CN115610629A - Butt joint recovery unit based on ROV - Google Patents
Butt joint recovery unit based on ROV Download PDFInfo
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- CN115610629A CN115610629A CN202211425795.1A CN202211425795A CN115610629A CN 115610629 A CN115610629 A CN 115610629A CN 202211425795 A CN202211425795 A CN 202211425795A CN 115610629 A CN115610629 A CN 115610629A
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- buffering
- barrier net
- guide channel
- underwater robot
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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
- B63G2008/008—Docking stations for unmanned underwater vessels, or the like
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Abstract
The invention discloses a butt joint recovery device based on ROV, relating to the field of recovery of underwater robots and solving the problems that the common existing underwater robot laying recovery device is single in applicable model and can not meet the recovery of various underwater robots, and the technical scheme is characterized by comprising the following steps: a main body frame; the transverse locking device is arranged in the first guide channel and can realize the positioning and locking of various underwater robots; the buffering and decelerating device can buffer and decelerate the underwater robot entering the first guide channel; the invention provides a mechanical structure capable of realizing guiding during recovery of an underwater robot, so that the underwater robot can be matched with a first guiding channel to guide before deceleration to accurately and quickly reach the action position of a buffering and decelerating device.
Description
Technical Field
The invention relates to underwater robot recovery, in particular to a butt joint recovery device based on an ROV (remote operated vehicle).
Background
At present, the load of an underwater robot commonly used by a sea exploration mother ship comprises an autonomous underwater robot (AUV) and a wave glider, and various cross-region submersibles gradually appear. The deployment and the recovery of underwater robots such as AUV are important technologies in the field of marine equipment application, particularly the AUV with carrying and deployment functions can effectively improve the diversified operation capacity and the operation concealment of an operation mother ship. At present, the method is applied to AUV underwater recovery modes, and mainly comprises cage type butt joint, rope biting type butt joint, fork column type butt joint and the like; the wave glider is mainly recovered by manpower.
When the existing underwater robot deployment and recovery device recovers an underwater robot, the underwater robot is generally controlled to decelerate through manual remote control so as to achieve alignment before recovery, but the deceleration method of the manual remote control method needs abundant remote control experience of an operator, and the manual remote control deceleration method is too dependent on manual work, so that the recovery efficiency of the underwater robot cannot be effectively guaranteed, and therefore, a scheme for realizing deceleration when the underwater robot recovers through a mechanical structure is lacked.
Disclosure of Invention
The invention aims to provide a butt joint recovery device based on an ROV (remote operated vehicle), and provides a mechanical structure capable of realizing speed reduction, buffering and locking during recovery of various types of underwater robots, so that the underwater robots can be matched with a first guide channel to guide before speed reduction to accurately and quickly reach the action positions of a buffering and speed reducing device.
The technical purpose of the invention is realized by the following technical scheme:
an ROV-based docking recovery device comprising:
a main body frame having a first guide passage into which the underwater robot can enter;
the transverse locking device is arranged in the first guide channel and can clamp and fix the underwater robot;
the buffering and decelerating device is arranged at the tail end of the first guide channel and can buffer and decelerate the underwater robot entering the first guide channel;
after the buffering and decelerating device buffers and decelerates the underwater robot, the transverse locking device enables the underwater robot to be fixed in the first guide channel.
Therefore, the scheme provides a mechanical structure capable of realizing speed reduction, buffering and locking during recycling of various underwater robots, the first guide channel can provide a direction guide effect for the underwater robots, the underwater robots can be matched with the first guide channel to guide before speed reduction by using the combination of the buffering speed reduction device and the first guide channel so as to accurately and quickly reach the action position of the buffering speed reduction device, and finally the underwater robots are clamped and fixed in the first guide channel through the transverse locking device; therefore, the scheme can greatly reduce the requirements of the underwater docking recovery device on the operation performance of the underwater robot, and can realize few-person operation or completely unmanned recovery locking operation.
