CN111268068A - AUV underwater docking device - Google Patents

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

An AUV underwater docking device

technical field

The invention belongs to the field of underwater robots, in particular to an AUV underwater docking device.

Background technique

AUV (Autonomous Underwater Vehicle, AUV) plays an important role in marine environment research, marine resource exploration and other civil fields and marine military due to its load capacity and mobility. Facing the deeper and farther development needs of AUVs in the future, the energy supply bottleneck of AUVs and the security of information exchange are particularly important.

Due to the limited energy carried by the AUV itself, it cannot work for a long time, and it needs to be replenished with energy regularly. At the same time, the staff will arrange new navigation tasks for the AUV according to actual needs, and download the data information of the previous tasks for analysis. At present, most of the energy supply and information exchange of AUV adopts the method of mother ship recycling, the recycling cost is high, and the process of re-laying is also very cumbersome. In recent years, the contact connection system has become a new way of AUV energy supply and information exchange. This method is difficult to connect energy and information with each other, and the relative position requirements are relatively high. The complexity of the seabed environment determines that it is difficult to stay on the seabed for a long time; in addition, this method adopts fixed docking channels. The adaptability is poor, and the navigation control accuracy of AUV is required to be high. Therefore, it is necessary to design a brand-new AUV docking device to meet the deeper and further development needs of AUVs.

SUMMARY OF THE INVENTION

In order to be able to adapt to the seabed plane and meet the development needs of deeper and farther AUVs, the purpose of the present invention is to provide an AUV underwater docking device. The underwater docking device uses the hydraulic cylinder to drive the pitching mechanism to adapt to the seabed plane with different slopes, and realizes the energy supply and information exchange in the seabed environment through the passive adjustment of the adaptive adjustment platform and the AUV docking.

The purpose of this invention is to realize through the following technical solutions:

The present invention includes a guide cover, a docking frame, a pitching mechanism, a locking mechanism, a hydraulic station, a base, wireless charging equipment and wireless communication equipment, wherein the pitching mechanism includes a hydraulic cylinder A and an adaptive adjustment platform, and one end of the hydraulic cylinder A is hinged on the On the base, the other end is hinged with one end of the self-adaptive adjustment platform, and the other end of the self-adaptive adjustment platform is hinged on the base; one end of the docking frame is installed on the self-adaptive adjustment platform, and the other end is provided with a guide cover , the guide cover and the docking frame provide a guide channel for the docking of the AUV; the docking frame is respectively equipped with a wireless charging device, a wireless communication device and a locking mechanism, and the AUV is locked and positioned by the locking mechanism after docking with the docking frame, and Energy supply and information exchange are realized through the wireless charging equipment and wireless communication equipment; the hydraulic cylinder A drives the self-adaptive adjustment platform to swing around its other end, thereby realizing the active pitching action of the docking frame, and the docking frame is adjusted by self-adaptive The rotation and swing of the platform realizes self-adaptive rotation and pitching action; a hydraulic station that provides power is installed on the base;

Wherein: one end of the hydraulic cylinder A is hinged with the cylinder support seat A installed on the base through the rotation axis A, and the other end is hinged with one end of the self-adaptive adjustment platform through the rotation axis A, and the other end of the self-adaptive adjustment platform is hinged. One end is hinged with the pitching hinge seat installed on the base through the rotating shaft A; the hydraulic cylinder A drives the self-adaptive adjustment platform to drive the guide cover and the docking frame to realize the pitching action, the hydraulic cylinder A extends, and the guide cover is connected to the docking The frame is tilted forward, the hydraulic cylinder A is retracted, and the guide cover and the docking frame are tilted backward;

