CN107284627B - A kind of UUV Underwater Docking Device under the conditions of moving base - Google Patents
A kind of UUV Underwater Docking Device under the conditions of moving base Download PDFInfo
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- CN107284627B CN107284627B CN201710378775.6A CN201710378775A CN107284627B CN 107284627 B CN107284627 B CN 107284627B CN 201710378775 A CN201710378775 A CN 201710378775A CN 107284627 B CN107284627 B CN 107284627B
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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
-
- 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 fields, and in particular to the UUV Underwater Docking Device under the conditions of a kind of moving base.The invention mainly comprises conical oriented module (1), limit and locating module (2), support and link block (3) and add-on modules；UUV enters docking facilities, and the touching lifting lug card slot promotion of UUV lifting lug travels forward, and triggering control centre switch, tapered guide housing has a series of movement.Mobile lifting lug card slot rises, and the direction of advance of fixed UUV recycles hydraulic device to push up UUV, fixes in the z-axis direction, and the signal control hydraulic device and card slot that tapered guide housing is issued by control centre shrink pack up tapered guide housing.By the hydraulic device driving on support rod, so that tapered guiding closure assembly is reached predetermined posture, be recovered in designed docking cylinder unit, completes docking recovery operation.The present invention may be implemented under the conditions of moving base, which automatically adjusts posture, and cooperation UUV is docked with female ship, have practicability.
Description
Technical field
The invention belongs to underwater mating fields, and in particular to the UUV Underwater Docking Device under the conditions of a kind of moving base.
Background technique
UAV navigation (Unmanned Underwater Vehicle, UUV) is big with scope of activities, diving is deep,
The advantages such as mobility is good, intelligent, operation and maintenance cost is low, as the mankind in Activities of Ocean, especially in the activity of deep-sea
Important replacer and executor, be widely used in scientific investigation, the fields such as deep ocean work.Although UAV navigation
Can autonomous navigation, but need a base or lash ship as platform is ensured, to complete dispensing, the control to UAV navigation
The work such as system, recycling and maintenance.UAV navigation hangs platform substantially and includes that bank base is fixed, underwater surface navigates by water
The forms such as motor platform and artificial or aerial platform.
Current UAV navigation is laid and recycles mostly based on the water surface or underwater platform.Water surface deployment device is substantially
It is divided into slideway type, deck heavier-duty, dock type and manually lays.It is current using most that deck heavier-duty, which lays mode,
Method.Its advantage is that it is relatively fewer to lay collision, be conducive to protect UAV navigation and internal unit.
In the prior art, UAV navigation lay and recycle usually all using artificial hook unhook by the way of, cloth
When putting and recycling, hook unhook movement is required to diver and is lauched to complete, and it is underwater that this manual type lays and recycle nobody
Aircraft considerably increases the working strength of diver, and working efficiency is relatively low, and when especially sea situation is severe, this artificial extension is de-
Hook mode not only low efficiency, but also danger close is easy to damage diver.Therefore, Intelligent Underwater Robot is in application
In the process, with reasonable efficient recovery scheme will greatly improve the concealment of military underwater robot, safety, independence and
The simplicity of operation.Therefore, under different sea situations, while how the recycling conscientious to submarine navigation device of safety is research UUV
The important link that can not ignore.
The quantity of energy carried when aircraft works under water is limited, and then results in the size of its cruising ability, to improve
Its working time needs to recycle underwater robot and supplement energy and safeguards.
The specific way of recycling of UUV can be divided into following three classes in detail at present: 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.The function that docking facilities need to complete is different, and the complexity of structure also differs.Example
Such as, small-sized " ISIMI " AUV of South Korea, it is only necessary to underwater mating task is carried out, thus docking facilities have only included circular cone guide housing
And guide cylinder, it can only realize guiding, limit and positioning function；Same " Remus-100 " using circular cone guide frame recycles dress
It sets due to needing to complete charging and data transfer task, thus increases charging mechanism, and real by the connection of charging mechanism
The locking in docking facilities is showed；" searcher's recyclable device can complete the control of itself posture in water, due to recycling
Task that is larger, and needing to complete to sling and discharge, docking facilities structure are complex；It is passed in various achievable chargings and data
In the docking facilities of transmission function, it may be implemented in docking facilities and accurately position and lock.
