CN111268068A - AUV underwater docking device - Google Patents

AUV underwater docking device Download PDF

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Publication number
CN111268068A
CN111268068A CN201811478948.2A CN201811478948A CN111268068A CN 111268068 A CN111268068 A CN 111268068A CN 201811478948 A CN201811478948 A CN 201811478948A CN 111268068 A CN111268068 A CN 111268068A
Authority
CN
China
Prior art keywords
butt joint
oil cylinder
supporting seat
pitching
auv
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201811478948.2A
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Chinese (zh)
Inventor
朱兴华
高启升
陈冰冰
周溪桥
王有
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Shenyang Institute of Automation of CAS
Original Assignee
Shenyang Institute of Automation of CAS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Shenyang Institute of Automation of CAS filed Critical Shenyang Institute of Automation of CAS
Priority to CN201811478948.2A priority Critical patent/CN111268068A/en
Publication of CN111268068A publication Critical patent/CN111268068A/en
Pending legal-status Critical Current

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B63SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63CLAUNCHING, 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
    • B63C11/00Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52Tools specially adapted for working underwater, not otherwise provided for

Abstract

The invention belongs to the field of underwater robots, and particularly relates to an AUV underwater butt joint device.A hydraulic oil cylinder A is hinged to a base, the other end of the hydraulic oil cylinder A is hinged to one end of a self-adaptive leveling platform, and the other end of the self-adaptive leveling platform is hinged to the base; one end of the butt joint frame is arranged on the self-adaptive leveling platform, the other end of the butt joint frame is provided with a guide cover, and the guide cover and the butt joint frame provide a guide channel for butt joint of the AUV; the AUV is locked and positioned through the locking mechanism after being butted with the butting frame, and energy supply and information exchange are realized through the wireless charging equipment and the wireless communication equipment; the base is provided with a hydraulic station for providing power. The invention realizes AUV energy supply and information exchange under marine environment by driving the pitching mechanism to adapt to seabed planes with different gradients through the hydraulic oil cylinder and matching the passive adjustment of the self-adaptive leveling platform with AUV butt joint.