The self-adaptive adjustment platform includes a rotary shaft, a mounting flange, a passive pitch support base, an active pitch support base, a rotation axis B and a bracket, one end of the active pitch support base is hinged with the other end of the hydraulic cylinder A, and the The other end of the active pitching support base is hinged on the base, one end of the bracket is fixed on the active pitching support base, and the passive pitching support base is rotatably connected with the other end of the bracket through the rotating shaft B; one end of the rotating shaft The other end of the rotating shaft is connected to the mounting flange, and the other end of the docking frame is mounted on the mounting flange; the active pitching support is connected to the mounting flange by the hydraulic cylinder. The driving of A realizes the active pitching action, the passive pitching support base swings relative to the active pitching support base through the rotation axis B, and the mounting flange rotates relative to the passive pitching support base through the rotation axis;

A rebound block A is installed on the passive pitch support base and on the rotation track of the installation flange;

A rebound block B is installed on the active pitch support base and on the swing track of the passive pitch support base;

A shaft sleeve A is installed on the passive pitch support base, and one end of the rotary shaft is passed through the shaft sleeve A and the passive pitch support base, and is connected with a locking nut;

A shaft sleeve B is installed in the passive pitch support base, one end of the rotating shaft B is plugged with the shaft sleeve B, and the other end is rotatably connected with the other end of the bracket;

The locking mechanism includes a hydraulic cylinder B, a positioning block and a fixing bracket. The fixing bracket is installed on the docking frame. One end of the hydraulic cylinder B is hinged with the fixing bracket, and the other end is connected with the positioning block for locking and positioning the AUV. hinged;

A guide rod mechanism is installed on the fixing bracket, and the guide rod mechanism includes a guide rod, a shaft sleeve C and a shaft sleeve D, and a shaft sleeve C and a shaft sleeve D are respectively installed on the docking frame. A shaft sleeve C and a shaft sleeve D are installed on the ground, and a guide rod is inserted between the docking frame and the shaft sleeve C on the fixed bracket and between the shaft sleeve D. One end of the guide rod is connected with the positioning block, and the other end is connected with the positioning block. is located at the lower end of the fixed bracket and is provided with a limit block;

The middle of the bushing C is provided with a circular hole for the guide rod to pass through, and the middle of the bushing D is provided with a waist-shaped hole for the guide rod to pass through; the end of the positioning block in contact with the AUV is tapered , the lower part is arc;

The other end of the docking frame is provided with a guiding device, and the base is provided with a ballast.

The advantages and positive effects of the present invention are:

1. The guide cover and the docking frame of the present invention can be driven by a hydraulic cylinder for pitch adjustment, and can adapt to the seabed plane with a slope.

2. The present invention passively compensates the angle deviation caused by the inaccurate docking direction of the AUV in two degrees of freedom of vertical pitch and horizontal rotation by adapting the self-adaptive adjustment platform to the docking of the AUV, thereby reducing the difficulty of docking.

3. Both the active pitching support base and the passive pitching support base of the present invention are provided with resilient bodies, which can buffer the impact force generated during the docking process.

4. The present invention adopts a non-contact energy supply and information exchange method, adopts a conical positioning block to be hydraulically driven to lock the AUV, has low requirements for the attitude control of the AUV, and has a simple docking structure.

Description of drawings

Fig. 1 is the overall structure front view of the present invention;

Fig. 2 is the structural front view of the pitch mechanism of the present invention;

3 is a cross-sectional view of the internal structure of the self-adaptive adjustment platform of the present invention;

Fig. 4 is the structural front view of the locking mechanism of the present invention;

5 is a cross-sectional view of the wireless charging device, wireless communication device, locking mechanism and AUV assembly of the present invention;

Among them: 1 is the guide cover, 2 is the docking frame, 3 is the pitching mechanism, 4 is the adaptive adjustment platform, 5 is the locking mechanism, 6 is the hydraulic station, 7 is the base, 8 is the wireless charging device, and 9 is the wireless communication device , 10 is the guiding device, 11 is the ballast, 12 is the hydraulic cylinder A, 13 is the rotating shaft A, 14 is the cylinder support seat A, 15 is the pitching hinge seat, 16 is the rotary shaft, 17 is the mounting flange, 18 is the shaft Set A, 19 is the passive pitch support base, 20 is the active pitch support base, 21 is the rebound block A, 22 is the rebound block B, 23 is the rotation axis B, 24 is the shaft sleeve B, 25 is the locking nut, 26 is the Guide rod mechanism, 27 is hydraulic cylinder B, 28 is guide rod, 29 is bushing C, 30 is bushing D, 31 is positioning block, 32 is fixing bracket, 33 is limit block, 34 is cylinder support seat B, 35 is the stand and 36 is the AUV.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