The docking facilities developed herein are mounted on the mother's ship of deep-sea, supplement the energy for deep-sea position, are to carry out information biography
Defeated bridge.On the basis of referring to domestic and international Underwater Docking Device, in conjunction with the technical indicator of project, pass through analysis and Docking station
Docking process, determine the function of recyclable device, then study corresponding organization plan.It is deep in view of in different tasks
What extra large position was recycled might have difference in size and structure, and need the function of completing different after recycling, because
This, modular thought is applied in the structure design of docking facilities, makes docking facilities that can carry out function for different situations
The combination of energy module completes recycling task flexibly to cope with different recycling targets.
Summary of the invention
The purpose of the invention is to exclude the insecurity of recycling waterborne and for existing underwater right in the case of deep-sea
Connection device is in underwater a certain fixed position problem relatively difficult to achieve, carries out moving base by the way that docking facilities are mounted in female ship
Under the conditions of UUV docking, the efficiency of Lai Tigao underwater mating.
The object of the present invention is achieved like this:
A kind of UUV Underwater Docking Device under the conditions of moving base, main includes conical oriented module 1, limit and positioning
Module 2, support and link block 3 and add-on module；
The cone oriented module 1 is supported by support and link block 3；
The limit and locating module 2 are connect with conical oriented module 1 by draw off gear 10；
The support and link block 3 are made of upper brace and bottom support frame, and upper brace and add-on module connect
It connects；
The add-on module include: vertical storage release module 4, buffer module 5, locking module 6, charging to connection module 7,
Detection device link block.
The conical oriented module 1 is made of a conical guide frame circular cone guide housing 8；The circular cone is led
It is welded to cover 8 using aluminium alloy pipe；Axis of great circle is greater than having for UUV diameter and circular cone guide housing 8 in circular cone guide housing 8
Effect guiding diameter；Big nose circle uses soft resistant material 14 in the circular cone guide housing 8；
When UUV is recycled, circular cone guide housing 8 is by the guide housing supporter in support and link block 3 in vertical side
Support and hydraulic device 15 support upwards.
The limit and locating module 2 is by limit plate 13, lifting lug card slot 12, limit cylinder 20, triggering limit switch dress
17, guide cylinder 16, spring arrangement 22, triggering limit switch 18 and Signal control Center 19 is set to constitute；
The slideway of two limit plates 13 composition UUV lifting lug；UUV lifting lug card slot 12 is welded on limit cylinder 20
On arc panel；The limit cylinder 20 is connect with triggering limit switch device 17；It is put on outside 16 aluminum pipe of guide cylinder poly-
Tetrafluoroethene pipe；The guide housing 21 and spring arrangement 22 is located at 18 front of triggering limit switch；The limit plate 13 is hung
Ear card slot 12, limit cylinder 20, triggering limit switch device 17, guide cylinder 16 and 19 groups of Signal control Center are into a single integrated structure.
The upper brace of the support and link block 3 is equipped with hydraulic device 15, charging module 7 and locking device 6；
The bottom support frame of the support and link block 3 is made of high-strength corrosion-resisting material, is connected with certain position in female ship
It connects；Cable is installed in the bottom support frame and transmits the relevant apparatus of the energy, signal；
Vertical storage release module 4 in the add-on module is mainly discharged by the vertical storage of the big cylinder single tube of external
Device is constituted；The vertical storage release device is mounted on the pressure hull and spherical sound of submarine pressure hull outside and side of a ship portion
Between；
The vertical storage release device is mainly by vertical base cabin device 27, cover device 28 and soft supporting and positioning device
29 compositions.
The vertical base cabin device 27 is the cylindrical drum bottom of with；The 27 top connection method of vertical base cabin device
It is blue；It is provided with UUV paint storage tank 30 inside the vertical base cabin device 27, gas-tight ring resilient cushion 31 is provided with around UUV paint storage tank 30；
27 bottom of vertical base cabin device is provided with soft supporting and positioning device 29.
