CN110803269B

CN110803269B - Ultra-large UUV release and AUV recovery device driven by hydraulic linkage device

Info

Publication number: CN110803269B
Application number: CN201911068945.6A
Authority: CN
Inventors: 杜晓旭; 蓝振祎; 潘光; 宋保维
Original assignee: Northwestern Polytechnical University
Current assignee: Northwestern Polytechnical University
Priority date: 2019-11-05
Filing date: 2019-11-05
Publication date: 2020-09-08
Anticipated expiration: 2039-11-05
Also published as: CN110803269A

Abstract

The invention relates to an ultra-large UUV release and recovery AUV device driven by a hydraulic linkage device, belonging to the technical field of underwater vehicles; comprises a motor box body, a hydraulic device, a push rod, a recovery device and an external sleeve; the hydraulic device is arranged in the motor box body, and a hydraulic rod of the hydraulic device extends out of the motor box body to be connected; the recovery device is of a frame-type cylindrical structure with one closed end, the closed end of the recovery device is coaxially and fixedly connected with a hydraulic rod of the hydraulic device through the push rod, and the other end of the recovery device is a recovery/release port; the outer sleeve is coaxially sleeved on the periphery of the recovery device and used for fixing the whole AUV releasing and recovering device on the ultra-large UUV. According to the invention, all devices required by releasing and recovering the AUV, including the driving device, are integrated into a small tubular module, the structure is compact, and the device can be recovered into a large UUV and also can be mounted outside an underwater platform to form an external load.

Description

Ultra-large UUV release and AUV recovery device driven by hydraulic linkage device

Technical Field

The invention belongs to the technical field of underwater vehicles, and particularly relates to an ultra-large UUV release and recovery AUV device driven by a hydraulic linkage device.

Background

Along with the changes of marine resource development and marine defense strategic situations, unmanned long-time underwater operation becomes a popular technology, and research on the development work of large-scale underwater unmanned systems and related technologies thereof is intensified by various countries.

The large-scale underwater unmanned system is a large-scale underwater unmanned comprehensive operation platform which is provided with sensors, weapons and other loads and can be operated remotely, semi-autonomously or autonomously. Compared with a small and medium unmanned system, the unmanned system has the advantages of long range, long working time, low dependence on manned platforms, small influence by marine environment, high reliability, strong autonomous combat capability, high efficiency-cost ratio and the like; particularly, the system adopts an open architecture and a modular design, can realize load and task reconstruction, replaces a manned platform to execute most ISR tasks, and shares the tasks of anti-submarine warfare and batting combat. The American navy is currently accelerating the research, development and deployment process of a large-scale underwater unmanned system, and the provided XLUUV project of the ultra-large unmanned underwater vehicle is the large-scale underwater unmanned system which is provided with a modular load cabin and is used for executing a high-risk task of preventing casualties during long-term navigation. Based on the method, the XLUUV is used as an underwater recovery platform to design an AUV release and recovery device, so that the XLUUV can carry a small AUV, the AUV can be released to enter a complex water area to execute tasks, and the combat efficiency is improved; and the AUV is recovered underwater, and can be reused after energy sources are supplemented, so that the cost-effectiveness ratio is greatly improved.

At present, the release and recovery technology of the ultra-large unmanned underwater vehicle to the AUV is still in a starting stage, and the information on the aspect is less. For example, patent CN107697247A proposes an apparatus for releasing and recovering AUV underwater, but its trumpet-shaped structure is limited by mechanical structure and cannot form a tight cage-shaped structure, and it requires additional space for installing a driving device; patent CN108569385A proposes an AUV underwater recovery locking mechanism, but the main disadvantage is that the bell-mouth-shaped structure at the front end of the recovery mechanism cannot be closed. The invention provides a device for releasing and recovering an AUV (autonomous underwater vehicle) by using an Echo traveler of a Boeing company as a template, which realizes underwater release and recovery of the AUV, plays a great role in the fields of military, ocean science and the like, and completes various underwater operation tasks more reliably and efficiently.

Disclosure of Invention

The technical problem to be solved is as follows:

in order to avoid the defects of the prior art, the invention provides the ultra-large UUV release and recovery AUV device driven by the hydraulic linkage device, through the cooperation of the elastic rubber plate and the inelastic traction rope, the release and recovery operation can be carried out on the medium-sized and small-sized rotary AUV under the condition of navigational speed, the structure is simple and compact, the action is reliable, and the method is a feasible method for releasing and recovering the medium-sized and small-sized rotary AUV.

