CN113401323A - Modular slideway clamping type recovery device for autonomously recovering underwater robot - Google Patents
Modular slideway clamping type recovery device for autonomously recovering underwater robot Download PDFInfo
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- CN113401323A CN113401323A CN202110811812.4A CN202110811812A CN113401323A CN 113401323 A CN113401323 A CN 113401323A CN 202110811812 A CN202110811812 A CN 202110811812A CN 113401323 A CN113401323 A CN 113401323A
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- sliding table
- underwater robot
- lead screw
- screw rod
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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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Abstract
The invention belongs to the field of autonomous underwater robots, in particular to a modularized slideway clamping type recovery device for autonomously recovering an underwater robot, which comprises a fixed frame, a screw rod sliding table mechanism B, a clamping mechanism and a slideway mechanism, wherein the screw rod sliding table mechanism B and the slideway mechanism are respectively arranged in the fixed frame, and the slideway mechanism is positioned below the screw rod sliding table mechanism B; the clamping mechanism can clamp the underwater robot and can move towards the inside of the fixed frame under the driving of the screw rod sliding table mechanism B; the slide way mechanism plays a supporting role and assists the clamping mechanism to move the underwater robot; the screw rod sliding table mechanism B drags the clamping mechanism, so that the underwater robot is driven to move towards the inside of the fixed frame, and the screw rod sliding table mechanism B plays a main role in traction. The invention has simple integral structure, reliable performance, convenient maintenance and strong practicability.
Description
Technical Field
The invention belongs to the field of autonomous underwater robots, and particularly relates to a modular slideway clamping type recovery device for an autonomous recovery underwater robot.
Background
In recent years, autonomous underwater robots are becoming more and more mature and have been widely used in the fields of marine scientific research, resource investigation and military. Because the autonomous underwater robot has limited energy and is restricted by the development level of the battery technology, the capability and the further popularization and application of the autonomous underwater robot are limited, and the autonomous underwater robot needs to be frequently recycled. The traditional manned recovery mode has the problems of high operation cost, large personnel risk, complex recovery procedure, low automation level, low operation efficiency and the like, and also becomes a bottleneck for preventing the autonomous underwater robot from being widely applied. Therefore, in order to further develop the performance of the underwater robot, the underwater robot recovery system is being developed to be less or no-man.
Disclosure of Invention
The invention aims to provide a modularized slideway clamping type recovery device for an autonomous recovery underwater robot, aiming at the problems of complex structure, low success rate and the like of a manned recovery mechanism of the existing autonomous underwater robot. The recovery device adopts an unmanned autonomous recovery mode, has a relatively simple structure, is safe and reliable, has high recovery success rate, and can effectively improve the operation efficiency and the success rate of the autonomous underwater robot.
The purpose of the invention is realized by the following technical scheme:
the lead screw sliding table mechanism B and the slideway mechanism are respectively arranged in the fixed frame, and the slideway mechanism is positioned below the lead screw sliding table mechanism B; the screw rod sliding table mechanism B comprises a sliding table B, a screw rod sliding table fixing plate B, a screw rod B and a motor B, the screw rod sliding table fixing plate B is installed on the fixing frame, the screw rod B is rotatably installed on the screw rod sliding table fixing plate B, any one end of the screw rod B is connected with the output end of the motor B fixed on the screw rod sliding table fixing plate B or the fixing frame, and the screw rod B is in threaded connection with the sliding table B; fixture is located between lead screw slip table mechanism B and the slide mechanism, fixture includes lead screw slip table mechanism A and holding frame, lead screw slip table mechanism A includes lead screw slip table fixed plate A, lead screw A, slip table C and slip table D, lead screw slip table fixed plate A with slip table B connects, lead screw A rotates to be installed on lead screw slip table fixed plate A, arbitrary one end with fix motor A's on the lead screw slip table fixed plate A output links to each other, threaded connection has slip table C and slip table D respectively on the lead screw A, slip table C revolves to opposite, synchronous reverse edge with slip table D's screw thread lead screw A's axial displacement, all install the holding frame that is used for the centre gripping underwater robot on slip table C and the slip table D.
