CN108557040A - It is a kind of can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV - Google Patents
It is a kind of can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV Download PDFInfo
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- CN108557040A CN108557040A CN201810648086.7A CN201810648086A CN108557040A CN 108557040 A CN108557040 A CN 108557040A CN 201810648086 A CN201810648086 A CN 201810648086A CN 108557040 A CN108557040 A CN 108557040A
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- underwater
- auv
- outer framework
- cabin
- pontoon
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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
-
- 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
- B63C11/34—Diving chambers with mechanical link, e.g. cable, to a base
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
- Monitoring And Testing Of Nuclear Reactors (AREA)
Abstract
The present invention relates to it is a kind of can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV, which is made of underwater cabin, pontoon, lash ship, underwater umbilical cables and underwater cable；Wherein, the underwater cabin includes outer framework, supply module and fine adjustment type recycling clamp system.The advantage of the invention is that：Apparatus of the present invention use the mentality of designing of pipeline system, it cooperates between each module, practitioner is set to carry out recycling and condition monitoring to AUV directly on lash ship, the operating type of pipeline system greatly improves supply or the organic efficiency of a plurality of AUV, special fine tuning link mechanism can cope with the AUV of different model, solves the general sex chromosome mosaicism that most of recovering mechanism does not have at this stage, the supply module in underwater cabin is also the continuing a journey of AUV, the load of new task mission provides reliable guarantee.
Description
Technical field
The present invention relates to AUV it is underwater supply and recycling field, more particularly to it is a kind of can folding and unfolding cabin formula multi-functional AUV
Underwater relay station.
Background technology
As the untethered Autonomous Underwater Vehicle of one of underwater research vehicle, AUV is a kind of important underwater operation carrier,
Numerous career fields such as marine science and technology investigation, sea floor exploration, oil field prospecting are widely used in, are a kind of autonomous water
Lower robot, by the offer energy such as included rechargeable battery, fuel cell, enclosed diesel engine when working under water, and this
A little mode energy storage are limited, and therefore, it is necessary to be recycled in time to supplement energy, read information and maintaining.
AUV ways of recycling generally can be divided into two kinds：The first be on the water surface using lash ship lifting recycling, such mode by
Lidar Equation is larger, and when recycling needs people to participate in completing hook task, is mainly used in large-scale AUV recycling；Second is to use
Hoistable platform, submarine carry the modes such as band on the back and carry out underwater mating recycling, AUV by connect with underwater recovery system can be achieved to charge,
The tasks such as data exchange.
The mode that traditional lifting appliance is combined with repeater can be used in the underwater recycling of AUV at this stage, such as patent CN
Device described in 106956760 A, but when such mode recycles need to recycle lash ship and follow AUV movable on a large scale, recycled
Journey is cumbersome, and safety is low, and efficiency is low, and can not generally be charged under water, the work such as data transmission, is needed again after the completion of recycling
It discharges AUV and enters working region, interrupted the continuity of AUV work, and it is underwater to use underwater mating platform to carry out AUV
Recycling, the device as described in 107697247 A of patent CN, retracting device is small, light weight, it is easy to by Complex Sea
The influence of foreign environment, and can also increase AUV impaired risks during docking, thus greatly reduce the work of underwater AUV
Make efficiency, unnecessary financial resources is caused to waste.
Invention content
The technical problem to be solved in the present invention is to provide it is a kind of can to a plurality of AUV persistently automate supply or recycling can
The underwater relay stations of multi-functional AUV of folding and unfolding cabin formula.
