder 16, the polyfluortetraethylene pipe on set outside the aluminum pipe of guide cylinder 16.Hanger neck 12, limiting plate
14th, other devices composition one on spacing cylinder 20, triggering limit switch device 17, guide cylinder 16 and Signal control Center 19
Body, constitutes standalone module, when the UUV diameters of recovery change, it is only necessary to change the docking diameter of guide cylinder 16 and UUV
The diameter of hanger neck 12.
Described support link block 3 is different from the support link block 3 of existing design, and the structure can be divided into upper brace
With bottom support frame two parts, upper brace is installed matches somebody with somebody in the middle of hydraulic power supply, charging module 7 and locking device 6 etc., platform
There is relatively large hydraulic lock 15, be responsible for the tapered overall level of closure assembly, vertical direction of being oriented to and change.Bottom support frame 3 is used
High-strength corrosion-resisting material is made, and is connected with certain position in female ship, can complete to drive the groundwork such as rise and fall of retracting device,
Relevant configuration wherein equipped with the transmission such as cable energy, signal etc..
Vertical storage release module in described add-on module is that the general vertical storage release device 4 of external is arranged in
Submarine pressure hull is external, between the pressure hull and spherical sonar in side of a ship portion.The big cylinder single tube vertical storage release device of external
Mainly it is made up of three parts such as vertical base cabin system, electric hydraulic control system and safeguards systems.
Vertical base cabin system is mainly made up of vertical base cabin device 27, cover device 28 and soft supporting and positioning device 29 etc..
When retracting device is in stored condition, it is provided for UUV and miscellaneous equipment can bear the external pressure under submarine limit submerged depth
The container of intensity and sealing requirements；When discharging UUV, it is that UUV and the grade of guide housing 16 provide passage.
Adpting flange is arranged at the top of vertical base cabin device, so as to mounting cylinder lid arrangement.Its body is the reinforcement bottom of with
The cylindrical drum (big cylinder) of rib, with submarine pressure hull equal strength, its size changes on demand.It is fixed that its bottom is provided with soft support
Have the convex protection of film 32 UUV's of the high intensity on gas-tight ring beam 31, and cover device around position device 29, storage UUV cylinders 30
It is intact.Cover device 28 is main to unscrew screwing mechanism, cover locking mechanism, cylinder by cover fence, cover switch lid mechanism, cover
The composition such as lid and hatch board.The locking mechanism after screwing mechanism, switch lid mechanism and cover are uncapped in place that unscrews of cover is adopted
Power set are used as with hydraulic jack.Hydraulic means 33 is responsible for UUV rise and landing.
Buffer module in described add-on module, due to the corrosion of land hydraulic bjuffer pressure, meter Bing Hang seawater
Property etc. reason can not use in the seawater, general sealing belong to it is " unidirectional " sealing, leaking for hydraulic oil can only be prevented, in pressure
Constantly, sealing can fail causes seawater to invade to the larger abyssal environment of power.The buffer module 5 designed herein is by pressure compensated original
It ought to be used in buffer, at the non-collision moment, hydraulic bjuffer internal pressure keeps balancing with extraneous seawater pressure, so as to solve sea
Hydraulic oil in the problem of water immerses, buffer is independent with hydraulic system, buffer 5 is turned into standalone module.The knot of buffer
Structure is full of hydraulic oil as shown in fig. 6, lid 34, cylinder 35, closure 36 are constituted in seal cavity, cavity, by the He of sealing ring 41
The grade of rubber ring 42 keeps sealing state, and when sea water advanced change, seawater pressure acts on the end face of closure 36, by pressure transmission
To hydraulic oil in cavity, the balance of external and internal pressure is realized；Sealed between closure 36 and cylinder 35 using O-ring 37, closure
36 can move axially along cylinder 35, to compensate hydraulic oil Volume Changes caused by pressure change.
Buffering objects are encountered after piston rod, and piston rod is to left movement, and the restriction flow direction of compressing hydraulic oil from throat bushing is outer
Chamber, realizes the consumption of energy, and the low pressure oil of outflow is flowed back in throat bushing 40 by the restriction on the right side of piston 39, realizes hydraulic oil
Shuttling movement；After piston rod impact loses, spring 38 promotes piston 39 to reset.
In the design of buffer module, the spatial variations of the mobile formation of closure 36 have to be larger than the maximum of hydraulic oil volume
Decrement, otherwise closure 36 can damage throat bushing 40 by pressure.The distance that closure 36 is moved is determined by the working depth of buffer 5.
