CN116215808A

CN116215808A - Underwater receiving and releasing device and method for AUV cluster

Info

Publication number: CN116215808A
Application number: CN202310220256.2A
Authority: CN
Inventors: 李宝钢; 史先鹏; 杨磊; 邹祥依; 王向鑫
Original assignee: National Deep Sea Center
Current assignee: National Deep Sea Center
Priority date: 2023-03-09
Filing date: 2023-03-09
Publication date: 2023-06-06

Abstract

The invention belongs to the technical field of AUV control, in particular to an AUV cluster underwater retraction device and an AUV cluster underwater retraction method, aiming at the problem that the recovery position of an AUV is deviated to cause the collision of the AUV, the invention provides a scheme which comprises a supporting table, wherein two symmetrical retraction cabins are arranged below the supporting table, an installation frame is fixedly connected to the upper side of the supporting table, reverse water flow auxiliary components are arranged on the two retraction cabins, each reverse water flow auxiliary component comprises a water flow box and a miniature water pump, and grooves are formed in the retraction cabins. According to the underwater AUV cluster collecting and releasing device and method disclosed by the invention, wrapped reverse water flow can be formed outside the AUV cluster between two collecting and releasing cabins when the AUV enters the two collecting and releasing cabins, so that the stress on two sides of the AUV is uniform, the auxiliary AUV is positioned in the middle of the two collecting and releasing cabins when entering the two collecting and releasing cabins, the auxiliary positioning is facilitated, meanwhile, the water flow flowing reversely outside the AUV can play a role of decelerating the AUV, and the subsequent recovery operation of the AUV is facilitated.

Description

Underwater receiving and releasing device and method for AUV cluster

Technical Field

The invention relates to the technical field of AUV control, in particular to an AUV cluster underwater retraction device and method.

Background

The underwater robot belongs to underwater engineering equipment and is mainly divided into two main categories: one type is a cabled underwater robot called a remote-control submersible vehicle, and is called ROV for short; another type is a cableless underwater robot called autonomous underwater vehicle, AUV for short.

The autonomous underwater robot is a new generation of underwater robot, has the advantages of large moving range, good maneuverability, safety, intellectualization and the like, becomes an important tool for completing various underwater tasks, and can be used for laying pipelines, submarine investigation, data collection, drilling support, submarine construction, underwater equipment maintenance and repair and the like in the civil field; the method can be used for reconnaissance, mine laying, mine sweeping, rescue and diving, lifesaving and the like in the military field.

The AUV needs to be retracted and released after the underwater operation is completed, namely the recovery device is utilized to recover the AUV so as to facilitate energy source supplement and subsequent operation.

Disclosure of Invention

The invention discloses an AUV cluster underwater retraction device and method, and aims to solve the technical problem of AUV collision caused by deviation of the recovery position of an AUV in the background technology.

The invention provides an AUV cluster underwater retraction device which comprises a support table, wherein two symmetrical retraction cabins are arranged below the support table, a mounting frame is fixedly connected to the upper side of the support table, reverse water flow auxiliary components are arranged on the two retraction cabins respectively, each reverse water flow auxiliary component comprises a water flow box and a miniature water pump, grooves are formed in the retraction cabins, the water flow boxes are fixedly connected with the interiors of the grooves of the retraction cabins, a plurality of equidistant inclined liquid discharge ports are formed in the retraction cabins, cylindrical cavities are formed in the retraction cabins, liquid pipes are arranged in the cylindrical cavities, one ends of the liquid pipes are fixedly connected with the water flow boxes, a plurality of equidistant water discharge pipes are arranged on the liquid pipes and are respectively positioned in the liquid discharge ports, the miniature water pumps are fixedly connected with the upper sides of the support table, the output ends of the miniature water pumps are fixedly connected with water pipes, and the other ends of the water pipes are fixedly connected with the water flow boxes.

Through being provided with reverse rivers auxiliary assembly, utilize reverse rivers auxiliary assembly can get into between two receipts and receive and release the cabin at its reverse rivers of parcel to make AUV both sides atress even, be in the middle part of two receipts and release the cabin when supplementary AUV gets into two receipts and release the cabin, be convenient for assist positioning, the water stream of AUV outside reverse flow can play the effect of slowing down to the AUV simultaneously, is convenient for follow-up recovery operation to the AUV.

