CN110682999A - Automatic AUV (autonomous underwater vehicle) laying and recycling device - Google Patents
Automatic AUV (autonomous underwater vehicle) laying and recycling device Download PDFInfo
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- CN110682999A CN110682999A CN201910938504.0A CN201910938504A CN110682999A CN 110682999 A CN110682999 A CN 110682999A CN 201910938504 A CN201910938504 A CN 201910938504A CN 110682999 A CN110682999 A CN 110682999A
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- auv
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/28—Devices for projecting or releasing boats for free fall
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
- B63B23/60—Additional connections between boat and davits
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/70—Condition-responsive handling equipment, e.g. automatic release of boat from lowering tackle upon contact with water
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention relates to the field of underwater robot deployment and recovery devices, in particular to an automatic AUV deployment and recovery device. An automatic AUV distribution and recovery device comprises a positioning base part, a clamping device part and a sliding bolt hoisting device part; the positioning base part is of a single-layer rectangular plate-shaped structure, and the upper surface of the positioning base part is connected with a clamping device part and a sliding bolt hoisting device part; the clamping holding part is divided into two symmetrical clamping arm group structures which are respectively positioned at two far ends of the positioning base part; the sliding bolt hoisting part is of a cone frustum structure, the bottom of the sliding bolt hoisting part is positioned in the center of the positioning base part, and the connecting piece at the top is connected with the mother ship through a cable; the device can control automatic hooking and unhooking, improve the reliability and safety of AUV laying and recovery, and reduce the manual assistance of mother ship personnel.
Description
Technical Field
The invention relates to the field of underwater robot deployment and recovery devices, in particular to an automatic AUV deployment and recovery device.
Background
In recent years, the industrial development speed of all countries in the world is higher and higher, the demand of resources such as petroleum and coal on land is higher and higher, and the price is increased. All of them make people increasingly accelerate the development and utilization of ocean resources. With the continuous expansion of ocean utilization areas in China, the research of underwater robots becomes a research hotspot of ocean exploration and development.
As one of main devices for exploring and developing current human Underwater resources, an Autonomous Underwater Vehicle (AUV) is increasingly emphasized by various countries, and various types of Underwater robots are applied to the fields of detecting seawater quality, undersea exploration, search support, scientific investigation, and the like. Because the AUV needs unmanned and cableless operation in marine environment for a long time, the deployment and recovery in the self use process is an indispensable link, and the successful deployment and recovery is the basis of normal underwater operation and is an important step for successfully completing a task.
At present, in order to improve the use efficiency and guarantee capability, the AUV deployment and recovery technology is continuously researched and developed to ensure the safe deployment and recovery of the AUV and improve the operation capability and operation safety of the AUV. Most of the existing AUV laying and recovering technologies have an automatic unhooking function but do not have an automatic hooking capability, and people on a ship need to hook the AUV with the aid of the ship. Unsuccessful deployment and retrieval can cause damage to the tape, rendering the entire system inoperable or even lost. The invention provides a distribution and recovery device suitable for automatic hooking and unhooking of an AUV (autonomous underwater vehicle) aiming at the problems of reliability and safety of the AUV in the distribution and recovery process.
Disclosure of Invention
The invention aims to provide an automatic AUV (autonomous underwater vehicle) laying and recycling device, which controls automatic hooking and unhooking through the device, improves the reliability and safety of AUV laying and recycling, and reduces manual assistance of mother ship personnel.
The purpose of the invention is realized as follows: the clamping device comprises a positioning base part, a clamping device part and a sliding bolt hoisting device part; the positioning base part is of a single-layer rectangular plate-shaped structure, and the upper surface of the positioning base part is connected with a clamping device part and a sliding bolt hoisting device part; the clamping holding part is divided into two symmetrical clamping arm group structures which are respectively positioned at two far ends of the positioning base part; the sliding bolt hoisting part is of a cone frustum structure, the bottom of the sliding bolt hoisting part is positioned in the center of the positioning base part, and the connecting piece at the top of the sliding bolt hoisting part is connected with the mother ship through a cable.
