CN114655401A - AUV liquid filling type distribution and recovery device and method for underwater glider - Google Patents
AUV liquid filling type distribution and recovery device and method for underwater glider Download PDFInfo
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- CN114655401A CN114655401A CN202210309444.8A CN202210309444A CN114655401A CN 114655401 A CN114655401 A CN 114655401A CN 202210309444 A CN202210309444 A CN 202210309444A CN 114655401 A CN114655401 A CN 114655401A
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- 238000011084 recovery Methods 0.000 title claims abstract description 54
- 239000007788 liquid Substances 0.000 title claims abstract description 33
- 238000000034 method Methods 0.000 title claims abstract description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 91
- 238000010521 absorption reaction Methods 0.000 claims description 12
- 230000001681 protective effect Effects 0.000 claims description 12
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- 230000005611 electricity Effects 0.000 description 2
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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 discloses an AUV liquid filling type deployment and recovery device and method for an underwater glider, belonging to the field of deployment and recovery of underwater vehicles; the device comprises a shape-preserving device, a clamping device and a positioning plate, wherein the shape-preserving device is fixed on a glider body through the positioning plate, and the clamping device is used for fixing the recovered AUV; the shape-preserving device comprises a rigid outer shell, a flexible inner shell and a water absorbing and filling device, wherein the inner profile of the rigid outer shell is consistent with the half-body profile of the AUV separated by the section passing through the central shaft, and the shape-preserving device is used for positioning before releasing the AUV and preserving the shape after releasing the AUV; the edge of the flexible inner shell is hermetically connected with the edge of the rigid outer shell, the molded surface of the flexible inner shell is consistent with the other half-shaped molded surface of the AUV, and the flexible inner shell and the rigid outer shell form an AUV shape through liquid filling, so that the shape of the underwater glider is preserved; the water absorbing and filling device is used for filling water or draining water in a cavity formed by the rigid outer shell and the flexible inner shell. The tail protection device provided by the invention can effectively avoid the change of the integral hydrodynamic parameters of the glider due to the complex model structure of the AUV tail.
Description
Technical Field
The invention belongs to the field of deployment and recovery of underwater vehicles, and particularly relates to an AUV liquid filling type deployment and recovery device and method for an underwater glider.
Background
With the increasing development and utilization of ocean resources and the increasing demand for deep sea safety problems in China, unmanned long-time operation of underwater robots becomes a popular technology. The underwater glider is used as a novel underwater robot and can be widely used for continuous underwater operation for several months due to the advantages of low energy consumption, high efficiency, strong cruising ability and the like. An underwater unmanned untethered robot (AUV) is a new-generation underwater robot, has the advantages of large moving range, good maneuverability, safety, intellectualization and the like, and becomes an important tool for completing various underwater tasks. But is not suitable for long-time underwater operation due to the defects that most small and medium-sized underwater robots have low cruising ability and the like. Need regularly retrieve it to carry out operations such as energy supply, information interaction, spare part maintenance, how to retrieve the AUV this moment, how recovery unit designs for promoting recovery efficiency, the important problem of guarantee navigation safety.
In recent years, more and more wings and bodies of the gliders are fused to present a public view in order to improve the gliding efficiency and hydrodynamic performance of the underwater gliders. Unlike earlier rotary body type underwater gliders, wing-body integrated underwater gliders are mostly flatter with less/thinner interior space. CN202110260463.1 provides a wing body fuses AUV that hangs in glider under water and puts out recovery unit, and this kind of recovery mode occupies glider inner space great, and the in-process fuselage appearance and the water tightness of putting out and retrieving can change to arouse the change of glider fluid dynamic parameter, influence glider motion maneuverability.
In the prior art, an underwater glider is used for carrying a small AUV to dive, and is used as an underwater 'endurance' workstation of the AUV, but the internal space of the underwater glider is limited, and an AUV recovery device with a complex structure or larger volume cannot be installed; therefore, in order to save the internal space of the glider, realize the shape preservation of the glider body after the AUV is recovered or released and reduce the change of fluid dynamic parameters, the invention provides the shape-preserving type distribution and recovery device attached to the glider body.
