CN113264166B - Linkage locking mechanism for recovering and releasing AUV - Google Patents
Linkage locking mechanism for recovering and releasing AUV Download PDFInfo
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- CN113264166B CN113264166B CN202110641417.6A CN202110641417A CN113264166B CN 113264166 B CN113264166 B CN 113264166B CN 202110641417 A CN202110641417 A CN 202110641417A CN 113264166 B CN113264166 B CN 113264166B
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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
- 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
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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
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
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- Aviation & Aerospace Engineering (AREA)
- Transmission Devices (AREA)
Abstract
The invention discloses a linkage locking mechanism for recovering and releasing an AUV (autonomous underwater vehicle), which relates to the technical field of underwater operation and comprises a recovery cylinder, a locking mechanism, a transmission control mechanism and at least two pressing elements, wherein one end of the recovery cylinder is opened and used for enabling the AUV to enter the recovery cylinder, the transmission control mechanism is arranged at the other end of the recovery cylinder, the power input end of the transmission control mechanism is used for contacting the AUV, the power output end of the transmission control mechanism is used for connecting the locking mechanism and each pressing element, one locking mechanism corresponds to one pressing element, a pressing hole is formed in the side wall of the recovery cylinder, the AUV can drive the power input end to respectively displace in a first direction or a second direction, the transmission control mechanism drives the pressing elements to tightly press or separate from the AUV through the pressing holes, and drives the locking mechanism to tightly lock or release the pressing elements on the outer wall of the AUV. The linkage locking mechanism for recovering and releasing the AUV is simple in structure and can effectively lock and release the AUV.
Description
Technical Field
The invention relates to the technical field of underwater operation, in particular to a linkage locking mechanism for recovering and releasing an AUV (autonomous Underwater vehicle).
Background
At present, all countries in the world pay attention to the value of ocean resources, respective technologies related to ocean resource development and utilization are developed, and competition is very strong. Similar to the development and utilization of resources on land, a plurality of machines for detection and transportation are always needed to complete the pilot work, and in the ocean, similar machines applied to different industries are underwater vehicles. At present, since exploration work has been extended to deep sea and related technologies are more intelligent and automated, scientists are engaged in research and application of Unmanned Underwater Vehicle (UUV) technology. UUVs can be divided into cabled Underwater vehicles (ROVs) and Autonomous Underwater Vehicles (AUVs), and many different types of unmanned Underwater vehicles are currently applied to multiple working fields such as military ocean technology, ocean science and technology research, ocean bottom exploration, pipeline overhaul, ocean bottom salvage, oil field exploration and the like.
The research and application of the AUV are systematic engineering, including task planning, scheme design, model machine development, layout, recovery and the like, wherein the recovery technology is a key technology for realizing safe and continuous operation of the AUV. The AUV usually carries energy to work, and a series of operations such as energy supplement, data downloading, equipment maintenance and the like need to be completed through recovery after a task is completed. The current main recovery modes comprise surface mother ship recovery and underwater butt recovery. The underwater butt-joint recovery realizes a process similar to air/day butt-joint through the AUV and a fixed or movable recovery device, so that the AUV completes a series of actions such as return voyage, approach, butt joint, locking and the like, has the advantages of autonomy, nobody and the like, and has wide development prospect. Meanwhile, because energy supplement, information reading and maintenance guarantee are needed, and the AUV needs to be timely recovered to an underwater submarine or a surface carrier after the completion of the stage work, a series of theories and technologies such as AUV recovery and butt joint are particularly important. In view of the systematicness and complexity of the AUV recovery docking device, the present invention aims to provide a relatively easier and more efficient recovery docking method.
Disclosure of Invention
The invention aims to provide a linkage locking mechanism for recovering and releasing an AUV (autonomous Underwater vehicle) so as to solve the problems in the prior art, and the linkage locking mechanism is simple in structure and can effectively lock and release the AUV.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a linkage locking mechanism for recovering and releasing an AUV (autonomous Underwater vehicle), which comprises a recovery cylinder, a locking mechanism, a transmission control mechanism and at least two pressing elements, one end of the recovery cylinder is opened and used for enabling the AUV to enter the recovery cylinder, the transmission control mechanism is arranged at the other end of the recovery cylinder, the power input end of the transmission control mechanism is used for contacting the AUV, the power output end of the transmission control mechanism is used for connecting the locking mechanism and each pressing element, one locking mechanism corresponds to one pressing element, the side wall of the recovery cylinder is provided with a compaction hole, the AUV can drive the power input end to respectively displace in a first direction or a second direction, and the transmission control mechanism drives the pressing element to press or separate from the AUV through the pressing hole, and driving the locking mechanism to lock or release the pressing element on the outer wall of the AUV.