In some embodiments, the buffer deceleration device comprises:
the buffering and decelerating cage body is provided with a second guide channel;
the head end of the second guide channel is communicated with the first guide channel, and the tail end of the second guide channel is provided with a buffering and blocking net;
the underwater robot enters the second guide channel from the first guide channel and can abut against the buffering barrier net.
Therefore, the scheme provides a specific structure of the buffering speed reducing device; according to the scheme, the buffering and speed reducing effects on the underwater robot are achieved through the elastic structure of the buffering and blocking net, the impact force generated when the underwater robot is in contact with the buffering and speed reducing device can be effectively reduced, and the mesh structure of the buffering and blocking net can enable the water body driven by the underwater robot to smoothly flow through the buffering and speed reducing device so as to solve the problem that the water flow of the underwater robot before speed reduction can affect the recovery process.
In some embodiments, the bumper net is adjustably locked to the second guide channel.
Therefore, the position of the buffering and blocking net on the second guide channel can be adjusted according to the specific size, the structure type and the like of the underwater robot, for example, when the length size of the underwater robot is large, the buffering and blocking net needs to be locked at the tail end position of the second guide channel. The buffering arresting net of this scheme adopts adjustable locking mode moreover, and it can the adaptation underwater robot of different grade type.
In some embodiments, the buffering and decelerating cage body is arranged on the first guide channel in a foldable manner.
From this, the buffering speed reduction cage body can fold when unoperated state to reduce the required space that occupies of buffering decelerator, with reduce the storage area, and then realize the miniaturization of this scheme.
In some embodiments, the buffering and decelerating cage comprises:
a top barrier net frame rotatably provided at an upper portion of the main body frame;
a bottom barrier net frame rotatably provided at a lower portion of the main body frame
The number of the lateral barrier net frames is two, and two sides of the lateral barrier net frames are respectively clamped on the top barrier net frame and the bottom barrier net frame;
the two sides of the buffer arresting net are respectively locked on the two lateral arresting net frames in an adjustable mode, and the buffer arresting net can be abutted by the underwater robot to buffer and decelerate;
the top barrier net frame, the bottom barrier net frame and the two lateral barrier net frames form the second guide channel.
Therefore, the scheme provides a specific structure of the buffering and decelerating cage body, and on the basis that a main body frame is respectively in rotating connection with a top blocking net frame and a bottom blocking net frame, the main body frame is finally combined to form the buffering and decelerating cage body by utilizing the clamping connection of a lateral blocking net frame and the top blocking net frame and the bottom blocking net frame; the two lateral blocking net frames are firstly separated from the top blocking net frame and the bottom blocking net frame in a clamping mode before folding, then the two lateral blocking net frames are stored at the bottom of the main body frame, and the top blocking net frame and the bottom blocking net frame are naturally turned downwards under the action of gravity at the moment, so that the buffering and speed-reducing cage body is folded.
In some embodiments of the present invention, the first and second electrodes are,
the buffering barrier net is connected in the second guide channel in a sliding manner;
first retaining member is worn to be equipped with by the detachable formula of top arresting net frame, the second retaining member is worn to be equipped with by the detachable formula of the bottom of side direction arresting net frame, first retaining member the second retaining member can block the buffering arresting net is toward keeping away from first direction passageway's direction slides.
From this, this scheme provides the buffering and hinders the detailed implementation mode that the net realized adjustable structure on second direction passageway, when underwater robot promotes the buffering and hinders the net and slide to the butt when first retaining member, second retaining member, the buffering hinders that the net can't continue to slide, and then realizes the buffering and the speed reduction to underwater robot.