Description

AUV underwater docking device
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to an AUV underwater docking device.
Background
Because of its load capacity and maneuverability, an AUV (Autonomous Underwater Vehicle) plays an important role in civil fields such as marine environment research and marine resource detection, as well as in marine military. The development requirements of the future AUV on deeper and farther are met, and the energy supply bottleneck and the information exchange safety of the AUV are particularly important.
Because the AUV carries limited energy, the AUV cannot work for a long time, and the AUV needs to be supplied with energy regularly. Meanwhile, the staff can arrange a new navigation task for the AUV according to actual requirements, and download data information of the previous task for analysis. At present, the energy supply and information exchange of the AUV mostly adopts a mother ship recovery mode, the recovery cost is high, and the process of secondary distribution is very complicated. In recent years, a contact type connection system becomes a new AUV energy supply and information exchange mode. In the mode, mutual connection of energy and information is difficult, the requirement on relative position is high, and the complexity of the submarine environment determines that the submarine is difficult to stay on the seabed for a long time; in addition, fixed docking channels are adopted in the mode, the adaptability to the seabed plane is poor, and the requirement on the navigation control precision of the AUV is high. Therefore, it is necessary to design a new AUV docking device to meet the requirement of deeper and more distant development of AUV.
Disclosure of Invention
The invention aims to provide an AUV underwater butt joint device, which can adapt to a seabed plane and meet the development requirements of deeper and farther AUV. The underwater docking device adapts to seabed planes with different gradients through a hydraulic oil cylinder driving pitching mechanism, and realizes energy supply and information exchange under the seabed environment through the passive adjustment of the self-adaptive leveling platform in cooperation with AUV docking.
The purpose of the invention is realized by the following technical scheme:
the wireless charging device comprises a guide cover, a butt joint frame, a pitching mechanism, a locking mechanism, a hydraulic station, a base, wireless charging equipment and wireless communication equipment, wherein the pitching mechanism comprises a hydraulic oil cylinder A and a self-adaptive leveling platform, one end of the hydraulic oil cylinder A is hinged to the base, the other end of the hydraulic oil cylinder A is hinged to one end of the self-adaptive leveling platform, and the other end of the self-adaptive leveling platform is hinged to the base; one end of the butt joint frame is arranged on the self-adaptive leveling platform, the other end of the butt joint frame is provided with a guide cover, and the guide cover and the butt joint frame provide a guide channel for butt joint of the AUV; the AUV is locked and positioned through the locking mechanism after being butted with the butting frame, and energy supply and information exchange are realized through the wireless charging equipment and the wireless communication equipment; the hydraulic oil cylinder A drives the self-adaptive leveling platform to swing around the other end of the self-adaptive leveling platform, so that the active pitching action of the butt joint frame is realized, and the self-adaptive rotation and pitching action of the butt joint frame are realized through the rotation and the swing of the self-adaptive leveling platform; a hydraulic station for providing power is arranged on the base;
wherein: one end of the hydraulic oil cylinder A is hinged with an oil cylinder supporting seat A arranged on the base through a rotating shaft A, the other end of the hydraulic oil cylinder A is hinged with one end of the self-adaptive leveling platform through the rotating shaft A, and the other end of the self-adaptive leveling platform is hinged with a pitching hinged seat arranged on the base through the rotating shaft A; the hydraulic oil cylinder A drives the self-adaptive leveling platform to drive the guide cover and the butt joint frame to realize pitching motion, the hydraulic oil cylinder A extends out, the guide cover and the butt joint frame tilt forward, the hydraulic oil cylinder A retracts, and the guide cover and the butt joint frame tilt backward;
