CN113247216B - Grabbing and releasing device for unmanned underwater vehicle - Google Patents
Grabbing and releasing device for unmanned underwater vehicle Download PDFInfo
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- CN113247216B CN113247216B CN202110656576.3A CN202110656576A CN113247216B CN 113247216 B CN113247216 B CN 113247216B CN 202110656576 A CN202110656576 A CN 202110656576A CN 113247216 B CN113247216 B CN 113247216B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0033—Gripping heads and other end effectors with gripping surfaces having special shapes
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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Abstract
A grabbing and releasing device for an unmanned underwater vehicle relates to the technical field of unmanned underwater vehicle retraction and release. The unmanned underwater vehicle retracting device solves the problems that when the existing unmanned underwater vehicle retracting device retracts the UUV, the mode of dragging the UUV by a cable wastes time and labor, is not beneficial to automatic operation, and has potential safety hazards. The power output end of the mechanical arm rotation driving assembly is connected with the bottom of the mechanical arm, the tail end limiting cylinder is installed on the mechanical arm through a limiting cylinder support, the two small finger clamping assemblies are synchronously unfolded or folded under the driving of the small finger rotation driving assembly, the two large finger clamping assemblies are synchronously unfolded or folded under the driving of the large finger rotation driving assembly, the two small finger clamping assemblies are connected with the two large finger clamping assemblies through the synchronous movement driving assembly, and synchronous inward or outward movement is realized under the driving of the synchronous movement driving assembly. The invention is used for reliably grabbing and releasing the unmanned underwater vehicle.
Description
Technical Field
The invention relates to the technical field of retraction and release of unmanned underwater vehicles, in particular to a grabbing and releasing device for an unmanned underwater vehicle.
Background
An Unmanned Underwater Vehicle (UUV) is an intelligent device which mainly takes a submarine or a ship on the water as a support platform and can autonomously and remotely sail underwater for a long time, and the UUV can carry various sensors, special equipment or weapons to execute specific missions and tasks. Its military use has received wide attention from many countries of the world.
Since the cruising ability of the unmanned underwater vehicle is limited by the energy carried by the unmanned underwater vehicle, after the unmanned underwater vehicle completes a certain task, the unmanned underwater vehicle is usually grabbed underwater and recycled to the support platform so as to supplement the energy. When the unmanned underwater vehicle completes energy source supplement, the unmanned underwater vehicle can be deployed to carry out a task after the unmanned underwater vehicle receives the next task.
The unmanned underwater vehicle retraction device can complete retraction of the UUV, however, the existing unmanned underwater vehicle retraction device has the following problems: on the one hand, current unmanned underwater vehicle collecting and releasing device does not have the function of snatching, when retrieving UUV, needs UUV to move about to the assigned position, but when UUV and collecting and releasing device position nonparallel, if adopt traditional mode to retrieve and can produce great friction, influence UUV's normal use, and reduced UUV's life. On the other hand, most of the existing unmanned underwater vehicle retracting devices adopt a cable dragging mode, manual operation is needed, the cable is connected with the UUV, time and labor are wasted, automation operation is not facilitated, handling and solution can not be timely adopted for the accident situation possibly occurring in the dragging process, and potential safety hazards are generated.
To sum up, current unmanned underwater vehicle winding and unwinding devices adopt the mode that the cable dragged to have and waste time and energy when retrieving UUV, are unfavorable for automatic operation, have the problem of potential safety hazard.
Disclosure of Invention
The invention aims to solve the problems that when a UUV is recovered by the existing unmanned underwater vehicle retracting and releasing device, time and labor are wasted, automatic operation is not facilitated, and potential safety hazards exist due to the fact that a cable dragging mode is adopted, and further the unmanned underwater vehicle retracting and releasing device is provided.
The technical scheme of the invention is as follows:
a grabbing and releasing device for an unmanned underwater vehicle comprises a manipulator rotation driving assembly, a manipulator and a clamped object tail end limiter 5, wherein the power output end of the manipulator rotation driving assembly is connected with the bottom of the manipulator, and the manipulator is driven to rotate by the manipulator rotation driving assembly; the object clamping end limiter 5 comprises an end limiting cylinder 51, a limiting cylinder cover 52 and a limiting cylinder support 53, wherein the end limiting cylinder 51 is of a cylindrical hollow structure, the end limiting cylinder 51 is horizontally arranged on one side of the manipulator along the length direction, the end limiting cylinder 51 is installed on the manipulator through the limiting cylinder support 53, the opening of the end limiting cylinder 51 faces the manipulator, and one end, away from the manipulator, of the end limiting cylinder 51 is provided with the limiting cylinder cover 52; the mechanical hand comprises a mechanical palm 41, a little finger rotation driving assembly 44, a big finger rotation driving assembly 45, a synchronous movement driving assembly 46, two little finger clamping assemblies 42 and two big finger clamping assemblies 43, the mechanical palm 41 is of a rectangular plate-shaped structure, the mechanical palm 41 is horizontally arranged on the mechanical hand rotation driving assembly, the two little finger clamping assemblies 42 are arranged on one side of the upper end face of the mechanical palm 41 side by side, the bottom of each little finger clamping assembly 42 is in sliding connection with the mechanical palm 41, the two little finger clamping assemblies 42 are connected through the little finger rotation driving assembly 44, and the two little finger clamping assemblies 42 are synchronously unfolded or folded under the driving of the little finger rotation driving assembly 44; the two big finger clamping assemblies 43 are arranged on the other side of the upper end face of the mechanical palm 41 side by side, the bottoms of the big finger clamping assemblies 43 are in sliding connection with the mechanical palm 41, the two big finger clamping assemblies 43 are connected through a big finger rotating driving assembly 45, and the two big finger clamping assemblies 43 are synchronously unfolded or folded under the driving of the big finger rotating driving assembly 45; the two small finger clamping assemblies 42 and the two large finger clamping assemblies 43 are connected through a synchronous moving driving assembly 46, and synchronous inward or outward movement is realized under the driving of the synchronous moving driving assembly 46.