In some specific embodiments, two sides of the top barrier net frame are provided with first sliding channels, and the top side wall of the buffer barrier net is provided with first sliding parts which are slidably connected in the first sliding channels;
the lateral barrier net frame is provided with a second sliding channel, the side wall of the bottom of the buffer barrier net is provided with a second sliding part, and the second sliding part is connected in the second sliding channel in a sliding manner;
the first locking piece is inserted at the joint of the top barrier net frame and the lateral barrier net frame, and the second locking piece is inserted on the lateral barrier net frame.
In some specific embodiments, the first sliding channel is provided with a plurality of first pin openings which are uniformly distributed along the axial direction of the first sliding channel; the first locking piece is inserted into the first bolt hole;
a plurality of second bolt openings which are uniformly distributed along the axial direction of the second sliding channel are formed in the second sliding channel; the second locking piece is inserted into the second bolt hole.
Because the first retaining member of this scheme is located the top of second direction passageway, and the second retaining member is located the bottom of second direction passageway, this scheme can adapt to the front end and be the underwater robot of irregular shape from this, makes the impact force when underwater robot and buffering arresting net contact disperse from buffering arresting net more fast.
In some embodiments, the lateral locking device comprises:
a first linear driving device provided to the main body frame;
the bearing rod is arranged at the movable end of the first linear driving device;
the clamping rod is rotatably arranged on the bearing rod at one end;
the second linear driving device is arranged on the bearing rod;
an abutting portion provided on a movable end of the second linear drive device;
and one end of the connecting rod is rotatably connected to the middle part of the clamping rod, and the other end of the connecting rod is rotatably connected to the abutting part.
From this, this scheme provides a horizontal locking means's concrete structure, through the rectilinear movement of both movable ends of first linear drive device and second linear drive device to can realize the clamping action to underwater robot.
In some embodiments, the number of the clamping rods is two and the clamping rods are respectively arranged at two ends of the bearing rod; and the movable end of the second linear driving device drives the abutting part to move so as to enable the two clamping rods to be close to or far away from each other.
In conclusion, the invention provides a mechanical structure capable of realizing deceleration buffering and locking when various underwater robots are recovered, so that the underwater robots can be matched with the first guide channel to guide before deceleration to accurately and quickly reach the action positions of the buffering and decelerating devices.
Drawings
FIG. 1 is a schematic structural view of the buffering and decelerating cage of the present invention after being installed;
FIG. 2 is an enlarged view at A in FIG. 1;
FIG. 3 is an enlarged view at B in FIG. 1;
FIG. 4 is an enlarged view at C of FIG. 1;
FIG. 5 is an enlarged view at D of FIG. 1;
FIG. 6 is a schematic structural diagram of another perspective of the buffering and decelerating cage of the present invention after being installed;
FIG. 7 is an enlarged view at E in FIG. 6;
FIG. 8 is a schematic view of the structure of the lateral locking device of the present invention;
FIG. 9 is a schematic view of the present invention in connection with an underwater robot;
FIG. 10 is an enlarged view at H in FIG. 9;
FIG. 11 is a schematic illustration of the present invention in connection with a cross-domain vehicle;
FIG. 12 is a schematic view of the connection of the present invention to a wave glider.
Reference numerals: 1. a main body frame; 10. a first guide channel;
2. a lateral locking device; 21. a first linear driving device; 22. a second linear drive; 23. a bearing rod; 24. a clamping rod; 25. an abutting portion; 26. a connecting rod;
3. a buffer deceleration device; 30. a buffering and decelerating cage body;
30a, a top barrier net frame; 30a1, a first groove; 30a2, a first locking member; 30a3, a first sliding channel; 30a4, a first bolt port;
30b, a bottom barrier net frame; 30b1, a second groove;
30c, a lateral barrier net frame; 30c1, a first protrusion; 30c2, a second locking member; 30c3, a second sliding channel; 30c4, a second bolt port;
31. a second guide channel; 31a, a buffer barrier net; 31a1, a first sliding portion; 31a2, a second sliding part; 4. a guide member; 41. a guide plate; 5. a lifting device; 6. an underwater robot.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
Example (b):
an ROV-based docking recovery device, as shown in fig. 1 to 12, comprising: the main body frame 1, the transverse locking device 2, the buffering and decelerating device 3 and the guide component 4 are as follows:
the main body frame 1 has a first guide passage 10 into which the underwater robot 6 can enter; the main body frame 1 is the overall frame part of the multifunctional submersible recovery device, the basic structure of the main body frame 1 is formed by welding a plurality of sectional materials, the top of the main body frame 1 is provided with a buoyancy material capable of providing buoyancy in water, and the main body frame 1 adopts a propeller as a power source for advancing;
preferably, a bracket for holding the underwater robot 6 is installed at the middle part of the main body frame 1, and a lifting device 5 is provided at the bottom of the bracket to realize the lifting of the underwater robot 6 in the first guide passage 10.