Wherein: the screw B is further in threaded connection with a sliding table A, a head end limiting plate is mounted on the sliding table A, the upper end of the head end limiting plate is linked with the sliding table A, and a position switch A which can be triggered by the underwater robot when the recovery process starts is mounted at the lower end of the head end limiting plate; and a tail end limiting plate is arranged at one end, far away from the underwater robot, of the screw rod sliding table fixing plate B, and a position switch B which can be triggered when the underwater robot finishes the recovery process is installed on the tail end limiting plate.
The sliding table A is located between the sliding table B and the tail end limiting plate, and the sliding table A and the sliding table B are in the same thread turning direction and synchronously move in the same direction along the axial direction of the screw rod B.
The clamping frame is close to the one end that underwater robot got into and installs guiding mechanism, guiding mechanism includes deflector, spring and hinge, the one end of deflector is passed through the hinge and is articulated with the clamping frame deflector outside surface is equipped with the spring, the both ends of spring link to each other with the other end and the clamping frame of deflector respectively, the deflector rotates around the axle of hinge, and passes through the effect of spring resets.
The upper end of the clamping frame is linked with the sliding table C or the sliding table D, and the front side and the rear side of the lower end are provided with clamping blocks used for clamping the underwater robot.
The inner side surface of each clamping block is provided with a flexible material.
And each clamping block is provided with a position switch C which can be triggered when the underwater robot is clamped.
The slide mechanism comprises rollers, roller supporting frames and supporting frames, the supporting frames are installed on the fixed frames, one ends of the roller supporting frames are fixed on the supporting frames, and the rollers are rotatably installed at the other ends of the roller supporting frames.
The two parallel support frames are respectively fixed at the lower part in the fixed frame, a plurality of roller support frames are respectively arranged on each support frame along the length direction, and rollers are rotatably arranged on each roller support frame; the roller support frames on the two support frames are identical in number and correspond to one another one by one, and the corresponding two roller support frames are arranged in a splayed manner.
The screw rod sliding table mechanism A reciprocates along the axial direction of the screw rod B along with the sliding table B through the driving of the motor B, and the moving direction of the screw rod sliding table mechanism A is the same as the moving direction of the underwater robot entering the fixed frame.
The invention has the advantages and positive effects that:
1. the modularized slideway clamping type recovery device capable of autonomously recovering the underwater robot has a simple structure and modularized design, greatly reduces the labor intensity of operators, and improves the automation level and the recovery efficiency of the recovery process.
2. The underwater robots with different lengths can be recovered by changing the forward moving distance of the clamping mechanism in the recovery process, and the underwater robots with different diameters can be recovered by changing the clamping diameter of the clamping mechanism; meanwhile, the clamping mechanism and the slideway mechanism jointly drive the underwater robot to move towards the inside of the fixed frame, so that the underwater robot with larger weight can be recovered, and the recovery device has higher universality.
3. The invention has better safety to the underwater robot. Firstly, roller supporting frames in the slideway mechanism are arranged in a splayed shape, and when the underwater robot is positioned on the rollers, the rollers at two sides can stably support the underwater robot; secondly, fixture can play limiting displacement to underwater robot after accomplishing the centre gripping, restricts its 5 degrees of freedom, prevents that underwater robot from colliding with other parts of recovery unit.
4. The slide way mechanism has the advantages of heavy load, skid resistance, wear resistance, large driving force and stable operation, and can meet the requirement of recycling small and medium underwater robots.