In a preferred scheme, two retention seats are fixedly connected to the upper sides of the two retraction cabins, oval holes are formed in the retention seats, the same sliding rod is movably connected in the oval holes in the two adjacent retention seats on the two retraction cabins, two ends of the two sliding rods are fixedly connected with the inner walls of the two sides of the supporting table respectively, and an adjusting component is arranged on the upper sides of the two retraction cabins; the adjusting component comprises an adjusting case and two adjusting seats, the adjusting case is fixedly connected with the upper side of the supporting table, the inside of the adjusting case is fixedly connected with a reversing motor, the output end of the reversing motor is connected with a short shaft through a coupling, the other end of the short shaft is fixedly connected with a main gear, the two adjusting seats are respectively fixedly connected with the upper sides of the two retractable cabins, the two adjusting seats are respectively positioned between the two retaining seats on the two retractable cabins, threaded holes are formed in the two adjusting seats, the directions of the inner wall threads of the threaded holes on the two adjusting seats are opposite, the two threaded holes are movably connected with one screw rod, the two ends of the screw rod are respectively movably connected with the inner walls of the two sides of the supporting table, and the outside of the screw rod is fixedly connected with a traction gear which is meshed with the main gear.

Through being provided with adjusting part, utilize adjusting part can adjust the interval between two receive and release cabins to satisfy the recovery of different specification AUV, improve device's application scope.

In a preferred scheme, the supporting platform is provided with a convex seat, the convex seat is positioned above the two retraction cabins, and the convex seat is provided with a buffer component; the buffer assembly comprises a buffer sliding seat and a contact block, wherein a rectangular hole is formed in the boss, the buffer sliding seat is located inside the rectangular hole, the buffer sliding seat is movably connected with the boss, a buffer spring is fixedly connected to one side, close to the regulating cabinet, of the buffer sliding seat, the other end of the buffer spring is fixedly connected with the inner wall of the rectangular hole, four rubber bumps which are symmetrical in pairs are arranged on the lower side of the contact block, a connecting seat is fixedly connected to the upper side of the contact block, the connecting seat is movably connected with the buffer sliding seat, and a hydraulic cylinder is arranged between the connecting seat and the buffer sliding seat.

Through being provided with buffer unit, utilize the rubber on the contact block to protruding touch with the AUV contact of removal to utilize buffer spring to exert reverse thrust to the AUV, impel the AUV to slow down, be convenient for follow-up recovery operation, avoid the moving speed of AUV too fast to cause follow-up screens subassembly the centre gripping excessively, thereby cause the outside of AUV impaired.

In a preferred scheme, the outer sides of the two retraction cabins are fixedly connected with an outer auxiliary cabin, the retraction cabin and the outer auxiliary cabin are provided with communicated retention grooves, and the interiors of the retention grooves are provided with clamping components; the clamping component comprises a shaft rod and a plurality of clamping blocks, wherein two ends of the shaft rod are respectively and movably connected with two side inner walls of the outer cabin, the outside of the shaft rod is fixedly connected with a shaft sleeve, round holes are formed in the clamping blocks, the clamping blocks are fixedly connected with the outside of the shaft sleeve, the clamping blocks are distributed at equal intervals, a spiral belt and a rubber clamping plate are arranged outside the clamping blocks, the spiral belt is located on the outer side of the shaft sleeve, and the shaft sleeve is semicircular in shape.

Through being provided with the screens subassembly, utilize the screens subassembly can be at the AUV in receive and release the in-process of continuously moving in the cabin, carry out the screens to it from the both sides of AUV fixedly, adopt the mode that a plurality of screens piece gradually overturns fixedly, can improve the fixed effect of AUV, this kind of mode can gradually increase the contact degree of a plurality of screens piece and AUV outside at fixed process, avoid appearing the condition of excessive centre gripping in the time of guaranteeing spacing effect.

In a preferred scheme, symmetrical cavities are formed in the two outer cabins, the symmetrical cavities are respectively positioned on the upper side and the lower side of the clamping blocks, and self-locking assemblies are arranged in the cavities; the self-locking assembly comprises a coil spring and a locking position protruding plug, the coil spring is located outside the shaft rod, one end of the coil spring is fixedly connected with the outer wall of the shaft rod, the other end of the coil spring is fixedly connected with the outer cabin, two locking grooves are formed in the shaft rod, the locking grooves are located between the coil spring and the adjacent locking position blocks, the locking position protruding plug is located on one side of the shaft rod, the locking position protruding plug is movably connected with the inner wall of a cavity of the outer cabin, the left side plate and the right side plate are respectively arranged on two sides of the locking position protruding plug, an electric telescopic rod is arranged on one side of the left side plate, the electric telescopic rod is fixedly connected with the cavity of the outer cabin, the output end of the electric telescopic rod is movably connected with the left side plate, one side of the right side plate, which is far away from the shaft rod, is fixedly connected with a reset spring, and the other end of the reset spring is fixedly connected with the inner wall of the cavity of the outer cabin.

Through being provided with the auto-lock subassembly, utilize the auto-lock subassembly can accomplish the screens fixed back to AUV to the axostylus axostyle of screens subassembly to avoid follow-up because of the removal of device leads to the AUV to drop in from recovery unit, guarantee the stability that the AUV moved after retrieving the screens.