Further, the manipulator rotation driving assembly comprises a manipulator rotation driving hydraulic motor and a motor shell, the motor shell is installed on a connecting plate of the upper-level manipulator, the manipulator rotation driving hydraulic motor is installed on the motor shell, an output shaft of the manipulator rotation driving hydraulic motor is vertically arranged, and the output shaft of the manipulator rotation driving hydraulic motor is connected with the manipulator.
Furthermore, each little finger clamping assembly 42 comprises a little finger sliding rail 421, a little finger sliding block 422, a little finger base section 423, a little finger terminal section 424 and a little finger connecting shaft 425, the little finger sliding rail 421 is horizontally arranged on the upper end surface of the mechanical palm 41 along the width direction of the mechanical palm 41, a sliding groove in sliding fit with the little finger sliding rail 421 is arranged at the bottom of the little finger sliding block 422, the little finger sliding block 422 is slidably arranged on the little finger sliding rail 421, the little finger base section 423 is obliquely arranged above the little finger sliding block 422 along the vertical direction, the bottom of the little finger base section 423 is connected with the little finger sliding block 422, two little finger connecting lug plates are arranged at the upper part of the little finger base section 423, shaft holes matched with the little finger connecting shaft 425 are formed in the little finger connecting lug plates, the bottom of the little finger terminal section 424 is fixedly connected with the little finger connecting shaft 425, and two ends of the little finger connecting shaft 425 are rotatably arranged in the shaft holes of the two little finger connecting lug plates.
Furthermore, each of the big finger clamping assemblies 43 includes a big finger sliding rail 431, a big finger sliding block 432, a big finger base section 433, a big finger end section 434 and a big finger connecting shaft 435, the big finger sliding rail 431 is horizontally mounted on the upper end surface of the mechanical palm 41 along the width direction of the mechanical palm 41, a sliding groove in sliding fit with the big finger sliding rail 431 is arranged at the bottom of the big finger sliding block 432, the big finger sliding block 432 is slidably mounted on the big finger sliding rail 431, the big finger base section 433 is obliquely arranged above the big finger sliding block 432 along the vertical direction, the bottom of the big finger base section 433 is connected with the big finger sliding block 432, two big finger connecting ear plates are arranged at the upper part of the big finger base section 433, shaft holes matched with the big finger connecting shaft 435 are formed in the big finger connecting ear plates, the bottom of the big finger end section 434 is fixedly connected with the big finger connecting shaft 435, and two ends of the big finger connecting shaft 435 are rotatably mounted in the shaft holes of the two big finger connecting ear plates.
Further, the little finger rotation driving assembly 44 includes a little finger rotation driving hydraulic cylinder 441, a little finger rotation connecting plate 442, a little finger rotation connecting pin 443 and a little finger rotation connecting rod 444, the little finger rotation driving hydraulic cylinder 441 is obliquely arranged at the side of the little finger clamping assembly 42 along the vertical direction, the bottom of the little finger rotation driving hydraulic cylinder 441 is connected with the mechanical palm 41, the side of the piston rod of the little finger rotation driving hydraulic cylinder 441 and the side of the lower end of the little finger rotation connecting plate 442 are respectively provided with pin holes matched with the little finger rotation connecting pin 443, the lower end of the little finger rotation connecting plate 442 is rotatably connected with the piston rod of the little finger rotation driving hydraulic cylinder 441 through the little finger rotation connecting pin 443, the side of the upper end of the little finger rotation connecting plate 442 is provided with a shaft hole matched with the little finger connecting shaft 425, the upper end of the little finger rotation connecting plate 442 is fixedly connected with the little finger connecting shaft 425, the little finger rotation connecting rod 444 is horizontally arranged between the two little finger clamping assemblies 42, two ends of the little finger rotating connecting rod 444 are respectively fixedly connected with the little finger connecting shafts 425 of the two little finger clamping assemblies 42.
Furthermore, the big finger rotation driving assembly 45 comprises a big finger rotation driving hydraulic cylinder 451, a big finger rotation connecting plate 452, a big finger rotation connecting pin 453 and a big finger rotation connecting rod 454, the big finger rotation driving hydraulic cylinder 451 is obliquely arranged at the side part of the big finger clamping assembly 43 along the vertical direction, the bottom part of the big finger rotation driving hydraulic cylinder 451 is connected with the mechanical palm 41, the side part of the piston rod of the big finger rotation driving hydraulic cylinder 451 and the side part of the lower end of the big finger rotation connecting plate 452 are respectively provided with a pin hole matched with the big finger rotation connecting pin 453, the lower end of the big finger rotation connecting plate 452 is rotatably connected with the piston rod of the big finger rotation driving hydraulic cylinder 451 through the big finger rotation connecting pin 453, the side part of the upper end of the big finger rotation connecting plate 452 is provided with a shaft hole matched with the big finger connecting shaft 435, the upper end of the big finger rotation connecting plate 452 is fixedly connected with the big finger connecting shaft 435, the big finger rotation connecting rod 454 is horizontally arranged between the two big finger clamping assemblies 43, two ends of the big finger rotating connecting rod 454 are respectively fixedly connected with the big finger connecting shafts 435 of the two big finger clamping assemblies 43.