Disclosure of Invention
The technical problem to be solved is as follows:
in order to avoid the defects of the prior art, the invention provides an AUV liquid filling type distribution and recovery device for an underwater glider, which is designed into a carrying mode of being externally attached to a glider body, adopts a recovery shell structure combining a rigid outer shell and a flexible inner shell, and realizes the release of the AUV and the shape-preserving function after the release by liquid filling.
The technical scheme of the invention is as follows: the utility model provides a recovery unit is put to AUV liquid filling formula for glider under water which characterized in that: the device comprises a shape-preserving device, a clamping device and a positioning plate, wherein the shape-preserving device is fixed on a glider body through the positioning plate, and the clamping device is arranged on the positioning plate and used for fixing the recovered AUV;
the shape-preserving device comprises a rigid outer shell, a flexible inner shell and a water absorbing and filling device, wherein the inner profile of the rigid outer shell is consistent with the half-body profile of the AUV separated by the section passing through the central shaft, and the shape-preserving device is used for positioning before releasing the AUV and preserving the shape after releasing the AUV; the edge of the flexible inner shell is hermetically connected with the edge of the rigid outer shell, the molded surface of the flexible inner shell is consistent with the other half-shaped molded surface of the AUV, and the flexible inner shell and the rigid outer shell form an AUV shape through liquid filling, so that the shape of the underwater glider is preserved; the water absorbing and filling device is used for filling water or draining water in a cavity formed by the rigid outer shell and the flexible inner shell.
The further technical scheme of the invention is as follows: the positioning plate is provided with a positioning hole with the shape consistent with that of the AUV, and the circumferential edge of the positioning hole is fixed outside the body of the glider; the lower edge of the rigid shell is fixed on the inner wall of the positioning hole of the positioning plate to form an integral structure, and the shell part of the rigid shell is embedded in the body of the glider; the flexible inner shell is hermetically connected with the lower edge of the rigid outer shell and the inner wall of the positioning hole, and the flexible inner shell expands after water is filled in the cavity to replace the external profile of the AUV.
The invention further adopts the technical scheme that: the locating hole front end of locating plate is fixed with semi-circular baffle, installs induction element on the semi-circular baffle, when retrieving with AUV head induction element effect down with AUV head and semi-circular baffle contact, realize the location of AUV head.
The further technical scheme of the invention is as follows: the water absorbing and filling device comprises a motor, a turbine, a right water pipe and a left water pipe, the right water pipe is hermetically connected with the connecting hole of the rigid shell, and the left water pipe extends out of the glider; the turbine is driven by the motor to rotate positively and negatively, and water is filled into and drained from a cavity formed by the rigid outer shell and the flexible inner shell through the right water pipe and the left water pipe.
The further technical scheme of the invention is as follows: the clamping device comprises a clamping ring, a fixed block, a clamping device motor and a motor protective shell, wherein the fixed block is arranged on the end face of the outer side of the fixed plate, and the clamping device motor is arranged on the fixed block through the motor protective shell;
the clamping ring is of a semicircular structure, one end of the clamping ring is connected with an output shaft of a clamping device motor, and the clamping ring is driven to rotate by the clamping device motor; the other end of the clamping ring rotates to be in contact with the fixing plate, the inner ring surface of the clamping ring compresses the outer peripheral surface of the AUV, and the AUV is fixed after being recovered.
The invention further adopts the technical scheme that: one end of the clamping ring is in internal meshing connection with an output shaft of a clamping device motor through a gear, and the other end of the clamping ring is provided with a clamping ring electromagnetic part; an electromagnetic block is arranged on the fixing plate corresponding to the clamping ring, and forms an electromagnetic buckle together with the electromagnetic part of the clamping ring, and the electromagnetic buckle is tightly attached to complete the clamping function after being electrified.
The further technical scheme of the invention is as follows: the AUV tail protection device is arranged at the rear end of the fixing plate and is opposite to the recovered AUV tail; the AUV tail protection device is of a folding structure, and when the AUV tail protection device is used, the motor drives the folding protection cover to rotate until the folding protection cover is unfolded, so that the AUV tail is covered.