the self-adaptive leveling platform comprises a rotating shaft, a mounting flange, a passive pitching supporting seat, an active pitching supporting seat, a rotating shaft B and a support, wherein one end of the active pitching supporting seat is hinged with the other end of the hydraulic oil cylinder A, the other end of the active pitching supporting seat is hinged on the base, one end of the support is fixed on the active pitching supporting seat, and the passive pitching supporting seat is rotatably connected with the other end of the support through the rotating shaft B; one end of the rotating shaft is arranged on the passive pitching supporting seat in a relatively rotatable manner, the other end of the rotating shaft is connected with the mounting flange, and the other end of the butt joint frame is arranged on the mounting flange; the active pitching supporting seat realizes active pitching action through the driving of a hydraulic oil cylinder A, the passive pitching supporting seat swings relative to the active pitching supporting seat through a rotating shaft B, and the mounting flange rotates relative to the passive pitching supporting seat through a rotating shaft;
a rebound block A is arranged on the passive pitching supporting seat and on the rotating track of the mounting flange;
a rebound block B is arranged on the active pitching supporting seat and on the swing track of the passive pitching supporting seat;
the passive pitching supporting seat is provided with a shaft sleeve A, one end of the rotating shaft penetrates through the shaft sleeve A and the passive pitching supporting seat and is connected with a locking nut;
a shaft sleeve B is installed in the passive pitching supporting seat, one end of the rotating shaft B is inserted into the shaft sleeve B, and the other end of the rotating shaft B is rotatably connected with the other end of the bracket;
the locking mechanism comprises a hydraulic oil cylinder B, a positioning block and a fixing support, the fixing support is arranged on the butt joint frame, one end of the hydraulic oil cylinder B is hinged with the fixing support, and the other end of the hydraulic oil cylinder B is hinged with the positioning block for locking and positioning the AUV;
the guide rod mechanism is arranged on the fixed support and comprises a guide rod, a shaft sleeve C and a shaft sleeve D, the shaft sleeve C and the shaft sleeve D are respectively arranged on the butt joint frame, the shaft sleeve C and the shaft sleeve D are respectively correspondingly arranged on the fixed support, the guide rod is respectively inserted between the butt joint frame and the shaft sleeve C and between the shaft sleeves D on the fixed support, one end of the guide rod is connected with the positioning block, and the other end of the guide rod is positioned at the lower end of the fixed support and provided with a limiting block;
a round hole for the guide rod to pass through is formed in the middle of the shaft sleeve C, and a waist-shaped hole for the guide rod to pass through is formed in the middle of the shaft sleeve D; the end part of the positioning block, which is in contact with the AUV, is conical, and the lower part of the positioning block is arc-shaped;
and the other end of the butt joint frame is provided with a guide device, and a ballast is arranged in the base.
The invention has the advantages and positive effects that:
1. the guide cover and the butt joint frame can be driven by the hydraulic cylinder to perform pitching adjustment, and can adapt to a seabed plane with a slope.
2. According to the invention, the adaptive leveling platform is matched with AUV butt joint, so that the angular deviation caused by inaccurate AUV butt joint direction is passively compensated in two degrees of freedom of vertical pitching and horizontal rotation, and the butt joint difficulty is reduced.
3. The active pitching supporting seat and the passive pitching supporting seat are respectively provided with the rebound body, so that impact force generated in the butt joint process can be buffered.
4. The invention adopts a non-contact energy supply and information exchange mode, adopts the conical positioning block to realize locking with the AUV by hydraulic drive, has low requirements on AUV attitude control, and has simple butt joint structure.
Drawings
FIG. 1 is a front view of the overall structure of the present invention;
FIG. 2 is a front view of the pitch mechanism of the present invention;
FIG. 3 is a cross-sectional view of the internal structure of the adaptive flattening table of the present invention;
FIG. 4 is a front elevational view of the locking mechanism of the present invention;
fig. 5 is a cross-sectional view of the assembly of the wireless charging device, wireless communication device, locking mechanism and AUV of the present invention;