The use method of the AUV cluster underwater retraction device is applied to the AUV cluster underwater retraction device, and comprises the following steps:

s1, device installation and adjustment: the installation frame is installed on the lower side of the suspension device, the adjusting assembly is adjusted according to the specification of the AUV to be recovered, the two retraction cabins transversely move to reach a preset position, the self-locking assembly is adjusted to enable the electric telescopic rod to stretch and push the left side plate to move, the locking position protruding plug is moved out of the locking groove, the shaft rod rotates under the elastic force of the coil spring, the clamping block on the clamping assembly is deviated from the retaining groove, the electric telescopic rod is reset, and then the buffer assembly is adjusted according to the specification of the AUV to be recovered, so that the hydraulic cylinder stretches and drives the contact block to move up and down to reach the preset position;

s2, a link to be recovered: placing the suspension device into water, adjusting the position of the suspension device in the water, starting radar sensing equipment on the suspension device and the AUV, enabling the AUV to move between two retraction cabins, starting a reverse water flow auxiliary assembly, and discharging the water from a drain pipe after the water is pressurized by a micro water pump, wherein the movement directions of the AUV and the retraction device are consistent;

s3, auxiliary speed reduction link: when the AUV is close to the two retractable cabins, water flow discharged by the drain pipe uniformly flows from the front end to the rear end of the AUV, the auxiliary AUV is positioned in the middle of the two retractable cabins, and the moving speed of the AUV is reduced by the water flow;

s4, a recovery link: in the moving process of the AUV in the two winding and unwinding cabins, the buffer component decelerates the AUV secondarily, the clamping component clamps the AUV from two sides of the AUV, the self-locking component locks the shaft rod after clamping is completed, and recovery of the AUV is completed.

Therefore, the underwater AUV cluster collecting and releasing device provided by the invention has the advantages that the reverse water flow wrapping the AUV can be formed outside the AUV cluster collecting and releasing device between the AUV and the two collecting and releasing cabins, so that the stress on the two sides of the AUV is uniform, the AUV is assisted to be positioned in the middle parts of the two collecting and releasing cabins when entering the two collecting and releasing cabins, the auxiliary positioning is facilitated, and meanwhile, the water flow flowing reversely outside the AUV can play a role in decelerating the AUV, so that the subsequent recovery operation on the AUV is facilitated.

Drawings

Fig. 1 is a schematic diagram of the overall structure of an underwater winding and unwinding device of an AUV cluster;

fig. 2 is a schematic side view of an underwater retraction device of an AUV cluster according to the present invention;

fig. 3 is a schematic diagram of a reverse water flow auxiliary assembly of an AUV cluster underwater retraction device according to the present invention;

fig. 4 is a schematic diagram of an external cabin structure of an underwater retraction device of an AUV cluster;

fig. 5 is a schematic diagram of a supporting stand structure of an underwater receiving and releasing device of an AUV cluster;

fig. 6 is a schematic diagram of a buffer assembly of an underwater receiving and releasing device of an AUV cluster according to the present invention;

fig. 7 is a schematic structural diagram of a self-locking assembly of an underwater retraction device of an AUV cluster according to the present invention;

fig. 8 is a schematic diagram of a clamping assembly of an underwater retraction device for an AUV cluster according to the present invention.

In the figure: 1. a support; 2. a retractable cabin; 3. a reverse water flow auxiliary assembly; 301. a water flow box; 302. a micro water pump; 303. a liquid outlet; 304. a liquid pipe; 305. a drain pipe; 306. a water pipe; 4. a mounting frame; 5. a retention seat; 6. a slide bar; 7. an adjustment assembly; 701. the machine box is regulated; 702. an adjusting seat; 703. a reversing motor; 704. a main gear; 705. a screw rod; 706. a traction gear; 8. a boss; 9. a buffer assembly; 901. buffering slide seat; 902. a contact block; 903. a buffer spring; 904. rubber protruding contact; 905. a connecting seat; 906. a hydraulic cylinder; 10. an outer cabin; 11. a retention groove; 12. a clamping assembly; 1201. a shaft lever; 1202. a clamping block; 1203. a shaft sleeve; 1204. rotating the belt; 1205. a rubber clamping plate; 13. a self-locking assembly; 1301. a coil spring; 1302. locking position convex insertion; 1303. a locking groove; 1304. a left side plate; 1305. a right side plate; 1306. an electric telescopic rod; 1307. and a return spring.

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments.

The underwater collecting and releasing device for the AUV cluster is mainly applied to scenes with inaccurate recovery position positioning of the AUV.