High-intensitive convex film 32 is coated on the cover device 28；The cover device 28 is mainly by cover fence, cylinder
Lid switch lid mechanism, cover unscrew screwing mechanism, cover locking mechanism, cover and hatch board composition；
The described cover switch lid mechanism, cover unscrews screwing mechanism and cover locking mechanism is all made of hydraulic cylinder conduct
Power device.
Buffer module 5 in the add-on module is mainly made of lid 34, cylinder 35, sealing cover 36；Described is slow
Die block 5 is the seal cavity that an inside is full of hydraulic oil, keeps sealing state by sealing ring 41 and rubber ring 42；Cylinder 35
It is sealed between sealing cover 36 using O-ring 37；Sealing cover 36 can be moved axially along cylinder 35.
Locking module 6 in the add-on module is mainly by hydraulic cylinder 43, hydraulic lock 45, vee-block 44 and guiding device
46 are constituted；The hydraulic lock 45 is locked using mechanical type hydraulic.
Charging in the add-on module is to connection module 7 mainly by positioning tube 54, double end ball-and-socket hinge device 49, connecting rod
50, guide head 51, spring 53, sliding cylinder 48, cable 47 and charging connector 52 are constituted；
With fixed frame using being fixedly connected, positioning tube 54 is connected the positioning tube 54 with guiding device 46；
49 both ends of double end ball-and-socket hinge device are universal ball joint, and there are six freedom degree, double end ball-and-socket hinge device 49 is floating
Moved end is fixedly connected with guide head 51 by connecting rod 50；The guide head 51 is a conical structure, and initial position is kept
Vertical state；
49 floating end of double end ball-and-socket hinge device is connect by four springs 53 with sliding cylinder 48；The double end flexural pivot
Each inside parts connection is disposed with cable 47 in mechanism.
The present invention has the effect that
The present invention may be implemented under the conditions of moving base, using docking facilities automatically adjust posture, cooperation UUV and female ship into
Row docking, it is different from prior art design scheme, there is advanced and specific aim；Be suitable for small-sized UUV lays recycling；Tool
There is preferable practicability.
Detailed description of the invention
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 the schematic diagram of limit and locating module.
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.
Specific embodiment
The present invention is described further with reference to the accompanying drawing.
Embodiment 1
The present 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 the insecurity and existing Underwater Docking Device in order to exclude recycling waterborne are in underwater a certain fixed position, for
Problem relatively difficult to achieve in the case of deep-sea is docked by the way that docking facilities to be mounted on to the UUV under the conditions of carrying out moving base in female ship,
To improve the efficiency of underwater mating.
A kind of UUV Underwater Docking Device under the conditions of moving base, docking facilities include the basic training such as guiding, limit, positioning
Can and rotation, buffering, locking, charging interface the additional functions such as connect, docking facilities mainly include conical oriented module 1, limit
Position and locating module include recycle guide cylinder, limit location structure etc., buffer module, locking module, docking facilities support and
Link block, hydraulic and control system.Into docking facilities, when lifting lug touching lifting lug card slot pushes it to travel forward, buffering
Bring damage is hit in its mitigation that is designed as of module, triggers control centre's switch at this time, tapered to lead according to setting before
A series of movement is had to cover.Mobile lifting lug card slot rises, and the direction of advance of fixed UUV recycles hydraulic device to push up
Dynamic UUV keeps it fixed in the z-axis direction, and simultaneously, tapered guide housing is controlled hydraulic by the signal that control centre issues
Device and card slot shrink pack up tapered guide housing.All after hours, the driving of hydraulic device on support rod makes to lead
Reach predetermined posture to closure assembly, be recovered in designed docking cylinder unit, completes docking recovery operation.Docking facilities
Docking and release process as shown in connection with fig. 1.
The present invention may be implemented under the conditions of moving base, which automatically adjusts posture, and cooperation UUV and female ship carry out
Docking, it is different compared with other people design scheme, have with good advance and specific aim.Be suitable for small-sized UUV lays recycling,
With preferable practicability.