wherein: the device comprises a guide cover 1, a butt joint frame 2, a pitching mechanism 3, an adaptive leveling platform 4, a locking mechanism 5, a hydraulic station 6, a base 7, a wireless charging device 8, a wireless communication device 9, a guiding device 10, a ballast 11, a hydraulic cylinder A12, a rotating shaft A13, a cylinder support seat A14, a pitching hinge seat 15, a rotating shaft 16, a mounting flange 17, a shaft sleeve A18 and a shaft sleeve A19, a passive pitching support seat 20, an active pitching support seat 20, a rebound block A21, a rebound block B22, a rotating shaft B23, a shaft sleeve B24, a locking nut 25, a guide rod mechanism 26, a hydraulic cylinder B27, a guide rod 28, a shaft sleeve C29, a shaft sleeve D30, a positioning block 31, a fixing support 32, a limiting block 33, a cylinder support seat B34, a support 35 and an AUV 36.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 and 2, the present invention includes a guiding cover 1, a docking frame 2, a pitching mechanism 3, a locking mechanism 5, a hydraulic station 6, a base 7, a wireless charging device 8, a wireless communication device 9, and a guiding device 10, wherein the guiding cover 1 and the docking frame 2 are fixedly mounted to each other for providing an AUV36 docking guiding channel, and the guiding device 10, the wireless charging device 8, and the wireless communication device 9 are mounted; the pitching mechanism 3 is arranged on the base 7 and used for realizing the active pitching action of the docking frame 2; the self-adaptive leveling platform 4, the butt joint frame 2 and the base 7 are respectively installed and fixed and are used for realizing self-adaptive rotation and pitching motion of the butt joint frame 2 within a set angle range; the locking mechanism 5 is arranged on the butt joint frame 2 and used for locking and positioning the AUV36 after reaching a preset position; the hydraulic station 6 is arranged on the base 7 and provides power for each actuating mechanism; the base 7 is arranged at the bottom of the docking device and is used for installing equipment such as a ballast 11 and a hydraulic station 6. The method specifically comprises the following steps:
the pitching mechanism 3 comprises a hydraulic oil cylinder A12, a rotating shaft A13, an oil cylinder supporting seat A14, a pitching hinged seat 15 and a self-adaptive leveling platform 4, one end of the hydraulic oil cylinder A12 is hinged with the oil cylinder supporting seat A14 through the rotating shaft A13, the other end of the hydraulic oil cylinder A12 is connected with a hinged point at the lower part of one end of the self-adaptive leveling platform 4 through the rotating shaft A13, the oil cylinder supporting seat A4 and the pitching hinged seat 15 are respectively fixed on the base 7, and the other hinged point at the lower part of the other end of the self-adaptive leveling platform 4 is.
One end of the butt joint frame 2 is arranged on the self-adaptive leveling platform 4, and the other end is provided with a guide cover 1; the wireless charging device 8, the wireless communication device 9 and the locking mechanism 5 are respectively installed on the docking frame 2, the AUV36 is locked and positioned by the locking mechanism 5 after being docked with the docking frame 2, and energy supply and information exchange are realized by the wireless charging device 8 and the wireless communication device 9. The hydraulic oil cylinder A12 drives the self-adaptive leveling platform 4 to drive the guide cover 1 and the butt joint frame 2 to realize pitching motion, the hydraulic oil cylinder A12 extends out, and the guide cover 1 and the butt joint frame 2 tilt forwards; the hydraulic cylinder a12 retracts and the guide housing 1 and the docking frame 2 recline. The hydraulic oil cylinder A12 drives the adaptive leveling platform 4 to swing around the other end of the adaptive leveling platform, so that the active pitching motion of the docking frame 2 is realized, and the docking frame 2 realizes the adaptive rotation and pitching motion through the rotation and the swing of the adaptive leveling platform 4.
As shown in fig. 2 and 3, the adaptive leveling platform 4 includes a rotating shaft 16, a mounting flange 17, a shaft sleeve a18, a passive pitch support seat 19, an active pitch support seat 20, a rebound block a21, a rebound block B22, a rotating shaft B23, a shaft sleeve B24, a lock nut 25 and a bracket 35, wherein one end of the active pitch support seat 20 is hinged to the other end of the hydraulic oil cylinder a12 through the rotating shaft a13, and the other end of the active pitch support seat 20 is hinged to the pitch hinge seat 15 through the rotating shaft a 13. The left side and the right side of the swing direction of the passive pitching supporting seat 19 are symmetrically provided with a bracket 35, and one end of each bracket 35 is fixed on the active pitching supporting seat 20; a shaft sleeve B24 is arranged in the position of the passive pitching support seat 19 corresponding to the bracket 35, one end of a rotating shaft B23 is inserted into the shaft sleeve B24, and the other end of the rotating shaft B23 is rotatably connected with the other end of the bracket 35; the passive pitch support base 19 is rotatably connected to the other end of the bracket 35 via a rotation shaft B23. The passive pitching supporting seat 19 is provided with a shaft sleeve A18, one end of the rotating shaft 16 passes through the shaft sleeve A18 and the passive pitching supporting seat 19 