The technical scheme of the invention is as follows: the utility model provides a hydraulic pressure aggregate unit driven ultra-large type UUV releases and retrieves AUV device which characterized in that: comprises a motor box body, a hydraulic device, a push rod, a recovery device and an external sleeve; the hydraulic device is arranged in the motor box body, and a hydraulic rod of the hydraulic device extends out of the motor box body; the recovery device is of a frame-type cylindrical structure with one closed end, the closed end of the recovery device is coaxially and fixedly connected with a hydraulic rod of the hydraulic device through the push rod, and the other end of the recovery device is a recovery/release port; the hydraulic rod of the hydraulic device is controlled to stretch by a motor in the motor box body, and the pushing rod further drives the recovery device to move along the axial direction of the recovery device;

the recovery device comprises a tail end pushing plate, an impact cushion pad, a metal guide rod, an AUV positioning plate, an annular AUV positioning ring, a front end sleeve positioning plate, a front end elastic rubber plate, an inelastic traction rope, an elastic clamping ring and an inelastic linkage rope; the tail end pushing plate, the AUV positioning plates and the front end sleeve positioning plate are coaxially arranged in sequence, a plurality of metal guide rods are uniformly distributed along the circumferential direction and penetrate through the outer edge of each AUV positioning plate, one end of each metal guide rod is fixed on the inner side surface of the tail end pushing plate along the circumferential direction, and the other end of each metal guide rod is fixed on the inner side ring surface of the front end sleeve positioning plate along the circumferential direction; the tail end pushing plate is of a circular plate-shaped structure, the impact cushion pad is coaxially fixed on the inner side surface of the tail end pushing plate, and the outer side surface of the tail end pushing plate is coaxially fixed with the pushing rod; the AUV positioning plate and the front end sleeve positioning plate are both of circular ring structures, and the inner hole walls of the circular rings are coaxially provided with the annular AUV positioning rings; the annular AUV positioning ring is made of elastic materials, the inner aperture of the annular AUV positioning ring is smaller than the outer diameter of the AUV to be recovered, and the AUV to be recovered is positioned through friction and elastic deformation; one ends of the elastic rubber plates are uniformly distributed along the circumferential direction and are vertically fixed on the outer side ring surface of the front end sleeve positioning plate, and the elastic rubber plates are axially fixed into a cylindrical structure through a plurality of elastic tightening rings; one end of each inelastic traction rope is fixed with the other end of each elastic rubber plate, the other end of each inelastic traction rope sequentially and coaxially penetrates through the ring surface of the front-end sleeve positioning plate, the ring surfaces of the AUV positioning plates and the tail end pushing plate to be fixed on the motor box body, the inelastic traction ropes are located on the same peripheral surface to be in a tightening state, and the number of the inelastic traction ropes is the same as that of the elastic rubber plates; the inelastic linkage ropes, the quantity of which is the same as that of the inelastic traction ropes, are arranged between the motor box body and the tail end pushing plate and are positioned on the same peripheral surface, one end of each inelastic linkage rope is fixed on the inelastic traction rope, and the other end of each inelastic linkage rope is radially fixed on the peripheral surface of the pushing rod; along with the axial displacement of the push rod controlled by the hydraulic rod, the other ends of the inelastic linkage ropes axially displace along with the push rod, one end of each inelastic linkage rope is folded towards the center or outwards diffused, the axial displacement of the inelastic traction ropes is simultaneously pulled, and the other ends of the elastic rubber plates are further pulled to realize the folded or outwards expanded state of the recovery/release ports;

the outer sleeve is coaxially sleeved on the periphery of the recovery device, one end of the outer sleeve is coaxially fixed on the inner ring surface of the front-end sleeve positioning plate, and the other end of the outer sleeve is coaxially fixed on the inner side surface of the tail-end pushing plate; and the whole AUV releasing and recovering device is fixed on the ultra-large UUV through the outer sleeve.

The further technical scheme of the invention is as follows: the tail end pushing plate, the AUV positioning plates and the front end sleeve positioning plate are arranged at equal intervals.

The further technical scheme of the invention is as follows: and guide rod positioning sleeves are coaxially arranged on two sides of each AUV positioning plate, and the AUV positioning plates are limited on the metal guide rods through the guide rod positioning sleeves.