Preferably, still include a guide housing, the guide housing is both ends open-ended round platform, just the both ends of guide housing are big mouth end and little mouth end respectively, the internal diameter of little mouth end with the internal diameter of recovery section of thick bamboo equals, little mouth end with keep away from on the recovery section of thick bamboo one end fixed connection and the intercommunication of transmission control mechanism, big mouth end to keeping away from the direction extension of recovery section of thick bamboo.
Preferably, the compressing elements are two and all include compressing rod and at least one spacing element, the one end of compressing rod with transmission control mechanism's power take off end is connected, the other end of compressing rod extends to being close to recovery drum open-ended direction, spacing element's one end is fixed on the compressing rod, spacing element's the other end can pass the pressure hole and stretch into compress tightly the AUV in the recovery drum, locking mechanical system install on the compressing rod, just transmission control mechanism can drive compressing rod with spacing element is to being close to or keeping away from the direction removal of recovery drum center pin, and make locking mechanical system is right spacing element's position locking or unblock.
Preferably, the limiting element comprises a supporting rod and a stopper, one end of the supporting rod is fixed on the pressing rod, the other end of the supporting rod is fixedly connected with the stopper, and the stopper can penetrate through the pressing hole and is attached to the outer wall of the AUV.
Preferably, the stopper includes a rigid layer and an elastic layer, the rigid layer and the elastic layer are fixedly connected, and the strut is fixedly connected with the rigid layer, and the elastic layer is used for contacting the AUV.
Preferably, the compressing rod comprises a front section and a rear section, the locking mechanism comprises a force transmission sleeve, a self-locking nut, a self-locking screw rod, an installation barrel, at least one self-locking pin and at least one elastic element, one end of the front section is connected with the transmission control mechanism, the other end of the front section is fixedly connected with the outer wall of the force transmission sleeve, one end of the rear section is fixedly connected with the outer wall of the force transmission sleeve, the other end of the rear section extends towards the opening end close to the recovery barrel, the limiting elements are all installed on the rear section, the force transmission sleeve is sleeved on the periphery of the installation barrel, the installation barrel is coaxially sleeved on the periphery of the self-locking screw rod, one end of the installation barrel is rotatably connected with one end of the self-locking screw rod through a bearing, the periphery of the self-locking screw rod is further in threaded connection with the self-locking nut, and a poking rod is fixed on the outer wall of the self-locking nut, the side wall of the mounting barrel is provided with a long hole corresponding to the poking rod, the force transmission sleeve is provided with an extending hole corresponding to the poking rod, the poking rod sequentially extends out of the long hole and the extending hole, and can move back and forth in the elongated hole along the direction close to or far away from the axis of the recovery cylinder, and the poke rod can move in the long hole to drive the self-locking nut to move in the same direction to drive the self-locking screw rod to rotate, the outer wall of one end of the self-locking screw rod is provided with at least one self-locking pin hole, one self-locking pin hole corresponds to one self-locking pin, a plurality of mounting grooves are formed in the inner side wall of the mounting cylinder, two ends of the elastic element are respectively abutted against the inner bottom surface of the mounting groove and the outer wall of the self-locking screw rod, one end of the self-locking pin can extend into the self-locking pin hole and prevent the self-locking screw from rotating.
Preferably, one end of the recovery cylinder, which is close to the transmission control mechanism, is provided with a sliding groove, one of the compression rods corresponds to one of the sliding grooves, and the middle part of the front section can be embedded into the sliding groove and can slide in the sliding groove.
Preferably, the elastic element is a spring.