and can rotate relative to the passive pitching supporting seat 19, and one end of the rotating shaft 16 is fixedly connected with a locking nut 25; the other end of the rotating shaft 16 is fixedly connected with a mounting flange 17. The other end of the docking frame 2 is mounted to the mounting flange 17. The active pitch support seat (20) realizes active pitch action through the driving of a hydraulic oil cylinder A12, the passive pitch support seat (19) swings relative to the active pitch support seat (20) through a rotating shaft B23, and the mounting flange (17) rotates relative to the passive pitch support seat (19) through a rotating shaft (16). The passive pitch support base 19 is provided with a rebound block A21 on the rotation track of the mounting flange 17, and the active pitch support base 20 is provided with a rebound block B22 on the swing track of the passive pitch support base 19.
As shown in fig. 1, 2 and 4, the locking mechanism 5 includes a hydraulic cylinder B27, a positioning block 31, a fixing bracket 32 and a cylinder support base B34, the fixing bracket 32 is fixedly connected to the other end of the docking frame 2, cylinder support bases B34 are provided at both ends of the hydraulic cylinder B27, a cylinder support base B34 at the lower end is fixedly connected to the fixing bracket 32, and a cylinder support base B34 at the upper end is fixedly connected to the bottom of the positioning block 31. One end of the hydraulic oil cylinder B27 is hinged with an oil cylinder supporting seat B34 on the fixed bracket 32 through a rotating shaft A13, and the other end of the hydraulic oil cylinder B27 is hinged with an oil cylinder supporting seat B34 on a positioning block 31 for locking and positioning the AUV36 through a rotating shaft A13. The fixed support 32 is provided with a guide rod mechanism 26, the guide rod mechanism 26 comprises a guide rod 28, a shaft sleeve C29 and a shaft sleeve D30, the butt joint frame 2 is respectively provided with a shaft sleeve C29 and a shaft sleeve D30, the fixed support 32 is respectively and correspondingly provided with a shaft sleeve C29 and a shaft sleeve D30, the guide rod 28 is inserted between the shaft sleeve C29 on the butt joint frame 2 and the fixed support 32 and between the butt joint frame 2 and the shaft sleeve D30 on the fixed support 32, one end of the guide rod 28 is connected with the positioning block 31, and the other end of the guide rod 28 is positioned at the lower end of the fixed support 32 and is provided with a limiting block. A round hole for the guide rod 28 to pass through is formed in the middle of the shaft sleeve C29, and a waist-shaped hole for the guide rod 28 to pass through is formed in the middle of the shaft sleeve D30; the stopper 33 prevents the other end of the guide rod 28 from passing through the bushing C29 or the bushing D30. The end of the positioning block 31 contacting the AUV36 is conical, and the lower part is arc-shaped. The hydraulic cylinder B27 drives the positioning block 31 to realize locking action, the hydraulic cylinder B27 extends out, and the positioning block 31 is matched with the AUV36 to realize locking; hydraulic ram B27 retracts, locating block 21 releases and AUV36 is released.
The wireless charging device 8, the wireless communication device 9 and the guiding device 10 of the present invention are all prior art.
The working principle of the invention is as follows:
after the docking device is dropped to the seabed, the hydraulic oil cylinder A12 is correspondingly adjusted according to the feedback attitude information, and the horizontal state of the guide cover 1 and the docking frame 2 is kept; the AUV36 is driven into the butt joint frame 2 by the guide cover 1, the self-adaptive leveling platform 4 is passively adjusted, the passive pitching supporting seat 19 can realize vertical pitching, the mounting flange 17 can realize horizontal rotation, and the two degrees of freedom of the vertical pitching and the horizontal rotation of the self-adaptive leveling platform 4 can passively compensate the angular deviation generated by the inaccurate butt joint direction of the AUV 36. After the AUV36 reaches a preset position, the hydraulic oil cylinder B27 extends out, the positioning block 31 is locked with the AUV36 in a matched mode, and energy supply and information exchange under the AUV36 marine environment are achieved through the wireless charging device 8 and the wireless communication device 9. After the task is completed, the hydraulic oil cylinder B27 retracts, the positioning block 31 is released, and the AUV36 is navigated and withdrawn from the docking frame 2.
The self-adaptive leveling platform 4 is driven by the hydraulic oil cylinder to adapt to seabed planes with different gradients, and the energy supply and information exchange of the AUV under the marine environment are realized by the passive adjustment of the self-adaptive leveling platform 4 in cooperation with AUV butt joint.