5. The flexible material is adopted at the contact position of the clamping mechanism and the underwater robot, and the pressure sensor is arranged in the material, so that the damage to the surface of the shell of the underwater robot caused by overlarge pressure is avoided.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic structural view of a screw sliding table mechanism B according to the present invention;
FIG. 3 is a schematic structural view of a clamping and guiding mechanism according to the present invention;
FIG. 4 is a schematic structural view of the slide mechanism of the present invention;
wherein: 1 is fixed frame, 2 is lead screw slip table mechanism B, 3 is fixture, 4 is slide mechanism, 5 is slip table A, 6 is slip table B, 7 is lead screw slip table fixed plate B, 8 is lead screw B, 9 is position switch A, 10 is the head end limiting plate, 11 is position switch B, 12 is terminal limiting plate, 13 is motor B, 14 is lead screw slip table mechanism A, 15 is the holding frame, 16 is flexible material, 17 is the deflector, 18 is the spring, 19 is the hinge, 20 is position switch C, 21 is the gyro wheel, 22 is the gyro wheel support frame, 23 is braced frame, 24 is the switching fixed plate, 25 is lead screw slip table fixed plate A, 26 is slip table C, 27 is slip table D, 28 is the grip block.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 4, the present invention includes a fixed frame 1, a screw sliding table mechanism B2, a clamping mechanism 3, and a sliding way mechanism 4, wherein the screw sliding table mechanism B2 and the sliding way mechanism 4 are respectively installed in the fixed frame 1 through bolts and nuts, the sliding way mechanism 4 is located below the screw sliding table mechanism B2, and the clamping mechanism 3 is located between the screw sliding table mechanism B2 and the sliding way mechanism 4.
The fixed frame 1 of this embodiment is connected into the cuboid frame by many aluminium alloy through bolt, nut and corner fittings, wholly is a module, and slide mechanism 4 is located the lower part in fixed frame 1, and lead screw slip table mechanism B2 is located the upper portion in fixed frame 1.
The slide mechanism of this embodiment includes gyro wheel 21, gyro wheel support frame 22 and braced frame 23, and braced frame 23 passes through T type fix with screw on fixed frame 1, and bolted fixation is passed through on braced frame 23 to the one end of gyro wheel support frame 22, and gyro wheel 21 rotates through the pivot and installs in the other end of gyro wheel support frame 22. The support frames 23 of this embodiment are two parallel to each other, and are fixed respectively in the lower part of fixed frame 1, and a plurality of gyro wheel support frames 22 are all installed along length direction on every support frame 23, all rotate on every gyro wheel support frame 22 and install gyro wheel 21. The roller support frames 22 on the two support frames 23 are the same in number and are in one-to-one correspondence, and the two corresponding roller support frames 22 are arranged in a splayed shape.
The lead screw sliding table mechanism B2 of this embodiment includes sliding table a5, sliding table B6, lead screw sliding table fixed plate B7, lead screw B8, position switch a9, head end limiting plate 10, position switch 11, terminal limiting plate 12 and motor B13, lead screw sliding table fixed plate B7 passes through the bolt rigid coupling on fixed frame 1, lead screw B8 rotates and installs on lead screw sliding table fixed plate B7, arbitrary one end links to each other with the output of fixing motor B13 on lead screw sliding table fixed plate B7 or fixed frame 1 (motor B13 of this embodiment fixes on lead screw sliding table fixed plate 7 through the adapter fixed plate), threaded connection has sliding table a and sliding table B6 respectively on lead screw B8. The sliding tables A5 and B6 have freedom of axial reciprocating movement along the lead screw B8, namely, screw pairs are respectively formed among the sliding tables A5 and VB and the lead screw B8. A head end limiting plate 10 is arranged on the sliding table A5, the upper end of the head end limiting plate 10 is linked with the sliding table A5, a position switch A9 which can be triggered when the underwater robot starts the recovery process is arranged at the lower end of the head end limiting plate 10, and the position switch A9 controls the starting of a screw sliding table mechanism A14; one end, far away from the underwater robot, of the screw sliding table fixing plate B7 is provided with a tail end limiting plate 12, a position switch B11 triggered by the underwater robot when the recovery process is finished is installed on the tail end limiting plate 12, and the position switch B11 controls the stop of the screw sliding table mechanism B2. The sliding table A5 of the embodiment is located between the sliding table B6 and the tail end limit plate 12, and the sliding table A5 and the sliding table B6 are same in thread screwing direction and move synchronously and in the same direction along the axial direction of the lead screw B8.