Referring to fig. 1-3, an underwater collecting and releasing device for an AUV cluster comprises a supporting table 1, two symmetrical collecting and releasing cabins 2 are arranged below the supporting table 1, a mounting frame 4 is connected to the upper side of the supporting table 1 through bolts, a reverse water flow auxiliary assembly 3 is arranged on the two collecting and releasing cabins 2, the reverse water flow auxiliary assembly 3 comprises a water flow box 301 and a micro water pump 302, grooves are formed in the collecting and releasing cabins 2, the water flow box 301 is connected with the grooves of the collecting and releasing cabins 2 through bolts, a plurality of equidistant inclined liquid draining ports 303 are formed in the collecting and releasing cabins 2, cylindrical cavities are formed in the collecting and releasing cabins 2, liquid pipes 304 are arranged in the cylindrical cavities, one ends of the liquid pipes 304 are connected with the water flow box 301 through bolts, a plurality of equidistant water draining pipes 305 are arranged on the liquid pipes 304 and are respectively located in the interiors of the liquid draining ports 303, the micro water pump 302 is connected with the upper side of the supporting table 1 through bolts, and the output ends of the micro water pump 302 are connected with the water pipe boxes 301 through bolts 306, and the other ends of the water pipe boxes 306 are connected with the water flow boxes 301 through bolts.

Specifically, when the AUV approaches the two accommodating chambers 2, the micro water pump 302 pressurizes the water flow and then delivers the pressurized water flow to the water flow box 301, and discharges the pressurized water flow outwards from the drain pipe 305 through the liquid pipe 304, and forms an outwards-expanded water flow at the tail parts of the two accommodating chambers 2, and the discharged water flow wraps the AUV and uniformly flows from the front ends to the rear ends of the AUV, so that the two sides of the AUV are subjected to the same reverse acting force, the auxiliary AUV is positioned in the middle parts of the two accommodating chambers 2, and the moving speed of the AUV is reduced through the water flow flowing reversely.

In a specific application scene, the reverse water flow auxiliary assembly 3 is suitable for a deceleration and auxiliary positioning link before AUV recovery, namely reverse water flow wrapping can be formed outside the AUV by utilizing the reverse water flow auxiliary assembly 3 between the AUV and the two collecting and releasing cabins 2, so that the stress on two sides of the AUV is uniform, the auxiliary AUV is positioned in the middle of the two collecting and releasing cabins 2 when entering the two collecting and releasing cabins 2, the auxiliary positioning is convenient, and meanwhile, the water flow flowing reversely outside the AUV can play a role of decelerating the AUV, so that the subsequent recovery operation of the AUV is convenient.

Referring to fig. 3, 4 and 5, the upper sides of the two folding and unfolding cabins 2 are connected with two retention seats 5 through bolts, oval holes are formed in the retention seats 5, the same sliding rod 6 is slidably connected in the oval holes in the two adjacent retention seats 5 on the two folding and unfolding cabins 2, two ends of the two sliding rods 6 are respectively connected with the inner walls of two sides of the supporting table 1 through bolts, and an adjusting component 7 is arranged on the upper sides of the two folding and unfolding cabins 2; the adjusting assembly 7 comprises an adjusting cabinet 701 and two adjusting seats 702, wherein the adjusting cabinet 701 is connected with the upper side of the supporting platform 1 through bolts, a reversing motor 703 is connected inside the adjusting cabinet 701 through bolts, the output end of the reversing motor 703 is connected with a short shaft through a coupling, the other end of the short shaft is connected with a main gear 704 through bolts, the two adjusting seats 702 are respectively connected with the upper sides of the two folding and unfolding cabins 2 through bolts, the two adjusting seats 702 are respectively positioned between the two retaining seats 5 on the two folding and unfolding cabins 2, threaded holes are formed in the two adjusting seats 702, the inner wall threads of the threaded holes on the two adjusting seats 702 are opposite in direction, the two threaded holes are rotationally connected with the same screw rod 705 through inner wall threads, two ends of the screw rod 705 are respectively connected with the inner walls of the two sides of the supporting platform 1 through bearings in a rotating mode, the outer portion of the screw rod 705 is connected with a traction gear 706 through bolts, and the traction gear 706 is meshed with the main gear 704.

Specifically, according to the specification adjustment adjusting assembly 7 of waiting to retrieve AUV, two receive and release cabin 2 lateral shifting reach the position of predetermineeing, and the adjustment process: the reversing motor 703 drives the main gear 704 to engage with the traction gear 706, and the screw rod 705 rotates to drive the two retractable cabins 2 to be close to or far away from each other, so that the distance between the two retractable cabins 2 meets the specification and the size of the AUV to be recovered.

In specific application scenario, adjusting part 7 is applicable to the regulation link that receive and releases the operation of device satisfying different specification AUV, utilizes adjusting part 7 to adjust the interval between two receive and release cabin 2 promptly to satisfy the recovery of different specification AUV, improve the application scope of device.