Further, the synchronous movement driving assembly 46 includes a little finger movement driving hydraulic cylinder 461, a little finger movement connecting rod 462 and two moving chain transmission mechanisms 463, the little finger movement connecting rod 462 is horizontally arranged between the two little finger clamping assemblies 42 along the length direction of the machine palm 41, two ends of the little finger movement connecting rod 462 are respectively connected with the inner side end faces of the little finger sliding blocks 422 of the two little finger clamping assemblies 42, the little finger movement driving hydraulic cylinder 461 is horizontally arranged between the two big finger clamping assemblies 43 along the width direction of the machine palm 41, the piston rod of the little finger movement driving hydraulic cylinder 461 points to the little finger movement connecting rod 462, the piston rod of the little finger movement driving hydraulic cylinder 461 is connected with the middle part of the little finger movement connecting rod 462, a moving chain transmission mechanism 463 is arranged between the little finger clamping assembly 42 and the adjacent big finger clamping assembly 43, the two moving chain transmission mechanisms 463 are respectively arranged on the upper end face of the machine palm 41 side by side along the width direction of the machine palm 41, the movable chain transmission mechanism 463 is respectively connected with the small finger slide block 422 and the large finger slide block 432, and the small finger slide block 422 and the large finger slide block 432 synchronously move inwards or outwards under the driving of the movable chain transmission mechanism 463.
Further, each of the movable chain transmission mechanisms 463 includes a movable transmission chain, an upper chain connecting side plate 4635, a lower chain connecting side plate 4631, two chain wheels 4632, two chain wheel shafts 4633 and two chain wheel supports 4634, wherein the two chain wheel supports 4634 are respectively installed at two sides of the upper end surface of the mechanical palm 41 relatively, the two chain wheel shafts 4633 are respectively horizontally fixed at the upper parts of the two chain wheel supports 4634, the two chain wheels 4632 are respectively vertically installed on the two chain wheel shafts 4633 through two bearings, the two chain wheels 4632 are connected through the movable transmission chain, the upper movable transmission chain is connected with the outer end surface of the little finger slider 422 through the upper chain connecting side plate 4635, and the lower movable transmission chain is connected with the outer end surface of the big finger slider 432 through the lower chain connecting side plate 4631.
Further, the cloth releasing and recovering device for the unmanned underwater vehicle further comprises an integrated mounting seat 86, a light emitting source 81, a binocular camera 82, a bionic communication machine 83 and a USB information transmission machine 84, wherein the diameter of the unmanned underwater vehicle is smaller than that of the end retainer 5 for clamping the object, the integrated mounting seat 86 is mounted on the lower end face of the mechanical palm 41 far away from the end retainer 5 for clamping the object, the binocular camera 82 is mounted in the center of the front end face of the integrated mounting seat 86, the light emitting source 81 and the bionic communication machine 83 are respectively mounted on the outer edge of the front end face of the integrated mounting seat 86, and the USB information transmission machine 84 is mounted on the integrated mounting seat 86.
Further, the deployment and recovery device for the unmanned underwater vehicle further comprises two correlation switches 85, the two correlation switches 85 are arranged on one side, away from the end limiter 5 for clamping the object, of the mechanical palm 41, the two correlation switches 85 are vertically and oppositely arranged on the upper end face of the mechanical palm 41, and the diameter of the unmanned underwater vehicle is smaller than the distance between the two correlation switches 85.
Compared with the prior art, the invention has the following effects:
1. the manipulator part of the grabbing and releasing device for the unmanned underwater vehicle is connected with the upper-stage manipulator through the connecting plate, and the manipulator can realize rotation, movement of the side of the little finger and rotation of the tail joint of the big finger and the small finger, so that grabbing action is realized. The mode that the manipulator snatchs the UUV is adopted, when the UUV is unparallel with the position of the laying and recovering device, the UUV is recovered without friction, and the normal use of the UUV is not influenced. According to the invention, the manipulator is adopted to grab the UUV, the grabbing process is stable, and the stability of the internal structure of the UUV can be ensured compared with the traditional hoisting type.
2. Aiming at operation objects with different relative diameters, the grabbing and releasing device for the unmanned underwater vehicle firstly adjusts the size of an integral opening through the small finger moving driving hydraulic cylinder 461, and then realizes that the large finger and the small finger simultaneously get close to the middle through the moving chain transmission mechanism 463 so as to prevent the mass center from deviating from the palm center; meanwhile, the small finger rotation driving assembly 44 and the large finger rotation driving assembly 45 drive the tail end knuckle to rotate, and the UUV is grabbed.
3. The light source 81 of the grabbing and releasing device for the unmanned underwater vehicle can emit light used for identifying the UUV, and the UUV can determine the real-time position according to the position and the angle of the identified light source. The binocular camera 82 is used for the robot to recognize the position of the UUV. The bionic communication machine 83 can emit sound waves, imitate the mode of information communication of animals in the nature, and transmit signals by applying the sound waves to prevent the electromagnetic wave signals from being attenuated in a large proportion in water. The USB transmitter 84 can perform fast information transmission by using USB after docking.
Drawings
Fig. 1 is an isometric view of a grip release apparatus for an unmanned underwater vehicle of the present invention;
FIG. 2 is a schematic structural view of a grabbing and releasing device for the unmanned underwater vehicle;
FIG. 3 is a front view of the grabbing and releasing device for the unmanned underwater vehicle of the present invention;
FIG. 4 is a rear view of the grabbing and releasing device for the unmanned underwater vehicle of the present invention;
FIG. 5 is a left side view of the grasping and releasing device for the unmanned underwater vehicle of the present invention;
FIG. 6 is a right side view of the grasping and releasing device for the unmanned underwater vehicle of the present invention;
fig. 7 is a plan view of the catching and releasing device for the unmanned underwater vehicle of the present invention.
Detailed Description
For convenience of description of the grabbing and releasing device for the unmanned underwater vehicle of the present invention, when the mechanical palm 41 is placed horizontally, the direction in which the little finger clamping assembly 42 and the big finger clamping assembly 43 are located is defined as "up", the direction in which the manipulator rotates and drives the hydraulic motor is defined as "down", the direction in which the correlation switch 85 is located is defined as "front", the direction in which the object end stopper 5 is located is defined as "back", and the left and right directions are determined accordingly.