A buffering deceleration device 3 provided at the tail end of the first guide passage 10, and capable of buffering and decelerating the underwater robot 6 entering the first guide passage 10;
the buffering deceleration device 3 includes: the buffering and decelerating cage 30 is specifically as follows:
the buffering and decelerating cage body 30 is provided with a second guide channel 31, the head end of the second guide channel 31 is communicated with the first guide channel 10, and the tail end of the second guide channel 31 is provided with a buffering and blocking net 31a;
the underwater robot 6 enters the second guide passage 31 from the first guide passage 10 and can abut on the bumper check net 31 a.
Therefore, the scheme provides a specific structure of the buffering speed reducing device 3; according to the scheme, the buffering and speed reducing effects on the underwater robot 6 are achieved through the elastic structure of the buffering and blocking net 31a, the impact force generated when the underwater robot 6 is in contact with the buffering and speed reducing device 3 can be effectively reduced, and the mesh structure of the buffering and blocking net 31a enables a water body driven by the underwater robot 6 to smoothly flow through the buffering and speed reducing device 3, so that the problem that the water flow of the underwater robot 6 before speed reduction can affect the recovery process is solved.
Specifically, the buffering barrier net 31a is adjustably locked to the second guide passage 31.
Thus, the present solution allows for adjustment of the position of the bumper barrier net 31a on the second guide channel 31 depending on the specific size, type of construction, etc. of the underwater robot 6, for example, when the length of the underwater robot 6 is large, it is necessary to lock the bumper barrier net 31a in the trailing end position of the second guide channel 31. The buffering and blocking net 31a of the scheme adopts an adjustable locking mode and can be adapted to underwater robots 6 of different types.
Preferably, the buffering and decelerating cage 30 is foldable arranged on the first guiding channel 10.
From this, buffering speed reduction cage body 30 can fold when unoperated state to reduce the required space that occupies of buffering decelerator 3, with reduce the storage area, and then realize the miniaturization of this scheme.
Specifically, the buffering and decelerating cage 30 includes: top barrier net frame 30a, bottom barrier net frame 30b, lateral barrier net frame 30c, cushioning barrier net 31a, as follows:
a top barrier net frame 30a rotatably installed at an upper portion of the main body frame 1;
a bottom barrier net frame 30b rotatably installed at the lower part of the main body frame 1
Two lateral barrier net frames 30c, the two sides of which are respectively clamped on the top barrier net frame 30a and the bottom barrier net frame 30 b;
specifically, as shown in fig. 4 and 5, the bottom wall of the top barrier net frame 30a adjacent to the side barrier net frame 30c is provided with a first groove 30a1, the top side wall of the side barrier net frame 30c adjacent to the top barrier net frame 30a is provided with a first protrusion 30c1, and the first protrusion 30c1 is in concave-convex fit engagement with the first groove 30a 1. The two side walls of the bottom barrier net frame 30b close to the lateral barrier net frame 30c are respectively provided with a second groove 30b1, the side walls of the lateral barrier net frame 30c are provided with a second protrusion, and the second protrusion is clamped with the second groove 30b1 in a concave-convex matching manner.