UUV Underwater Docking Device in conjunction with shown in Fig. 1 to Fig. 8, under the conditions of a kind of moving base of the present invention, it is characterised in that:
Docking facilities mainly include conical oriented module 1, limit and locating module 2, the support of docking facilities and link block 3, attached
Adding module includes: that 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.
The conical oriented module 1 is using conical guide frame, as shown in connection with fig. 3, realizes when docking to UUV
Guiding.Circular cone guide housing 8 is welded using aluminium alloy pipe, and guide housing axis of great circle is about four times of UUV diameter, is much larger than
Effective guiding diameter of conical cover guide housing 8, main purpose are to expand between the sonar transducer array each unit arranged thereon
Distance, improve sonar transducer array measurement accuracy.When carrying out UUV recycling, guide housing supporter supports in the vertical direction is led
It is supported to cover, then by hydraulic device 15, keeps guide housing holding horizontal, the hydraulic device 9 limited on positioning plate 13 draws pyramid type
8 draw off gear 10 of guide housing is fixed by card slot 11 to position as shown in the figure, completes the recycling preparation of UUV, UUV along
Guide cylinder 16 advances, and when recycling finishes, UUV lifting lug drives trigger switch device 17 to trigger by 12 stop motion of UUV lifting lug card slot
Limit switch 18, Signal control Center 19 issue series of orders, including on packing up for card slot 11, and limit positioning plate 13
Hydraulic device 9 push tapered 8 draw off gear of guide housing to move forward between two card slots 11, complete cone-shaped hood 8 contraction work
Make, the big nose circle of cone-shaped hood 8 uses soft resistant material 14.
The limit of UUV is completed in the recycling of the limit and locating module to limit plate 13, guide cylinder 16 in connect cylinder jointly
And positioning.As shown in connection with fig. 4, two limit plates 13 form the slideway of lifting lug to structure, and limit plate 13 normal thereto is responsible for limitation
The movement of its direction of advance, lifting lug card slot are welded to the arc panel on limit cylinder.When UUV enters in guide cylinder, lifting lug
It has been limited in slideway and has moved by lifting lug card slot 12, UUV is not limited in vertical direction and direction of advance freedom degree at this time, UUV
It moves on, when UUV lifting lug encounters UUV lifting lug card slot 12, direction of advance is also restrained, and UUV completes positioning, limited post
Body 20 drives triggering limit switch device 17 to advance, and direction of advance is limited by guide housing 21, protects jointly with spring arrangement 22
The signal that positioning is completed can be passed to control centre 19 by shield touching limit switch 18, triggering limit switch 18, and hydraulic device 23 pushes away
UUV lifting lug is stuck in limit sawtooth 25 by dynamic mobile lifting lug card slot 24, with the fixed UUV of hydraulic lock 26, complete the recycling of UUV with
Afterwards, spring arrangement 22 can prevent it from persistently triggering by trigger switch device 17 far from switch 18.In order to reduce UUV ontology with
Friction damaged probability between guide cylinder 16 covers upper polyfluortetraethylene pipe outside 16 aluminum pipe of guide cylinder.Lifting lug card slot 12, limit plate
14, other devices composition one on cylinder 20, triggering limit switch device 17, guide cylinder 16 and Signal control Center 19 is limited
Body constitutes standalone module, when the UUV diameter of recycling changes, it is only necessary to replacement docking 16 diameter of guide cylinder and UUV
12 diameter of lifting lug card slot.
The support link block 3 is different from the support link block 3 of existing design, which can be divided into upper brace
With bottom support frame two parts, upper brace is installed hydraulic power supply, charging module 7 and locking device 6 etc., is matched among platform
There is relatively large hydraulic lock 15, is responsible for level, the vertical direction transformation of tapered guiding closure assembly entirety.Bottom support frame 3 uses
High-strength corrosion-resisting material is made, and is connected with certain position in female ship, can complete that rising and falling for recyclable device is driven to wait groundworks,
The relevant configuration of the energy, signal etc. is wherein transmitted equipped with cable etc..