The further technical scheme of the invention is as follows: the AUV tail protection device comprises a semicircular fixed block, a folding protective cover, a tail protection device motor and an electromagnetic strip; the semicircular fixed block and the tail protection device motor are fixed on the fixed plate, an output shaft of the tail protection device motor is arranged opposite to the circle center of the semicircular fixed block, and a semicircular sliding groove is formed in the outer edge of the semicircular fixed block along the circumferential direction;
the folding protective cover comprises a flexible shell, an elastic ribbed plate and a rigid ribbed plate; the flexible shell is made of foldable flexible material, one end of the flexible shell is fixed on the fixed plate, and a plurality of elastic rib plates are uniformly distributed on the shell along the unfolding direction to be used as supporting pieces; one ends of the plurality of rigid rib plates are hinged to the circle center of the semicircular fixed block, and the other ends of the plurality of rigid rib plates are respectively connected with the plurality of elastic rib plates in a one-to-one correspondence manner; the rigid rib plate connected to the elastic rib plate on the outermost side is connected with an output shaft of a motor of the tail protection device, the motor of the tail protection device drives the rigid rib plate to rotate around the center of a circle of the semicircular fixed block, and then the elastic rib plate and the flexible shell are driven to slide along the sliding groove, so that the opening and closing functions of the AUV tail protection device are completed;
the elastic rib plates on the outermost side are made of magnetic materials and form electromagnetic buckles with the electromagnetic strips fixed on the fixing plate, when the tail protection device drives the folding protection cover to unfold, the elastic rib plates on the outermost side are in contact with the electromagnetic strips on the fixing plate and tightly attached to complete the sealing function after being electrified.
An AUV distribution method of an AUV liquid filling type distribution and recovery device for an underwater glider is characterized by comprising the following specific steps:
step 1: when the glider reaches a designated position, the system receives a command and supplies power to the AUV liquid filling type distribution and recovery device through a power supply;
step 2: the clamping device and the tail protection device are respectively controlled by a motor to be in an open state;
and step 3: the water absorbing and filling device is started, and water is filled into a cavity formed by the rigid outer shell and the flexible inner shell through the external water pipe, so that the flexible inner shell is gradually expanded, and the AUV is pushed out of the glider to finish the laying;
and 4, step 4: after the AUV is released, water is continuously filled into a cavity formed by the rigid outer shell and the flexible inner shell until the flexible inner shell is completely expanded to form a molded surface consistent with the AUV, and the water absorbing and filling device is closed;
and 5: respectively closing the clamping device and the tail protection device, and completing the shape preserving function of the AUV distribution and recovery device; the shape of the whole glider is equivalent to that of the AUV before and after release, and the hydrodynamic coefficient is prevented from generating large fluctuation.
An AUV recovery method of an AUV liquid filling type deployment and recovery device for an underwater glider is characterized by comprising the following specific steps:
step 1: when the AUV reaches the vicinity of the glider, the system receives a command and supplies power to the AUV liquid filling type distribution and recovery device through a power supply;
step 2: the clamping device and the tail protection device are respectively controlled by a motor to be in an open state;
and step 3: the water absorption and filling device is started, water in a cavity formed by the rigid outer shell and the flexible inner shell is discharged through an external water pipe, the flexible inner shell gradually retracts until the rigid outer shell is retracted to be in a concave state, and the water absorption and filling device is closed;
and 4, step 4: the AUV moves to the position below the AUV liquid filling type distribution and recovery device in a self-propelled manner, under the action of an AUV head sensing element, the AUV head is in contact with a semicircular baffle on the fixing plate, and then the outer peripheral surface of the AUV head is attached to the retracted flexible inner shell;
and 5: and respectively closing the clamping device and the tail protection device, so that the AUV distribution and recovery device finishes AUV recovery.
Advantageous effects
The invention has the beneficial effects that: the invention provides a shape-preserving AUV (autonomous Underwater vehicle) distribution and recovery device suitable for carrying AUV (autonomous Underwater vehicle) in a wing body fusion type underwater glider, which adopts an AUV distribution and recovery device with an embedded structure, wherein a rigid outer shell positioned in a glider body realizes positioning after AUV recovery, a flexible inner shell positioned outside the glider body is drained through a water absorption and filling device and then retracts into the rigid outer shell, the AUV after recovery is protected, and collision of the AUV on the rigid outer shell is prevented; this structure has effectively reduced the occupation to glider inner space.