In order to solve the above technical problems, the technical scheme is that：It is a kind of can folding and unfolding cabin formula multi-functional AUV it is underwater in
After station, innovative point is：The underwater relay stations of multi-functional AUV are by underwater cabin, pontoon, lash ship, underwater umbilical cables and water
Lower cable forms；
The underwater cabin includes outer framework, supply module and fine adjustment type recycling clamp system, and the supply module is fixed on outer
On the inside of frame lower plane, and charging module, data transmission module and fault detection module built in the supply module；The fine tuning
Formula recycling clamp system is placed in right over outer framework, and the fine adjustment type recycling clamp system includes support plate, the support plate
Upper surface both ends are symmetrically arranged with spud pile, and the lower face both ends of support plate are arranged with seal case A corresponding with spud pile,
And servo motor A and Automated condtrol unit is fixedly mounted in setting baffle inside seal case A, in the outer end branch of seal case A
Snap device is additionally provided on fagging；The lower end of the seal case A is provided with mobile platform, and the both sides pair of each mobile platform
Title is hinged with link mechanism, and the fine adjustment type recycling clamp system further includes the micro-adjusting mechanism being positioned over inside link mechanism；
It is placed with battery pack and power management module and communication apparatus inside the pontoon, wireless transmission is additionally provided on the pontoon
Device A, the pontoon is kept afloat by buoyancy and there are through-holes for bottom end；
Radio transmission apparatus B, winch and recycling manipulator, the installation of lash ship stem bottom are installed on the lash ship deck
There are underwater acoustic communication instrument and Sonar system；
Described underwater umbilical cables one end is connected by pontoon bottom end through-hole with power management module and radio transmission apparatus A, institute
The underwater umbilical cables other end is stated to be laid on the inside of underwater cabin and with the supply module of underwater cabin be connected；
The underwater cable is made of jewelry, expensive clothing and other valuables rope and hawser, and jewelry, expensive clothing and other valuables rope one end is connected by pontoon bottom end through-hole with pontoon, carefully
The tightrope other end breaks into slip-knot with hawser one end, and hawser other end bolt recycles the spud pile of clamp system in fine adjustment type
On, the length of the soft rope is more than pontoon water line to 3-5 meters of lash ship deck, and the length of the hawser is returned more than fine adjustment type
The fixation pile center of clamp system is received to 5-10 meters of the distance on lash ship deck.
Further, the snap device includes a cylindrical sleeves, and the lower end both sides of the cylindrical sleeves, which are equipped with, to be embedded in
The inside center of wedge block in cylindrical sleeves, the cylindrical sleeves is equipped with a support extended along cylindrical sleeves length direction
Plate；Two parallel and vertical with support plate support posts, and the end of the support post are additionally provided in the cylindrical sleeves
Across wedge block；Spring A is also socketed on the support post, one end of the spring A is fixedly connected with support plate, spring A
The other end be fixedly connected with the end face of wedge block；Electromagnet core is provided in support plate between two support posts to fix
The iron core of electromagnet on the supporting plate, the electromagnet is externally wrapped with hot-wire coil, and electromagnet armature part inlay is in wedge
In shape block.
Further, the micro-adjusting mechanism includes a U-shaped bearing and the support arranged in parallel in U-shaped holder top
Bar is equipped with several polished rods for passing through U-shaped cavity and being fixedly connected with U-shaped bearing both side plate on the U-shaped bearing；The polished rod
Middle section is multi-diameter shaft, is fixedly mounted pressure sensor on the multi-diameter shaft, multi-diameter shaft by the preload force effect of spring B with
U-shaped bearing contact；The polished rod is provided with sealing axle sleeve with link mechanism contact portion；
Be cased with spring C on each supporting rod, the supporting rod both ends with multi-diameter shaft and with two light perpendicular to supporting rod
Bar is connected, and supporting rod both ends carry circular collar, and the other end of the polished rod is connected by thrust ball bearing with U-shaped bearing；
The U-shaped bearing lower face is equipped with two die joints separated by U-shaped bearing arc direction, the U-shaped bearing upper surface
Inside is equipped with servo motor B, and one of described U-shaped bearing lower face is disposed with nut bottom from bottom to top on end face
Seat, lead screw A and shaft coupling A, and the shaft coupling A is fixedly connected with servo motor B；
The U-shaped bearing upper surface is connected with welding on the inside of link mechanism, and is separated by 4.3 degree centered on link mechanism circular arc
It is spaced apart 3 micro-adjusting mechanisms.