A buffering barrier net 31a, both sides of which are respectively locked on the two lateral barrier net frames 30c in an adjustable manner, and which can be abutted by the underwater robot 6 for buffering and deceleration;
the top barrier net frame 30a, the bottom barrier net frame 30b, and the two lateral barrier net frames 30c form a second guide channel 31.
Therefore, the scheme provides a specific structure of the buffering and decelerating cage body 30, and on the basis that the main body frame 1 is respectively in rotary connection with the top arresting net frame 30a and the bottom arresting net frame 30b, the main body frame is finally combined to form the buffering and decelerating cage body 30 by utilizing the clamping connection of the lateral arresting net frame 30c and the top arresting net frame 30a and the bottom arresting net frame 30 b; before folding, the two lateral barrier net frames 30c are firstly separated from the top barrier net frame 30a and the bottom barrier net frame 30b in a clamping manner, then the two lateral barrier net frames 30c are stored at the bottom of the main body frame 1, and specifically, the two lateral barrier net frames 30c can be bound in the main body frame 1 through a binding belt and the like, at the moment, the top barrier net frame 30a and the bottom barrier net frame 30b naturally turn downwards under the action of gravity, and then the folding of the buffering and decelerating cage body 30 is realized.
The top barrier net frame 30a is detachably provided with a first locking member 30a2 in a penetrating mode, the bottom of the lateral barrier net frame 30c is detachably provided with a second locking member 30c2 in a penetrating mode, and the first locking member 30a2 and the second locking member 30c2 can block the buffer barrier net 31a from sliding in the direction far away from the first guide channel 10.
Therefore, the scheme provides a specific embodiment that the adjustable structure of the buffering and blocking net 31a is realized on the second guide channel 31, and when the underwater robot 6 pushes the buffering and blocking net 31a to slide to abut against the first locking piece 30a2 and the second locking piece 30c2, the buffering and blocking net 31a cannot continuously slide, so that the underwater robot 6 is buffered and decelerated.
As shown in fig. 2, the buffering barrier net 31a is slidably connected in the second guiding channel 31, specifically, the first sliding channel 30a3 is opened at both sides of the top barrier net frame 30a, the first sliding portion 31a1 is provided on the top side wall of the buffering barrier net 31a, and the first sliding portion 31a1 is slidably connected in the first sliding channel 30a 3; the first sliding channel 30a3 is provided with a plurality of first pin openings 30a4 uniformly distributed along the axial direction of the first sliding channel 30a3, and the first locking piece 30a2 is inserted into the first pin openings 30a4.
As shown in fig. 3, the lateral barrier net frame 30c is provided with a second sliding channel 30c3, the bottom side wall of the buffering barrier net 31a is provided with a second sliding portion 31a2, and the second sliding portion 31a2 is slidably connected in the second sliding channel 30c 3; the second sliding channel 30c3 is provided with a plurality of second pin openings 30c4 uniformly distributed along the axial direction of the second sliding channel 30c3, and the second locking member 30c2 is inserted into the second pin openings 30c4.
The first securing member 30a2 is attached to the top barrier net frame 30a at the junction with the side barrier net frame 30c and the second securing member 30c2 is attached to the side barrier net frame 30c.
Because the first locking member 30a2 of this scheme is located the top of second guide way 31, and second locking member 30c2 is located the bottom of second guide way 31, this scheme can adapt to the underwater robot 6 that the front end is irregularly shaped, makes the impact force when underwater robot 6 and buffering arresting net 31a contact disperse from buffering arresting net 31a more fast.
As shown in fig. 7 and 8, the number of the transverse locking devices 2 is four, the transverse locking devices are arranged in the first guide channel 10 in a surrounding manner, and the transverse locking devices can clamp and fix the underwater robot 6;
after the underwater robot 6 is buffered and decelerated by the buffering and decelerating device 3, the underwater robot 6 is fixed in the first guide channel 10 by the transverse locking device 2.