Clamping mechanism 3 of this embodiment includes lead screw slip table mechanism A14, clamping frame 15, flexible material 16, guiding mechanism and position switch C, lead screw slip table mechanism A14 includes lead screw slip table fixed plate A25, lead screw A, slip table C26 and slip table D27, lead screw slip table fixed plate A25 is connected with slip table B6 through switching fixed plate 24, lead screw A rotates and installs on lead screw slip table fixed plate A25, arbitrary one end links to each other with the output of fixing the motor A on lead screw slip table fixed plate A25, threaded connection has slip table C26 and slip table D27 respectively on the lead screw A, slip table C26 is opposite with the screw of slip table D27 soon, synchronous reverse along lead screw A's axial displacement, all install the clamping frame 15 that is used for centre gripping underwater robot on slip table C26 and the slip table D27.
The two clamping frames 15 on the sliding table C26 and the sliding table D27 are located on two sides of the underwater robot, and a guide mechanism is installed at one end, close to the underwater robot, of each clamping frame 15. The guide mechanism comprises a guide plate 17, a spring 18 and a hinge 19, one end of the guide plate 17 is hinged with the clamping frame 15 through the hinge 19, the spring 18 is arranged on the outer side surface of the guide plate 17, two ends of the spring 18 are respectively connected with the other end of the guide plate 17 and the clamping frame 15, and the guide plate 17 can rotate around the shaft of the hinge 19 and reset under the action of the spring 18.
The upper end of the holding frame 15 of the embodiment is interlocked with the sliding table C26 or the sliding table D27, and the front side and the rear side of the lower end are both provided with holding blocks 28 for holding the underwater robot. The inner side surface of each clamping block 28 is provided with a flexible material 16 for protecting the underwater robot, and the flexible material 16 in the embodiment can be rubber; each clamping block 28 is provided with a position switch C20 which can be triggered when the underwater robot is clamped, the position switch C20 is arranged on the inner side of the clamping block 28 and embedded in the flexible material 16, and the position switch C20 controls the stop of the lead screw sliding table mechanism A14 and the start of the lead screw sliding table mechanism B2.
The screw rod sliding table mechanism A14 of the embodiment reciprocates along the axial direction of the screw rod B8 along with the sliding table B6 through the driving of the motor B13, and the moving direction is the same as the moving direction of the underwater robot entering the inside of the fixed frame 1.
The position switch A9, the position switch B11 and the position switch C20 of the present embodiment are respectively connected with a control system on a ship, and the motor A and the motor B13 are also respectively connected with the control system; the control system of the present embodiment is the prior art, and is not described herein again.
The working principle of the invention is as follows:
when the autonomous underwater robot needs to be autonomously recovered, the underwater robot sails to a water area where a recovery platform (such as an unmanned ship) is located through communication guide equipment; when the underwater robot reaches a designated water area, the capturing mechanism at the front end is opened, at the moment, the recovery device of the invention is started, and the slideway mechanism 4, the lead screw sliding table mechanism B2 and the clamping mechanism 3 work cooperatively.