The further technical scheme of the invention is as follows: the inelastic hauling cable is parallel to the axial direction of the recovery device.

The further technical scheme of the invention is as follows: one end of each elastic rubber plate is uniformly distributed along the circumferential direction and penetrates through the annular surface of the front end sleeve positioning plate and is fixed with the other end of each metal guide rod, and the number of the elastic rubber plates is the same as that of the metal guide rods.

The further technical scheme of the invention is as follows: one end of the inelastic linkage rope is fixed on the inelastic traction rope through a linkage locking device; the linkage locking device is of a tubular structure with two open ends, and a T-shaped notch is formed in the peripheral surface of the linkage locking device; the upper end notch of the T shape is vertical to the axial direction of the linkage locking device, the lower end notch of the T shape is parallel to the axial direction of the linkage locking device, and one end of the notch faces to the motor box body; when the hydraulic rod pushes the push rod, one end of the inelastic linkage rope fixed on the inelastic traction rope is folded towards the center and is clamped at the T-shaped notch to realize positioning.

The further technical scheme of the invention is as follows: two sections of push rod shaft sleeves are coaxially sleeved on the periphery of the push rod, and the inelastic linkage ropes are clamped between the two sections of push rod shaft sleeves and used for positioning one end of the push rod, wherein the inelastic linkage ropes are fixed on the push rod.

The further technical scheme of the invention is as follows: the lower end of the sleeve movable base connecting device is of an annular structure, the annular outer ring surface is a rigid ring, the inner ring surface is an elastic rubber ring, and the sleeve movable base connecting device is sleeved in an annular groove formed in the outer peripheral surface of the outer sleeve; the upper end of the sleeve movable base connecting device is a cylindrical rod-shaped connecting movable base and is used for fixing the whole AUV releasing and recovering device outside the ultra-large UUV; and positioning rings are arranged on two sides of the annular groove of the external sleeve and used for limiting the axial displacement of the sleeve movable base connecting device.

The tail end movable base connecting device and the sleeve movable base connecting device are identical in structure, fixed in a groove formed in the outer peripheral surface of the motor box body and used for fixing the whole AUV releasing and recovering device on the outer portion of the ultra-large UUV.

The further technical scheme of the invention is as follows: the tail end moving base connecting device is of a circular ring structure, is arranged in a groove formed in the outer peripheral surface of the motor box body and is used for fixing the whole AUV releasing and recycling device in the ultra-large UUV.

Advantageous effects

The invention has the beneficial effects that: the AUV releasing and recovering device integrates all devices required by releasing and recovering the AUV into a small tubular module, has a compact structure, can be recovered into a large UUV, and can also be hung outside an underwater platform to form an external load. The installation space is saved, the possibility that a large UUV carries more small AUVs is increased, and therefore the cost-effectiveness ratio is improved.

When the AUV is in an AUV outgoing execution task or an AUV locking state, the bell-mouthed guide cover at the front end of the AUV releasing and recovering device is almost completely closed, so that a closed space is formed inside the AUV releasing and recovering device, and the risk that the recovery is influenced due to the fact that the inside of the AUV releasing and recovering device is blocked by a large foreign body is reduced.

The releasing and recovering AUV device can be recovered into the large UUV, and can also be mounted outside the underwater platform to form an external load, and the horn-mouth-shaped guide cover in the form of opening and closing along with the switch can reduce the risk of the reduction of hydrodynamic performance of the original large underwater moving platform due to the fact that the guide cover cannot be closed to a certain extent.

Drawings

FIG. 1 is a schematic perspective view of a large UUV and AUV releasing and recovering device;

FIG. 2 is a schematic diagram of the internal structure of the AUV releasing and recovering device;

FIG. 2a is a schematic view of the external sleeve structure of the AUV releasing and recovering device;

FIG. 3 is a partial view of the actuator in the expanded state of the release and recovery AUV device;

FIG. 3a is a partial half sectional view of the actuator assembly with the release and recovery AUV assembly in an open position;

FIG. 4 is a partial view of the drive assembly in the locked AUV configuration of the release and recovery AUV assembly;

FIG. 5 is a schematic view of the interlocking locking device in the release and recovery AUV device;

FIG. 6 is a schematic diagram of the release and recovery AUV apparatus waiting for recovery;