Vertical storage release module in the 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 of three parts such as vertical base cabin system, electric hydraulic control system and safeguards systems.
Vertical base cabin system is mainly made of vertical base cabin device 27, cover device 28 and soft supporting and positioning device 29 etc..
When recyclable device is in stored condition, it provides the external pressure that can be born under submarine limit submerged depth for UUV and other equipment
The container of intensity and sealing requirements；When discharging UUV, it provides channel for UUV and guide housing 16 etc..
Connecting flange is arranged at the top of vertical base cabin device, so as to mounting cylinder lid arrangement.Its ontology is the reinforcement bottom of with
The cylindrical drum (big cylinder) of rib, with submarine pressure hull equal strength, size changes on demand.It is fixed that its bottom is provided with soft support
Position device 29, storing has the convex film 32 of high intensity on gas-tight ring resilient cushion 31 and cover device to protect UUV's around UUV cylinder 30
It is intact.Cover device 28 mainly unscrews 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
Use hydraulic cylinder as power device.Hydraulic device 33 is responsible for the rise and landing of UUV.
Buffer module in the add-on module, due to the corrosion of land hydraulic bjuffer pressure, meter Bing Hang seawater
Property etc. reasons can not use in the seawater, it is general sealing belong to it is " unidirectional " sealing, leaking for hydraulic oil can only be prevented, in press
Constantly, sealing can fail causes seawater to invade to the biggish deep-marine-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 and extraneous seawater pressure keep balancing, to solve sea
The problem of water immerses, the hydraulic oil and hydraulic system in buffer are independent, and buffer 5 is made to become standalone module.The knot of buffer
Structure is as shown in fig. 6, lid 34, cylinder 35, sealing cover 36 constitute seal cavity, and cavity is interior to be full of hydraulic oil, by 41 He of sealing ring
Rubber rings 42 etc. keep sealing state, and when sea water advanced variation, seawater pressure acts on 36 end face of sealing cover, and pressure is transmitted
To hydraulic oil in cavity, the balance of external and internal pressure is realized；It is sealed between sealing cover 36 and cylinder 35 using O-ring 37, sealing cover
36 can move axially along cylinder 35, hydraulic oil volume change caused by being changed with compensation pressure.
After buffering objects encounter piston rod, piston rod is moved downward, and compressing hydraulic oil is outer from the restriction of throat bushing flow direction
Chamber realizes the consumption of energy, and the low pressure oil of outflow is flowed back in throat bushing 40 by the restriction on 39 right side of piston, realizes hydraulic oil
Shuttling movement；After piston rod impact force loses, spring 38 pushes piston 39 to reset.
In the design of buffer module, the spatial variations of the mobile formation of sealing cover 36 have to be larger than the maximum of hydraulic oil volume
Decrement, otherwise sealing cover 36 can damage throat bushing 40 by pressure.The mobile distance of sealing cover 36 is determined by the working depth of buffer 5.
Diameter i.e. 39 diameter of piston that throat bushing 40 should be expanded as far as possible in the design of structure makes to increase by the flow of throttle orifice, mention
High 5 energy absorption effect of buffer.
Locking module in the add-on module, after UUV completes positioning in docking facilities, Signal control Center 19 is controlled
Hydraulic cylinder 43 processed drives vee-block 44 to move upwards along guiding device 46, the limit saw for being caught in lifting lug in mobile lifting lug card slot 24
The locking to UUV can be realized in tooth 25.Since the charging process possible duration is longer, according to the hydraulic lock 45 of traditional form
Locking effect can be caused to be deteriorated because of leakage, thus use the mechanical type hydraulic lock 45 of Han Chen company, Germany production, it can be to work
Stopper rod is permanent, reliably locks.The locking modular structure that hydraulic cylinder 43, hydraulic lock 45, vee-block 44 and guide groove are constituted combines figure
Shown in 7.