The water is filled in a cavity formed by the rigid outer shell and the flexible inner shell through a water absorption and filling device, firstly, thrust can be provided when the AUV is released, and the AUV can be pushed out of the glider body without other driving parts; when the cavity is filled with water, the outer profile of the flexible inner shell is consistent with that of the AUV, and the shape-preserving function of the underwater glider after the AUV is released is realized.
The AUV recovered by the recovery device is carried outside the glider, and the tail part of the AUV is exposed in water, so that the recovered AUV tail part is protected by adopting the folding AUV tail part protection device, and the device can be opened to release the AUV only by driving the motor during releasing.
The invention provides a carrying mode of attaching the AUV outside the airplane body, which can effectively save the internal space of the underwater glider; the shape preserving function provided by the invention can effectively avoid the integral hydrodynamic parameter mutation of the glider after the AUV is released/recovered, so that a good motion state can be kept before and after the AUV is released/recovered by the glider; the tail protection device provided by the invention can effectively avoid the change of the integral hydrodynamic parameters of the glider due to the complex model structure of the AUV tail.
Drawings
FIG. 1 is a schematic view of a wing-body integrated glider and AUV deployment and recovery device;
FIG. 2 is a schematic perspective view of the AUV deployment and recovery device;
FIG. 3 is a partial schematic view of a conformal apparatus;
FIG. 4 is a schematic partial cross-sectional view of a water absorbing and filling device;
FIG. 5 is a partial schematic view of the clamping device;
FIG. 6 is a partial schematic view of the tail protection device and the positioning plate;
FIG. 7 is a schematic view of the AUV deployment and recovery device releasing the AUV;
FIG. 8 is a schematic view of the AUV deployment and retrieval device after AUV release;
description of reference numerals: 1-wing-body integrated glider, 2-AUV distribution and recovery device, 3-AUV, 4-water absorption and filling device, 5-shape keeping device, 6-positioning plate, 7-semicircular baffle, 8-clamping device, 9-AUV tail protection device, 10-rigid outer shell, 11-flexible inner shell, 12-connecting hole, 13-water absorption and filling device motor, 14-rubber ring, 15-turbine, 16-right water pipe, 17-left water pipe, 18-clamping ring, 19-fixing block, 20-clamping device motor, 21-motor protective shell, 22-flexible outer shell, 23-elastic ribbed plate, 24-chute, 25-semicircular fixing block, 26-rigid ribbed plate, 27-tail protection device motor, 28-electromagnetic strip, 29-clamp ring electromagnet part, 30-electromagnet block, 31-power supply.
Detailed Description
The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.
Referring to fig. 1 and 2, the AUV liquid filling type deployment and recovery device for the underwater glider comprises a shape-preserving device 5, a clamping device 8 and a positioning plate 6, wherein the shape-preserving device 5 is fixed on a glider body through the positioning plate 6, and the clamping device 8 is arranged on the positioning plate 6 and used for fixing the recovered AUV;
the shape-preserving device 5 comprises a rigid outer shell 10, a flexible inner shell 11 and a water absorbing and filling device 4, wherein the inner profile of the rigid outer shell 10 is consistent with the half-body profile of the AUV separated by a section passing through a central shaft, and the shape-preserving device is used for positioning before the AUV is released and preserving the shape after the AUV is released; the edge of the flexible inner shell 11 is hermetically connected with the edge of the rigid outer shell, the profile of the flexible inner shell is consistent with the other half-shaped profile of the AUV, and the flexible inner shell and the rigid outer shell form the AUV shape through liquid filling, so that the shape of the underwater glider is maintained; the water absorbing and filling device is used for filling water or draining water in a cavity formed by the rigid outer shell and the flexible inner shell.