As shown in FIGS. 1 and 2 , the present invention includes a guide 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 guide cover 1 and the docking frame 2 are installed and fixed to each other to provide the AUV36 docking guide channel, and install the guiding device 10, the wireless charging device 8 and the wireless communication device 9; the pitching mechanism 3 is arranged on the base 7, with In order to realize the active pitching action of the docking frame 2; the self-adaptive adjustment platform 4 is respectively installed and fixed with the docking frame 2 and the base 7 to realize the self-adaptive rotation and pitching action of the docking frame 2 within the set angle range; the locking mechanism 5 It is installed on the docking frame 2 for locking and positioning after the AUV36 reaches the predetermined position; the hydraulic station 6 is installed on the base 7 to provide power for each actuator; the base 7 is set at the bottom of the docking device for installing the ballast 11. Hydraulic station 6 and other equipment. Specifically:

The pitching mechanism 3 includes a hydraulic cylinder A12, a rotating shaft A13, a cylinder support base A14, a pitching hinge base 15 and an adaptive adjustment platform 4. One end of the hydraulic cylinder A12 is hinged to the cylinder support base A14 through the rotating shaft A13, and the other end is hinged through the rotating shaft. A13 is connected to a hinge point at the lower part of one end of the self-adaptive adjustment platform 4, the oil cylinder support seat A4 and the pitch hinged seat 15 are respectively fixed on the base 7, and another hinge point at the lower part of the other end of the self-adaptive adjustment platform 4 passes through the rotating shaft A3 is hinged with the pitch hinge base 15 .

One end of the docking frame 2 is installed on the adaptive adjustment platform 4, and the other end is provided with a guide cover 1; the docking frame 2 is respectively installed with a wireless charging device 8, a wireless communication device 9 and a locking mechanism 5. After the AUV36 is docked with the docking frame 2 The positioning is locked by the locking mechanism 5 , and the energy supply and information exchange are realized by the wireless charging device 8 and the wireless communication device 9 . The hydraulic cylinder A12 drives the self-adaptive adjustment platform 4 to drive the guide cover 1 and the docking frame 2 to realize the pitching action. The hydraulic cylinder A12 extends, and the guide cover 1 and the docking frame 2 tilt forward; the hydraulic cylinder A12 retracts, and the guide cover 1 and the docking frame 2 are retracted. Lean back. The hydraulic cylinder A12 drives the self-adaptive adjustment platform 4 to swing around its other end, thereby realizing the active pitching action of the docking frame 2 .

As shown in Figures 2 and 3, the self-adaptive adjustment platform 4 includes a rotary shaft 16, a mounting flange 17, a shaft sleeve A18, a passive pitch support base 19, an active pitch support base 20, a rebound block A21, a rebound block B22, The rotating shaft B23, the shaft sleeve B24, the locking nut 25 and the bracket 35, one end of the active pitching support base 20 is hinged with the other end of the hydraulic cylinder A12 through the rotating shaft A13, and the other end of the active pitching support base 20 is hinged through the rotating shaft A13 on the pitch hinge base 15 . Brackets 35 are symmetrically arranged on the left and right sides of the passive pitching support base 19 in the swing direction, and one end of the brackets 35 on each side is fixed on the active pitching support base 20; B24, one end of the rotating shaft B23 is plugged with the sleeve B24, and the other end is rotatably connected with the other end of the bracket 35; A shaft sleeve A18 is installed on the passive pitch support base 19, one end of the rotary shaft 16 is passed through the shaft sleeve A18 and the passive pitch support base 19, and can rotate relative to the passive pitch support base 19, and a lock is fixedly connected to one end of the rotary shaft 16 Tighten the nut 25; the other end of the rotary shaft 16 is fixedly connected with the mounting flange 17. The other end of the docking frame 2 is mounted on the mounting flange 17 . The active pitching support base (20) is driven by the hydraulic cylinder A12 to realize the active pitching action, the passive pitching support base 19 swings relative to the active pitching support base 20 through the rotation axis B23, and the mounting flange 17 is relative to the passive pitching support base through the rotating shaft 16 19 turns. A rebound block A21 is installed on the passive pitch support base 19 on the rotation trajectory of the mounting flange 17 , and a rebound block B22 is installed on the active pitch support base 20 on the swing trajectory of the passive pitch support base 19 .