Further, the underwater cabin further includes underwater guide rail, clamping device, Automated condtrol unit, navigator fix
Unit and monitoring module；
The underwater guide rail is symmetricly set on the both sides of outer framework, and the underwater guide rail is distributed in H-type, wherein two upright guide rails
It is fixed on outer framework side, one is fixedly mounted matched clamping device, institute on the horizontal guide rail of upright guide rail
It states underwater guide rail to be attached with bolt, and is symmetrically fixed on outer framework inner wall；
Welding is fixed by guiderail base between the underwater guide rail, and the guiderail base end face is fixed and is installed by welding with
Seal case B；Setting baffle is installed with servo motor C, Automated condtrol unit and shaft coupling inside the seal case B
B, the shaft coupling B are fixedly connected with connecting shaft, and the other end of the connecting shaft is fixedly connected by key with gear, and described underwater
Both sides are further fixed on the rack coordinated with gear inside guide rail groove；
AUV station A, station A centre distance outer frameworks left plane inside 4300mm are provided at left plane in outer framework,
The 5000mm on the inside of outer framework lower plane；It is being provided with AUV station B, station B centre distance outline borders above supply module
8700mm on the inside of frame left plane, the 2200mm on the inside of outer framework lower plane；It is being provided with AUV works in two linkages
Position C, station C centre distance outer frameworks left plane inside 8700mm, the 7473mm on the inside of outer framework lower plane, and three stations
It is all located on the symmetrical centre face of outer framework anterior-posterior plane；
The navigation positioning unit includes the attitude transducer being mounted on each AUV stations, ultra-short baseline hydrolocation energy converter
And monocular cam, the navigation positioning unit further include be mounted on outer framework left plane on the outside of guide housing on guiding lamp with
And the transponder basic matrix mounted on the right planar inner of outer framework；
The monitoring module is by underwater searchlight, underwater camera, power supply adaptor and signal line group at and underwater camera point
It is not arranged in four corners of plane and four sides on outer framework.
Further, the clamping device includes seal case C, servo motor D, lead screw B, nut bracket, coupling spindle device
With U-shaped piece of clamping, servo motor D and Automated condtrol unit, the lead screw B is fixedly mounted in seal case C inside setting baffles
It is attached by coupling spindle device and servo motor D, the nut bracket is made of nut, support base, four supporting bars, spiral shell
Mother is connected with support base, and four supporting bars pass through seal case C to be connected for U-shaped piece with clamping.
The advantage of the invention is that：
（1）Apparatus of the present invention use the mentality of designing of pipeline system, cooperate between each module, keep practitioner direct
Recycling and condition monitoring, the operating type of pipeline system to AUV are carried out on lash ship greatly improves the supply of a plurality of AUV
Or organic efficiency, special fine tuning link mechanism can cope with the AUV of different model, solve at this stage that most of recovering mechanism is not
The general sex chromosome mosaicism having, supply module in underwater cabin is also the continuing a journey of AUV, the load of new task mission provides can
The guarantee leaned on；
（2）The present invention can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV, fine adjustment type recycling clamp system can be powered in electromagnet
Detached afterwards with outer framework, it is simple to operate, improve the organic efficiency of AUV, accordingly reduce the recycling of underwater AUV at
This；
（3）The present invention can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV, legerity type pontoon design, increase underwater cabin
Sustaining supply ability also correspondingly reduce dependence of the underwater cabin to lash ship；
（4）Apparatus of the present invention are designed using tower structure, and stable structure is reliable, can be effectively reduced marine environment and be returned to AUV
The adverse effect of receipts process.
Description of the drawings
The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.
Fig. 1 be the present invention can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV structural schematic diagram.
Fig. 2 is the structural schematic diagram of underwater cabin in Fig. 1.
Fig. 3 is the structural schematic diagram that fine adjustment type recycles clamp system in Fig. 1.
Fig. 4 is the sectional view of buckle structure in Fig. 3.
Fig. 5 is the structural schematic diagram of micro-adjusting mechanism in Fig. 3.
Fig. 6 is the sectional view of underwater guide rail in Fig. 2.
Fig. 7 is the sectional view of clamping device in Fig. 2.
Fig. 8 is the flow diagram that the present invention works.
Specific implementation mode
The following examples can make professional and technical personnel that the present invention be more fully understood, but therefore not send out this
It is bright to be limited among the embodiment described range.
Embodiment
The present embodiment can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV, as shown in Figure 1, the multi-functional AUV is relayed under water
It stands and is made of underwater cabin 58, pontoon 59, lash ship 60, underwater umbilical cables 61 and underwater cable.
As shown in Fig. 2, underwater cabin 58, which includes outer framework 12, supply module 4 and fine adjustment type, recycles clamp system 1, supply
Module 4 is fixed on the inside of 12 lower plane of outer framework, and feeds charging module, data transmission module and fault detect built in module 4
Module；As shown in figure 3, fine adjustment type recycling clamp system 1 is placed in right over outer framework 12, fine adjustment type recycling clamp system 1 includes
The upper surface both ends of support plate 30, support plate 30 are symmetrically arranged with spud pile 31, and the lower face both ends of support plate 30 are arranged with
Seal case 32 corresponding with spud pile 33, and servo motor A and automation is fixedly mounted in 32 inside setting baffle of seal case
Control unit is additionally provided with snap device 33 in the outer end support plate 30 of seal case 32；The lower end of seal case 32 is arranged
There is mobile platform 34, and the both sides of each mobile platform 34 are symmetrically hinged with link mechanism 35 by screw, fine adjustment type recycling clamps
Mechanism 1 further includes the micro-adjusting mechanism 36 being positioned over inside link mechanism 35.