The first embodiment is as follows: the embodiment is described with reference to fig. 1 to 7, and the grabbing and releasing device for the unmanned underwater vehicle of the embodiment comprises a manipulator rotation driving assembly, a manipulator and an object clamping end limiter 5, wherein a power output end of the manipulator rotation driving assembly is connected with the bottom of the manipulator, and the manipulator is driven to rotate by the manipulator rotation driving assembly; the object clamping end limiter 5 comprises an end limiting cylinder 51, a limiting cylinder cover 52 and a limiting cylinder support 53, wherein the end limiting cylinder 51 is of a cylindrical hollow structure, the end limiting cylinder 51 is horizontally arranged on one side of the manipulator along the length direction, the end limiting cylinder 51 is installed on the manipulator through the limiting cylinder support 53, the opening of the end limiting cylinder 51 faces the manipulator, and one end, away from the manipulator, of the end limiting cylinder 51 is provided with the limiting cylinder cover 52; the mechanical hand comprises a mechanical palm 41, a little finger rotation driving assembly 44, a big finger rotation driving assembly 45, a synchronous movement driving assembly 46, two little finger clamping assemblies 42 and two big finger clamping assemblies 43, the mechanical palm 41 is of a rectangular plate-shaped structure, the mechanical palm 41 is horizontally arranged on the mechanical hand rotation driving assembly, the two little finger clamping assemblies 42 are arranged on one side of the upper end face of the mechanical palm 41 side by side, the bottom of each little finger clamping assembly 42 is in sliding connection with the mechanical palm 41, the two little finger clamping assemblies 42 are connected through the little finger rotation driving assembly 44, and the two little finger clamping assemblies 42 are synchronously unfolded or folded under the driving of the little finger rotation driving assembly 44; the two big finger clamping assemblies 43 are arranged on the other side of the upper end face of the mechanical palm 41 side by side, the bottoms of the big finger clamping assemblies 43 are in sliding connection with the mechanical palm 41, the two big finger clamping assemblies 43 are connected through a big finger rotating driving assembly 45, and the two big finger clamping assemblies 43 are synchronously unfolded or folded under the driving of the big finger rotating driving assembly 45; the two small finger clamping assemblies 42 and the two large finger clamping assemblies 43 are connected through a synchronous moving driving assembly 46, and synchronous inward or outward movement is realized under the driving of the synchronous moving driving assembly 46.
The second embodiment is as follows: the present embodiment is described with reference to fig. 1 to 7, and the manipulator rotation driving assembly of the present embodiment includes a manipulator rotation driving hydraulic motor and a motor housing, the motor housing is mounted on a connecting plate of the upper-stage manipulator, the manipulator rotation driving hydraulic motor is mounted on the motor housing, an output shaft of the manipulator rotation driving hydraulic motor is vertically disposed, and the output shaft of the manipulator rotation driving hydraulic motor is connected to the manipulator.
So set up, the manipulator rotates the realization of drive hydraulic motor drive manipulator and rotates. Other components and connections are the same as in the first embodiment.
The third concrete implementation mode: referring to fig. 1 to 7, the present embodiment is described, each little finger clamping assembly 42 of the present embodiment includes a little finger sliding rail 421, a little finger sliding block 422, a little finger base joint 423, a little finger end joint 424, and a little finger connecting shaft 425, the little finger sliding rail 421 is horizontally installed on the upper end surface of the mechanical palm 41 along the width direction of the mechanical palm 41, the bottom of the little finger sliding block 422 is provided with a sliding groove in sliding fit with the little finger sliding rail 421, the little finger sliding block 422 is slidably installed on the little finger sliding rail 421, the little finger base joint 423 is obliquely arranged above the little finger sliding block 422 along the vertical direction, the bottom of the little finger base joint 423 is connected with the little finger sliding block 422, the upper portion of the little finger base joint 423 is provided with two little finger connecting ear plates, the little finger connecting lug plate is provided with a shaft hole matched with the little finger connecting shaft 425, the bottom of the little finger tail end section 424 is fixedly connected with the little finger connecting shaft 425, and two ends of the little finger connecting shaft 425 are rotatably arranged in the shaft holes of the two little finger connecting lug plates.
With such an arrangement, when the little finger connecting shaft 425 is forced to rotate, the little finger end section 424 can be driven to rotate. Other compositions and connections are the same as in the first or second embodiments.
The fourth concrete implementation mode: referring to fig. 1 to 7, the present embodiment is described, each of the big finger clamping assemblies 43 of the present embodiment includes a big finger sliding track 431, a big finger sliding block 432, a big finger base section 433, a big finger end section 434 and a big finger connecting shaft 435, the big finger sliding track 431 is horizontally installed on the upper end surface of the mechanical palm 41 along the width direction of the mechanical palm 41, the bottom of the big finger sliding block 432 is provided with a sliding slot which is in sliding fit with the big finger sliding track 431, the big finger sliding block 432 is slidably installed on the big finger sliding track 431, the big finger base section 433 is obliquely arranged above the big finger sliding block 432 along the vertical direction, the bottom of the big finger base section 433 is connected with the big finger sliding block 432, the upper portion of the big finger base section 433 is provided with two big finger connecting ear plates, the big finger connecting ear plate is provided with a shaft hole matched with the big finger connecting shaft 435, the bottom of the big finger end section 434 is fixedly connected with the big finger connecting shaft 435, and two ends of the big finger connecting shaft 435 are rotatably arranged in the shaft holes of the two big finger connecting ear plates.