As shown in Figure 1, Figure 2 and Figure 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 fixed on the other end of the docking frame 2, and the hydraulic cylinder Both ends of the B27 are provided with oil cylinder support bases B34 . One end of the hydraulic cylinder B27 is hinged with the cylinder support B34 on the fixed bracket 32 through the rotation axis A13, and the other end is hinged with the cylinder support B34 on the positioning block 31 for locking and positioning the AUV36 through the rotation axis A13. A guide rod mechanism 26 is installed on the fixed bracket 32 , and the guide rod mechanism 26 includes a guide rod 28 , a shaft sleeve C29 and a shaft sleeve D30 , and a shaft sleeve C29 and a shaft sleeve D30 are respectively installed on the docking frame 2 , corresponding to the fixed bracket 32 . A shaft sleeve C29 and a shaft sleeve D30 are installed on the ground, and a guide rod 28 is inserted between the docking frame 2 and the shaft sleeve C29 on the fixed bracket 32 and between the butting frame 2 and the shaft sleeve D30 on the fixed bracket 32. One end of the rod 28 is connected with the positioning block 31 , and the other end is located at the lower end of the fixing bracket 32 and is provided with a limiting block 33 . The middle of the shaft sleeve C29 has a circular hole for the guide rod 28 to pass through, and the middle of the shaft sleeve D30 has a waist-shaped hole for the guide rod 28 to pass through; the limit block 33 can prevent the other end of the guide rod 28 from being driven by the shaft sleeve. Pass through C29 or sleeve D30. The end of the positioning block 31 in contact with the AUV 36 is conical, and the lower part is arc. The hydraulic cylinder B27 drives the positioning block 31 to achieve locking action, the hydraulic cylinder B27 extends, and the positioning block 31 cooperates with the AUV36 to achieve locking; the hydraulic cylinder B27 retracts, the positioning block 21 is released, and the AUV36 is released.

The wireless charging device 8 , the wireless communication device 9 and the guiding device 10 of the present invention are all in the prior art.

The working principle of the present invention is:

After the docking device of the present invention falls to the seabed, according to the feedback attitude information, the hydraulic cylinder A12 makes corresponding adjustments to maintain the horizontal state of the guide cover 1 and the docking frame 2; The adjustment platform 4 is passively adjusted, the passive pitch support base 19 can realize vertical pitch, the mounting flange 17 can realize horizontal rotation, and the two degrees of freedom of the vertical pitch and horizontal rotation of the adaptive adjustment platform 4 can passively compensate for the inconsistency of the docking direction of the AUV36. The angular deviation produced by the standard. After the AUV36 reaches the predetermined position, the hydraulic cylinder B27 is extended, and the positioning block 31 is locked with the AUV36. The wireless charging device 8 and the wireless communication device 9 realize the energy supply and information exchange of the AUV36 in the marine environment. After completing the task, the hydraulic cylinder B27 retracts, the positioning block 31 is released, and the AUV36 navigates out of the docking frame 2.

The invention drives the self-adaptive adjustment platform 4 by the hydraulic cylinder to adapt to the seabed plane with different slopes, and realizes the energy supply and information exchange of the AUV in the marine environment through the passive adjustment of the self-adaptive adjustment platform 4 and the docking of the AUV.

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).

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