Example (b):
referring to fig. 1 to 7, the AUV deployment and recovery device of this embodiment is composed of a shape-preserving device 5, a positioning plate 6, a semicircular baffle 7, a clamping device 8, an AUV tail protection device 9, and a power supply 31. The positioning plate 6 is fixedly arranged on the outer fuselage of the wing-body fusion type glider 1 and is fixed by welding, and the shape of the inner shell of the positioning plate is equivalent to the shape of AUV3 to play a positioning role; the semicircular baffle 7 is fixedly arranged at the front end of the positioning plate and is connected by welding, the circular radius of the semicircular baffle is equal to the radius of the head of the AUV3, and the semicircular baffle is in inductive contact with the head of the AUV3 when the AUV is recovered, so that the positioning effect is realized; the shape-preserving device 5 is positioned in the glider 1 and is connected with the positioning plate 6 in a welding way; the clamping device 8 is positioned outside the glider 1 and is connected with the positioning plate 6 through bolts; AUV afterbody protection device 9 is located glider 1 outsidely, with locating plate 6 adopts welded connection.
The shape-preserving device 5 comprises a rigid outer shell 10, a flexible inner shell 11 and a water absorbing and filling device 4. The shape of the rigid shell 10 is consistent with that of the upper half of the body of the AUV3, the rigid shell plays a role in positioning before AUV release and a role in shape preservation after AUV release, and the rigid shell is fixedly arranged above the positioning plate 6 and positioned in the glider 1 in a welding mode; the flexible inner shell 11 is consistent with the shape of the lower half of the AUV3 and is in sealing connection with the edge section of the rigid outer shell 10, and after the AUV is released, liquid is filled in a cavity formed by the rigid outer shell 10 and the flexible inner shell 11 through the water absorption and filling device 4 to form a shape similar to the AUV3 and play a role in shape preservation.
The water absorbing and filling device 4 comprises a water absorbing and filling device motor 13, a rubber ring 14, a turbine 15, a right water pipe 16 and a left water pipe 17, wherein the right water pipe 16 is connected with the rigid shell 10 through a connecting hole 12, and the connecting hole is sealed by the rubber ring. The left water pipe 17 is connected with the outside of the glider 1, and water in the external environment of the glider is sucked/filled for saving the internal space of the glider; the water absorbing and filling device motor 13 provides driving force for the water absorbing and filling device 4, the forward and reverse rotation of the turbine 15 is realized by utilizing the forward and reverse rotation function of the motor to provide water absorbing and filling service, and the shape preserving function of the AUV releasing and recovering device is completed.
The clamping device 8 comprises a clamping ring 18, a fixed block 19, a clamping device motor 20, a motor protective shell 21, a clamping ring electromagnetic part 29 and an electromagnetic block 30. The fixed block 19 is connected with the positioning plate 6 through bolts, and the motor protective shell 21 is connected with the fixed block 19 through welding; the clamping device motor 20 is positioned in the motor protective shell 21, an output shaft of the clamping device motor is in gear engagement connection with the clamping ring 18, and the clamping ring 18 is driven to rotate through the rotation of the motor to complete the opening and closing functions of the clamping device; the clamping ring electromagnetic part 29 is positioned at the front end of the clamping ring 18, and adopts magnetic materials to form an electromagnetic buckle function together with the electromagnetic block 30, and the clamping ring electromagnetic part is tightly attached to complete the clamping function after being electrified.
The AUV tail protection device 9 comprises a flexible shell 22, an elastic rib plate 23, a sliding groove 24, a semicircular fixing block 25, a rigid rib plate 26, a tail protection device motor 27 and an electromagnetic strip 28. The flexible shell 22 is made of flexible materials, and the right-end fracture surface is fixedly connected with the positioning plate 6 in a welding mode; the elastic ribs 23 are uniformly distributed on the inner surface of the flexible shell 22 for supporting and acting. The semicircular fixed block 25 is fixedly arranged at the tail part of the positioning plate 6 in a welding mode; the sliding groove 24 is located on the surface of the front end of the circular fixing block 25, a half jin of the sliding groove is slightly smaller than a half jin of the circular fixing block 25 and is concentric with the circular fixing block, and the sliding groove and the circular fixing block play a role in positioning the AUV tail protection device 9. The rigid rib plate 26 is correspondingly connected with the elastic rib plate 23 and is supposed to adopt welding connection, and the motor 27 of the tail protection device rotates positively and negatively to drive the rigid rib plate 26 to rotate clockwise/anticlockwise around the central axis of AUV3, so as to drive the elastic rib plate 23 to slide along the sliding groove 24 to complete the opening and closing function of the tail protection device. The outermost rib plate of the elastic rib plate 23 is made of a magnetic material, and forms an electromagnetic buckle function together with the electric magnetic strip 28, and the outermost rib plate is tightly attached to the electric magnetic strip after being electrified to complete a sealing function.