With such an arrangement, when the big-finger end section 434 is forced to rotate, the big-finger end section 434 can be driven to rotate. Other compositions and connection relationships are the same as in the first, second or third embodiment.
The fifth concrete implementation mode: the present embodiment is described with reference to fig. 1 to 7, the little finger rotation driving assembly 44 of the present embodiment includes a little finger rotation driving hydraulic cylinder 441, a little finger rotation connecting plate 442, a little finger rotation connecting pin 443 and a little finger rotation connecting rod 444, the little finger rotation driving hydraulic cylinder 441 is disposed at the side of the little finger clamping assembly 42 in an inclined manner along the vertical direction, the bottom of the little finger rotation driving hydraulic cylinder 441 is connected to the machine palm 41, the side of the piston rod of the little finger rotation driving hydraulic cylinder 441 and the side of the lower end of the little finger rotation connecting plate 442 are respectively provided with pin holes matching with the little finger rotation connecting pin 443, the lower end of the little finger rotation connecting plate 442 is rotatably connected to the piston rod of the little finger rotation driving hydraulic cylinder 441 through the little finger rotation connecting pin 443, the side of the upper end of the little finger rotation connecting plate 442 is provided with a shaft hole matching with the little finger connecting shaft 425, the upper end of the little finger rotation connecting plate 442 is fixedly connected to the little finger connecting shaft 425, the little finger rotating connecting rod 444 is horizontally arranged between the two little finger clamping assemblies 42, and two ends of the little finger rotating connecting rod 444 are respectively and fixedly connected with the little finger connecting shafts 425 of the two little finger clamping assemblies 42.
So set up, rotate drive assembly 44 through little finger and drive the rotation of terminal knuckle, realize snatching to the UUV. Specifically, the little finger rotation driving hydraulic cylinder 441 drives the little finger rotation connecting plate 442 to rotate around the little finger connecting shaft 425, and the little finger rotation connecting rod 444 connects the two little finger connecting shafts 425, so that the two little finger end sections 424 rotate synchronously, and then the UUV is grabbed. Other compositions and connection relationships are the same as those in the first, second, third or fourth embodiment.
The sixth specific implementation mode: the present embodiment is described with reference to fig. 1 to 7, the big finger rotation driving assembly 45 of the present embodiment includes a big finger rotation driving hydraulic cylinder 451, a big finger rotation connecting plate 452, a big finger rotation connecting pin 453, and a big finger rotation connecting rod 454, the big finger rotation driving hydraulic cylinder 451 is disposed at the side of the big finger clamping assembly 43 in a vertical direction, the bottom of the big finger rotation driving hydraulic cylinder 451 is connected to the mechanical palm 41, the side of the piston rod of the big finger rotation driving hydraulic cylinder 451 and the side of the lower end of the big finger rotation connecting plate 452 are respectively provided with a pin hole matching with the big finger rotation connecting pin 453, the lower end of the big finger rotation connecting plate 452 is rotatably connected to the piston rod of the big finger rotation driving hydraulic cylinder 451 through the big finger rotation connecting pin 453, the upper end of the big finger rotation connecting plate 452 is provided with a shaft hole matching with the big finger connecting shaft 435, the upper end of the big finger rotation connecting plate 452 is fixedly connected to the big finger connecting shaft 435, the big finger rotating connecting rod 454 is horizontally arranged between the two big finger clamping components 43, and two ends of the big finger rotating connecting rod 454 are respectively and fixedly connected with the big finger connecting shafts 435 of the two big finger clamping components 43.
So set up, rotate drive assembly 45 through the big finger and drive the rotation of terminal knuckle, realize snatching the UUV. Specifically, the big-finger rotation driving hydraulic cylinder 451 drives the big-finger rotation connecting plate 452 to rotate around the big-finger connecting shaft 435, and the big-finger rotation connecting rod 454 connects the two big-finger connecting shafts 435, so that the two big-finger end sections 434 rotate synchronously, and then the UUV is grabbed. Other compositions and connection relationships are the same as in the first, second, third, fourth or fifth embodiment.
The seventh embodiment: referring to fig. 1 to 7, the synchronous moving drive assembly 46 of this embodiment includes a little finger moving drive hydraulic cylinder 461, a little finger moving connecting rod 462 and two moving chain transmission mechanisms 463, the little finger moving connecting rod 462 is horizontally arranged between the two little finger clamping assemblies 42 along the length direction of the machine palm 41, two ends of the little finger moving connecting rod 462 are respectively connected with the inner side end surfaces of the little finger sliders 422 of the two little finger clamping assemblies 42, the little finger moving drive hydraulic cylinder 461 is horizontally arranged between the two big finger clamping assemblies 43 along the width direction of the machine palm 41, the piston rod of the little finger moving drive hydraulic cylinder 461 points to the little finger moving connecting rod 462, the piston rod of the little finger moving drive hydraulic cylinder 461 is connected with the middle part of the little finger moving connecting rod 462, a moving chain transmission mechanism 463 is arranged between the little finger clamping assembly 42 and the adjacent big finger clamping assembly 43, the two movable chain transmission mechanisms 463 are respectively arranged on the upper end surface of the machine palm 41 side by side along the width direction of the machine palm 41, the movable chain transmission mechanisms 463 are respectively connected with the small finger sliding block 422 and the large finger sliding block 432, and the small finger sliding block 422 and the large finger sliding block 432 synchronously move inwards or outwards under the driving of the movable chain transmission mechanisms 463.
In this way, the hydraulic cylinder 461 is driven by the small finger to adjust the size of the whole opening for the working objects with different relative diameters. Other compositions and connection relationships are the same as in the first, second, third, fourth, fifth or sixth embodiment.