Claims (11)

1. The utility model provides an AUV is interfacing apparatus under water which characterized in that: the device comprises a guide cover (1), a butt joint frame (2), a pitching mechanism (3), a locking mechanism (5), a hydraulic station (6), a base (7), wireless charging equipment (8) and wireless communication equipment (9), wherein the pitching mechanism (3) comprises a hydraulic oil cylinder A (12) and a self-adaptive leveling platform (4), one end of the hydraulic oil cylinder A (12) is hinged to the base (7), the other end of the hydraulic oil cylinder A is hinged to one end of the self-adaptive leveling platform (4), and the other end of the self-adaptive leveling platform (4) is hinged to the base (7); one end of the butt joint frame (2) is installed on the self-adaptive leveling platform (4), the other end of the butt joint frame is provided with a guide cover (1), and the guide cover (1) and the butt joint frame (2) provide a guide channel for butt joint of the AUV (36); the wireless charging device (8), the wireless communication device (9) and the locking mechanism (5) are respectively installed on the docking frame (2), the AUV (36) is locked and positioned through the locking mechanism (5) after being docked with the docking frame (2), and energy supplement and information exchange is achieved through the wireless charging device (8) and the wireless communication device (9); the hydraulic oil cylinder A (12) drives the self-adaptive leveling platform (4) to swing around the other end of the self-adaptive leveling platform, so that the active pitching action of the butt joint frame (2) is realized, and the self-adaptive rotation and pitching action of the butt joint frame (2) are realized through the rotation and the swing of the self-adaptive leveling platform (4); and a hydraulic station (6) for providing power is arranged on the base (7).
2. The AUV underwater docking device of claim 1, wherein: one end of the hydraulic oil cylinder A (12) is hinged with an oil cylinder supporting seat A (14) arranged on the base (7) through a rotating shaft A (13), the other end of the hydraulic oil cylinder A (12) is hinged with one end of the self-adaptive leveling platform (4) through the rotating shaft A (13), and the other end of the self-adaptive leveling platform (4) is hinged with a pitching hinged seat (15) arranged on the base (7) through the rotating shaft A (13); the self-adaptive leveling platform is driven by the hydraulic oil cylinder A (12) to drive the guide cover (1) and the butt joint frame (2) to achieve pitching motion, the hydraulic oil cylinder A (12) extends out, the guide cover (1) and the butt joint frame (2) tilt forwards, the hydraulic oil cylinder A (12) retracts, and the guide cover (1) and the butt joint frame (2) tilt backwards.
3. The AUV underwater docking device of claim 1, wherein: the self-adaptive leveling platform (4) comprises a rotating shaft (16), a mounting flange (17), a passive pitching supporting seat (19), an active pitching supporting seat (20), a rotating shaft B (23) and a support (35), one end of the active pitching supporting seat (20) is hinged with the other end of the hydraulic oil cylinder A (12), the other end of the active pitching supporting seat (20) is hinged to the base (7), one end of the support (35) is fixed on the active pitching supporting seat (20), and the passive pitching supporting seat (19) is rotatably connected with the other end of the support (35) through the rotating shaft B (23); one end of the rotating shaft (16) is relatively rotatably arranged on the passive pitching supporting seat (19), the other end of the rotating shaft (16) is connected with the mounting flange (17), and the other end of the butt joint frame (2) is arranged on the mounting flange (17); the active pitching supporting seat (20) achieves active pitching action through driving of a hydraulic oil cylinder A (12), the passive pitching supporting seat (19) swings relative to the active pitching supporting seat (20) through a rotating shaft B (23), and the mounting flange (17) rotates relative to the passive pitching supporting seat (19) through a rotating shaft (16).
4. The AUV underwater docking device of claim 3, wherein: and a rebound block A (21) is arranged on the passive pitching supporting seat (19) and on the rotating track of the mounting flange (17).
5. The AUV underwater docking device of claim 3, wherein: and a rebound block B (22) is arranged on the active pitching supporting seat (20) and on the swing track of the passive pitching supporting seat (19).
6. The AUV underwater docking device of claim 3, wherein: and a shaft sleeve A (18) is arranged on the passive pitching supporting seat (19), and one end of the rotating shaft (16) penetrates through the shaft sleeve A (18) and the passive pitching supporting seat (19) and is connected with a locking nut (25).
7. The AUV underwater docking device of claim 3, wherein: and a shaft sleeve B (24) is installed in the passive pitching supporting seat (19), one end of the rotating shaft B (23) is inserted into the shaft sleeve B (24), and the other end of the rotating shaft B is rotatably connected with the other end of the support (35).
8. The AUV underwater docking device of claim 1, wherein: the locking mechanism (5) comprises a hydraulic oil cylinder B (27), a positioning block (31) and a fixing support (32), the fixing support (32) is installed on the butt joint frame (2), one end of the hydraulic oil cylinder B (27) is hinged to the fixing support (32), and the other end of the hydraulic oil cylinder B is hinged to the positioning block (31) used for locking and positioning the AUV (36).
9. The AUV underwater docking device of claim 8, wherein: install guide arm mechanism (26) on fixed bolster (32), this guide arm mechanism (26) includes guide bar (28), axle sleeve C (29) and axle sleeve D (30), install axle sleeve C (29) and axle sleeve D (30) on butt joint frame (2) respectively, install axle sleeve C (29) and axle sleeve D (30) on fixed bolster (32) respectively correspondingly, all insert between axle sleeve C (29) on this butt joint frame (2) and fixed bolster (32) and between axle sleeve D (30) and be equipped with guide bar (28), the one end and the locating piece (31) of guide bar (28) link to each other, and the other end is located the lower extreme of fixed bolster (32) and be equipped with stopper (33).
10. The AUV underwater docking device of claim 9, wherein: a round hole for the guide rod (28) to pass through is formed in the middle of the shaft sleeve C (29), and a waist-shaped hole for the guide rod (28) to pass through is formed in the middle of the shaft sleeve D (30); the end part of the positioning block (31) contacting with the AUV (36) is conical, and the lower part of the positioning block is arc-shaped.
11. The AUV underwater docking device of claim 1, wherein: and a guide device (10) is arranged at the other end of the butt joint frame (2), and a ballast (11) is arranged in the base (7).
CN201811478948.2A 2018-12-05 2018-12-05 AUV underwater docking device Pending CN111268068A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201811478948.2A CN111268068A (en) 2018-12-05 2018-12-05 AUV underwater docking device

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Application Number Priority Date Filing Date Title
CN201811478948.2A CN111268068A (en) 2018-12-05 2018-12-05 AUV underwater docking device

Publications (1)

Publication Number Publication Date
CN111268068A true CN111268068A (en) 2020-06-12

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