The power supply 31 is arranged in the glider and supplies power for the water absorption and filling device motor 13, the clamping device motor 20, the tail protection device motor 27, the electric magnetic strip 28 and the electric magnetic block 30.
There are two modes in this embodiment: AUV deployment mode and AUV recovery mode
AUV deployment mode
Referring to fig. 1 to 8, when the glider reaches a designated position, the system receives a command, and the power supplies arc electricity to the water absorption and filling device motor 13, the clamping device motor 20 and the tail protection device motor 27; the power to the magnetic strip 28 and the electromagnetic block 30 is turned off. The clamping device motor 20 rotates reversely to drive the clamping ring 18 to rotate clockwise, and the clamping device is opened; the motor 27 of the tail protection device rotates reversely to drive the elastic rib plate 23 to slide along the sliding groove 24 anticlockwise, and the tail protection device is opened; the water absorbing and filling device motor 13 rotates to drive the turbine 15 to rotate clockwise, water is absorbed into the water absorbing and filling device 4 through the left water pipe 17 and then enters a gap between the rigid outer shell 10 and the flexible inner shell 11 through the right water pipe 16, so that the flexible inner shell 11 is gradually expanded to push the AUV3 to move out of the glider 1, and meanwhile, the AUV3 releases the glider from sailing as shown in FIG. 7.
When AUV3 is released, the gap between rigid outer shell 10 and flexible inner shell 11 is filled with water, and flexible inner shell 11 expands to a shape similar to AUV 3. The clamping device motor 20 rotates positively to drive the clamping ring 18 to rotate anticlockwise, and the clamping device is closed; the electromagnet block 30 is electrified and tightly attached to the clamping ring electromagnet part 29, so that the clamping ring 18 can not rotate any more. The motor 27 of the tail protection device rotates forward to drive the elastic rib plate 23 to slide clockwise along the sliding groove 24, and the tail protection device is closed; the electric magnetic strip 28 is electrified to be attached to the outermost rib plate of the elastic rib plate 23 to complete sealing. The AUV deployment and recovery device 2 completes the shape keeping function, and as shown in FIG. 8, the shapes of the whole glider and the AUV before and after release are equivalent to avoid large fluctuation of hydrodynamic coefficient.
AUV recovery mode
Referring to fig. 1 to 7, when AUV3 reaches the vicinity of glider 1, the system receives a command, and the power supplies arc electricity to water absorption and filling device motor 13, clamping device motor 20, and tail protection device motor 27; the power to the magnetic strip 28 and the magnetic block 30 is cut off. The clamping device motor 20 rotates reversely to drive the clamping ring 18 to rotate clockwise, and the clamping device is opened; the motor 27 of the tail protection device rotates reversely to drive the elastic rib plate 23 to slide along the sliding groove 24 anticlockwise, and the tail protection device is opened; the water absorbing and filling device motor 13 rotates reversely to drive the turbine 15 to rotate anticlockwise, water in the gap between the rigid outer shell 10 and the flexible inner shell 11 is discharged from the inside of the water absorbing and filling device 4 through the right water pipe 16, and the flexible inner shell 11 is in a concave state again.
AUV3 moves to the lower part of AUV distribution and recovery device 2 from navigation, and the front end of the head of AUV3 moves upwards after contacting with semicircular baffle 7 until the surface of AUV is attached to flexible inner shell 11. The clamping device motor 20 rotates positively to drive the clamping ring 18 to rotate anticlockwise, and the clamping device is closed; the electromagnet block 30 is electrified and tightly attached to the electromagnetic part 29 of the clamping ring to complete the clamping function. The motor 27 of the tail protection device rotates forward to drive the elastic rib plate 23 to slide clockwise along the sliding groove 24, and the tail protection device is closed; the electrical magnetic strip 28 is electrically connected to the outermost rib of the elastic ribs 23 to complete the sealing function as shown in fig. 1.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made in the above embodiments by those of ordinary skill in the art without departing from the principle and spirit of the present invention.