The specific implementation mode is eight: the present embodiment is described with reference to fig. 1 to 7, each of the mobile chain transmission mechanisms 463 of the present embodiment includes a mobile transmission chain, an upper chain connecting side plate 4635, a lower chain connecting side plate 4631, two sprockets 4632, two sprocket shafts 4633 and two sprocket supports 4634, the two sprocket supports 4634 are respectively and oppositely installed on two sides of the upper end surface of the machine palm 41, the two sprocket shafts 4633 are respectively and horizontally fixed on the upper portions of the two sprocket supports 4634, the two sprockets 4632 are respectively and vertically installed on the two sprocket shafts 4633 through two bearings, the two sprockets 4632 are connected through the mobile transmission chain, the upper mobile transmission chain is connected with the outer end surface of the little finger slider 422 through the upper chain connecting side plate 4635, and the lower mobile transmission chain is connected with the outer end surface of the big finger slider 432 through the lower chain connecting side plate 4631.
By the arrangement, the size fingers can be simultaneously drawn close to the middle by moving the chain transmission mechanism 463, so that the mass center is prevented from deviating from the palm center. Specifically, the small finger clamping assembly 42 and the large finger clamping assembly 43 are simultaneously moved toward the middle or separated from each other at two sides by the movable chain transmission mechanism 463, so that the axis of the end limiting cylinder 51 is always on the same straight line with the centers of the small finger clamping assembly 42 and the large finger clamping assembly 43. The UUV is prevented from being difficult to fix together with the tail end limiting cylinder 51 due to the fact that the UUV is grabbed by the manipulator to be eccentric, and the UUV generates extra additional moment on the whole manipulator when the UUV is prevented from being eccentric, so that the safety margin of the system is reduced. Other compositions and connection relationships are the same as those of embodiment one, two, three, four, five, six or seven.
The specific implementation method nine: the present embodiment is described with reference to fig. 1 to 7, the unmanned underwater vehicle cloth retracting device of the present embodiment further includes an integrated mounting seat 86, a light-emitting source 81, a binocular camera 82, a bionic communicator 83 and a USB information transmitter 84, the diameter of the unmanned underwater vehicle is smaller than the diameter of the clamped object end stopper 5, the integrated mounting seat 86 is mounted on the lower end face of the mechanical palm 41 at the side far from the clamped object end stopper 5, the binocular camera 82 is mounted at the center of the front end face of the integrated mounting seat 86, the light-emitting source 81 and the bionic communicator 83 are respectively mounted on the outer edge of the front end face of the integrated mounting seat 86, and the USB information transmitter 84 is mounted on the integrated mounting seat 86.
So set up, luminescent light source 81 can launch the light that UUV was used for discernment, and the real-time position of oneself can be confirmed to the UUV according to the position, the angle of the light source of discernment. The binocular camera 82 is used for the robot to recognize the position of the UUV. The bionic communication machine 83 can emit sound waves, imitate the mode of information communication of animals in the nature, and transmit signals by applying the sound waves to prevent the electromagnetic wave signals from being attenuated in a large proportion in water. The USB transmitter 84 can perform fast information transmission by using USB after docking. Other compositions and connection relationships are the same as those in the first, second, third, fourth, fifth, sixth, seventh or eighth embodiment.
The detailed implementation mode is ten: the present embodiment is described with reference to fig. 1 to 7, and the deployment and retrieval apparatus for an unmanned underwater vehicle of the present embodiment further includes two correlation switches 85, the two correlation switches 85 are disposed on a side of the mechanical palm 41 away from the object-clamping end stopper 5, the two correlation switches 85 are vertically and oppositely disposed on an upper end surface of the mechanical palm 41, and a diameter of the unmanned underwater vehicle is smaller than a distance between the two correlation switches 85.
So set up, two correlation switches 85 can detect whether UUV is close to the manipulator to through the photoelectricity door position that forms between two correlation switches 85. Other compositions and connections are the same as those of the first, second, third, fourth, fifth, sixth, seventh, eighth or ninth embodiments.
Principle of operation
The working principle of the grabbing and releasing device for the unmanned underwater vehicle is described with reference to fig. 1 to 7: the grabbing and releasing device is connected with the upper-stage mechanical arm through the connecting plate, the mechanical arm rotation driving assembly drives the mechanical arm to rotate, and the UUV grabbing action is realized through the movement of the small finger side of the mechanical arm and the rotation of the tail section joint of the large finger and the small finger. When the UUV is recovered, the UUV moves above the manipulator, the head of the UUV extends into the end limiter 5 for clamping an object, the synchronous movement driving assembly 46 drives the two small finger clamping assemblies 42 and the two large finger clamping assemblies 43 to synchronously move inwards, so that the inner side end face of the small finger base section 423 of the small finger clamping assembly 42 and the inner side end face of the large finger base section 433 of the large finger clamping assembly 43 are abutted against the outer cylindrical surface of the UUV, the two small finger clamping assemblies 42 are synchronously folded under the driving of the small finger rotation driving assembly 44, the two large finger clamping assemblies 43 are synchronously folded under the driving of the large finger rotation driving assembly 45, the inner side end face of the small finger end section 424 of the small finger clamping assembly 42 and the inner side end face of the large finger end section 434 of the large finger clamping assembly 43 are abutted against the outer cylindrical surface of the UUV, and the UUV is grabbed. Otherwise, the UUV is released.