First, the motor B13 in the screw sliding table mechanism B2 drives the screw B8 to rotate, and the sliding table a5, the sliding table B6 and the clamping mechanism 3 move together toward the rear end of the fixed frame 1. When the clamping mechanism 3 reaches the extreme edge of the tail end of the fixed frame 1, the motor B13 stops working; the underwater robot further approaches to the recovery device from the water surface, enters the interior of the clamping mechanism 3 under the guidance of the guide plate 17, contacts the head end limit plate 10, and is triggered by the position switch A9; at the moment, the screw sliding table mechanism A14 starts to move under the control of the control system, and the motor A drives the clamping frames 15 on two sides to clamp the underwater robot through the screw A, the sliding table C26 and the sliding table D27. After the underwater robot is clamped by the clamping frame 15, the position switches C20 on the clamping blocks 28 on the front side and the rear side of the clamping frame 15 are triggered, and the motor A in the screw rod sliding table mechanism A14 stops working; the control system controls a motor B13 in the lead screw sliding table mechanism B2 to start working, and the clamping mechanism 3 drives the underwater robot to move towards the inside of the fixed frame 1 on the roller 21 under the action of the lead screw sliding table mechanism B2. During the movement, the guide plate 17 rotates along the rotating shaft of the hinge 19 under the action of the hinge 19 and the fixed frame 1. When the underwater robot finishes recycling, the position switch B11 on the tail end limit plate 12 is triggered by the head end limit plate 10, the motor B13 in the screw rod sliding table mechanism B2 stops working, and the underwater robot finishes recycling.
Claims (10)
1. The utility model provides a modularization slide centre gripping formula recovery unit for independently retrieving underwater robot which characterized in that: the lead screw sliding table device comprises a fixed frame (1), a lead screw sliding table mechanism B (2), a clamping mechanism (3) and a slideway mechanism (4), wherein the lead screw sliding table mechanism B (2) and the slideway mechanism (4) are respectively arranged in the fixed frame (1), and the slideway mechanism (4) is positioned below the lead screw sliding table mechanism B (2); the screw rod sliding table mechanism B (2) comprises a sliding table B (6), a screw rod sliding table fixing plate B (7), a screw rod B (8) and a motor B (13), the screw rod sliding table fixing plate B (7) is installed on the fixed frame (1), the screw rod B (8) is rotatably installed on the screw rod sliding table fixing plate B (7), any one end of the screw rod sliding table fixing plate B (7) or the output end of the motor B (13) fixed on the fixed frame (1) is connected with the output end of the motor B (13), and the sliding table B (6) is in threaded connection with the screw rod B (8); fixture (3) are located between lead screw slip table mechanism B (2) and slide mechanism (4), fixture (3) are including lead screw slip table mechanism A (14) and holding frame (15), lead screw slip table mechanism A (14) are including lead screw slip table fixed plate A (25), lead screw A, slip table C (26) and slip table D (27), lead screw slip table fixed plate A (25) with slip table B (6) are connected, lead screw A rotates to be installed on lead screw slip table fixed plate A (25), arbitrary one end with fix motor A's on lead screw slip table fixed plate A (25) output links to each other, threaded connection has slip table C (26) and slip table D (27) on the lead screw A respectively, slip table C (26) and slip table D (27) the screw thread is revolved to opposite, synchronous reverse edge lead screw A's axial displacement, all install holding frame (15) that are used for centre gripping underwater robot on slip table C (26) and slip table D (27).
2. The modular skid-clamped recovery apparatus for autonomously recovering an underwater robot of claim 1, characterized in that: the screw B (8) is further in threaded connection with a sliding table A (5), a head end limiting plate (10) is installed on the sliding table A (5), the upper end of the head end limiting plate (10) is linked with the sliding table A (5), and a position switch A (9) which can be triggered by the underwater robot when the recovery process starts is installed at the lower end of the head end limiting plate (10); the one end that underwater robot got into is kept away from in lead screw slip table fixed plate B (7) is equipped with terminal limiting plate (12), install position switch B (11) that underwater robot can trigger when retrieving the process end on terminal limiting plate (12).
3. The modular skid-clamped recovery apparatus for autonomously recovering an underwater robot of claim 2, characterized in that: the sliding table A (5) is located between the sliding table B (6) and the tail end limiting plate (12), and the sliding table A (5) and the sliding table B (6) are same in thread turning direction, synchronous and same in thread turning direction and move along the axial direction of the lead screw B (8).