It should be tried one's best in the design of structure and expand the diameter i.e. diameter of piston 39 of throat bushing 40, made the flow increase by throttle orifice, carry
The high energy absorption effect of buffer 5.
Locking module in described add-on module, UUV is completed in docking facilities after positioning, and Signal control Center 19 is controlled
The driving of hydraulic cylinder 43 vee-block 44 processed is moved upwards along guider 46, the spacing saw for making hanger be caught in mobile hanger neck 24
Tooth 25 is that the locking to UUV can be achieved.Because the charging process possible duration is longer, according to the hydraulic lock 45 of traditional form
Because of leakage locking effect can be caused to be deteriorated, thus employ the mechanical type hydraulic lock 45 of German Han Chen companies production, it can be to work
Stopper rod is permanent, reliably lock.The locking modular structure that hydraulic cylinder 43, hydraulic lock 45, vee-block 44 and guide groove are constituted combines figure
Shown in 7.
Charging in described add-on module is to connection module, and being devised on docking facilities can passively adjusting position and angle
Charging mechanism 7, for being attached with conical interface on UUV, charging mechanism structure 7 with reference to shown in Fig. 8,.Positioning tube is connected
On fixed frame, it play the guiding role, it is immovable；Hydraulic cylinder connecting rod is connected with hydraulic cylinder piston rod, and piston rod movement can band
Hydrodynamic cylinder pressure connecting rod, cable 47, sliding cylinder 48, double end ball-and-socket hinge device 49, connecting rod 50, guide head 51 and charging connector 52 are done
Linear motion；The two ends of double end ball-and-socket hinge device 49 are universal ball joint, there is six-freedom degree, and the floating end of double end ball-and-socket hinge device 49 leads to
Connecting rod is crossed to be connected on cone guide head；Guide head can realize the adjustment of position and angle, and the scope that it is adjusted is by sliding
The internal diameter and the length limitation of connecting rod of cylinder 48；In order to ensure that the initial position of guide head keeps vertical state, four are employed
Ball-and-socket hinge device floating end 49 is connected by spring 53 with sliding cylinder 48, while spring 53 also limit ball-and-socket hinge device floating end about the z axis
Rotation；Zhong Ge inside parts UNICOM of mechanism, for arranging cable 47.Fixed cylinder 54 is connected with guider.
Detection device link block in described add-on module, the special equipment of task, such as water such as is detected, is observed
Lower camera, underwater lamp, current meter, sonar etc., typically all autonomous device, possess pressure-resistant, antiseptic power, it is only necessary to consider with
The connectivity problem of docking facilities.Because this kind equipment is mostly cylinder, fixed using V-arrangement locking device, and steel band locking
Mode is suitable for connection of the diameter in the equipment of interior change in a big way, and its is simple in construction, convenient and fast connection.
After being finished to docking facilities design, specific embodiment has：Into docking facilities, when hanger touches hanger neck
When promoting it to travel forward, buffer module is designed as it and mitigates the damage hit and brought, and it now triggers control centre's switch,
According to setting before, tapered guide housing has a series of action.Mobile hanger neck rises, fixed UUV direction of advance,
Recycle hydraulic means to push up UUV, it is all fixed in the z-axis direction, simultaneously, tapered guide housing passes through in control
The signal control hydraulic means and neck that the heart is sent shrink to pack up tapered guide housing.At all after hours, support bar
On hydraulic means driving, guiding closure assembly is reached predetermined posture, be recovered to it is designed docking cylinder unit among, complete
Dock recovery operation.
Here it must be noted that other unaccounted structures that the present invention is provided are because be all the known knot of this area
Structure, according to title of the present invention or function, those skilled in the art can just find the document of related record, therefore not do
Further illustrate.Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned embodiment, also
Including being combined constituted technical scheme by above technical characteristic.
Claims (10)
1. the UUV Underwater Docking Devices under the conditions of a kind of moving base, it is characterised in that it is main include conical oriented module (1),
Spacing and locating module (2), support and link block (3) and add-on module；The conical oriented module (1) is by supporting and even
Connection module (3) is supported；Described spacing and locating module (2) is connected with conical oriented module (1) by draw off gear (10)；Institute
State support and link block (3) is made up of upper brace and bottom support frame, upper brace is connected with add-on module；It is described attached
Plus module includes：Vertical storage release module (4), buffer module (5), locking module (6), charging are set to connection module (7), detection
Standby link block.