The invention also comprises the following features:
1. the positioning base part comprises a positioning base part (4), a connecting plate (5), an I-shaped steel (6) and a positioning plate (7); the I-shaped steel (6) is of a rectangular frame structure; the positioning base part (4) is of an arch structure, the outline of the positioning base part is the same as the upper surface of the AUV, and the positioning base part (4) is welded on two short edges of the far end of the I-steel (6) respectively; the connecting plate (5) is a small rectangular flat plate, is arranged on the far-end symmetrical upper surface of the I-shaped steel (6) through welding, and the connecting plate (5) and the positioning base part (4) are welded together; the positioning plate (7) is a large rectangular plate, a convex hollow cone is arranged in the center of the large rectangular plate, and the positioning plate (7) is arranged in the middle of the I-shaped steel (6) through welding.
2. The clamping device comprises four groups of clamping device parts, wherein the four groups of clamping device parts are symmetrically arranged at four corners of the positioning base part and respectively comprise a clamping arm (12) and a swinging cylinder (13); the swing cylinder (13) is connected to one end of the connecting plate (5) through a bolt, and the axial direction of a transmission shaft of the swing cylinder is parallel to the long side direction of the I-shaped steel (6); the holding arm (12) is an arc-shaped claw-shaped structure, and the upper end of the holding arm is connected to a transmission shaft of the swinging cylinder (13).
3. The sliding bolt hoisting device part comprises a bolt oil cylinder (8), a hook sliding plate (9), a connecting rod (14), a camera (15), a circular plate (17) and a cable connecting piece (18); four bolt oil cylinders (8) are arranged on the positioning plate (7) in pairs and are oppositely arranged in a group, and the motion direction of the contraction and extension of the piston rod of each bolt oil cylinder (8) is parallel to the long edge direction of the I-shaped steel (6); the hook sliding plates (9) are two and stretch across two long edges of the I-shaped steel (6), the piston rod end of each group of bolt oil cylinders (8) is connected with the corresponding hook sliding plate (9), a hook (19) is arranged on the outer side surface of each hook sliding plate (9), two lifting rings are arranged on the upper surface of each hook sliding plate (9), hook side sliding blocks (11) are arranged at two ends of each hook sliding plate (9), and the hook sliding blocks (11) are arranged on the corresponding I-shaped steel through rollers; the number of the connecting rods (14) is four, the lower end of each connecting rod is hinged with a hanging ring (10), and the upper end of each connecting rod (14) is hinged with a hinge seat (16); the circular plate (17) is positioned at the upper part of the center of the sliding bolt lifting device part, the circular plate (17) is arranged on the four hinged seats, a camera (15) is arranged at the circle center of the lower surface of the circular plate (17), and a cable connecting piece (18) is welded at the circle center of the upper surface of the circular plate (17).
4. A raised hollow cone is arranged in the middle of the surface of the positioning plate (7), and the raised hollow cone is matched with a butt-joint cone (3) arranged at the center of the AUV hull.
5. Two hooks (19) are arranged on each hook sliding plate, and the hooks (19) are matched with AUV hanging rings (2) arranged on the AUV to realize connection.
The invention has the beneficial effects that: the invention can automatically complete the hooking and unhooking work, and has compact mechanical structure, high reliability and good safety. According to the invention, the central convex hollow cone on the positioning plate is matched with the butt joint cone on the AUV in a contained manner, so that the automatic AUV laying and recovering device and the AUV are accurately butted and positioned, the butt joint process is easy, and the butt joint positioning is accurate; the automatic hooking and unhooking of the AUV automatic laying and recovering device are realized through the sliding bolt hoisting device part, auxiliary personnel are not needed, and the efficiency and the safety of the AUV in the laying and recovering process are improved; through the combination of the positioning base part, the clamping device part and the sliding bolt hoisting device part, the whole AUV automatic laying and recovering device is simple in mechanical structure, reliable in operation performance and high in safety coefficient, and can be used for laying and recovering AUVs under high sea conditions; the adaptive AUV can be realized by welding the hanging ring and the butt-joint cone on the upper surface of the AUV, and has the advantages of little change on the AUV, low operation difficulty and low modification cost.