In the present embodiment, as shown in figure 4, snap device 33 includes a cylindrical sleeves 47, the lower end both sides of cylindrical sleeves 47
Equipped with the wedge block 48 being embedded in cylindrical sleeves 47, the inside center of cylindrical sleeves 47 is equipped with one along 47 length side of cylindrical sleeves
To the support plate of the 25mm thickness of extension；Two parallel and vertical with support plate support posts 49 are additionally provided in cylindrical sleeves 47,
And the end of support post 49 passes through wedge block 48；Spring 50, one end of spring 50 and support are also socketed on support post 49
Plate is fixedly connected, and the other end of spring 50 is fixedly connected with the end face of wedge block 48；Support plate between two support posts 49
On be provided with electromagnet core and fix electromagnet 51 on the supporting plate, the iron core of electromagnet 51 is externally wrapped with hot-wire coil, electricity
52 part inlay of armature of magnet 51 is in wedge block 48；When iron core, which is externally wrapped with hot-wire coil, not to be powered, wedge block 48
It stretches out outside cylindrical sleeves 47 under the action of 50 pretightning force of spring and is locked with plane groove on outer framework 12, work as micro-adjusting mechanism
After 36 clamp AUV1 completely, normally opened relay 53 is closed, and iron core external coil is powered, after armature 52 is attracted by iron core, fine tuning
Formula recycling clamp system 1, which is pulled up, to be hung.
The concrete structure of micro-adjusting mechanism 36, as shown in figure 5, including a U-shaped bearing 37 and arranged in parallel in U-shaped branch
The supporting rod 39 on 37 tops of seat, 37 upper surface 73 of U-shaped bearing is connected with 35 inside welding of link mechanism, and is justified with link mechanism 35
Be separated by 4.3 degree centered on arc and be spaced apart 3 micro-adjusting mechanisms 36, be equipped on U-shaped bearing 37 several pass through U-shaped cavity and with
The polished rod 38 that 37 both side plate of U-shaped bearing is fixedly connected；38 middle section of polished rod is multi-diameter shaft, and pressure, which is fixedly mounted, on multi-diameter shaft passes
Sensor 40, multi-diameter shaft are contacted by the preload force effect of spring B with U-shaped bearing 37, and polished rod 38 and 35 contact site of link mechanism
Set up separately and is equipped with sealing axle sleeve 45.
Spring C is cased on each supporting rod 39, spring C is wrapped up by cylindrical buffer pressure-resistant material, and 39 both ends of supporting rod carry
Multi-diameter shaft is simultaneously connected with two polished rods 38 perpendicular to supporting rod 39, and 39 both ends of supporting rod carry circular collar, polished rod 38
The other end is connected by thrust ball bearing with U-shaped bearing 37；37 lower face of U-shaped bearing is equipped with by 37 arc direction of U-shaped bearing point
Two die joints 72 opened, 73 inside of U-shaped bearing upper surface are equipped with servo motor 41, one of U-shaped bearing lower face point
Nut pedestal 44, lead screw A and shaft coupling A are disposed on type face 72 from bottom to top, the die joint is far from AUV transverse centers
The side of line, and shaft coupling A is fixedly connected with servo motor 41.
As shown in Figure 1, battery pack and power management module 64 and communication apparatus 65 are placed with inside pontoon 59, on pontoon 59
It is additionally provided with radio transmission apparatus 66, pontoon 59 is kept afloat by buoyancy and there are through-holes for bottom end.
Radio transmission apparatus 71, winch 70 and recycling manipulator 69,60 stem bottom of lash ship are installed on 60 deck of lash ship
Portion is equipped with underwater acoustic communication instrument 68 and Sonar system 67.
Underwater 61 one end of umbilical cables passes through 59 bottom end through-hole of pontoon and power management module 64 and radio transmission apparatus 66
It is connected, 61 other end of underwater umbilical cables is laid on the inside of underwater cabin 58 and is connected with the supply module 4 of underwater cabin 58.
