CN116280022A

CN116280022A - AUV automatic lifting butt joint cloth storage recovery system

Info

Publication number: CN116280022A
Application number: CN202310378568.6A
Authority: CN
Inventors: 李正光; 齐海滨; 杨磊; 赵晟娅; 周玉斌; 方玉莹
Original assignee: National Deep Sea Center
Current assignee: National Deep Sea Center
Priority date: 2023-04-10
Filing date: 2023-04-10
Publication date: 2023-06-23

Abstract

The invention provides an AUV automatic lifting butt joint cloth laying recovery system, and relates to the technical field of ocean technical engineering. This AUV automatic rising butt joint cloth is put recovery system, including the ship board, ship board top fixedly connected with bottom plate, bottom plate top fixedly connected with deposits the cabin, the bottom plate top is provided with recovery unit spare, deposit the equal fixedly connected with curb plate in both sides inside both sides of cabin, a plurality of equal fixedly connected with swash plate and baffle in curb plate one side, equal fixedly connected with support in bottom plate top both sides, fixed plate front side fixedly connected with push pedal, the inside both sides of ship board all are provided with down the subassembly. This AUV automatic rising is to cloth and is put recovery system and put down to UAV body gradually orderly, simple structure, convenient operation, low cost, the surface of water is pressed close to the position of lowering, reduces the impact to the UAV body, improves the security to conveniently retrieve the UAV body, improve stability.

Description

AUV automatic lifting butt joint cloth storage recovery system

Technical Field

The invention relates to an AUV cloth-laying recovery system, in particular to an AUV automatic lifting butt joint cloth-laying recovery system, and belongs to the technical field of ocean technical engineering.

Background

An AUV is an underwater engineering device, a type of underwater robot. The habit is called autonomous underwater vehicle. The underwater robots are mainly divided into two main categories: one type is a cabled underwater robot, which is commonly called a remote control submersible; another type is a cableless underwater robot, commonly known as an autonomous underwater vehicle. The autonomous underwater robot is a new generation of underwater robots, has the advantages of large moving range, good maneuverability, safety, intellectualization and the like, and becomes an important tool for completing various underwater tasks.

The underwater robot can only realize unmanned detection underwater, but the operation of the platform body needs a small and medium-sized support mother ship and more operation teams, and the arrangement and recovery of the unmanned ship and the underwater robot are not separated from manual operation.

The disclosed CN114872841a autonomous underwater vehicle (autonomous underwater vehicle) detection system, method, and method for automatically recovering and deploying AUV, includes: AUV, used for carrying on the autonomous underwater detection according to the sub task of underwater detection allocated; the unmanned ship supporting platform comprises an unmanned ship, a platform controller and a deployment and recovery system, wherein the platform controller and the deployment and recovery system are carried on the unmanned ship, and the deployment and recovery system is used for correspondingly and automatically deploying and recovering the AUV according to the deployment and recovery instructions of the platform controller.

Above-mentioned scheme is when using, is all controlled through the manipulator to the recovery of AUV and cloth and put, but its position of controlling is single, causes AUV to retrieve easily and the conflict of putting, and the efficiency of putting is accomplished to the arm is lower, and the time spent of retrieving is longer to when putting AUV, snatch the ship side with AUV through the arm, it is higher to be in the water apart from the surface of water this moment, directly put in, causes the damage to AUV easily when putting in, influences the use.

Disclosure of Invention

(one) solving the technical problems

The invention aims to solve the problems that in the prior art, the automatic lifting, abutting, distributing and recycling system of the AUV is low in efficiency of completing distributing and recycling of the AUV, long in recycling time and easy to damage the AUV when the AUV is directly thrown into water by the mechanical arm, and the AUV is influenced to use.

(II) technical scheme

In order to achieve the above purpose, the invention is realized by the following technical scheme: the utility model provides an AUV automatic rising butt joint cloth is put recovery system, includes the ship board, ship board top fixedly connected with bottom plate, bottom plate top fixedly connected with deposits the cabin, the bottom plate top is provided with and retrieves the subassembly, deposit the equal fixedly connected with curb plate in cabin inside both sides both ends, a plurality of curb plate one side equal fixedly connected with swash plate and baffle, be provided with a plurality of UAV bodies between swash plate and the baffle, the equal fixedly connected with support in bottom plate top both sides, two the equal fixedly connected with electric putter in support is inside, electric putter output runs through and deposits cabin lateral wall and its front end fixedly connected with fixed plate, the fixed plate, fixed plate front side fixedly connected with push pedal, push pedal top fixedly connected with diaphragm, the equal fixedly connected with branch in diaphragm top both sides, two the equal fixedly connected with baffle in branch top, ship board inside both sides all are provided with down the subassembly.

Preferably, a plurality of swash plate and a plurality of baffle set up relatively, swash plate bottom one side integrated into one piece has the lower slide, the push pedal all with the height of branch with the UAV body looks adaptation, the width of baffle and UAV body looks adaptation, baffle rear end cross-section sets up to trapezium, is convenient for support the UAV body, upwards lifts up the UAV body, deposit the cabin inside and outside both sides wall and all seted up logical groove, diaphragm and baffle respectively with two logical groove looks adaptations, the equal fixedly connected with fixed block in bottom plate top both sides, two equal fixedly connected with apron in fixed block one side, apron one side and deposit cabin outer wall fixed connection, the lower groove has all been seted up to the inside both sides of ship board, and the UAV body piece of being convenient for is put, two the apron sets up respectively in two lower groove tops, is favorable to the UAV body to protecting.