Drawings
FIG. 1 is a three-dimensional schematic diagram of an AUV adapted for use with the present invention;
FIG. 2 is a three-dimensional schematic diagram of the docking of the present invention on a compliant AUV;
FIG. 3 is a schematic representation of a three-dimensional structure of the present invention;
FIG. 4 is a front view of the structure of the present invention;
FIG. 5 is a three-dimensional schematic view of a positioning base portion of the present invention.
The reference numbers in the figures are: AUV1, AUV rings 2, butt-joint cones 3, positioning base parts 4, connecting plates 5, I-steel 6, positioning plates 7, bolt oil cylinders 8, hook sliding plates 9, rings 10, hook side sliding blocks 11, clamping arms 12, swinging cylinders 13, connecting rods 14, cameras 15, hinged seats 16, circular plates 17, cable connecting pieces 18 and hooks 19.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, the present invention is further described with reference to the accompanying drawings:
with reference to fig. 1 to 5, the present invention mainly comprises a positioning base, a clamping device and a sliding bolt hoisting device. The positioning base is used for positioning on the surface of the AUV, the positioning base part 4 and the upper surface of the AUV have the same outline, and the positioning of the positioning base on the AUV can be realized. When the positioning base contacts the AUV, a swing cylinder 13 in the clamping device drives the clamping arms 12 to clamp two side faces of the AUV, so that the whole AUV distributing and recovering device is clamped and fixed on the AUV. The sliding bolt hoisting device can enable the hook 19 to be inserted into the AUV hoisting ring 2, and the hooking work is completed.
The sliding bolt hoisting device comprises: the device comprises a bolt oil cylinder 8, a hook sliding plate 9, a hook side sliding block 11, a hook 19, a hanging ring 10, a connecting rod 14, a camera 15, a hinge seat 16, a circular plate 17 and a cable connecting piece 18. The automatic coupler is mainly used for automatic hooking and lifting and recycling the AUV.
In the invention, 4 AUV hanging rings 2 which are arranged in a rectangular shape are welded on the surface of the AUV, and a butting cone 3 is welded at the center.
The positioning base device is mainly used for positioning the AUV distribution and recovery device on the upper surface of the AUV and comprises a positioning base part 4, a connecting plate 5, I-shaped steel 6 and a positioning plate 7. The connecting plate 5 and the positioning plate 7 are welded on the I-shaped steel 6, and the positioning base parts 4 are welded on two sides of the I-shaped steel 6 to form a whole. The positioning base part 4 has the same contour as the upper surface of the AUV1 and can be butted against the AUV. The middle of the positioning plate 7 is provided with an inverted funnel-shaped protrusion, the AUV is provided with a butt-joint cone 3, and the positioning plate and the AUV can be butt-jointed when contacting with each other, so that the positioning plate and the positioning base part 4 can realize accurate butt joint of the positioning base on the upper surface of the AUV.
The clamping device is mainly used for clamping and fixing the AUV distribution and recovery device and comprises a swing cylinder 13 and a clamping arm 12. The swing cylinder 13 is installed on the connecting plate 5, and the holding arm 12 is connected on the output shaft of the swing cylinder 13 and can swing back and forth along with the swing cylinder 13 to drive the holding arm 12 to be in contact with and clamped with the AUV.