Underwater cable is made of jewelry, expensive clothing and other valuables rope 62 and hawser 63, and 62 one end of jewelry, expensive clothing and other valuables rope pass through 59 bottom end through-hole of pontoon and pontoon
59 are connected, and jewelry, expensive clothing and other valuables 62 other ends of rope break into slip-knot with 63 one end of hawser, and 63 other end bolt of hawser is recycled in fine adjustment type and pressed from both sides
On the spud pile 31 of tight mechanism 1, the length of jewelry, expensive clothing and other valuables rope 62 is more than 59 water line of pontoon to deck 3-5 meters of lash ship 60, hawser 63
Length be more than fine adjustment type recycling clamp system 1 31 center of spud pile to 60 deck of lash ship 5-10 meters of distance.
In the present embodiment, as shown in Fig. 2, underwater cabin 58 further includes underwater guide rail 21, clamping device 3, automation control
Unit 29, navigation positioning unit and monitoring module 11.
Underwater guide rail 21 is symmetricly set on the both sides of outer framework 12, as shown in fig. 6, underwater guide rail 21 is distributed in H-type, wherein
Two upright guide rails are fixed on 12 side of outer framework, one be fixedly mounted on the horizontal guide rail of upright guide rail it is matched
Clamping device 3, underwater guide rail 21 is attached with bolt, and is symmetrically fixed on 12 inner wall of outer framework；Underwater guide rail 21 it
Between welding is fixed by guiderail base 22, and 22 end face of guiderail base is fixed and is installed by welding with seal case 23；Seal box
23 inside setting baffle of body is installed with servo motor 28, Automated condtrol unit 29 and shaft coupling 27, and shaft coupling 27 is fixed
Connecting shaft 26 is connected, the other end of connecting shaft 26 is fixedly connected by key with gear 25, and 21 inside grooves both sides of underwater guide rail
It is further fixed on the rack 24 coordinated with gear 25.
In outer framework 12 AUV stations 55,55 centre distance outer framework of station, 12 left plane are provided at left plane
Inside 4300mm, the 5000mm on the inside of 12 lower plane of outer framework；It is being provided with AUV stations 56, work above supply module 4
8700mm, the 2200mm on the inside of 12 lower plane of outer framework on the inside of 56 centre distance outer framework, 12 left plane of position；Close to two pairs
AUV stations 57,57 centre distance outer framework of station, 12 left plane inside 8700mm, apart from outer framework are provided in link mechanism 35
7473mm on the inside of 12 lower planes, and three stations are all located on the symmetrical centre face of 12 anterior-posterior plane of outer framework.
As shown in Fig. 2, navigation positioning unit includes the attitude transducer 6 being mounted on each AUV stations, the ultra-short baseline underwater sound
Position transducer 5 and monocular cam 7, navigation positioning unit further include the guide housing 9 being mounted on the outside of 12 left plane of outer framework
On guiding lamp 10 and transponder basic matrix 8 mounted on 12 right planar inner of outer framework, guide housing 9 it is hollow flexible by circular table
Material makes, and is fixed by upper table surface and outer framework 12, and guiding lamp 10 is mounted on perpendicular to 12 bottom surface of outer framework on guide housing 9.
Monitoring module 11 is by underwater searchlight, underwater camera, power supply adaptor and signal line group at and underwater camera
It is respectively arranged in four corners of plane on outer framework 12 and four sides；In embodiment, outer framework 12 is by six support frames
Body passes through the cuboid framework that is welded.
In embodiment, the concrete structure of clamping device 3, as shown in fig. 7, comprises seal case C, servo motor 20, lead screw
54, servo motor D is fixedly mounted in U-shaped piece 13 of nut bracket, coupling spindle device 18 and clamping, seal case C inside setting baffles 15
And Automated condtrol unit, the lead screw B are attached by coupling spindle device and servo motor 20, nut bracket by nut 16,
17, four supporting bars 14 of support base are constituted, and nut 16 is connected with support base 17, and four supporting bars 14 pass through seal box
Body C is connected for U-shaped piece 13 with clamping.