Preferably, the transmission control mechanism comprises an outer shell, an adsorption element, a first piston assembly, a second piston assembly, a rack and at least two gears, one end of the outer shell is fixed at one end of the recovery cylinder far away from the opening, the other end of the outer shell extends towards the direction far away from the recovery cylinder, an installation rod is fixed at the middle part of the outer shell, the installation rod is parallel to the central axis of the recovery cylinder, the rack is slidably installed on the installation rod, seat plates are respectively fixed at positions on the installation rod close to the two ends, the seat plates are perpendicular to the installation rod, one end of the first piston assembly is fixed on the inner wall of the outer shell far away from the recovery cylinder, the other end of the first piston assembly is fixedly connected with one end of the rack, and the other end of the rack is fixedly connected with one end of the second piston assembly, the other end of the second piston assembly is fixed with the adsorption element, the adsorption element is used for contacting the end part of the AUV and can be adsorbed on the AUV, the gears are meshed with the racks, the two gears are respectively positioned on two sides of the racks, a transmission shaft is coaxially fixed in the middle of each gear, one transmission shaft fixes the pressing element, one end of the transmission shaft is fixedly connected with the pressing element, and the other end of the transmission shaft is respectively rotatably connected with the seat plate.
Preferably, the suction element is a suction cup.
Compared with the prior art, the invention has the following technical effects:
the invention provides a linkage locking mechanism for recovering and releasing an AUV, a transmission control mechanism is arranged at the other end of a recovery cylinder, a power input end of the transmission control mechanism is used for contacting the AUV to provide a driving force through the movement of the AUV, so as to realize automatic locking, reduce the use of a driving device and simplify the whole structure, a power output end of the transmission control mechanism is used for connecting each pressing element, a locking mechanism corresponds to one pressing element, a pressing hole is arranged on the side wall of the recovery cylinder, after the AUV enters the recovery cylinder, the power input end can be driven to respectively displace in a first direction or a second direction so as to transmit force to the transmission control mechanism, and the transmission control mechanism controls the pressing elements to automatically lock the AUV when the AUV is recovered, the transmission control mechanism drives the pressing elements to penetrate through the pressing hole and press the AUV, and drives the locking mechanism to fix the pressing elements on the outer wall of the AUV, the AUV is jointly extruded by the pressing elements, so that the AUV is recovered and locked, the position of the recovered AUV is fixed, the recovery efficiency is further ensured, and when the AUV needs to be released, the pressing elements are directly driven by the AUV to reset, namely, the locking of the locking mechanism is released, so that the AUV is released.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural view of a linkage locking mechanism for recovering and releasing an AUV provided by the present invention;
FIG. 2 is a front view of the interlocking latch mechanism of FIG. 1 for retracting and releasing the AUV;
FIG. 3 is a schematic structural diagram of a recovery cylinder in the interlocking locking mechanism for recovering and releasing the AUV provided by the invention;
FIG. 4 is a schematic structural diagram of a locking mechanism of the linked locking mechanism for recovering and releasing the AUV provided by the invention;
FIG. 5 is a cross-sectional view of the locking mechanism of FIG. 4;
FIG. 6 is an angled cross-sectional view of the transmission control mechanism of the interlocking lock mechanism for retracting and releasing the AUV provided by the present invention;
FIG. 7 is a cross-sectional view of another angle of the drive control mechanism of the interlocking lock mechanism for retracting and releasing the AUV provided by the present invention;