FIG. 7 is a schematic diagram of the AUV release and recovery device in process releasing/recovering AUV;

FIG. 8 is a schematic view of the release and recovery AUV apparatus in a recovery complete state;

FIG. 9 is a partial view of the guide housing of the release and recovery AUV device;

description of reference numerals: 1-large UUV; 2-gyrator-type release and recovery AUV devices; 3-a tail end motor box body; 4-a hydraulic device; 5-pushing rod at tail end; 6-pushing the board at the tail end; 7-impact bumper pad; 8-a metal guide rod; 9-AUV positioning plate; 10-guide rod positioning shaft sleeve; 11-annular AUV positioning ring; 12-an outer sleeve; 13-front sleeve positioning plate; 14-front end elastic rubber plate; 15-inelastic haulage ropes; 16-an elastic grip ring; 17-inelastic linkage cords; 18-linked locking means; 19-push rod shaft sleeve; 20-sleeve moving base connecting device; 21-a positioning ring; 22-tail end moving base connecting device; 23-AUV.

Detailed Description

The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

In this embodiment, for releasing and recovering the whole AUV device and any parts in the device, one end axially close to the recovery end is called a "front end", and the other corresponding end is called a "tail end".

Referring to fig. 1, the releasing and recovering AUV device can be recovered inside a large UUV, or can be mounted outside to form an external load.

If the whole recovery device is recovered into the large UUV, the whole recovery device can be placed on the left side and the right side of the middle part of the large UUV. If the hanging is outside, whole recovery unit is hung in the lower part in large-scale UUV middle part.

Referring to fig. 2-4, the invention relates to an ultra-large UUV releasing and recovering AUV device driven by a hydraulic linkage device, which comprises a motor box body 3, a hydraulic device 4, a push rod 5, a recovering device and an external sleeve 12; the hydraulic device 4 is arranged in the motor box body 3, and a hydraulic rod of the hydraulic device extends out of the motor box body 3; the recovery device is of a frame-type cylindrical structure with one end closed, the closed end of the recovery device is coaxially and fixedly connected with a hydraulic rod of the hydraulic device through the push rod 5, and the other end of the recovery device is a recovery/release port; the hydraulic rod of the hydraulic device is controlled to stretch by a motor in the motor box body, and the pushing rod 5 further drives the recovery device to move along the axial direction of the recovery device;

the recovery device comprises a tail end pushing plate 6, an impact cushion 7, a metal guide rod 8, an AUV positioning plate 9, a guide rod positioning sleeve 10, an annular AUV positioning ring 11, a front end sleeve positioning plate 13, a front end elastic rubber plate 14, an inelastic traction rope 15, an elastic clamping ring 16, an inelastic linkage rope 17, a linkage locking device 18, a pushing rod shaft sleeve 19 and a certain number of threaded connectors; the tail end pushing plate 6, the AUV positioning plates 9 and the front end sleeve positioning plate 13 are coaxially arranged in sequence, a plurality of metal guide rods 8 are uniformly distributed along the circumferential direction and penetrate through the outer edge of each AUV positioning plate 9, one end of each metal guide rod is fixed on the inner side surface of the tail end pushing plate 6 along the circumferential direction, and the other end of each metal guide rod is fixed on the inner side ring surface of the front end sleeve positioning plate 13 along the circumferential direction; the tail end pushing plate 6 is of a circular plate-shaped structure, the inner side surface of the tail end pushing plate is coaxially fixed with the impact cushion 7, and the outer side surface of the tail end pushing plate is coaxially fixed with the pushing rod 5; the AUV positioning plate 9 and the front end sleeve positioning plate 13 are both in a circular ring structure, and the inner hole walls of the circular rings are coaxially provided with the annular AUV positioning ring 11; the annular AUV positioning ring 11 is made of elastic materials, the inner aperture of the annular AUV positioning ring is smaller than the outer diameter of the AUV23 to be recovered, and the AUV23 to be recovered is positioned through friction and elastic deformation;