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides an unmanned underwater vehicle is with snatching release which characterized in that: the manipulator comprises a manipulator rotation driving assembly, a manipulator and a clamped object tail end limiter (5), wherein the power output end of the manipulator rotation driving assembly is connected with the bottom of the manipulator, and the manipulator is driven to rotate by the manipulator rotation driving assembly; the object clamping end limiter (5) comprises an end limiting cylinder (51), a limiting cylinder cover (52) and a limiting cylinder support (53), wherein the end limiting cylinder (51) is of a cylindrical hollow structure, the end limiting cylinder (51) is horizontally arranged on one side of the manipulator along the length direction, the end limiting cylinder (51) is installed on the manipulator through the limiting cylinder support (53), the opening of the end limiting cylinder (51) faces the manipulator, and the limiting cylinder cover (52) is installed at one end, away from the manipulator, of the end limiting cylinder (51); the manipulator comprises a mechanical palm (41), a little finger rotation driving assembly (44), a big finger rotation driving assembly (45), a synchronous movement driving assembly (46), two little finger clamping assemblies (42) and two big finger clamping assemblies (43), wherein the mechanical palm (41) is of a rectangular plate-shaped structure, the mechanical palm (41) is horizontally arranged on the manipulator rotation driving assembly, the two little finger clamping assemblies (42) are arranged on one side of the upper end face of the mechanical palm (41) side by side, the bottom of each little finger clamping assembly (42) is in sliding connection with the mechanical palm (41), the two little finger clamping assemblies (42) are connected through the little finger rotation driving assembly (44), and the two little finger clamping assemblies (42) are synchronously unfolded or folded under the driving of the little finger rotation driving assembly (44); the two big-finger clamping assemblies (43) are arranged on the other side of the upper end face of the mechanical palm (41) side by side, the bottoms of the big-finger clamping assemblies (43) are in sliding connection with the mechanical palm (41), the two big-finger clamping assemblies (43) are connected through a big-finger rotating driving assembly (45), and the two big-finger clamping assemblies (43) are synchronously unfolded or folded under the driving of the big-finger rotating driving assembly (45); the two small finger clamping assemblies (42) and the two large finger clamping assemblies (43) are connected through a synchronous moving driving assembly (46), and synchronous inward or outward movement is realized under the driving of the synchronous moving driving assembly (46).
2. The grasping and releasing device for the unmanned underwater vehicle according to claim 1, characterized in that: the manipulator rotates drive assembly and includes that the manipulator rotates drive hydraulic motor and motor shell, and the motor shell is installed on the connecting plate of last one-level arm, and on the manipulator rotated drive hydraulic motor installation motor shell, the manipulator rotated the vertical setting of output shaft that drives hydraulic motor, and the manipulator rotates the output shaft that drives hydraulic motor and is connected with the manipulator.
3. The grasping and releasing device for the unmanned underwater vehicle according to claim 2, characterized in that: each little finger clamping component (42) comprises a little finger sliding rail (421), a little finger sliding block (422), a little finger base section (423), a little finger end section (424) and a little finger connecting shaft (425), the little finger sliding rail (421) is horizontally arranged on the upper end surface of the mechanical palm (41) along the width direction of the mechanical palm (41), the bottom of the little finger sliding block (422) is provided with a sliding chute in sliding fit with the little finger sliding rail (421), the little finger sliding block (422) is slidably arranged on the little finger sliding rail (421), the little finger base section (423) is obliquely arranged above the little finger sliding block (422) along the vertical direction, the bottom of the little finger base section (423) is connected with the little finger sliding block (422), the upper part of the little finger base section (423) is provided with two little finger connecting lug plates, the little finger connecting lug plate is provided with a shaft hole matched with the little finger (425), and the bottom of the little finger end section (424) is fixedly connected with the little finger connecting shaft (425), two ends of the little finger connecting shaft (425) are rotatably arranged in the shaft holes of the two little finger connecting lug plates.
4. The grasping and releasing device for the unmanned underwater vehicle according to claim 3, characterized in that: each big finger clamping assembly (43) comprises a big finger sliding rail (431), a big finger sliding block (432), a big finger base section (433), a big finger end section (434) and a big finger connecting shaft (435), wherein the big finger sliding rail (431) is horizontally arranged on the upper end surface of a mechanical palm (41) along the width direction of the mechanical palm (41), a sliding groove in sliding fit with the big finger sliding rail (431) is arranged at the bottom of the big finger sliding block (432), the big finger sliding block (432) is slidably arranged on the big finger sliding rail (431), the big finger base section (433) is obliquely arranged above the big finger sliding block (432) along the vertical direction, the bottom of the big finger base section (433) is connected with the big finger sliding block (432), two big finger connecting lug plates are arranged at the upper part of the big finger base section (433), shaft holes matched with the big finger (435) are arranged on the big finger connecting lug plates, and the bottom of the big finger end section (434) is fixedly connected with the big finger connecting shaft (435), two ends of the big finger connecting shaft (435) are rotatably arranged in the shaft holes of the two big finger connecting lug plates.
5. The grabbing and releasing device for the unmanned underwater vehicle as claimed in claim 4, wherein: the little finger rotation driving component (44) comprises a little finger rotation driving hydraulic cylinder (441), a little finger rotation connecting plate (442), a little finger rotation connecting bolt (443) and a little finger rotation connecting rod (444), the little finger rotation driving hydraulic cylinder (441) is obliquely arranged at the side part of the little finger clamping component (42) along the vertical direction, the bottom of the cylinder body of the little finger rotation driving hydraulic cylinder (441) is connected with a mechanical palm (41), the side part of the piston rod of the little finger rotation driving hydraulic cylinder (441) and the side part of the lower end of the little finger rotation connecting plate (442) are respectively provided with a pin hole matched with the little finger rotation connecting bolt (443), the lower end of the little finger rotation connecting plate (442) is rotatably connected with the piston rod of the little finger rotation driving hydraulic cylinder (441) through the little finger rotation connecting bolt (443), the side part of the upper end of the little finger rotation connecting plate (442) is provided with a shaft hole matched with the little finger connecting shaft (425), the upper end of the little finger rotating connecting plate (442) is fixedly connected with a little finger connecting shaft (425), the little finger rotating connecting rod (444) is horizontally arranged between the two little finger clamping components (42), and two ends of the little finger rotating connecting rod (444) are respectively and fixedly connected with the little finger connecting shafts (425) of the two little finger clamping components (42).