in the figure: 100-linkage locking mechanism for recovering and releasing AUV, 1-recovery cylinder, 11-guide cover, 12-pressing hole, 13-sliding groove, 2-pressing element, 21-pressing rod, 211-front section, 212-rear section, 22-supporting rod, 23-stopper, 3-locking mechanism, 31-force-transmitting sleeve, 311-extending hole, 32-installation cylinder, 321-strip hole, 33-self-locking screw rod, 331-self-locking pin hole, 34-poking rod, 35-cylindrical roller bearing, 36-self-locking pin, 37-elastic element, 4-transmission control mechanism, 41-outer shell, 411-through hole, 42-first piston component, 43-rack, 44-second piston component, 45-adsorption element, 46-gear, 47-transmission shaft, 48-installation rod, 49 seat plate and 5-AUV.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a linkage locking mechanism for recovering and releasing an AUV (autonomous Underwater vehicle) so as to solve the technical problem that the existing linkage locking mechanism for recovering and releasing the AUV is complex in structure.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-7, the present invention provides a linkage locking mechanism 100 for recovering and releasing AUV, which comprises a recovery cylinder 1, a locking mechanism 3, a transmission control mechanism 4 and at least two pressing elements 2, wherein the AUV5 is pressed by the at least two pressing elements 2 simultaneously, so as to ensure the fixing of the position of AUV5 and realize the locking thereof, one end of the recovery cylinder 1 is opened and the AUV5 enters the recovery cylinder 1, the transmission control mechanism 4 is installed at the other end of the recovery cylinder 1, so as to control the movement of the pressing elements 2, the power input end of the transmission control mechanism 4 is used for contacting the AUV5, so as to provide driving force by the movement of the AUV5, so as to realize automatic locking, reduce the use of driving devices, simplify the overall structure, the power output end of the transmission control mechanism 4 is used for connecting the locking mechanism 3 and each pressing element 2, so as to drive the pressing elements 2 to act, so as to lock the AUV5, one locking mechanism 3 corresponds to one pressing element 2, a pressing hole 12 is arranged on the side wall of the recovery cylinder 1, so that the pressing element 2 can enter the recovery cylinder 1 and contact with an AUV5 to lock the AUV5, after AUV5 enters the recovery cylinder 1, a power input end can be driven to respectively displace in a first direction and a second direction, the first direction is the direction of AUV5 recovery, the second direction is the releasing direction of AUV5, the transmission control mechanism 4 drives the pressing element 2 to press or separate from AUV5 through the pressing hole 12, the locking mechanism 3 is driven to press the pressing element 2 on the outer wall of AUV5 to lock or release, the AUV5 is jointly pressed by a plurality of pressing elements 2 to realize the recovery and locking of AUV5, the position of AUV5 after recovery is fixed, the recovery efficiency is further ensured, when the AUV5 needs to be released, the transmission control mechanism 4 is directly driven by AUV5 to release the locking of the locking mechanism 2, namely, the locking mechanism 3 is reset, thereby effecting release of AUV 5.
Specifically, the linkage locking mechanism 100 for recovering and releasing the AUV provided by the invention further comprises a guide cover 11, the guide cover 11 is a circular table with openings at two ends, the two ends of the guide cover 11 are respectively a large opening end and a small opening end, the inner diameter of the small opening end is equal to that of the recovery cylinder 1, the small opening end is fixedly connected and communicated with one end, far away from the transmission control mechanism 4, of the recovery cylinder 1, and the large opening end extends in the direction far away from the recovery cylinder 1, so that the AUV5 is guided, the AUV5 can conveniently enter the recovery cylinder 1, preferably, the guide cover 11 adopts a double-layer structure, the outer layer is made of steel materials, the inner layer is a layer of elastic flexible plastic, and the structure of the AUV5 can be prevented from being damaged when the AUV5 is guided.
The two pressing elements 2 respectively comprise a pressing rod 21 and at least one limiting element, one end of the pressing rod 21 is connected with a power output end of the transmission control mechanism 4, the other end of the pressing rod 21 extends towards the direction close to the opening of the recovery cylinder 1, preferably, the other end of the pressing rod 21 extends to the middle part of the recovery cylinder 1, one end of the limiting element is fixed on the pressing rod 21, the other end of the limiting element can penetrate through the pressing hole 12 and extend into the recovery cylinder 1 to press and tightly press the AUV5, so that the two limiting elements can simultaneously extrude and fix the outer wall of the AUV5 to recover the AUV5, the locking mechanism 3 is installed on the pressing rod 21, the transmission control mechanism 4 can drive the pressing rod 21 and the limiting element to move towards the direction close to or far away from the central shaft of the recovery cylinder 1, and the locking mechanism 3 locks or unlocks the position of the limiting element to realize the stable fixation of the AUV5, the recovery and locking effect is improved.