The sliding bolt hoisting device is mainly used for automatic hooking and realizing the lifting and recovery of the AUV and comprises a bolt oil cylinder 8, a hook sliding plate 9, a lifting ring 10, a hook side sliding block 11, a hook 19, a connecting rod 14, a camera 15, a hinged seat 16, a circular plate 17 and a cable connecting piece 18. The bolt hydro-cylinder 8 is installed on locating plate 7, and the piston rod of bolt hydro-cylinder 8 is connected on couple slide 9. The hook side slide block 11, the hook 19 and the hanging ring 10 are welded on the hook slide plate 9. The hook side slide block 11 can slide on the I-shaped steel 6, so that the bolt oil cylinder 8 can drive the sliding bolt hoisting device to move on the I-shaped steel 6. The two ends of the connecting rod 14 are respectively connected to the hanging ring 10 and the hinge base 16, the hinge base 16 is welded on the circular plate 17, and the circular plate 17 is also provided with the camera 15 and the cable connecting piece 18. The camera 15 can rotate up and down, left and right for observing the butt joint condition of the inverted funnel-shaped protrusion between the butt joint cone 3 and the positioning plate 7 and observing the condition that the hook 19 is inserted into the AUV hanging ring 2.
When the positioning base is completely contacted with the upper surface of the AUV, after the clamping device clamps the AUV, the bolt oil cylinder 8 of the sliding bolt hoisting device pushes the hook sliding plate 9, so that the hook 19 on the hook sliding plate is inserted into the AUV hoisting ring 2, and the camera 15 can observe the condition that the hook 19 is inserted into the AUV hoisting ring 2. After the hook 19 is completely inserted into the AUV hanging ring 2 and before the AUV is lifted, the clamping arm 12 of the clamping device needs to be opened to separate the clamping arm 12 from the AUV, so as to avoid damage to the clamping device when the AUV is lifted. The cable on the mother vessel is connected to a cable connection 18 for lifting the AUV to the mother vessel.
The working principle of the invention is as follows:
and (2) carrying out laying operation, after the mother ship lifts the AUV and the laying recovery device into water through a cable, driving the clamping arm 12 to clamp the AUV by the swinging cylinder 13, then, retracting the piston rod of the bolt oil cylinder 8 to drive the sliding bolt lifting device to move towards the middle, so that the hook 19 is unhooked from the AUV lifting ring 2, observing that the hook 19 is completely separated from the AUV lifting ring 2 through the camera 15, driving the clamping arm 12 to be opened by the swinging cylinder 13, then, lifting the whole laying recovery device back onto the mother ship, and then, leaving the AUV on the sea surface to finish the laying operation.
And when the AUV finishes the task return and runs to a specific position beside the mother ship, carrying out recovery operation. The whole distribution and recovery device is hoisted to the position where the AUV stops and then is in butt joint with the AUV. The positioning base part 4 contacts the surface of the AUV, the inverted funnel-shaped protrusion on the positioning plate 7 contacts the butt-joint cone 3 on the AUV, and the positioning of the distributing and recovering device on the AUV is completed after the inverted funnel-shaped protrusion and the butt-joint cone 3 are completely accommodated and contacted through the camera 15. After positioning is completed, the swing cylinder 13 drives the clamp arm 12 to clamp the AUV, then the piston rod of the bolt oil cylinder 8 extends out to drive the sliding bolt hoisting device to move towards the AUV hoisting ring 2, so that the hook 19 is inserted into the AUV hoisting ring 2, and after the camera 15 observes that the hook 19 is completely inserted into the AUV hoisting ring 2, the hook action of the distribution and recovery device on the AUV is completed. And then the swing cylinder 13 drives the holding arm 12 to open, and then the distribution and recovery device and the AUV are hoisted back to the mother ship together to finish the recovery operation.