Referring to fig. 5 and 6, a boss 8 is provided on the supporting stand 1, the boss 8 is located above the two storage tanks 2, and a buffer assembly 9 is provided on the boss 8; the buffer assembly 9 comprises a buffer sliding seat 901 and a contact block 902, a rectangular hole is formed in a boss 8, the buffer sliding seat 901 is located in the rectangular hole, the buffer sliding seat 901 is connected with the boss 8 in a sliding mode, one side, close to the adjusting cabinet 701, of the buffer sliding seat 901 is connected with a buffer spring 903 through a bolt, the other end of the buffer spring 903 is connected with the inner wall of the rectangular hole through a bolt, four rubber protruding contacts 904 which are symmetrical in pairs are arranged on the lower side of the contact block 902, a connecting seat 905 is connected with the upper side of the contact block 902 through a bolt, the connecting seat 905 is connected with the buffer sliding seat 901 in a sliding mode, and a hydraulic cylinder 906 is arranged between the connecting seat 905 and the buffer sliding seat 901.

Specifically, in the adjusting process of the buffer assembly 9, a hydraulic cylinder 906 is started to stretch according to the specification of the AUV to be recovered, and the hydraulic cylinder 906 drives a connecting seat 905 to move, so that the contact block 902 moves up and down to reach a preset position; during the movement of the AUV in the two storage tanks 2, the buffer assembly 9 decelerates the AUV twice, and during this process, the rubber bump 904 on the contact block 902 contacts with the upper outer wall of the AUV and moves with the same, and the buffer spring 903 deforms elastically and applies a reverse acting force on the AUV, so as to reduce the movement speed of the AUV.

In a specific application scenario, the buffer assembly 9 is suitable for a secondary speed reduction link of the AUV in the recovery process, namely, the rubber bump 904 on the contact block 902 is used for contacting with the moving AUV, and the buffer spring 903 is used for applying reverse thrust to the AUV, so that the AUV is prompted to decelerate, subsequent recovery operation is facilitated, and the situation that the subsequent clamping assembly 12 is excessively clamped due to too high moving speed of the AUV, so that the AUV is damaged.

Referring to fig. 4, 7 and 8, the outer sides of the two folding and unfolding cabins 2 are connected with an outer auxiliary cabin 10 through bolts, the folding and unfolding cabins 2 and the outer auxiliary cabin 10 are provided with a communicated retaining groove 11, and the inside of the retaining groove 11 is provided with a clamping component 12; the clamping assembly 12 comprises a shaft rod 1201 and a plurality of clamping blocks 1202, two ends of the shaft rod 1201 are respectively connected with two side inner walls of the outer cabin 10 in a rotating mode through bearings, a shaft sleeve 1203 is connected to the outer portion of the shaft rod 1201 through bolts, round holes are formed in the plurality of clamping blocks 1202, the plurality of clamping blocks 1202 are connected with the outer portion of the shaft sleeve 1203 through bolts, the plurality of clamping blocks 1202 are distributed at equal intervals, a rotary belt 1204 and a rubber clamping plate 1205 are arranged on the outer portion of the plurality of clamping blocks 1202, the rotary belt 1204 is located on the outer side of the shaft sleeve 1203, and the shaft sleeve 1203 is semicircular in shape.

Specifically, the clamping component 12 clamps and fixes the AUV from two sides, and the process is as follows: after the AUV enters the accommodating cabin 2, the AUV moves between the plurality of clamping blocks 1202 on the two accommodating cabins 2, the rotary belts 1204 on the plurality of clamping blocks 1202 are contacted with the outer walls of the two sides of the AUV, and along with the continuous movement of the AUV, the plurality of clamping blocks 1202 on the two sides can be stressed to drive the shaft lever 1201 to rotate until the rubber clamping plates 1205 clamp the AUV from the two sides of the AUV.

In a specific application scenario, the clamping component 12 is suitable for the clamping fixing link of the AUV, namely, the clamping component 12 can be utilized to fix the AUV from two sides of the AUV in the continuous moving process of the AUV in the retraction cabin 2, the fixing effect of the AUV can be improved by adopting a mode that a plurality of clamping blocks 1202 are gradually overturned and fixed, the contact degree between the plurality of clamping blocks 1202 and the outside of the AUV can be gradually increased in the fixing process, and the situation of excessive clamping is avoided while the limiting effect is ensured.

Referring to fig. 4 and 7, symmetrical cavities are formed in the two outer cabins 10, the symmetrical cavities are respectively located on the upper side and the lower side of the plurality of clamping blocks 1202, and self-locking assemblies 13 are arranged in the cavities; the self-locking assembly 13 comprises a coil spring 1301 and a locking position protruding plug 1302, the coil spring 1301 is located outside the shaft rod 1201, one end of the coil spring 1301 is connected with the outer wall of the shaft rod 1201 through bolts, the other end of the coil spring 1301 is connected with the outer chamber 10 through bolts, two locking grooves 1303 are formed in the shaft rod 1201, the locking grooves 1303 are located between the coil spring 1301 and the adjacent locking position blocks 1202, the locking position protruding plug 1302 is located on one side of the shaft rod 1201, the locking position protruding plug 1302 is slidably connected with the inner wall of the cavity of the outer chamber 10, a left side plate 1304 and a right side plate 1305 are respectively arranged on two sides of the locking position protruding plug 1302, an electric telescopic rod 1306 is arranged on one side of the left side plate 1304, the electric telescopic rod 1306 is connected with the cavity of the outer chamber 10 through bolts, a reset spring 1307 is arranged on one side, far away from the shaft rod 1201, of the right side plate 1305 is connected with the inner wall of the cavity of the outer chamber 10 through bolts, and the other end of the reset spring 1307 is connected with the inner wall of the cavity of the outer chamber 10 through bolts.