The limiting element comprises a support rod 22 and a stopper 23, one end of the support rod 22 is fixed on the pressing rod 21, the other end of the support rod 22 is fixedly connected with the stopper 23, the stopper 23 is arc-shaped, the stopper 23 can penetrate through the pressing hole 12 and is attached to the outer wall of the AUV5, and therefore the position of the AUV5 is fixed by mutually pressing the outer wall of the AUV5 through the two stoppers 23.
As shown in fig. 4-5, the compressing rod 21 includes a front section 211 and a rear section 212, the front section 211 is located between the transmission control mechanism 4 and the locking mechanism 3, the rear section 212 is located on the side of the locking mechanism 3 away from the front section 211, the locking mechanism 3 includes a force transmission sleeve 31, a self-locking nut, a self-locking screw 33, a mounting cylinder 32, at least one self-locking pin 36 and at least one elastic element 37, preferably, two self-locking pins 36 and two elastic elements 37, one end of the front section 211 is connected with the transmission control mechanism 4, the other end is fixedly connected with the outer wall of the force transmission sleeve 31, one end of the rear section 212 is fixedly connected with the outer wall of the force transmission sleeve 31, the other end of the rear section 212 extends to the opening end close to the recycling cylinder 1, and limiting elements are all mounted on the rear section 212, so as to facilitate compressing the AUV5, preferably, both the front section 211 and the rear section 212 are fixedly connected with the force transmission sleeve 31 by welding, the central axis of the mounting cylinder 32 is perpendicular to the central axis of the recycling cylinder 1, the force transmission sleeve 31 is sleeved on the periphery of the installation barrel 32, one end of the installation barrel 32 is fixed on the side wall of the recovery barrel 1, the inner wall of the force transmission sleeve 31 is not contacted with the outer wall of the installation barrel 32, so that the pressing rod 21 can drive the force transmission sleeve 31 to move up and down, the installation barrel 32 is coaxially sleeved on the periphery of the self-locking screw 33, one end of the installation barrel 32 is rotatably connected with one end of the self-locking screw 33 through a cylindrical roller bearing 35, the self-locking screw 33 can be ensured to rotate along the axis of the self-locking screw 33, the periphery of the self-locking screw 33 is also in threaded connection with a self-locking nut, preferably, the self-locking screw 33 and the self-locking nut are designed as a ball screw, when the self-locking nut reciprocates, the self-locking screw 33 can be driven to rotate, a poking rod 34 is fixed on the outer wall of the self-locking nut, a long hole 321 is formed in the position, corresponding to the poking rod 34, and the length direction of the long hole 321 is consistent with the axis direction of the self-locking screw 33, an extending hole 311 is formed in the force transmission sleeve 31 corresponding to the poking rod 34, the poking rod 34 sequentially extends out of the long hole 321 and the extending hole 311 and can reciprocate in the long hole 321 in the direction close to or far away from the axis of the recovery cylinder 1, the poking rod 34 can drive the self-locking nut to move in the same direction to drive the self-locking screw 33 to rotate when moving in the long hole 321, two self-locking pin holes 331 are symmetrically formed in the outer wall of one end of the self-locking screw 33, one self-locking pin hole 331 corresponds to one self-locking pin 36, a plurality of mounting grooves are formed in the inner side wall of the mounting cylinder 32, two ends of the elastic element 37 are respectively abutted against the inner bottom surface of the mounting groove and the outer wall of the self-locking screw 33, preferably, one end of the elastic element 37 is fixed on the bottom surface of the mounting groove, the other end of the elastic element 37 is fixed with one end of the self-locking pin 36, one end of the self-locking pin 36 can extend into the self-locking pin hole 331 and prevent the self-locking screw 33 from rotating, preferably, the inner wall of the self-locking pin hole 331 is arc-shaped, so as to ensure that the self-locking pin 36 can be smoothly unlocked and slid out under the action of the steering force of the self-locking screw 33 when the AUV5 is released, the elastic element 37 is in a compressed state in an initial state, the self-locking pin 36 is not in the self-locking pin hole 331, when the transmission control mechanism 4 drives the hold-down rod 21 to move downwards, the front section 211 drives the force transmission sleeve 31 to slide downwards, the force transmission sleeve 31 drives the rear section 212 to move downwards to the stopper 23 to clamp the AUV5, the inner wall extending out of the hole 311 drives the poking rod 34 to move downwards, the self-locking nut is driven to move downwards, as the side wall of the long hole 321 limits the poking rod 34, the self-locking screw 33 rotates and rotates to the self-locking pin hole 331 to align with the self-locking pin 36, the self-locking pin 36 is pushed into the self-locking pin hole 331 under the elastic restoring force of the elastic element 37, the self-locking pin 36 is used for locking the self-locking screw 33 to prevent the rotation, and then the up-and-down movement of the self-locking nut, the force transmission sleeve 31 and the front section 211 is limited, the position fixing of the limiting element is realized, and further the locking of the AUV5 is realized, when the AUV5 needs to be released, the transmission control mechanism 4 is used for driving the front section 211 to move upwards and driving the poke rod 34 to move upwards, the self-locking screw 33 rotates in the opposite direction until the self-locking pin 36 is separated from the self-locking pin hole 331, and the rear section 212 drives the stopper 23 to be separated from the AUV5, so that the unlocking of the AUV5 is realized.