Specifically, the lateral locking device 2 includes: the first linear driving device 21, the receiving rod 23, the clamping rod 24, the second linear driving device 22, the abutting portion 25, and the connecting rod 26 are as follows:
the first linear driving device 21 is arranged on the main body frame 1; the bearing rod 23 is arranged at the movable end of the first linear driving device 21; one end of the clamping rod 24 is rotatably arranged on the bearing rod 23; the second linear driving device 22 is arranged on the bearing rod 23; the abutting part 25 is arranged on the movable end of the second linear driving device 22; the link 26 has one end rotatably connected to the middle portion of the clamping rod 24 and the other end rotatably connected to the abutting portion 25.
The tail end of the clamping rod 24 is designed to close a small bayonet with the same caliper shape so as to realize the locking of the small underwater robot 6;
therefore, the scheme provides a specific structure of the transverse locking device 2, and the clamping effect on the underwater robot 6 can be realized through the linear movement of the movable ends of the first linear driving device 21 and the second linear driving device 22.
The number of the clamping rods 24 is two and the clamping rods are respectively arranged at two ends of the bearing rod 23; the displacement of the movable end driving abutment 25 of the second linear drive 22 enables the two gripping shanks 24 to be moved towards and away from each other. The two clamping bars 24 can be formed with a trapezoidal opening adjacent to each other.
Preferably, the guiding member 4 is composed of a plurality of guiding plates 41 and is disposed around the opening of the first guiding passage 10, and the guiding plates 41 are driven by a power device such as an electric motor or a hydraulic motor. Wherein two guide plates 41 are rotatably disposed on the main body frame 1 and located at the left and right sides of the first guide channel 10, and wherein the two guide plates 41 are mounted on the main body frame 1 and located at the upper and lower sides of the first guide channel 10. Preferably, the plurality of guide plates 41 are connected by a flexible material, and when the guide plates 41 are opened by a power device such as an electric motor or a hydraulic motor, the flexible material is spread and connected to the space between the guide plates 41 to form a guide bell.
Installation of the buffering and decelerating cage 30
Firstly, rotating a top barrier net frame 30a to a horizontal state, then respectively clamping and installing two lateral barrier net frames 30c on two sides of the top barrier net frame 30a, and then sliding a first sliding part 31a1 of a buffering barrier net 31a into a first sliding channel 30a3 and a second sliding part 31a2 into a second sliding channel 30c3 so that the buffering barrier net 31a can be in a second guide channel 31; subsequently, the bottom barrier net frame 30b is clamped to the two lateral barrier net frames 30 c; the buffering and decelerating cage body 30 can be initially installed, the position of the buffering and arresting net 31a in the second guide channel 31 is determined according to the actual length of the underwater robot 6, and finally the first locking piece 30a2 is inserted into the top arresting net frame 30a, and the second locking piece 30c2 is inserted into the side arresting net frame 30c.
Folding and accommodating process of buffering and decelerating cage body 30
First, each guide plate 41 of the guide member 4 is closed; then, the first locking member 30a2 is removed from the top barrier net frame 30a and the second locking member 30c2 is removed from the side barrier net frame 30 c; the two lateral arresting net frames 30c are separated from the top arresting net frame 30a and the bottom arresting net frame 30b in a clamping mode, then the two lateral arresting net frames 30c are stored at the bottom of the main body frame 1, at the moment, the top arresting net frame 30a and the bottom arresting net frame 30b naturally turn downwards under the action of gravity, and then the buffering and decelerating cage body 30 is folded;
finally, the two lateral barrier net frames 30c are bound to the main body frame 1 by a binding band or the like.