Specifically, the self-locking assembly 13 adjusts the process: the electric telescopic rod 1306 stretches and pushes the left side plate 1304 to move, the locking convex insert 1302 moves to the side far away from the shaft rod 1201, the front end of the locking convex insert 1302 moves out of the locking groove 1303, the reset spring 1307 elastically deforms, after the locking convex insert 1302 moves out of the locking groove 1303, the shaft rod 1201 rotates and resets under the elastic force of the coil spring 1301, the clamping blocks 1202 on the clamping component 12 deviate from the retention groove 11, the rotary belts 1204 on the clamping blocks 1202 on the two sides face the inside of the two accommodating cabins 2, then the electric telescopic rod 1306 resets, the front end of the locking convex insert 1302 contacts with the outer wall of the shaft rod 1201, and the reset spring 1307 is in a compressed state; after the clamping is completed, the self-locking assembly 13 locks the shaft 1201, and the process is as follows: the shaft 1201 moves to the front side of the locking groove 1303 along with the deflection of the locking block 1202, and the locking groove 1302 moves and inserts into the locking groove 1303 under the elastic force of the return spring 1307, so that the shaft 1201 is limited.

In a specific application scenario, the self-locking assembly 13 is suitable for the locking link of the clamping assembly 12 after the AUV completely enters the two retractable cabins 2, namely, the self-locking assembly 13 can limit and lock the shaft lever 1201 of the clamping assembly 12 after the clamping assembly 12 finishes clamping and fixing the AUV, so that the subsequent falling of the AUV from the recovery device caused by the movement of the device is avoided, and the movement stability of the AUV after the recovery of the clamping is ensured.

The use method of the AUV cluster underwater receiving and releasing device is applied to the AUV cluster underwater receiving and releasing device and comprises the following steps:

s1, device installation and adjustment: the installation frame 4 is installed on the lower side of the suspension, the adjusting component 7 is adjusted according to the specification of the AUV to be recovered, the two retraction cabins 2 transversely move to reach a preset position (in the adjusting process, the reversing motor 703 drives the main gear 704 to engage with the traction gear 706, the screw rod 705 rotates to drive the two retraction cabins 2 to be close to or far away from each other so that the distance between the two retraction cabins 2 meets the specification of the AUV to be recovered), the self-locking component 13 is adjusted to enable the electric telescopic rod 1306 to stretch to push the left side plate 1304 to move, the locking position boss 1302 moves to the side far away from the shaft 1201, the front end of the locking position boss 1302 moves out of the locking groove 1303, the reset spring 1307 elastically deforms, after the locking position boss 1302 moves out of the locking groove 1303, the shaft 1201 rotates to reset under the elastic force of the coil spring 1301, the clamping blocks 1202 on the two sides face the inside of the two retraction cabins 2, the electric telescopic rod 1306 resets, and then the front end of the locking position boss 1302 contacts with the outer wall of the AUV to be recovered, and the reset spring 1307 is in a state of being contacted with the preset position of the adjusting cylinder 906, and the hydraulic pressure is enabled to reach the preset position of the adjusting component 902 to be recovered according to the elastic force of the state of the AUV to be recovered;

s2, a link to be recovered: placing the suspension device into water, adjusting the position of the suspension device in the water, starting radar sensing equipment on the suspension device and the AUV, enabling the AUV to move between the two accommodating cabins 2, starting the reverse water flow auxiliary assembly 3, and discharging the water from the drain pipe 305 after the micro water pump 302 pressurizes the water, wherein the movement directions of the AUV and the accommodating device are consistent;

s3, auxiliary speed reduction link: when the AUV approaches the two accommodating chambers 2, the miniature water pump 302 pressurizes water flow and then conveys the water flow into the water flow box 301, the water flow is discharged outwards from the drain pipe 305 through the liquid pipe 304, outward-expanded water flow is formed at the tail parts of the two accommodating chambers 2, the discharged water flow wraps the AUV and uniformly flows from the front end to the rear end of the AUV, the two sides of the AUV are subjected to the same reverse acting force, the auxiliary AUV is positioned in the middle parts of the two accommodating chambers 2, and the moving speed of the AUV is reduced through the water flow flowing reversely;