The present invention specific implementation process be：
In conjunction with Fig. 2 and Fig. 8, AUV1 is opposite with the acquisition AUV1 of transponder basic matrix 8 by underwater ultra-short baseline hydrolocation energy converter 5
The relative position of underwater cabin 58 of the present invention, and underwater cabin 58 is entered by guide housing 9 and reaches station 55, at this time servo motor
28 work, which pass through, drives connecting shaft 26 to make gear 25 and be embedded in 24 engaged transmission of rack of 21 inside groove of guide rail to drive entirely
Clamping device 3 moves to designated position 1 together with guiderail base 22 and triggers limit switch 1, at this time 3 position of clamping device and AUV1
Cross central line it is parallel；Automated condtrol unit work sends servosignal to servo inside seal case C in clamping device 3
Motor 20, the work of servo motor 20 are rotated by the lead screw 54 that speed reducer 19 drives both ends to be supported by support base 17, spiral shell
Female pedestal together with clamp U-shaped piece 13 be driven using lead screw 54 it is for linear motion to make the horizontal direction of AUV1 press from both sides AUV1
Tightly, it is mounted on the variation for perceiving clamping force with the pressure sensor 40 clamped on U-shaped piece 13, is watched when clamping force reaches the limit of value
It takes motor 20 and is stopped and complete clamping to AUV1；Servo motor 28 work in an identical manner by clamping device 3 together with
AUV1 is transported to designated position 2 and triggers limit switch 2, and AUV1 reaches specified station 56 at this time；Module 4 is fed to examine in sensor
Clamping device 3 is measured to starting to work behind designated position 2.
In conjunction with Fig. 1 and Fig. 8, when AUV1 is charging or carries out data transmission, Automated condtrol unit 29 controls servo
Clamping device 3 is transported to designated position 1 together with guiderail base 22 and triggers limit switch 1 by the work of motor 28, and AUV2 is waited for arrive
Up to specified station 55, at the same feed the data information that module 4 acquires AUV1, in underwater cabin 58 monitoring module 11 video letter
Power management data in breath, supply module 4 are uploaded to by underwater umbilical cables 61 on the radio transmission apparatus 66 of pontoon 59, female
Radio transmission apparatus 71 on ship 60 receives the data that pontoon 59 transmits and is parsed, and can monitor in real time each in underwater cabin 58
The working condition of module；When AUV1 chargings or data transmission are completed, the Automated condtrol unit of supply module 4 controls clamping machine
Structure 3 sends servosignal to servo motor 20, and the work of servo motor 20 drives both ends to be supported by support base 17 by speed reducer 19
Lead screw 54 make reverse rotation motion, clamp U-shaped piece 13 and unclamp AUV1 from the horizontal direction of AUV1, AUV1 is from 12 right side of outer framework
Plane is sailed out of；When 4 electric power of supply module in underwater cabin 58 is less than 10%, the Automated condtrol unit of module 4 is fed
Corresponding information is sent out to pontoon 59 by underwater umbilical cables 61, the battery pack and power management module 64 in pontoon 59 pass through navel again
Charging module with from the cable in cable to supply module 4 is powered；When carrying out the take-back model of AUV1, module 4 is fed
Automated condtrol unit control clamping device 3 send servosignal and drive clamping device 3 together with guiderail base to servo motor D
22 are transported to designated position 3 and trigger limit switch 3；When AUV1 reaches specified station 57, the inside seal case C automation control
Cell operation sends servosignal and gives servo motor A, and servo motor A work drives mobile platform 34, close to AUV cross central lines
The spring 46 of side is compressed by the Step Shaft on polished rod 38, and pressure sensor 40 works, as shown in figure 5, working as the U-shaped bearing 37
When pressure sensor 40 of the lower face close to the side of AUV1 cross central lines detects that spring 46 reaches the limit values, servo motor
41 work drive lead screw 43 to rotate, and nut pedestal 44 is together with side of the U-shaped bearing 37 far from AUV cross central lines in silk
Bar 43 makees straight line fine tuning movement under being driven, to make polished rod 38, supporting rod 39 and spring far from AUV cross central lines side
C is clamped action to AUV1, when the pressure sensor of side of 37 lower face of U-shaped bearing far from AUV1 cross central lines
40 when detecting that spring 46 reaches the limit values, and indicates at this point, AUV1 is clamped completely；The snap device 33 works, when
After AUV1 is clamped completely, Automated condtrol unit control normally opened relay 53 is closed in micro-adjusting mechanism 36, while by underwater
Umbilical cables 61 send out corresponding information to pontoon 59, before pontoon 59 informs that lash ship 60, lash ship 60 pass through by radio transmission apparatus 66
Pontoon 59 is found depending on sonar 67 and underwater acoustic communication set 68, pontoon 59 is hung mother by the recycling manipulator 69 being used in combination on lash ship 60
On 60 deck of ship, pontoon 59 is safeguarded and is fed work, then the work of winch 70 will be micro- by hawser 63 on lash ship 60
Mode recycling clamp system 1 is hung together with AUV1 on 60 deck of lash ship, completes the recovery operation of AUV1, then clamping device 3 connects
Designated position 1 is moved to guiderail base 22, prepares AUV2 and reaches specified station 55.