Claims (10)
1. The utility model provides a recovery unit is put to AUV liquid filling formula for glider under water which characterized in that: the device comprises a shape-preserving device, a clamping device and a positioning plate, wherein the shape-preserving device is fixed on a glider body through the positioning plate, and the clamping device is arranged on the positioning plate and used for fixing the recovered AUV;
the shape-preserving device comprises a rigid outer shell, a flexible inner shell and a water absorbing and filling device, wherein the inner profile of the rigid outer shell is consistent with the half-body profile of the AUV separated by the section passing through the central shaft, and the shape-preserving device is used for positioning before releasing the AUV and preserving the shape after releasing the AUV; the edge of the flexible inner shell is hermetically connected with the edge of the rigid outer shell, the molded surface of the flexible inner shell is consistent with the other half-shaped molded surface of the AUV, and the flexible inner shell and the rigid outer shell form an AUV shape through liquid filling, so that the shape of the underwater glider is preserved; the water absorbing and filling device is used for filling water or draining water in a cavity formed by the rigid outer shell and the flexible inner shell.
2. The AUV liquid-filled deployment and retrieval device for an underwater glider according to claim 1, wherein: the positioning plate is provided with a positioning hole with the shape consistent with that of the AUV, and the circumferential edge of the positioning hole is fixed outside the body of the glider; the lower edge of the rigid shell is fixed on the inner wall of the positioning hole of the positioning plate to form an integral structure, and the shell part of the rigid shell is embedded in the body of the glider; the flexible inner shell is hermetically connected with the lower edge of the rigid outer shell and the inner wall of the positioning hole, and the flexible inner shell expands after water is filled in the cavity to replace the external profile of the AUV.
3. The AUV liquid-filled deployment and retrieval device for an underwater glider according to claim 2, wherein: a semicircular baffle is fixed at the front end of a positioning hole of the positioning plate, an induction element is mounted on the semicircular baffle, and the AUV head is contacted with the semicircular baffle under the action of the AUV head induction element during recovery, so that the positioning of the AUV head is realized.
4. The AUV liquid-filled deployment and retrieval device for an underwater glider according to claim 1, wherein: the water absorbing and filling device comprises a motor, a turbine, a right water pipe and a left water pipe, the right water pipe is hermetically connected with the connecting hole of the rigid shell, and the left water pipe extends out of the glider; the turbine is driven by the motor to rotate positively and negatively, and water is filled into and drained from a cavity formed by the rigid outer shell and the flexible inner shell through the right water pipe and the left water pipe.
5. The AUV liquid-filled deployment and retrieval device for an underwater glider according to claim 1, wherein: the clamping device comprises a clamping ring, a fixed block, a clamping device motor and a motor protective shell, wherein the fixed block is arranged on the end face of the outer side of the fixed plate, and the clamping device motor is arranged on the fixed block through the motor protective shell;
the clamping ring is of a semicircular ring structure, one end of the clamping ring is connected with an output shaft of a clamping device motor, and the clamping ring is driven to rotate by the clamping device motor; the other end of the clamping ring rotates to be in contact with the fixing plate, the inner ring surface of the clamping ring compresses the outer peripheral surface of the AUV, and the AUV is fixed after being recovered.
6. The AUV liquid-filled deployment and recovery device for an underwater glider according to claim 5, wherein: one end of the clamping ring is in internal meshing connection with an output shaft of a clamping device motor through a gear, and the other end of the clamping ring is provided with a clamping ring electromagnetic part; an electromagnetic block is arranged on the fixing plate corresponding to the clamping ring, and forms an electromagnetic buckle together with the electromagnetic part of the clamping ring, and the clamping function is completed by attaching after electrification.
7. The AUV liquid-filled deployment and retrieval device for an underwater glider according to claim 1, wherein: an AUV tail protection device is arranged at the rear end of the fixing plate and is opposite to the recovered AUV tail end; the AUV tail protection device is of a folding structure, and when the AUV tail protection device is used, the motor drives the rotary folding protection cover to be unfolded so as to cover the AUV tail.