To connection module, devising on docking facilities can passive adjusting position and angle for charging in the add-on module
Charging mechanism 7, for being attached with interface conical on UUV, charging mechanism structure 7 as shown in connection with fig. 8,.Positioning tube connection
On fixed frame, it play the guiding role, it is immovable；Hydraulic cylinder connecting rod is connect 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；49 both ends of double end ball-and-socket hinge device are universal ball joint, and there are six freedom degree, 49 floating end of double end ball-and-socket hinge device is logical
Connecting rod is crossed to be connected on cone guide head；Guide head can realize the adjustment of position and angle, and the range of adjustment is by sliding
48 internal diameter of cylinder and the length limitation of connecting rod；In order to guarantee that the initial position of guide head keeps vertical state, four are used
Ball-and-socket hinge device floating end 49 is connect by spring 53 with sliding cylinder 48, while spring 53 also limits ball-and-socket hinge device floating end about the z axis
Rotation；Each inside parts connection in mechanism, for arranging cable 47.Fixed cylinder 54 is connected with guiding device.
Detection device link block in the add-on module such as is detected, is observed at the special equipment of tasks, such as water
Lower camera, underwater lamp, current meter, sonar etc., typically autonomous device, have pressure resistance, anti-corrosion ability, it is only necessary to consider with
The connectivity problem of docking facilities.Since such equipment is mostly cylindrical body, fixed using V-arrangement locking device, and steel band locking
Mode is suitable for the connection for the equipment that diameter changes in a big way, and its structure is simple, convenient and fast connection.
After to docking facilities design, specific embodiment has: entering docking facilities, when lifting lug touches lifting lug card slot
When it being pushed to travel forward, bring damage is hit in its mitigation that is designed as of buffer module, triggers control centre's switch at this time,
According to setting before, tapered guide housing has a series of movement.Mobile lifting lug card slot rises, the direction of advance of fixed UUV,
It recycles hydraulic device to push up UUV, keeps it all fixed in the z-axis direction, simultaneously, tapered guide housing passes through in control
The signal control hydraulic device and card slot that the heart issues shrink pack up tapered guide housing.All after hours, support rod
On hydraulic device driving, make be oriented to closure assembly reach predetermined posture, be recovered in designed docking cylinder unit, completion
Dock recovery operation.
Here it must be noted that other unaccounted structures that the present invention provides are because be all the known knot of this field
Structure, title or function according to the present invention, those skilled in the art can find the document of related record, therefore not do
It further illustrates.The technical means disclosed in the embodiments of the present invention is not limited only to technological means disclosed in above embodiment, also
Including technical solution consisting of any combination of the above technical features.
Claims (6)
1. the UUV Underwater Docking Device under the conditions of a kind of moving base, which is characterized in that it is main include conical oriented module (1),
Limit and locating module (2), support and link block (3) and add-on module, guide housing (21)；The cone oriented module
(1) it is supported by support and link block (3)；The limit and locating module (2) and conical oriented module (1) are filled by folding and unfolding
Set (10) connection；The support and link block (3) are made of upper brace and bottom support frame, upper brace and additional mode
Block connection；The add-on module includes: vertical storage release module (4), buffer module (5), locking module (6), charging docking
Module (7), detection device link block；
The conical oriented module (1) is made of a conical guide frame circular cone guide housing (8)；The circular cone is led
It is welded to cover (8) using aluminium alloy pipe；Axis of great circle is greater than UUV diameter and circular cone guide housing in circular cone guide housing (8)
(8) effective guiding diameter；Big nose circle uses soft resistant material (14) in the circular cone guide housing (8)；UUV into
When row recycling, circular cone guide housing (8) support and the in the vertical direction by the guide housing supporter in support and link block (3)
One hydraulic device (15) support；
The limit and locating module (2) are opened by limit plate (13), lifting lug card slot (12), limit cylinder (20), triggering limit
Device (17), guide cylinder (16), spring arrangement (22), triggering limit switch (18) and Signal control Center (19) is closed to constitute；Institute
The slideway for two limit plates (13) the composition UUV lifting lug stated；UUV lifting lug card slot (12) is welded on the arc in limit cylinder (20)
On plate；The limit cylinder (20) is connect with triggering limit switch device (17)；It is put on outside described guide cylinder (16) aluminum pipe
Polyfluortetraethylene pipe；The guide housing (21) and spring arrangement (22) is located at before triggering limit switch (18)；The limit
Position plate (13), lifting lug card slot (12), limit cylinder (20), triggering limit switch device (17), guide cylinder (16) and signal control
Center (19) group is into a single integrated structure；
The upper brace of the support and link block (3) be equipped with the first hydraulic device (15), charging to connection module (7) and
It locks module (6)；The bottom support frame of the support and link block (3) is made of high-strength corrosion-resisting material, with
Certain position connects in female ship；Cable is installed in the bottom support frame and transmits the relevant apparatus of the energy, signal；
Vertical storage release module (4) in the add-on module mainly discharges dress by the vertical storage of the big cylinder single tube of external
Set composition；The vertical storage release device is mounted on the pressure hull and spherical sonar of submarine pressure hull outside and side of a ship portion
Between；The vertical storage release device is mainly positioned by vertical base cabin device (27), cover device (28) and soft support and is filled
Set (29) composition.