The basic principles and main features and advantages of the present invention of the present invention have been shown and described above.The skill of the industry
Art personnel it should be appreciated that the present invention is not limited to the above embodiments, the above embodiments and description only describe
The principle of the present invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these
Changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and
Its equivalent thereof.
Claims (5)
1. it is a kind of can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV, it is characterised in that：The underwater relay stations of multi-functional AUV
It is made of underwater cabin, pontoon, lash ship, underwater umbilical cables and underwater cable；
The underwater cabin includes outer framework, supply module and fine adjustment type recycling clamp system, and the supply module is fixed on outer
On the inside of frame lower plane, and charging module, data transmission module and fault detection module built in the supply module；The fine tuning
Formula recycling clamp system is placed in right over outer framework, and the fine adjustment type recycling clamp system includes support plate, the support plate
Upper surface both ends are symmetrically arranged with spud pile, and the lower face both ends of support plate are arranged with seal case A corresponding with spud pile,
And servo motor A and Automated condtrol unit is fixedly mounted in setting baffle inside seal case A, in the outer end branch of seal case A
Snap device is additionally provided on fagging；The lower end of the seal case A is provided with mobile platform, and the both sides pair of each mobile platform
Title is hinged with link mechanism, and the fine adjustment type recycling clamp system further includes the micro-adjusting mechanism being positioned over inside link mechanism；
It is placed with battery pack and power management module and communication apparatus inside the pontoon, wireless transmission is additionally provided on the pontoon
Device A, the pontoon is kept afloat by buoyancy and there are through-holes for bottom end；
Radio transmission apparatus B, winch and recycling manipulator, the installation of lash ship stem bottom are installed on the lash ship deck
There are underwater acoustic communication instrument and Sonar system；
Described underwater umbilical cables one end is connected by pontoon bottom end through-hole with power management module and radio transmission apparatus A, institute
The underwater umbilical cables other end is stated to be laid on the inside of underwater cabin and with the supply module of underwater cabin be connected；
The underwater cable is made of jewelry, expensive clothing and other valuables rope and hawser, and jewelry, expensive clothing and other valuables rope one end is connected by pontoon bottom end through-hole with pontoon, carefully
The tightrope other end breaks into slip-knot with hawser one end, and hawser other end bolt recycles the spud pile of clamp system in fine adjustment type
On, the length of the soft rope is more than pontoon water line to 3-5 meters of lash ship deck, and the length of the hawser is returned more than fine adjustment type
The fixation pile center of clamp system is received to 5-10 meters of the distance on lash ship deck.
2. it is according to claim 1 can folding and unfolding cabin formula the underwater relay stations of multi-functional AUV, it is characterised in that：The buckle
Mechanism includes a cylindrical sleeves, and the lower end both sides of the cylindrical sleeves are equipped with the wedge block being embedded in cylindrical sleeves, the circle
The inside center of column sleeve cylinder is equipped with a support plate extended along cylindrical sleeves length direction；Two are additionally provided in the cylindrical sleeves
Parallel and vertical with support plate support post, and the end of the support post passes through wedge block；On the support post also
It is socketed with spring A, one end of the spring A is fixedly connected with support plate, and the other end of spring A and the end face of wedge block are fixed and connected
It connects；The electromagnet of electromagnet core fixation on the supporting plate, the electromagnetism are provided in support plate between two support posts
The iron core of iron is externally wrapped with hot-wire coil, and electromagnet armature part inlay is in wedge block.