one end of each elastic rubber plate 14 is uniformly distributed along the circumferential direction and is vertically fixed on the outer annular surface of the front-end sleeve positioning plate 13, and the elastic rubber plates are axially fixed into a cylindrical structure through a plurality of elastic clamping rings 16; one end of each inelastic traction rope 15 is fixed with the other end of each elastic rubber plate 14, the other end of each inelastic traction rope 15 sequentially and coaxially penetrates through the ring surface of the front-end sleeve positioning plate 13, the ring surfaces of the AUV positioning plates 9 and the tail end pushing plate 6 to be fixed on the motor box body 3, the inelastic traction ropes 15 are located on the same circumferential surface to be in a tightened state, and the number of the inelastic traction ropes 15 is the same as that of the elastic rubber plates 14; the inelastic linkage ropes 17 with the same number as the inelastic traction ropes 15 are arranged between the motor box body 3 and the tail end pushing plate 6, one end of each inelastic linkage rope is fixed on the inelastic traction rope 15, and the other end of each inelastic linkage rope is fixed on the peripheral surface of the pushing rod 5 along the radial direction; along with the axial displacement of the push rod 5 controlled by the hydraulic rod, one end of each inelastic linkage rope 17 is drawn or diffused towards the center, the axial displacement of the inelastic traction rope 15 is simultaneously pulled, and the other end of the elastic rubber plate 14 is further pulled to realize the drawn or expanded state of the recovery/release port;

the outer sleeve 12 is coaxially sleeved on the periphery of the recovery device, one end of the outer sleeve is coaxially fixed on the inner ring surface of the front-end sleeve positioning plate 13, and the other end of the outer sleeve is coaxially fixed on the inner side surface of the tail-end pushing plate 6; the entire release and recovery AUV apparatus is secured to an ultra-large UUV by the outer sleeve 12.

Referring to fig. 2 and 2a, a groove is formed outside a motor case 3 for fixedly mounting a tail end movable base connecting device; the hydraulic device 4 is fixed in the motor box body 3 through a threaded connector and is sealed by a sealing ring; the fixed end of a hydraulic rod of the hydraulic device 4 extends out of the motor box body 3 and is sealed by a sealing ring, and the front end of the telescopic end of the hydraulic rod is fixed with the push rod 5; the front end of the push rod 5 is fixedly connected with the push plate 6 in a welding way.

12 metal guide rods 8 are arranged in a circular ring shape at equal angles, and the tail ends of the metal guide rods are fixedly connected to the tail end pushing plate 6 in a welding manner; each positioning plate 9 needs to be axially positioned on a guide rod 8 by two guide rod positioning sleeves 10, the diameter of the inner annular wall of each guide rod positioning sleeve 10 is in interference fit with the diameter of the outer wall of each guide rod 8, and an annular AUV positioning ring 11 is fixed on the inner annular wall of each positioning plate 9 by a pin. In the same way, the total four AUV positioning plates 9 are axially positioned on the guide rod 8 by the guide rod positioning sleeve 10; an AUV positioning ring 11 is fixed on the inner annular wall of the front sleeve positioning plate 13 by a pin.

In fig. 2a, after the four AUV positioning plates 9 are installed, the tail end of the outer sleeve 12 is screwed to the front surface of the pushing plate 6, and a groove is formed in the middle of the sleeve for installing the sleeve movable base connecting device 20. And then installing a front sleeve positioning plate 13 and a matched AUV positioning ring 11, wherein the front sleeve positioning plate 13 is connected with the front end of the outer sleeve 12 through screws. The positioning of the sleeve 12 is completed.

The tail end pushing plate 6, twelve guide rods 8, four AUV positioning plates 9, an outer sleeve 12, a front end sleeve positioning plate 13, a matched guide rod positioning sleeve 10 and an AUV positioning ring 11 form a tubular module box recovery section which is an integral rigid body. The whole recovery section moves along with the axial movement of the push plate.

The tail end of each elastic rubber plate 14 is connected with the front end of a metal guide rod 8 by a screw, 12 elastic rubber plates 14 form an annular array, and the front end and the middle end of each elastic rubber plate are tightly fastened by an elastic clamping ring 16; the foremost end of each elastic rubber plate 14 is connected with the front end of an inelastic traction rope 15 in a welding mode, the rear portion of the inelastic traction rope 15 is fixedly connected with the box body 3 in a welding mode, and the inelastic traction rope 15 is in a tight state under any condition.

One end of a linkage rope 17 is tied on the inelastic traction rope 15 and fixed on the inelastic traction rope 15 through a linkage locking device 18, the other end of the linkage rope 17 is tied on the push rod 5 and axially fixed by two push rod shaft sleeves 19, and the push rod shaft sleeves 19 are installed on the push rod 5. When the installation is completed, it is necessary to ensure that the linkage rope 17 is in a tight state when the release recovery device is in a closed state.