In summary, the invention mainly discloses a device for automatically hooking and unhooking an AUV (Autonomous Underwater Vehicle), which comprises a positioning base, a clamping device and a sliding bolt hoisting device. In this scheme, need set up rings and butt joint awl on the AUV, rings are used for the cooperation couple, and the butt joint awl is used for the cooperation location base. The positioning base in the device comprises a positioning plate, I-shaped steel, a positioning base part and a connecting plate; the clamping device comprises a swing cylinder and a clamping arm; the sliding bolt hoisting device comprises a bolt oil cylinder, a hook sliding plate, a hook side sliding block, a hook, a hanging ring, a connecting rod, a hinged seat, a circular plate, a cable connecting piece and a camera. The clamping device is mounted on a connecting plate of the positioning base, the sliding bolt lifting device is mounted on an I-shaped steel of the positioning base, the bolt oil cylinder is mounted on a positioning plate of the positioning base, a piston rod of the bolt oil cylinder is connected with the hook sliding plate, two ends of a connecting rod are respectively connected onto the lifting ring and the hinge seat, the hinge seat is welded on the circular plate, and the circular plate is further provided with the camera and the cable connecting piece. When AUV distribution and recovery operation is carried out, the positioning base is in contact with the upper surface of the AUV, then the clamping devices clamp the two sides of the AUV tightly, the distribution and recovery device is positioned and clamped on the AUV, then the sliding bolt hoisting device is pushed by the bolt oil cylinder, so that a hook on the sliding bolt hoisting device is inserted into a hanging ring on the AUV, and the hook operation is completed. After the hook is finished and before the AUV is lifted, the clamping device needs to be opened to separate the clamping device from two side faces of the AUV, so that the clamping device is prevented from being damaged when the AUV is lifted. The invention provides a novel distributing and recycling device for automatic AUV (autonomous underwater vehicle) hook unhooking, which is simple in structure and reliable in performance and can automatically complete hooking and unhooking work.
Claims (7)
1. The utility model provides an automatic recovery unit that lays of AUV which characterized in that: the clamping device comprises a positioning base part, a clamping device part and a sliding bolt hoisting device part; the positioning base part is of a single-layer rectangular plate-shaped structure, and the upper surface of the positioning base part is connected with a clamping device part and a sliding bolt hoisting device part; the clamping holding part is divided into two symmetrical clamping arm group structures which are respectively positioned at two far ends of the positioning base part; the sliding bolt hoisting part is of a cone frustum structure, the bottom of the sliding bolt hoisting part is positioned in the center of the positioning base part, and the connecting piece at the top of the sliding bolt hoisting part is connected with the mother ship through a cable.
2. The automatic AUV distribution and recovery device of claim 1, wherein: the positioning base part comprises a positioning base part (4), a connecting plate (5), an I-shaped steel (6) and a positioning plate (7); the I-shaped steel (6) is of a rectangular frame structure; the positioning base part (4) is of an arch structure, the outline of the positioning base part is the same as the upper surface of the AUV, and the positioning base part (4) is welded on two short edges of the far end of the I-steel (6) respectively; the connecting plate (5) is a small rectangular flat plate, is arranged on the far-end symmetrical upper surface of the I-shaped steel (6) through welding, and the connecting plate (5) and the positioning base part (4) are welded together; the positioning plate (7) is a large rectangular plate, a convex hollow cone is arranged in the center of the large rectangular plate, and the positioning plate (7) is arranged in the middle of the I-shaped steel (6) through welding.
3. The automatic AUV distribution and recovery device of claim 2, wherein: the clamping device comprises four groups of clamping device parts, wherein the four groups of clamping device parts are symmetrically arranged at four corners of the positioning base part and respectively comprise a clamping arm (12) and a swinging cylinder (13); the swing cylinder (13) is connected to one end of the connecting plate (5) through a bolt, and the axial direction of a transmission shaft of the swing cylinder is parallel to the long side direction of the I-shaped steel (6); the holding arm (12) is an arc-shaped claw-shaped structure, and the upper end of the holding arm is connected to a transmission shaft of the swinging cylinder (13).