6. The grasping and releasing device for the unmanned underwater vehicle according to claim 5, wherein: the big finger rotation driving assembly (45) comprises a big finger rotation driving hydraulic cylinder (451), a big finger rotation connecting plate (452), a big finger rotation connecting bolt (453) and a big finger rotation connecting rod (454), the big finger rotation driving hydraulic cylinder (451) is obliquely arranged at the side part of the big finger clamping assembly (43) along the vertical direction, the bottom of the big finger rotation driving hydraulic cylinder (451) is connected with a mechanical palm (41), the side part of a piston rod of the big finger rotation driving hydraulic cylinder (451) and the side part of the lower end of the big finger rotation connecting plate (452) are respectively provided with a pin hole matched with the big finger rotation connecting bolt (453), the lower end of the big finger rotation connecting plate (452) is rotatably connected with the piston rod of the big finger rotation driving hydraulic cylinder (451) through the big finger rotation connecting bolt (453), the side part of the upper end of the big finger rotation connecting plate (452) is provided with a shaft hole matched with the big finger connecting shaft (435), the upper end of the big finger rotating connecting plate (452) is fixedly connected with a big finger connecting shaft (435), a big finger rotating connecting rod (454) is horizontally arranged between the two big finger clamping components (43), and two ends of the big finger rotating connecting rod (454) are respectively and fixedly connected with the big finger connecting shafts (435) of the two big finger clamping components (43).
7. The grasping and releasing device for the unmanned underwater vehicle according to claim 6, wherein: the synchronous movement driving assembly (46) comprises a little finger movement driving hydraulic cylinder (461), a little finger movement connecting rod (462) and two movement chain transmission mechanisms (463), the little finger movement connecting rod (462) is horizontally arranged between the two little finger clamping assemblies (42) along the length direction of the mechanical palm (41), two ends of the little finger movement connecting rod (462) are respectively connected with the inner side end surfaces of the little finger sliding blocks (422) of the two little finger clamping assemblies (42), the little finger movement driving hydraulic cylinder (461) is horizontally arranged between the two big finger clamping assemblies (43) along the width direction of the mechanical palm (41), the piston rod of the little finger movement driving hydraulic cylinder (461) points to the little finger movement connecting rod (462), the piston rod of the little finger movement driving hydraulic cylinder (461) is connected with the middle part of the little finger movement connecting rod (462), one movement chain transmission mechanism (463) is arranged between the little finger clamping assembly (42) and the adjacent big finger clamping assembly (43), the two movable chain transmission mechanisms (463) are respectively arranged on the upper end surface of the mechanical palm (41) side by side along the width direction of the mechanical palm (41), the movable chain transmission mechanisms (463) are respectively connected with the little finger sliding block (422) and the big finger sliding block (432), and the little finger sliding block (422) and the big finger sliding block (432) synchronously move inwards or outwards under the driving of the movable chain transmission mechanisms (463).
8. The grasping and releasing device for the unmanned underwater vehicle according to claim 7, wherein: each movable chain transmission mechanism (463) comprises a movable transmission chain, an upper-layer chain connecting side plate (4635), a lower-layer chain connecting side plate (4631), two chain wheels (4632), two chain wheel shafts (4633) and two chain wheel supports (4634), wherein the two chain wheel supports (4634) are respectively and oppositely arranged on two sides of the upper end face of the mechanical palm (41), the two chain wheel shafts (4633) are respectively and horizontally fixed on the upper parts of the two chain wheel supports (4634), the two chain wheels (4632) are respectively and vertically arranged on the two chain wheel shafts (4633) through two bearings, the two chain wheels (4632) are connected through the movable transmission chain, the upper-layer movable transmission chain is connected with the outer side end face of the little finger sliding block (422) through the upper-layer chain connecting side plate (4635), and the lower-layer movable transmission chain is connected with the outer side end face of the big finger sliding block (432) through the lower-layer chain connecting side plate (4631).
9. The grasping and releasing device for the unmanned underwater vehicle according to claim 8, wherein: unmanned underwater vehicle is with snatching release still includes integrated mount pad (86), luminous light source (81), binocular camera (82), bionical communication machine (83) and USB information transmission machine (84), the diameter of unmanned underwater vehicle is less than the diameter of centre gripping object end stopper (5), integrated mount pad (86) are installed and are kept away from terminal stopper (5) one side of centre gripping object mechanical palm (41) terminal surface down on, binocular camera (82) are installed and are located at integrated mount pad (86) preceding terminal surface center, luminous light source (81) and bionical communication machine (83) are installed respectively at integrated mount pad (86) preceding terminal surface outer fringe, USB information transmission machine (84) are installed on integrated mount pad (86).
10. The grasping and releasing device for the unmanned underwater vehicle according to claim 9, wherein: the grabbing and releasing device for the unmanned underwater vehicle further comprises two correlation switches (85), the two correlation switches (85) are arranged on one side, far away from the end limiter (5) for clamping the object, of the mechanical palm (41), the two correlation switches (85) are vertically and oppositely arranged on the upper end face of the mechanical palm (41), and the diameter of the unmanned underwater vehicle is smaller than the distance between the two correlation switches (85).
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| CN113879493A (en) * | 2021-11-23 | 2022-01-04 | 广东海洋大学 | Underwater vehicle salvage mechanical claw |
| CN114394215B (en) * | 2022-03-04 | 2023-03-21 | 上海交通大学 | Docking mechanism for active capture underwater vehicle and working method thereof |
| CN114802666B (en) * | 2022-06-24 | 2022-10-21 | 自然资源部第一海洋研究所 | Seabed observation station with seabed autonomous movement and ocean detection functions |
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