As shown in fig. 3, the recycling bin 1 has a chute 13 at its one end close to the transmission control mechanism 4, and a compressing rod 21 corresponds to one chute 13, and the middle part of the front section 211 can be embedded into the chute 13 and slide in the chute 13, so that the front section 211 is limited to prevent the left and right shaking, and the stable movement is ensured.
The elastic element 37 is a spring.
As shown in fig. 6-7, the transmission control mechanism 4 includes an outer casing 41, a suction element 45, a first piston assembly 42, a second piston assembly 44, a rack 43 and at least two gears 46, wherein one end of the outer casing 41 is fixed on one end of the recovery cylinder 1 far away from the opening, the other end of the outer casing 41 extends towards the direction far away from the recovery cylinder 1, a mounting rod 48 is fixed on the middle portion of the outer casing 41, the mounting rod 48 is parallel to the central axis of the recovery cylinder 1, the rack 43 is slidably mounted on the mounting rod 48, preferably, the rack 43 is a double-sided rack 43, two sides are respectively used for meshing with different gears 46, a seat plate 49 is respectively fixed on the mounting rod 48 near two ends, the seat plate 49 is perpendicular to the mounting rod 48, one end of the first piston assembly 42 is fixed on the inner wall of the outer casing 41 far away from the recovery cylinder 1, the other end of the first piston assembly 42 is fixedly connected with one end of the rack 43, the other end of the rack 43 is fixedly connected with one end of the second piston assembly 44, the other end of the second piston assembly 44 is fixed with the adsorption element 45, the first piston assembly 42 and the second piston assembly 44 can relieve the impact of the AUV5 on the mechanism in the recovery butt joint process and prevent damage to the AUV5, the adsorption element 45 is used for contacting the end part of the AUV5 and can be adsorbed on the AUV, so that the adsorption element 45 can adsorb the AUV5 when contacting the AUV5, so that when releasing the AUV5, the adsorption element 45 can be driven to move to control the action of the transmission control mechanism 4 and further drive the pressing rod 21 to act, the gear 46 is meshed with the rack 43, and the two gears 46 are respectively positioned at two sides of the rack 43, when the rack 43 moves, the two gears 46 can be respectively driven to rotate, a transmission shaft 47 is coaxially fixed in the middle part of each gear 46, so that the transmission shaft 47 can rotate along with the gear 46, one gear 46 corresponds to one transmission shaft 47, one transmission shaft 47 fixes one pressing element 2, one end of the transmission shaft 47 is fixedly connected with the pressing element 2, so that in the rotating process of the gear 46, the transmission shaft 47 can be driven to rotate, and further the front section 211 of the pressing rod 21 is driven to act, a through hole 411 is formed in the outer shell 41 and is used for the pressing element 2 to pass through, the other end of the transmission shaft 47 is respectively and rotatably connected with a seat plate 49, the gear 46 and the transmission shaft 47 are supported by the seat plate 49, and the stable rotation of the transmission shaft 47 is ensured, preferably, the transmission shaft 47 and the seat plate 49 are in transition fit, low-speed common lubricating oil is injected between installation gaps, the rotation flexibility of the transmission shaft 47 is ensured, when the AUV5 moves to contact with the adsorption element 45 in the recovery cylinder 1, the AUV5 continues to move, and the adsorption element 45 is extruded, and the adsorption element 45 pushes the second piston assembly 44, the rack 43 and the first piston assembly 42 to move towards the direction far away from the guide cover 11, meanwhile, the first piston assembly 42 and the second piston assembly 44 can provide buffering to prevent damage to the structure of the AUV5, in the moving process of the rack 43, the two gears 46 rotate simultaneously and drive the transmission shaft 47 to rotate, the transmission shaft 47 drives the front sections 211 of the two pressing rods 21 to move downwards, the front sections 211 drive the force transmission sleeve 31 to move