In fig. 1 and 2a, if the external load is required for releasing and recovering the AUV device, a sleeve moving base connecting device 20 is installed in a groove of the outer sleeve 12, the lower portion of the sleeve moving base connecting device is annular, the outer portion of the ring is a rigid ring, the inner wall of the ring is an elastic rubber ring, and the upper end cylindrical rod is connected with one end of the moving base and can be used for connecting a hydraulic device of the moving base. While retaining rings 21 are riveted to both sides of the sleeve recess. Meanwhile, a tail end moving base connecting device 22 is arranged in a groove of the motor box body 3.

If the AUV device is released and recovered to be required to be recovered into the large UUV, the tail end movable base connecting device 22 is arranged in the groove of the motor box body 3. And the upper cylindrical rod of the trailing movable base connector 22 is removed and screwed into the UUV 1.

When the AUV23 is released, the elastic clamping ring 16 at the recovery end is expanded, the AUV23 swims out of the module box by self-navigation, and then the guide cover is closed by the double actions of hydraulic drive and the self elasticity of the elastic clamping ring 16;

when the AUV23 is recovered, the elastic clamping ring 16 at the recovery end is spread to form a bell mouth type guide cover, the AUV18 sails to be close to a large UUV1, equipment such as sonar and a signal transponder and the like arranged in a box aligns the automatic navigation AUV23 to the range of the bell mouth type guide cover, guides the AUV23 to enter the rotary body type release and recovery AUV device 2 and fixes the AUV, and then closes the guide cover under the double action of hydraulic drive and the self elasticity of the elastic clamping ring 16; the AUV23 recovery task is completed.

The detachable launching and recovering module has simple structure, and the AUV is self-propelled, so that it is unnecessary to install relative AUV launching system in the module box, if the AUV is allowed to be in wet storage state, it is unnecessary to maintain the system, and if the AUV is required to be in dry storage state, it can be externally added with rotary maintenance module.

In fig. 3, 3a and 7, when the AUV releasing state is entered, the control system sends a signal to control the hydraulic device 4 to start, so that the tail end pushing plate 6 and the tubular module box recovery section integrally move along the axial front end, the inelastic linkage rope 17 stretches the rear part of the inelastic traction rope 15 in a tight state along the left-down direction, if the pushing plate 6 is taken as a fixed origin, a cartesian coordinate system is established, that is, the recovery section of the tubular module box body is static, the inelastic hauling cable 15 moves towards the tail end, the relative movement causes the elastic rubber plate 14 to bend outwards, at the moment, the sensor is used for detecting to determine that the rubber plate 14 is actually bent outwards, if the sensor detects that the bent rubber plate 14 is not bent outward, the control system controls the hydraulic device to return to the closed state and reopen until the rubber plate is bent outward to reach a preset position and the recovery end is in a stable opening state in the circumferential direction. The elastic clamping ring 16 is in a tensioned state at this time to form a bell mouth type guide cover, and the AUV23 is launched out of the module case 2 through self power at this time.

In fig. 4, after the sensor determines that the launching is completed, the control system controls the hydraulic system to move to the tail end to the original position, meanwhile, the elastic rubber plate 14 gradually recovers to bend inwards, the inelastic traction rope 15 in a tight state recovers along with the elastic traction rope, the inelastic linkage rope 17 recovers to the original shape, the guide cover is closed, and when the elastic rubber plate 14 is in the closed state, the elastic rubber plate 14 always bends inwards by means of the tension of the elastic clamping ring 16 at the recovery end, so that the recovery device is always in the closed state and cannot be easily opened along with external influence.

In fig. 6, immediately before the recovery of the AUV23, the control system receives a signal to control the hydraulic device 4 to be activated, and the elastic clamping ring 16 is under tension to form a bell-mouth shaped guide cover, so that the recovery device is in an open state in the circumferential direction. Waiting for recovery;

in fig. 7, after the attitude of AUV23 is adjusted, the head enters the bell mouth guide cover, and under the action of the own power of AUV23, the head is rapidly pushed to the recovery section of the tubular module box along the arc of the bell mouth guide cover, so that the axis of AUV23 is approximately aligned with the axis of the recovery section of the tubular module box. The head of the AUV23 passes through the front sleeve positioning plate 13. At this time, the sensor is used for detecting that once the distance between the head part of the AUV23 and the tail end pushing plate 6 reaches 1/2 of the length of the recovery section of the tubular module box body, the hydraulic device 4 is controlled to start to recover, and the pushing plate 5 is pulled to move towards the tail part.