Considering the different sizes of AUV and glider, most of them have independent distributing and recovering devices. When the existing underwater robot recovery device recovers an underwater robot, the caliber of the recovery device corresponds to the AUV one by one, so that the existing underwater robot recovery device cannot be expanded to other types of underwater robots, namely the existing underwater robot recovery device lacks universality. The conventional fork column type and rope-biting type recovery devices have high butt joint precision requirements, so that the recovery efficiency of the underwater robot cannot be effectively guaranteed, and a rapid and multipurpose underwater butt joint recovery scheme is lacked. Most of the existing underwater robot 6 arrangement and recovery devices are individually adapted to one underwater robot 6, so that a universal recovery device designed for various operation loads is lacked, particularly for an underwater robot 6 with a special appearance similar to underwater gliding, most of the existing underwater robots still adopt a manual method for recovery, but the manual recovery method is not convenient for the efficient recovery of the underwater robot 6; case cage formula recovery unit under water all has the direction horn mouth, and the volume is great, is unfavorable for on-board storage and use, develops miniaturized variable structure recovery unit demand under water great.
Therefore, when the underwater robot 6 is used for recovery work, a docking recovery device based on the ROV is divided into two modes according to the difference of the underwater robot 6 (i.e., AUV) of the target recovery work: AUV and cross-region submersible recovery operation mode, wave glider recovery operation mode.
First, AUV and cross-domain submersible recovery operation mode
As shown in fig. 11, before launching, the opening degree and the opening and closing process of the transverse locking device 2 can be preset according to the diameter of the recovered AUV. When the underwater robot 6 enters the first guide channel 10 and then is intercepted and stopped by the buffering and blocking net 31a, the movable end of the first linear driving device 21 of the transverse locking device 2 approaches the underwater robot 6, and meanwhile, the movable end of the second linear driving device 22 drives the two clamping rods 24 to approach each other through the abutting part 25, so that the two clamping rods 24 and the abutting part 25 can abut against the side wall of the underwater robot 6, and the underwater robot 6 is limited. The recovery process of the cross-domain submersible is the same as that of the AUV, and the difference is that the cross-domain submersible is special in appearance and small in broadside, at the moment, the abutting part 25 is in small bayonet type fit with the cross-domain submersible, and the clamping rod 24 is matched with the ship bottom of the cross-domain submersible, so that the cross-domain submersible is clamped.
Second, wave glider recovery mode
As shown in fig. 12, the wave glider is in an unpowered state after entering the recovery process, and is made to enter the first guide channel 10 through remote control operation, and after the buffering and decelerating device 3 completes the buffering and decelerating on the wave glider, the guide plate 41 of the drive guide member 4 presses the wave glider into the main body frame 1, so as to preliminarily restrain the motion space of the wave glider. The wave glider is now substantially on the mid-longitudinal plane of the first guide channel 10, and the transverse locking of the wave glider is finally accomplished by the transverse locking device 2.
Advantageous effects
This scheme provides one kind and can realize the mechanical structure who slows down and cushion when 6 retrieves of underwater robot, and this scheme can close the deflector 41 of leading part 4 when female ship is stored to folding dismantlement buffering speed reduction cage body 30, with the shared storage space of this scheme of reduction. Because the first guide channel 10 can provide a direction guide effect for the underwater robot 6, the underwater robot 6 can be guided before deceleration by matching with the first guide channel 10 by utilizing the combination of the buffering deceleration device 3 and the first guide channel 10 so as to accurately and quickly reach the action position of the buffering deceleration device 3, and finally the underwater robot 6 is clamped and fixed in the first guide channel 10 through the transverse locking device 2; therefore, the scheme can greatly reduce the requirements of the underwater receiving and recovering device on the operation performance of the underwater robot 6, and can realize less-person operation or completely unmanned recovery and locking operation.
The present embodiment is only for explaining the present invention, and it is not limited to the present invention, and those skilled in the art can make modifications of the present embodiment without inventive contribution as needed after reading the present specification, but all of them are protected by patent law within the scope of the claims of the present invention.