s4, a recovery link: in the process that the AUV moves in the two storage tanks 2, the buffer component 9 decelerates the AUV for the second time (in the process, the rubber bump 904 on the contact block 902 is contacted with the outer wall of the upper side of the AUV and moves along with the AUV, the buffer spring 903 is elastically deformed and applies reverse acting force on the AUV so as to reduce the moving speed of the AUV), the clamping component 12 clamps the AUV from two sides of the AUV (in the process that the AUV moves between the plurality of clamping blocks 1202 on the two storage tanks 2 after entering the storage tanks 2, the rotating belts 1204 on the plurality of clamping blocks 1202 are contacted with the outer wall of the two sides of the AUV, and the plurality of clamping blocks 1202 on the two sides drive the shaft 1201 to rotate along with the continuous movement of the AUV until the rubber clamping plate 1205 clamps the shaft 1201 and fixes the shaft 1201, after clamping is completed, the self-locking component 13 locks the shaft 1201 (the shaft 1201 deflects along with the clamping blocks 1202, the locking groove 1303 moves to the front side of the locking boss 1302, moves under the elastic force of the reset spring 1307 and the AUV is inserted into the locking groove 1201), and the recovery of the shaft 1201 is completed.

The foregoing is only a preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art, who is within the scope of the present invention, should make equivalent substitutions or modifications according to the technical scheme of the present invention and the inventive concept thereof, and should be covered by the scope of the present invention.

Claims

1. The utility model provides an AUV cluster is receive and releases device under water, includes brace table (1), its characterized in that, the below of brace table (1) is provided with two symmetrical receive and release cabin (2), and the upside fixedly connected with mounting bracket (4) of brace table (1), and all be provided with reverse rivers auxiliary assembly (3) on two receive and release cabin (2), reverse rivers auxiliary assembly (3) include rivers box (301) and miniature pump (302), and receive and release all seting up flutedly on cabin (2), the inside fixed connection of recess of receive and release cabin (2) of rivers box (301), receive and release all seting up a plurality of equidistant inclined liquid outlet (303) on cabin (2), and receive and release the inside of cabin (2) and set up the cylindricality cavity, the inside of cylindricality cavity is provided with liquid pipe (304), fixed connection between one end and the rivers box (301) of liquid pipe (304), be provided with a plurality of equidistant drain pipes (305) on the liquid pipe (304), and a plurality of drain pipes (305) are located the inside of a plurality of liquid outlet (303) respectively, prop up fixed connection between (302) and miniature pump (301) and miniature pump (306), the fixed connection of the other end of water pipe (302) and miniature pump (302).

2. The underwater AUV cluster collecting and releasing device according to claim 1, characterized in that two retaining seats (5) are fixedly connected to the upper sides of the collecting and releasing cabins (2), oval holes are formed in the retaining seats (5), one slide bar (6) is movably connected in the oval holes of the two adjacent retaining seats (5) on the two collecting and releasing cabins (2), two ends of the two slide bars (6) are fixedly connected with the inner walls of two sides of the supporting table (1) respectively, and an adjusting component (7) is arranged on the upper sides of the two collecting and releasing cabins (2).

3. The underwater retraction device of an AUV cluster according to claim 2, wherein the adjusting assembly (7) comprises an adjusting case (701) and two adjusting seats (702), the adjusting case (701) is fixedly connected with the upper side of the supporting table (1), a reversing motor (703) is fixedly connected inside the adjusting case (701), the output end of the reversing motor (703) is connected with a short shaft through a coupling, the other end of the short shaft is fixedly connected with a main gear (704), the two adjusting seats (702) are respectively fixedly connected with the upper sides of the two retraction cabins (2), the two adjusting seats (702) are respectively positioned between two retaining seats (5) on the two retraction cabins (2), threaded holes are respectively formed in the two adjusting seats (702), the inner wall threads of the threaded holes on the two adjusting seats (702) are opposite in direction, the two threaded holes are movably connected with a same screw rod (705), two ends of the screw rod (705) are respectively movably connected with the inner walls of two sides of the supporting table (1), the screw rod (705) are externally fixedly connected with a traction gear (706), and the traction gear (706) is meshed between the main gear (706).

4. An underwater retraction device for AUV clusters according to claim 3, characterized in that the support (1) is provided with a boss (8), the boss (8) is located above the two retraction cabins (2), and the boss (8) is provided with a buffer assembly (9).

5. The underwater retraction device of an AUV cluster according to claim 4, wherein the buffer assembly (9) comprises a buffer slide seat (901) and a contact block (902), a rectangular hole is formed in the boss (8), the buffer slide seat (901) is located in the rectangular hole, the buffer slide seat (901) is movably connected with the boss (8), a buffer spring (903) is fixedly connected to one side, close to the regulator case (701), of the buffer slide seat (901), the other end of the buffer spring (903) is fixedly connected with the inner wall of the rectangular hole, four rubber bumps (904) which are symmetrical in pairs are arranged on the lower side of the contact block (902), a connecting seat (905) is fixedly connected to the upper side of the contact block (902), the connecting seat (905) is movably connected with the buffer slide seat (901), and a hydraulic cylinder (906) is arranged between the connecting seat (905) and the buffer slide seat (901).