2. the UUV Underwater Docking Device under the conditions of a kind of moving base according to claim 1, it is characterised in that: described
Vertical base cabin device (27) is the cylindrical drum bottom of with；Vertical base cabin device (27) top connecting flange；Described
It is provided with UUV paint storage tank (30) inside vertical base cabin device (27), is provided with gas-tight ring resilient cushion (31) around UUV paint storage tank (30)；
Described vertical base cabin device (27) bottom is provided with soft supporting and positioning device (29).
3. the UUV Underwater Docking Device under the conditions of a kind of moving base according to claim 1, it is characterised in that: described
High-intensitive convex film (32) is coated on cover device (28)；The cover device (28) is mainly by cover fence, cover switch cover
Mechanism, cover unscrew screwing mechanism, cover locking mechanism, cover and hatch board composition；The cover switchs lid mechanism, cover
It unscrews screwing mechanism and cover locking mechanism is all made of hydraulic cylinder as power device.
4. the UUV Underwater Docking Device 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 of lid (34), cylinder (35), sealing cover (36)；The 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) it is sealed between sealing cover (36) using O-ring (37)；Sealing cover (36) can be moved axially along cylinder (35).
5. the UUV Underwater Docking Device 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 mainly by hydraulic cylinder (43), hydraulic lock (45), vee-block (44) and guiding device (46) structure
At；The hydraulic lock (45) is locked using mechanical type hydraulic.
6. the UUV Underwater Docking Device under the conditions of a kind of moving base according to claim 5, it is characterised in that: described
Charging in add-on module is to connection module (7) mainly 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；The positioning tube (54) and fixation
Using being fixedly connected, positioning tube (54) is connected frame with guiding device (46)；Described double end ball-and-socket hinge device (49) both ends are
Universal ball joint, there are six freedom degree, double end ball-and-socket hinge device (49) floating end is fixedly connected with guide head by connecting rod (50)
(51)；The guide head (51) is a conical structure, and initial position keeps vertical state；The double end ball-and-socket hinge device
(49) floating end is connect by four springs (53) with sliding cylinder (48)；Each inside parts connection in the double end ball-and-socket hinge device
It is disposed with cable (47).
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| CN107284627B true CN107284627B (en) | 2019-06-11 |
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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 |
| CN108189990B (en) * | 2018-01-18 | 2019-05-31 | 冯亿坤 | Submarine navigation device butt-joint locking device |
| 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 |
| CN109460058B (en) * | 2018-11-22 | 2022-07-19 | 中国船舶重工集团公司第七0五研究所 | Underwater butt joint transverse moving control method for tail-propelled low-speed underwater vehicle |
| CN109515661B (en) * | 2018-12-05 | 2020-04-07 | 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 |
| 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 |
| CN113830267A (en) * | 2020-05-25 | 2021-12-24 | 邵峥业 | Underwater butt joint device of autonomous underwater robot |
| CN111824374B (en) * | 2020-07-22 | 2024-08-13 | 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 |
| 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 |
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