8. The AUV liquid-filled deployment and retrieval device for an underwater glider according to claim 7, wherein: the AUV tail protection device comprises a semicircular fixed block, a folding protective cover, a tail protection device motor and an electromagnetic strip; the semicircular fixed block and the tail protection device motor are fixed on the fixed plate, an output shaft of the tail protection device motor is opposite to the circle center of the semicircular fixed block, and a semicircular sliding groove is formed in the outer edge of the semicircular fixed block along the circumferential direction;
the folding protective cover comprises a flexible shell, an elastic ribbed plate and a rigid ribbed plate; the flexible shell is made of foldable flexible material, one end of the flexible shell is fixed on the fixed plate, and a plurality of elastic rib plates are uniformly distributed on the shell along the unfolding direction to be used as supporting pieces; one ends of the plurality of rigid rib plates are hinged to the circle center of the semicircular fixed block, and the other ends of the plurality of rigid rib plates are respectively connected with the plurality of elastic rib plates in a one-to-one correspondence manner; the rigid rib plate connected to the elastic rib plate on the outermost side is connected with an output shaft of a motor of the tail protection device, the motor of the tail protection device drives the rigid rib plate to rotate around the center of a circle of the semicircular fixed block, and then the elastic rib plate and the flexible shell are driven to slide along the sliding groove, so that the opening and closing functions of the AUV tail protection device are completed;
the elastic rib plates on the outermost side are made of magnetic materials and form electromagnetic buckles with the electromagnetic strips fixed on the fixing plate, when the tail protection device drives the folding protection cover to unfold, the elastic rib plates on the outermost side are in contact with the electromagnetic strips on the fixing plate, and the sealing function is completed after the folding protection cover is electrified.
9. The AUV deployment and recovery device for the underwater glider, which is filled with the AUV liquid, of claim 7 or 8, and is characterized in that the AUV deployment and recovery device comprises the following specific steps:
step 1: when the glider reaches a designated position, the system receives a command and supplies power to the AUV liquid filling type distribution and recovery device through a power supply;
step 2: the clamping device and the tail protection device are respectively controlled by a motor to be in an open state;
and step 3: the water absorbing and filling device is started, and water is filled into a cavity formed by the rigid outer shell and the flexible inner shell through the external water pipe, so that the flexible inner shell is gradually expanded, and the AUV is pushed out of the glider to finish the laying;
and 4, step 4: after the AUV is released, water is continuously filled into a cavity formed by the rigid outer shell and the flexible inner shell until the flexible inner shell is completely expanded to form a molded surface consistent with the AUV, and the water absorbing and filling device is closed;
and 5: and respectively closing the clamping device and the tail protection device, so far, the AUV distribution and recovery device completes the shape keeping function.
10. The AUV recovery method of the AUV liquid filling type deployment and recovery device for the underwater glider, which is characterized by comprising the following specific steps of:
step 1: when the AUV reaches the vicinity of the glider, the system receives a command and supplies power to the AUV liquid filling type distribution and recovery device through a power supply;
and 2, step: the clamping device and the tail protection device are respectively controlled by a motor to be in an open state;
and step 3: the water absorption and filling device is started, water in a cavity formed by the rigid outer shell and the flexible inner shell is discharged through an external water pipe, the flexible inner shell gradually retracts until the rigid outer shell is retracted to be in a concave state, and the water absorption and filling device is closed;
and 4, step 4: AUV self-navigation moves to the position below the AUV liquid filling type distribution and recovery device, and under the action of an AUV head sensing element, AUV enters the AUV liquid filling type distribution and recovery device, and the outer peripheral surface of the AUV liquid filling type distribution and recovery device is attached to the retracted flexible inner shell;
and 5: and respectively closing the clamping device and the tail protection device, so that the AUV distribution and recovery device finishes AUV recovery.
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| CN202210309444.8A CN114655401B (en) | 2022-03-27 | 2022-03-27 | AUV liquid filling type cloth recycling device and method for underwater glider |
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| CN202210309444.8A CN114655401B (en) | 2022-03-27 | 2022-03-27 | AUV liquid filling type cloth recycling device and method for underwater glider |
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| CN114655401B (en) | 2023-11-17 |
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