6. The underwater retraction device of the AUV cluster according to claim 5, wherein the outsides of the two retraction cabins (2) are fixedly connected with an outer auxiliary cabin (10), the retraction cabins (2) and the outer auxiliary cabins (10) are provided with communicated retention grooves (11), and the interiors of the retention grooves (11) are provided with clamping components (12).

7. The underwater retraction device of the AUV cluster according to claim 6, wherein the clamping assembly (12) comprises a shaft lever (1201) and a plurality of clamping blocks (1202), two ends of the shaft lever (1201) are respectively movably connected with two side inner walls of the outer cabin (10), the shaft lever (1201) is fixedly connected with a shaft sleeve (1203) outside, round holes are formed in the clamping blocks (1202), the clamping blocks (1202) are fixedly connected with the shaft sleeve (1203), the clamping blocks (1202) are distributed at equal intervals, a rotary belt (1204) and a rubber clamping plate (1205) are arranged outside the clamping blocks (1202), the rotary belt (1204) is located outside the shaft sleeve (1203), and the shaft sleeve (1203) is semicircular.

8. The underwater retraction device of the AUV cluster according to claim 7, wherein symmetrical cavities are formed in the two outer cabins (10), the symmetrical cavities are respectively positioned on the upper side and the lower side of the plurality of clamping blocks (1202), and self-locking assemblies (13) are arranged in the cavities.

9. The underwater retraction device of an AUV cluster according to claim 8, wherein the self-locking assembly (13) comprises a coil spring (1301) and a locking protrusion (1302), the coil spring (1301) is located outside a shaft lever (1201), one end of the coil spring (1301) is fixedly connected with the outer wall of the shaft lever (1201), the other end of the coil spring (1301) is fixedly connected with the outer cabin (10), two locking grooves (1303) are formed in the shaft lever (1201), the locking grooves (1303) are located between the coil spring (1301) and adjacent clamping blocks (1202), the locking protrusion (1302) is located on one side of the shaft lever (1201), the locking protrusion (1302) is movably connected with the inner wall of a cavity of the outer cabin (10), two sides of the locking protrusion (1302) are respectively provided with a left side plate (1304) and a right side plate (1305), one side of the left side plate (1304) is provided with an electric telescopic rod (1306), the other end of the electric telescopic rod (1306) is fixedly connected with the cavity of the outer cabin (10), the output end of the electric telescopic rod (1306) is movably connected with the left side plate (1304), and the other side of the electric telescopic rod (1306) is movably connected with the inner wall of the cavity (1307) of the outer cabin (10), and the other side of the electric telescopic rod (1306) is far away from the inner wall of the cavity (1307) is fixedly connected with the inner wall of the cavity (1307).

10. The use method of the underwater AUV cluster receiving and releasing device is applied to the underwater AUV cluster receiving and releasing device as claimed in any one of the claims 9, and is characterized in that the use method comprises the following steps:

s1, device installation and adjustment: the installation frame (4) is installed on the lower side of the suspension, the adjusting assembly (7) is adjusted according to the specification of the AUV to be recovered, the two retraction cabins (2) transversely move to reach a preset position, the self-locking assembly (13) is adjusted to enable the electric telescopic rod (1306) to push the left side plate (1304) to move in a telescopic mode, the locking convex insert (1302) is moved out of the locking groove (1303), the shaft rod (1201) rotates under the elastic force of the coil spring (1301), the clamping block (1202) on the clamping assembly (12) is deviated from the retaining groove (11), the electric telescopic rod (1306) is reset, then the buffer assembly (9) is adjusted according to the specification of the AUV to be recovered, and the hydraulic cylinder (906) stretches to drive the contact block (902) to move up and down to reach the preset position;

s2, a link to be recovered: placing the suspension device into water, adjusting the position of the suspension device in the water, starting radar sensing equipment on the suspension device and the AUV, enabling the AUV to move between the two accommodating cabins (2), starting the reverse water flow auxiliary assembly (3), and discharging the water from the drain pipe (305) after the water is pressurized by the micro water pump (302), wherein the movement directions of the AUV and the accommodating device are consistent;

s3, auxiliary speed reduction link: when the AUV approaches the two accommodating cabins (2), water flow discharged by the water discharge pipe (305) uniformly flows from the front end to the rear end of the AUV, the auxiliary AUV is positioned in the middle of the two accommodating cabins (2), and the moving speed of the AUV is reduced by the water flow;

s4, a recovery link: in the moving process of the AUV in the two retractable cabins (2), the buffer assembly (9) is used for secondarily decelerating the AUV, the clamping assembly (12) is used for clamping and fixing the AUV from two sides of the AUV, and the self-locking assembly (13) is used for locking the shaft rod (1201) after clamping is completed, so that recovery of the AUV is completed.