downwards, and locking of the AUV5 is realized through the action of the locking mechanism 3; when AUV5 needs to be released, AUV5 moves towards the direction close to guide hood 11, and meanwhile, adsorption element 45, second piston assembly 44, rack 43 and first piston assembly 42 move towards the direction close to guide hood 11, so that two gears 46 rotate, and front section 211 is reset, unlocking AUV5 is achieved, movement of AUV5 is directly used for folding, unfolding and unlocking, and design of a large number of detection and control devices is avoided, so that the whole structure is simpler, AUV5 can be locked after being recovered, the whole stability of AUV5 after being recovered is guaranteed, and the recovery efficiency is improved.
The adsorption element 45 is a sucker, and has a simple structure and low cost.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In summary, this summary should not be construed to limit the present invention.
Claims (9)
1. A linkage locking mechanism for retrieving and releasing an AUV, characterized in that: the recycling device comprises a recycling drum, a locking mechanism, a transmission control mechanism and at least two pressing elements, wherein one end of the recycling drum is opened and is used for enabling an AUV to enter the recycling drum, the transmission control mechanism is installed at the other end of the recycling drum, the power input end of the transmission control mechanism is used for contacting the AUV, the power output end of the transmission control mechanism is used for connecting the locking mechanism and each pressing element, one locking mechanism corresponds to one pressing element, the side wall of the recycling drum is provided with a pressing hole, the AUV can drive the power input end to respectively displace in a first direction or a second direction, and the transmission control mechanism drives the pressing elements to tightly press or separate from the AUV through the pressing holes and drives the locking mechanism to lock or release the pressing elements on the outer wall of the AUV;
the transmission control mechanism comprises an outer shell, an adsorption element, a first piston assembly, a second piston assembly, a rack and at least two gears, one end of the outer shell is fixed at one end of the recovery cylinder far away from the opening, the other end of the outer shell extends towards the direction far away from the recovery cylinder, an installation rod is fixed at the middle part of the outer shell, the installation rod is parallel to the central shaft of the recovery cylinder, the rack is slidably installed on the installation rod, seat plates are respectively fixed at positions on the installation rod close to the two ends, the seat plates are perpendicular to the installation rod, one end of the first piston assembly is fixed on the inner wall of the outer shell far away from the recovery cylinder, the other end of the first piston assembly is fixedly connected with one end of the rack, the other end of the rack is fixedly connected with one end of the second piston assembly, and the other end of the second piston assembly is fixed with the adsorption element, the adsorption element is used for contacting the end part of the AUV and can be adsorbed on the AUV, the gears are meshed with the racks, the two gears are respectively positioned on two sides of the racks, a transmission shaft is coaxially fixed in the middle of each gear, one transmission shaft fixes one pressing element, one end of the transmission shaft is fixedly connected with the pressing element, and the other end of the transmission shaft is respectively rotatably connected with the seat plate.
2. The interlocking lock mechanism for recovering and releasing an AUV of claim 1, wherein: still include a guide housing, the guide housing is both ends open-ended round platform, just the both ends of guide housing are big mouth end and little mouth end respectively, the internal diameter of little mouth end with the internal diameter of recovery section of thick bamboo equals, little mouth end with keep away from on the recovery section of thick bamboo one end fixed connection and intercommunication of transmission control mechanism, big mouth end to keeping away from the direction of recovery section of thick bamboo extends.