3. the underwater relay stations of multi-functional AUV of folding and unfolding cabin according to claim 1 formula, it is characterised in that：The freqency fine adjustment machine
Structure includes a U-shaped bearing and the supporting rod arranged in parallel in U-shaped holder top, is equipped on the U-shaped bearing several
A polished rod for passing through U-shaped cavity and being fixedly connected with U-shaped bearing both side plate；The polished rod middle section is multi-diameter shaft, the ladder
Pressure sensor is fixedly mounted on axis, multi-diameter shaft is contacted by the preload force effect of spring B with U-shaped bearing；The polished rod and company
Linkage contact portion is provided with sealing axle sleeve；
Be cased with spring C on each supporting rod, the supporting rod both ends with multi-diameter shaft and with two light perpendicular to supporting rod
Bar is connected, and supporting rod both ends carry circular collar, and the other end of the polished rod is connected by thrust ball bearing with U-shaped bearing；
The U-shaped bearing lower face is equipped with two die joints separated by U-shaped bearing arc direction, the U-shaped bearing upper surface
Inside is equipped with servo motor B, and one of described U-shaped bearing lower face is disposed with nut bottom from bottom to top on end face
Seat, lead screw A and shaft coupling A, and the shaft coupling A is fixedly connected with servo motor B；
The U-shaped bearing upper surface is connected with welding on the inside of link mechanism, and is separated by 4.3 degree centered on link mechanism circular arc
It is spaced apart 3 micro-adjusting mechanisms.
4. the underwater relay stations of multi-functional AUV of folding and unfolding cabin according to claim 1 formula, it is characterised in that：The underwater cabin
Room further includes underwater guide rail, clamping device, Automated condtrol unit, navigation positioning unit and monitoring module；
The underwater guide rail is symmetricly set on the both sides of outer framework, and the underwater guide rail is distributed in H-type, wherein two upright guide rails
It is fixed on outer framework side, one is fixedly mounted matched clamping device, institute on the horizontal guide rail of upright guide rail
It states underwater guide rail to be attached with bolt, and is symmetrically fixed on outer framework inner wall；
Welding is fixed by guiderail base between the underwater guide rail, and the guiderail base end face is fixed and is installed by welding with
Seal case B；Setting baffle is installed with servo motor C, Automated condtrol unit and shaft coupling inside the seal case B
B, the shaft coupling B are fixedly connected with connecting shaft, and the other end of the connecting shaft is fixedly connected by key with gear, and described underwater
Both sides are further fixed on the rack coordinated with gear inside guide rail groove；
AUV station A, station A centre distance outer frameworks left plane inside 4300mm are provided at left plane in outer framework,
The 5000mm on the inside of outer framework lower plane；It is being provided with AUV station B, station B centre distance outline borders above supply module
8700mm on the inside of frame left plane, the 2200mm on the inside of outer framework lower plane；It is being provided with AUV works in two linkages
Position C, station C centre distance outer frameworks left plane inside 8700mm, the 7473mm on the inside of outer framework lower plane, and three stations
It is all located on the symmetrical centre face of outer framework anterior-posterior plane；
The navigation positioning unit includes the attitude transducer being mounted on each AUV stations, ultra-short baseline hydrolocation energy converter
And monocular cam, the navigation positioning unit further include be mounted on outer framework left plane on the outside of guide housing on guiding lamp with
And the transponder basic matrix mounted on the right planar inner of outer framework；
The monitoring module is by underwater searchlight, underwater camera, power supply adaptor and signal line group at and underwater camera point
It is not arranged in four corners of plane and four sides on outer framework.
5. the underwater relay stations of multi-functional AUV of folding and unfolding cabin according to claim 4 formula, it is characterised in that：The clamping machine
Structure includes seal case C, servo motor D, lead screw B, nut bracket, coupling spindle device and U-shaped piece of clamping, is set inside seal case C
It sets baffle and servo motor D and Automated condtrol unit is fixedly mounted, the lead screw B is carried out by coupling spindle device and servo motor D
Connection, the nut bracket are made of nut, support base, four supporting bars, and nut is connected with support base, four supports
Rod piece passes through seal case C to be connected for U-shaped piece with clamping.
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| CN201810648086.7A CN108557040B (en) | 2018-06-22 | 2018-06-22 | But receive and release cabin formula multi-functional AUV relay station under water |
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| CN113247214A (en) * | 2021-06-03 | 2021-08-13 | 浙江大学 | Multi-track underwater precise positioning device |
| CN113581382A (en) * | 2021-08-31 | 2021-11-02 | 江苏科技大学 | AUV recovery docking platform and docking method thereof |
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| CN116639232B (en) * | 2023-07-27 | 2023-10-27 | 国家深海基地管理中心 | Seating type docking platform for AUV underwater charging and data interaction and method thereof |
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