2. the UUV Underwater Docking Devices under the conditions of a kind of moving base according to claim 1, it is characterised in that：Described
Conical oriented module (1) constitutes a conical guide frame by circular cone guide housing (8)；Described circular cone guide housing (8) is adopted
It is welded with aluminium alloy pipe；Axis of great circle is more than the effective of UUV diameters and circular cone guide housing (8) in circular cone guide housing (8)
It is oriented to diameter；Big nose circle uses soft resistant material (14) in described circular cone guide housing (8)；When UUV is reclaimed,
Circular cone guide housing (8) is filled by the guide housing supporter in the vertical direction support in support and link block (3) and the first hydraulic pressure
Put (15) support.
3. the UUV Underwater Docking Devices under the conditions of a kind of moving base according to claim 1, it is characterised in that：Described
Spacing and locating module (2) by limiting plate (13), hanger neck (12), spacing cylinder (20), triggering limit switch device (17),
Guide cylinder (16), spring assembly (22), triggering limit switch (18) and Signal control Center (19) are constituted；Described two are spacing
Plate (13) constitutes the slideway of UUV hangers；UUV hangers neck (12) is welded on the arc on spacing cylinder (20)；Described
Spacing cylinder (20) is connected with triggering limit switch device (17)；Polytetrafluoroethylene (PTFE) is put outside described guide cylinder (16) aluminum pipe
Pipe；Described guide housing (21) is located at before triggering limit switch (18) with spring assembly (22)；Described limiting plate (13), hang
Ear neck (12), spacing cylinder (20), triggering limit switch device (17), guide cylinder (16) and Signal control Center (19) composition
Integrative-structure.
4. the UUV Underwater Docking Devices under the conditions of a kind of moving base according to claim 1, it is characterised in that：Described
The upper brace of support and link block (3) is provided with hydraulic means (15), charging module (7) and locking device (6)；Described
The bottom support frame of support and link block (3) is made of high-strength corrosion-resisting material, is connected with certain position in female ship；Institute
Cable and the transmission energy, the relevant apparatus of signal are installed in the bottom support frame stated.
5. the UUV Underwater Docking Devices under the conditions of a kind of moving base according to claim 1, it is characterised in that：Described
Vertical storage release module (4) in add-on module is mainly made up of the vertical storage release device of the big cylinder single tube of external；Institute
The vertical storage release device stated is arranged on outside submarine pressure hull between the pressure hull and spherical sonar in side of a ship portion；It is described
Vertical storage release device it is main by vertical base cabin device (27), cover device (28) and soft supporting and positioning device (29) group
Into.
6. the UUV Underwater Docking Devices under the conditions of a kind of moving base according to claim 5, it is characterised in that：Described
Vertical base cabin device (27) is the cylindrical drum bottom of with；Described vertical base cabin device (27) top adpting flange；Described
It is provided with inside vertical base cabin device (27) around UUV paint storage tanks (30), UUV paint storage tanks (30) and is provided with gas-tight ring beam (31)；
Described vertical base cabin device (27) bottom is provided with soft supporting and positioning device (29).
7. the UUV Underwater Docking Devices under the conditions of a kind of moving base according to claim 5, it is characterised in that：Described
The convex film of high intensity (32) is scribbled on cover device (28)；Described cover device (28) is main by cover fence, cover switch cover
Mechanism, cover unscrew screwing mechanism, cover locking mechanism, cover and hatch board composition；Described cover switchs lid mechanism, cover
Screwing mechanism and cover locking mechanism are unscrewed using hydraulic jack as power set.
8. the UUV Underwater Docking Devices under the conditions of a kind of moving base according to claim 1, it is characterised in that：Described
Buffer module (5) in add-on module is mainly made up of lid (34), cylinder (35), closure (36)；Described buffer module
(5) it is seal cavity of the inside full of hydraulic oil, sealing state is kept by sealing ring (41) and rubber ring (42)；Cylinder
(35) sealed between closure (36) using O-ring (37)；Closure (36) can be moved axially along cylinder (35).
9. the UUV Underwater Docking Devices under the conditions of a kind of moving base according to claim 1, it is characterised in that：Described
Locking module (6) in add-on module is main by hydraulic cylinder (43), hydraulic lock (45), vee-block (44) and guider (46) structure
Into；Described hydraulic lock (45) is locked using mechanical type hydraulic.
10. the UUV Underwater Docking Devices under the conditions of a kind of moving base according to claim 1, it is characterised in that：Described
Charging in add-on module is main to connection module (7) by positioning tube (54), double end ball-and-socket hinge device (49), connecting rod (50), guiding
Head (51), spring (53), sliding cylinder (48), cable (47) and charging connector (52) are constituted；Described positioning tube (54) is with fixing
Framework is using being fixedly connected, and positioning tube (54) is connected with guider (46)；Described double end ball-and-socket hinge device (49) two ends are
Universal ball joint, there is six-freedom degree, and double end ball-and-socket hinge device (49) floating end is fixedly connected with guide head by connecting rod (50)
(51)；Described guide head (51) is a conical structure, and initial position keeps vertical state；Described double end ball-and-socket hinge device
(49) floating end is connected by four springs (53) with sliding cylinder (48)；Described double end ball-and-socket hinge device Zhong Ge inside parts UNICOM
It is disposed with cable (47).