In fig. 8, AUV23 passes through two positioning plates 8 by its own power, and since the diameter of the inner wall of AUV positioning ring 11 is slightly smaller than the diameter of the rotary part in the middle of AUV23, the rotary part of AUV23 is hooped by the annular AUV positioning ring 11 on three positioning plates 9 by its own elasticity, so as to complete positioning and supporting. When the impact cushion 7 at the front end of the pushing plate 6 is impacted without passing through all the positioning plates, the control hydraulic device is ensured to be restored to the original position, the pushing plate 6 is fixed, and the recovery device is in a closed state by virtue of the tension of the elastic clamping ring 16. And then the AUV23 slightly impacts an impact cushion 7 fixed at the front end of the push plate 6, when the AUV23 head navigation system confirms that the position is stable, the power output of the recovery device is stopped, the recovery is finished, and the recovery device is always in a closed state by virtue of the tension of the elastic clamping ring 16.

In fig. 5, a specific structure of the interlocking lock device 18 for fixing one end of the rope of the inelastic interlocking rope 17 at the rear portion of the inelastic pulling rope 15 is shown.

The rope-the inelastic hauling rope 15 mentioned in the patent is composed of the rope and a rubber sleeve outside the rope, the inelastic hauling rope 15 is called for short, the rope and the matched rubber sleeve are made of low-elasticity, high-wear-resistance and strong-corrosion-resistance materials, and the corrosion resistance of the rope is improved; the inelastic linking cord 17 works similarly.

In fig. 9, the number of the elastic bands is nine, the foremost end of the elastic rubber plate 14 is clamped by the elastic band 13 with a larger diameter, and the front and middle ends are clamped by eight elastic bands 13 with the same diameter, which are smaller than the foremost end of the elastic band.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.

Claims

1. The utility model provides a hydraulic pressure aggregate unit driven ultra-large type UUV releases and retrieves AUV device which characterized in that: comprises a motor box body, a hydraulic device, a push rod, a recovery device and an external sleeve; the hydraulic device is arranged in the motor box body, and a hydraulic rod of the hydraulic device extends out of the motor box body; the recovery device is of a frame-type cylindrical structure with one closed end, the closed end of the recovery device is coaxially and fixedly connected with a hydraulic rod of the hydraulic device through the push rod, and the other end of the recovery device is a recovery/release port; the hydraulic rod of the hydraulic device is controlled to stretch by a motor in the motor box body, and the pushing rod further drives the recovery device to move along the axial direction of the recovery device;

the recovery device comprises a tail end pushing plate, an impact cushion pad, a metal guide rod, an AUV positioning plate, an annular AUV positioning ring, a front end sleeve positioning plate, a front end elastic rubber plate, an inelastic traction rope, an elastic clamping ring and an inelastic linkage rope; the tail end pushing plate, the AUV positioning plates and the front end sleeve positioning plate are coaxially arranged in sequence, a plurality of metal guide rods are uniformly distributed along the circumferential direction and penetrate through the outer edge of each AUV positioning plate, one end of each metal guide rod is fixed on the inner side surface of the tail end pushing plate along the circumferential direction, and the other end of each metal guide rod is fixed on the inner side ring surface of the front end sleeve positioning plate along the circumferential direction; the tail end pushing plate is of a circular plate-shaped structure, the impact cushion pad is coaxially fixed on the inner side surface of the tail end pushing plate, and the outer side surface of the tail end pushing plate is coaxially fixed with the pushing rod; the AUV positioning plate and the front end sleeve positioning plate are both of circular ring structures, and the inner hole walls of the circular rings are coaxially provided with the annular AUV positioning rings; the annular AUV positioning ring is made of elastic materials, the inner aperture of the annular AUV positioning ring is smaller than the outer diameter of the AUV to be recovered, and the AUV to be recovered is positioned through friction and elastic deformation;