4. The modular skid-clamped recovery apparatus for autonomously recovering an underwater robot of claim 1, characterized in that: guide mechanism is installed to clamping frame (15) one end that gets into near underwater robot, guide mechanism includes deflector (17), spring (18) and hinge (19), the one end of deflector (17) is passed through hinge (19) and is articulated with clamping frame (15) deflector (17) outside surface is equipped with spring (18), the both ends of spring (18) link to each other with the other end and the clamping frame (15) of deflector (17) respectively, deflector (17) rotate around the axle of hinge (19), and pass through the effect of spring (18) resets.
5. The modular skid-clamped recovery apparatus for autonomously recovering an underwater robot of claim 1, characterized in that: the upper end of the clamping frame (15) is linked with the sliding table C (26) or the sliding table D (27), and the front side and the rear side of the lower end are provided with clamping blocks (28) used for clamping the underwater robot.
6. The modular skid-clamped recovery apparatus for autonomously recovering an underwater robot of claim 5, characterized in that: the inner side surface of each clamping block (28) is provided with a flexible material (16).
7. The modular skid-clamped recovery apparatus for autonomously recovering an underwater robot of claim 5, characterized in that: and each clamping block (28) is provided with a position switch C (20) which can be triggered when the underwater robot is clamped.
8. The modular skid-clamped recovery apparatus for autonomously recovering an underwater robot of claim 1, characterized in that: the slide mechanism comprises rollers (21), roller supporting frames (22) and supporting frames (23), the supporting frames (23) are installed on the fixed frames (1), one ends of the roller supporting frames (22) are fixed on the supporting frames (23), and the rollers (21) are rotatably installed at the other ends of the roller supporting frames (22).
9. The modular skid-clamped recovery device for autonomously recovering an underwater robot of claim 8, characterized in that: the two parallel supporting frames (23) are respectively fixed at the lower part in the fixed frame (1), a plurality of roller supporting frames (22) are respectively arranged on each supporting frame (23) along the length direction, and rollers (21) are rotatably arranged on each roller supporting frame (22); the roller supporting frames (22) on the two supporting frames (23) are same in quantity and correspond to each other one by one, and the corresponding two roller supporting frames (22) are arranged in a splayed shape.
10. The modular skid-clamped recovery apparatus for autonomously recovering an underwater robot of claim 1, characterized in that: the screw rod sliding table mechanism A (14) is driven by a motor B (13) along with the sliding table B (6) to reciprocate along the axial direction of the screw rod B (8), and the moving direction of the screw rod sliding table mechanism A is the same as the moving direction of the underwater robot entering the fixed frame (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110811812.4A CN113401323A (en) | 2021-07-19 | 2021-07-19 | Modular slideway clamping type recovery device for autonomously recovering underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110811812.4A CN113401323A (en) | 2021-07-19 | 2021-07-19 | Modular slideway clamping type recovery device for autonomously recovering underwater robot |
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| CN113401323A true CN113401323A (en) | 2021-09-17 |
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| CN202110811812.4A Pending CN113401323A (en) | 2021-07-19 | 2021-07-19 | Modular slideway clamping type recovery device for autonomously recovering underwater robot |
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| CN113277015A (en) * | 2021-04-29 | 2021-08-20 | 中国科学院沈阳自动化研究所 | Modular slide capture rod type recovery device for autonomous recovery of underwater robots |
| CN114394216A (en) * | 2022-03-02 | 2022-04-26 | 集美大学 | Unmanned underwater vehicle retracting and releasing device and recovery method |
| CN115636066A (en) * | 2022-09-19 | 2023-01-24 | 哈尔滨工程大学 | Primary and secondary type UUV carrying and laying device |
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Application publication date: 20210917 |