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| CN201710378775.6A CN107284627B (en) | 2017-05-25 | 2017-05-25 | A kind of UUV Underwater Docking Device under the conditions of moving base |
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| CN108189990A (en) * | 2018-01-18 | 2018-06-22 | 冯亿坤 | Submarine navigation device butt-joint locking device |
| CN109460058A (en) * | 2018-11-22 | 2019-03-12 | 中国船舶重工集团公司第七0五研究所 | A kind of tail portion propulsion traversing control method of low speed submarine navigation device underwater mating |
| CN109515661A (en) * | 2018-12-05 | 2019-03-26 | 青岛理工大学 | Working method of universal underwater vehicle connection charging system |
| CN109613924A (en) * | 2018-11-22 | 2019-04-12 | 中国船舶重工集团公司第七0五研究所 | A kind of tail portion propulsion submarine navigation device pitching docking control method considering docking inclination angle |
| CN109921233A (en) * | 2017-12-13 | 2019-06-21 | 中国科学院沈阳自动化研究所 | A kind of Underwater Docking Device |
| CN110104146A (en) * | 2019-03-29 | 2019-08-09 | 浙江大学滨海产业技术研究院 | A kind of self-locking underwater robot docking facilities |
| CN110155281A (en) * | 2019-06-17 | 2019-08-23 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of unmanned conveying ship of AUV cluster |
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| CN109921233B (en) * | 2017-12-13 | 2020-05-26 | 中国科学院沈阳自动化研究所 | Underwater butt joint device |
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| CN108189990A (en) * | 2018-01-18 | 2018-06-22 | 冯亿坤 | Submarine navigation device butt-joint locking device |
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| CN109613924A (en) * | 2018-11-22 | 2019-04-12 | 中国船舶重工集团公司第七0五研究所 | A kind of tail portion propulsion submarine navigation device pitching docking control method considering docking inclination angle |
| CN109613924B (en) * | 2018-11-22 | 2021-09-07 | 中国船舶重工集团公司第七0五研究所 | Tail propulsion underwater vehicle pitching docking control method considering docking inclination angle |
| CN109515661A (en) * | 2018-12-05 | 2019-03-26 | 青岛理工大学 | Working method of universal underwater vehicle connection charging system |
| CN110104146A (en) * | 2019-03-29 | 2019-08-09 | 浙江大学滨海产业技术研究院 | A kind of self-locking underwater robot docking facilities |
| CN110155281A (en) * | 2019-06-17 | 2019-08-23 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | A kind of unmanned conveying ship of AUV cluster |
| CN110921494B (en) * | 2019-10-31 | 2021-04-13 | 中国航天空气动力技术研究院 | UUV hoisting accessory |
| CN110921494A (en) * | 2019-10-31 | 2020-03-27 | 中国航天空气动力技术研究院 | UUV hoisting accessory |
| CN111216848A (en) * | 2020-01-16 | 2020-06-02 | 西北工业大学 | Lifting type distribution and recovery device for AUV (autonomous Underwater vehicle) in underwater glider |
| CN111216848B (en) * | 2020-01-16 | 2022-03-15 | 西北工业大学 | Lifting type distribution and recovery device for AUV (autonomous Underwater vehicle) in underwater glider |
| CN111572736A (en) * | 2020-05-25 | 2020-08-25 | 邵峥业 | Underwater butt joint device of autonomous underwater robot |
| CN111824374A (en) * | 2020-07-22 | 2020-10-27 | 交通运输部天津水运工程科学研究所 | AUV underwater recovery system |
| CN114475983A (en) * | 2021-12-20 | 2022-05-13 | 宜昌测试技术研究所 | Underwater docking recovery mechanism of underwater vehicle |
| CN115636066A (en) * | 2022-09-19 | 2023-01-24 | 哈尔滨工程大学 | Primary and secondary type UUV carrying and laying device |
| CN115636066B (en) * | 2022-09-19 | 2023-10-13 | 哈尔滨工程大学 | Primary and secondary UUV carries on and cloth puts device |
| CN115946825A (en) * | 2022-12-27 | 2023-04-11 | 沈阳辽海装备有限责任公司 | Recovery device for underwater glider |
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