one ends of the elastic rubber plates are uniformly distributed along the circumferential direction and are vertically fixed on the outer side ring surface of the front end sleeve positioning plate, and the elastic rubber plates are axially fixed into a cylindrical structure through a plurality of elastic tightening rings; one end of each inelastic traction rope is fixed with the other end of each elastic rubber plate, the other end of each inelastic traction rope sequentially and coaxially penetrates through the ring surface of the front-end sleeve positioning plate, the ring surfaces of the AUV positioning plates and the tail end pushing plate to be fixed on the motor box body, the inelastic traction ropes are located on the same peripheral surface to be in a tightening state, and the number of the inelastic traction ropes is the same as that of the elastic rubber plates; the inelastic linkage ropes, the quantity of which is the same as that of the inelastic traction ropes, are arranged between the motor box body and the tail end pushing plate and are positioned on the same peripheral surface, one end of each inelastic linkage rope is fixed on the inelastic traction rope, and the other end of each inelastic linkage rope is radially fixed on the peripheral surface of the pushing rod; along with the axial displacement of the push rod controlled by the hydraulic rod, the other ends of the inelastic linkage ropes axially displace along with the push rod, one end of each inelastic linkage rope is folded towards the center or outwards diffused, the axial displacement of the inelastic traction ropes is simultaneously pulled, and the other ends of the elastic rubber plates are further pulled to realize the folded or outwards expanded state of the recovery/release ports;

2. The hydraulic linkage driven ultra-large UUV release and recovery AUV apparatus of claim 1, wherein: the tail end pushing plate, the AUV positioning plates and the front end sleeve positioning plate are arranged at equal intervals.

3. The hydraulic linkage driven ultra-large UUV release and recovery AUV apparatus of claim 1, wherein: and guide rod positioning sleeves are coaxially arranged on two sides of each AUV positioning plate, and the AUV positioning plates are limited on the metal guide rods through the guide rod positioning sleeves.

4. The hydraulic linkage driven ultra-large UUV release and recovery AUV apparatus of claim 1, wherein: the inelastic hauling cable is parallel to the axial direction of the recovery device.

5. The hydraulic linkage driven ultra-large UUV release and recovery AUV apparatus of claim 1, wherein: one end of each elastic rubber plate is uniformly distributed along the circumferential direction and penetrates through the annular surface of the front end sleeve positioning plate and is fixed with the other end of each metal guide rod, and the number of the elastic rubber plates is the same as that of the metal guide rods.

6. The hydraulic linkage driven ultra-large UUV release and recovery AUV apparatus of claim 1, wherein: one end of the inelastic linkage rope is fixed on the inelastic traction rope through a linkage locking device; the linkage locking device is of a tubular structure with two open ends, and a T-shaped notch is formed in the peripheral surface of the linkage locking device; the upper end notch of the T shape is vertical to the axial direction of the linkage locking device, the lower end notch of the T shape is parallel to the axial direction of the linkage locking device, and one end of the notch faces to the motor box body; when the hydraulic rod pushes the push rod, one end of the inelastic linkage rope fixed on the inelastic traction rope is folded towards the center and is clamped at the T-shaped notch to realize positioning.

7. The hydraulic linkage driven ultra-large UUV release and recovery AUV apparatus of claim 1, wherein: two sections of push rod shaft sleeves are coaxially sleeved on the periphery of the push rod, and the inelastic linkage ropes are clamped between the two sections of push rod shaft sleeves and used for positioning one end of the push rod, wherein the inelastic linkage ropes are fixed on the push rod.

8. The hydraulic linkage driven ultra-large UUV release and recovery AUV apparatus of claim 1, wherein: the lower end of the sleeve movable base connecting device is of an annular structure, the annular outer ring surface is a rigid ring, the inner ring surface is an elastic rubber ring, and the sleeve movable base connecting device is sleeved in an annular groove formed in the outer peripheral surface of the outer sleeve; the upper end of the sleeve movable base connecting device is a cylindrical rod-shaped connecting movable base and is used for fixing the whole AUV releasing and recovering device outside the ultra-large UUV; the outer sleeve is provided with positioning rings at two sides of the annular groove and used for limiting the axial displacement of the sleeve movable base connecting device;

9. The hydraulic linkage driven ultra-large UUV release and recovery AUV apparatus of claim 1, wherein: the tail end moving base connecting device is of a circular ring structure, is arranged in a groove formed in the outer peripheral surface of the motor box body and is used for fixing the whole AUV releasing and recycling device in the ultra-large UUV.