4. The automatic AUV distribution and recovery device of claim 3, wherein: the sliding bolt hoisting device part comprises a bolt oil cylinder (8), a hook sliding plate (9), a connecting rod (14), a camera (15), a circular plate (17) and a cable connecting piece (18); four bolt oil cylinders (8) are arranged on the positioning plate (7) in pairs and are oppositely arranged in a group, and the motion direction of the contraction and extension of the piston rod of each bolt oil cylinder (8) is parallel to the long edge direction of the I-shaped steel (6); the hook sliding plates (9) are two and stretch across two long edges of the I-shaped steel (6), the piston rod end of each group of bolt oil cylinders (8) is connected with the corresponding hook sliding plate (9), a hook (19) is arranged on the outer side surface of each hook sliding plate (9), two lifting rings are arranged on the upper surface of each hook sliding plate (9), hook side sliding blocks (11) are arranged at two ends of each hook sliding plate (9), and the hook sliding blocks (11) are arranged on the corresponding I-shaped steel through rollers; the number of the connecting rods (14) is four, the lower end of each connecting rod is hinged with a hanging ring (10), and the upper end of each connecting rod (14) is hinged with a hinge seat (16); the circular plate (17) is positioned at the upper part of the center of the sliding bolt lifting device part, the circular plate (17) is arranged on the four hinged seats, a camera (15) is arranged at the circle center of the lower surface of the circular plate (17), and a cable connecting piece (18) is welded at the circle center of the upper surface of the circular plate (17).
5. The automatic AUV deployment and recovery device of claim 2, 3 or 4, wherein: a raised hollow cone is arranged in the middle of the surface of the positioning plate (7), and the raised hollow cone is matched with a butt-joint cone (3) arranged at the center of the AUV hull.
6. The automatic AUV deployment and recovery device of claim 2, 3 or 4, wherein: two hooks (19) are arranged on each hook sliding plate, and the hooks (19) are matched with AUV hanging rings (2) arranged on the AUV to realize connection.
7. The automatic AUV distribution and recovery device of claim 5, wherein: two hooks (19) are arranged on each hook sliding plate, and the hooks (19) are matched with AUV hanging rings (2) arranged on the AUV to realize connection.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910938504.0A CN110682999B (en) | 2019-09-30 | 2019-09-30 | Automatic AUV (autonomous underwater vehicle) laying and recycling device |
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| CN201910938504.0A CN110682999B (en) | 2019-09-30 | 2019-09-30 | Automatic AUV (autonomous underwater vehicle) laying and recycling device |
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| CN110682999A true CN110682999A (en) | 2020-01-14 |
| CN110682999B CN110682999B (en) | 2021-07-16 |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113148019A (en) * | 2021-05-13 | 2021-07-23 | 鹏城实验室 | Recovery system and recovery method for autonomous underwater robot for autonomous recovery on water surface |
| CN113443078A (en) * | 2021-06-25 | 2021-09-28 | 中国船舶重工集团公司第七一三研究所 | Automatic hanging flower basket device of laying and retrieving of unmanned ship of general type |
| CN113460274A (en) * | 2021-08-06 | 2021-10-01 | 哈尔滨工程大学 | AUV (autonomous underwater vehicle) autonomous recovery/distribution device and implementation method thereof |
| CN114194337A (en) * | 2021-12-13 | 2022-03-18 | 大连海事大学 | Can restrain wobbling cloth of ROV and put recovery unit |
| CN114248874A (en) * | 2021-12-28 | 2022-03-29 | 哈尔滨工程大学 | Underwater deployment and recovery device and method for underwater unmanned vehicle |
| CN114954805A (en) * | 2022-07-01 | 2022-08-30 | 广东海洋大学 | Full-automatic modularization AUV puts in recovery unit |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113460274A (en) * | 2021-08-06 | 2021-10-01 | 哈尔滨工程大学 | AUV (autonomous underwater vehicle) autonomous recovery/distribution device and implementation method thereof |
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| CN114248874A (en) * | 2021-12-28 | 2022-03-29 | 哈尔滨工程大学 | Underwater deployment and recovery device and method for underwater unmanned vehicle |
| CN114954805A (en) * | 2022-07-01 | 2022-08-30 | 广东海洋大学 | Full-automatic modularization AUV puts in recovery unit |
| CN114954805B (en) * | 2022-07-01 | 2023-12-05 | 广东海洋大学 | Full-automatic modularized AUV releasing and recycling device |
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