3. The interlocking lock mechanism for recovering and releasing an AUV of claim 1, wherein: the utility model discloses a recovery drum, including the recovery drum center pin, the compressing tightly component is two, and all include compressing tightly pole and at least one spacing component, the one end of compressing tightly the pole with transmission control mechanism's power take off end connects, the other end of compressing tightly the pole is to being close to recovery drum open-ended direction extends, spacing component's one end is fixed on the compressing tightly pole, spacing component's the other end can pass the pressure hole and stretch into compress tightly AUV in the recovery drum, locking mechanical system installs on the compressing tightly pole, just transmission control mechanism can drive compressing tightly the pole with spacing component is to being close to or keeping away from the direction of recovery drum center pin removes, and makes locking mechanical system is right spacing component's position locking or unblock.
4. The gang lock mechanism for recovering and releasing an AUV of claim 3, wherein: the limiting element comprises a supporting rod and a stopper, one end of the supporting rod is fixed on the pressing rod, the other end of the supporting rod is fixedly connected with the stopper, and the stopper can penetrate through the pressing hole and is attached to the outer wall of the AUV.
5. The gang lock mechanism for recovering and releasing an AUV of claim 4, wherein: the stopper comprises a rigid layer and an elastic layer, wherein the rigid layer and the elastic layer are fixedly connected, the supporting rod is fixedly connected with the rigid layer, and the elastic layer is used for contacting the AUV.
6. The gang lock mechanism for recovering and releasing an AUV of claim 3, wherein: the compressing rod comprises a front section and a rear section, the locking mechanism comprises a force transmission sleeve, a self-locking nut, a self-locking screw rod, an installation barrel, at least one self-locking pin and at least one elastic element, one end of the front section is connected with the transmission control mechanism, the other end of the front section is fixedly connected with the outer wall of the force transmission sleeve, one end of the rear section is fixedly connected with the outer wall of the force transmission sleeve, the other end of the rear section extends to the opening end close to the recovery barrel, the limiting elements are all installed on the rear section, the force transmission sleeve is sleeved on the periphery of the installation barrel, the installation barrel is coaxially sleeved on the periphery of the self-locking screw rod, one end of the installation barrel is rotatably connected with one end of the self-locking screw rod through a bearing, the periphery of the self-locking screw rod is further in threaded connection with the self-locking nut, a poking rod is fixed on the outer wall of the self-locking nut, and a long hole is formed in the side wall of the installation barrel corresponding to the poking rod, the power transmission sleeve is provided with a pulling hole corresponding to the position of the pulling rod, the pulling rod sequentially extends out the strip hole and the pulling hole, the strip hole can be internally moved along the direction close to or far away from the axis of the recovery cylinder in a reciprocating mode, the pulling rod is arranged in the strip hole and can drive the self-locking nut to move in the same direction so as to drive the self-locking screw to rotate, at least one self-locking pin hole and one self-locking pin hole are formed in the outer wall of one end of the self-locking screw, the self-locking pin hole corresponds to one self-locking pin, a plurality of mounting grooves are formed in the inner side wall of the mounting cylinder, two ends of the elastic element respectively abut against the inner bottom surface of the mounting groove and the outer wall of the self-locking screw, and one end of the self-locking pin can extend into the self-locking pin hole and prevent the self-locking screw from rotating.
7. The gang lock mechanism for recovering and releasing an AUV of claim 6, wherein: the recycling bin is provided with a sliding groove at one end close to the transmission control mechanism, one of the compressing rods corresponds to one of the sliding grooves, and the middle part of the front section can be embedded into the sliding groove and can slide in the sliding groove.
8. The gang lock mechanism for recovering and releasing an AUV of claim 6, wherein: the elastic element is a spring.
9. The interlocking lock mechanism for recovering and releasing an AUV of claim 1, wherein: the adsorption element is a suction cup.
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| CN114152901B (en) * | 2021-11-18 | 2022-10-14 | 青岛海洋地质研究所 | Near-seabed magnetic gradient measuring device |
| CN114852294B (en) * | 2022-04-30 | 2023-11-21 | 西北工业大学 | Device for recovering and releasing AUV by linkage self-locking |
| CN114735172B (en) * | 2022-05-09 | 2023-03-14 | 中国船舶科学研究中心 | Locking and releasing mechanism for AUV underwater access butt-joint platform |
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