Claims (10)
1. A docking recovery device based on an ROV, comprising:
a main body frame having a first guide passage into which the underwater robot can enter;
the transverse locking device is arranged in the first guide channel and can clamp and fix the underwater robot;
the buffering and decelerating device is arranged at the tail end of the first guide channel and can buffer and decelerate the underwater robot entering the first guide channel;
after the buffering and decelerating device buffers and decelerates the underwater robot, the transverse locking device enables the underwater robot to be fixed in the first guide channel.
2. An ROV-based docking recovery apparatus according to claim 1 wherein the buffer deceleration apparatus comprises:
the buffering and decelerating cage body is provided with a second guide channel;
the head end of the second guide channel is communicated with the first guide channel, and the tail end of the second guide channel is provided with a buffering and blocking net;
the underwater robot enters the second guide channel from the first guide channel and can abut against the buffering barrier net.
3. An ROV-based docking recovery device according to claim 2 wherein the bumper net is adjustably locked to the second guide channel.
4. The ROV-based docking recovery device according to claim 3, wherein the buffering and decelerating cage is foldable and arranged on the first guiding channel.
5. An ROV-based docking recovery device according to claim 4 wherein the buffering deceleration cage comprises:
a top barrier net frame rotatably provided at an upper portion of the main body frame;
a bottom barrier net frame rotatably provided at a lower portion of the main body frame
The number of the lateral barrier net frames is two, and two sides of the lateral barrier net frames are respectively clamped on the top barrier net frame and the bottom barrier net frame;
the two sides of the buffer arresting net are respectively locked on the two lateral arresting net frames in an adjustable mode, and the buffer arresting net can be abutted by the underwater robot to buffer and decelerate;
the top barrier net frame, the bottom barrier net frame and the two lateral barrier net frames form the second guide channel.
6. An ROV-based docking recovery device according to claim 5,
the buffering and blocking net is connected in the second guide channel in a sliding manner;
first retaining member is worn to be equipped with by the removable formula of top arresting barrier frame, second retaining member is worn to be equipped with by the removable formula in the bottom of side direction arresting barrier frame, first retaining member the second retaining member can block the buffering arresting barrier is toward keeping away from first direction passageway's direction slides.
7. An ROV-based docking recovery device according to claim 6,
two sides of the top barrier net frame are provided with first sliding channels, the side wall of the top of the buffering barrier net is provided with a first sliding part, and the first sliding part is connected in the first sliding channels in a sliding manner;
the lateral barrier net frame is provided with a second sliding channel, the side wall of the bottom of the buffer barrier net is provided with a second sliding part, and the second sliding part is connected in the second sliding channel in a sliding manner;
the first locking piece is inserted at the joint of the top barrier net frame and the lateral barrier net frame, and the second locking piece is inserted on the lateral barrier net frame.
8. An ROV-based docking recovery device according to claim 7,
a plurality of first bolt openings are formed in the first sliding channel and are uniformly distributed along the axial direction of the first sliding channel; the first locking piece is inserted into the first bolt hole;
a plurality of second bolt openings which are uniformly distributed along the axial direction of the second sliding channel are formed in the second sliding channel; the second locking piece is inserted into the second bolt hole.
9. An ROV-based docking recovery apparatus according to claim 1 wherein the lateral locking means comprises:
a first linear driving device provided to the main body frame;
the bearing rod is arranged at the movable end of the first linear driving device;
the clamping rod is rotatably arranged on the bearing rod at one end;
the second linear driving device is arranged on the bearing rod;
an abutting portion provided on a movable end of the second linear drive device;
and one end of the connecting rod is rotatably connected to the middle part of the clamping rod, and the other end of the connecting rod is rotatably connected to the abutting part.
10. The ROV-based butt joint recycling device according to claim 9, wherein the number of the clamping rods is two and the clamping rods are respectively arranged at two ends of the carrying rod; and the movable end of the second linear driving device drives the abutting part to move so as to enable the two clamping rods to be close to or far away from each other.
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