Preferably, the assembly of transferring includes two guide rails, two threaded rods, two sliders, two rotation plates and two arc backup pads, two the guide rails are inlayed respectively and are located the groove both ends of transferring, the threaded rods rotate and connect inside the guide rails, slider sliding connection locates the threaded rods outside in the threaded rods inside and cover, the rotation plate rotates and connects in the slider front side, arc backup pad fixed connection is in rotation plate one side, makes arc backup pad support the UAV body, and arc backup pad and rotation plate drive the slider and slide down.

Preferably, the inside sliding connection of guide rail has the screw thread piece, the threaded rod runs through the screw thread piece and with screw thread piece threaded connection, fixedly connected with spring between screw thread piece and the slider, the threaded rod outside is located to the spring housing, slider front side fixedly connected with shell fragment, rotor plate one side fixedly connected with stopper, shell fragment one end and stopper fixed connection, the ship board is located the equal fixedly connected with locating piece of the inside both sides of groove of putting down, the locating piece is corresponding with the stopper, when making the rotor plate descend, the locating piece is spacing the stopper to make the stopper drive the rotor plate overturn, thereby put down the UAV body in the water.

Preferably, the recovery assembly comprises a winch, a steel cable and a butt joint, wherein the winch is fixedly connected to one side of the top of a bottom plate, one end of the steel cable is connected with the output end of the winch, one side of the inside of the bottom plate is fixedly connected with a guide plate, one side of the top of the guide plate is fixedly connected with a supporting block, the bottom end of the guide plate is fixedly connected with a connecting plate, the front end of a UAV body is provided with a magnetic plate, the connecting plate corresponds to the magnetic plate, the butt joint is fixedly connected to the bottom end of the steel cable, the bottom of the butt joint is fixedly connected with a magnet, the inside of the butt joint is rotationally connected with a rotary table, the rotary table is fixedly connected with the guide plate, and a plurality of arc grooves are formed in the guide plate, so that the rotary table drives the guide plate to rotate.

Preferably, the inside annular array fixedly connected with sliding sleeves that is of butt joint, a plurality of the inside equal sliding connection of sliding sleeve has the slide bar, and is a plurality of the equal fixedly connected with guide bar of slide bar bottom, the guide bar runs through the sliding sleeve lateral wall and with sliding sleeve sliding connection, a plurality of the guide bar runs through a plurality of arc grooves respectively and with a plurality of arc groove sliding connection, a plurality of the equal fixedly connected with clamping jaw of slide bar one end, carousel outside fixedly connected with ring gear, the inside fixedly connected with motor of butt joint, motor output fixedly connected with bull stick, bull stick top fixedly connected with gear, the gear is connected with the ring gear meshing, makes the bull stick drive gear rotation to drive the ring gear rotation, drives the carousel rotation when the ring gear rotates.

Preferably, bottom plate top one side fixedly connected with multiaxis arm, deposit cabin top fixedly connected with solar panel, deposit cabin inside fixedly connected with battery, solar panel and battery electric connection, deposit cabin inside top fixedly connected with camera, be favorable to carrying out real-time supervision to the UAV body, make things convenient for butt joint and transfer.

Preferably, including central control system, AUV drive module, big dipper positioning module, vision monitoring module and arm drive module, AUV drive module, big dipper positioning module, vision monitoring module, arm drive module and AUV butt joint module all are connected with the central control system output, arm drive module is connected with the vision monitoring module output, AUV butt joint module is connected with the vision monitoring module output, AUV drive module is connected with big dipper positioning module output.

Preferably, the Beidou positioning module comprises a positioning unit and whether the Beidou positioning module reaches a designated position, the output end of the positioning unit is connected with whether the Beidou positioning module reaches the designated position, whether the output end of the Beidou positioning module reaches the designated position is connected with the designated position which is reached or not and the AUV driving module comprises a driver, the output end of the driver is connected with stop and operation, the output end of the designated position which is reached is connected with stop, the output end of the designated position which is not reached is connected with operation, the Beidou positioning module monitors the position of the UAV body and controls the UAV body to move.

Preferably, the visual monitoring module comprises an AUV entering docking area and an AUV entering recovery area, the AUV docking module comprises a docking mechanism motor start, a docking mechanism motor start output end is connected with forward rotation and reverse rotation, the AUV entering docking area output end is connected with the docking mechanism motor start, the mechanical arm driving module comprises a mechanical arm start, the mechanical arm start output end is connected with AUV recovery and AUV arrangement, the AUV entering recovery area output end is connected with the mechanical arm start, and the real-time monitoring is carried out on the UAV body to control docking and multi-axis mechanical arms.

The invention provides an AUV automatic lifting butt joint cloth placement recovery system, which has the following beneficial effects:

1. this AUV automatic rising is to cloth and is put recovery system, start through electric putter and drive the fixed plate and shrink, and make the fixed plate pulling push pedal carry out the rebound, the push pedal drives the diaphragm and removes when removing, diaphragm removes to swash plate one side, and drive branch and baffle to one side removal, the baffle will push up by lower supreme second UAV body, and make UAV body and diaphragm that is located diaphragm top break away from, thereby make UAV body slide downwards along the push pedal, fall to the slide top down when UAV body descends, and remove to the outside along the slide, distribute a plurality of UAV bodies and transfer, then electric putter starts again, make electric putter promote the fixed plate outwards remove, and drive the push pedal and remove, the push pedal drives the diaphragm and removes when removing, make the diaphragm get back between swash plate and the baffle again, and a plurality of bodies at the baffle top drop down to the diaphragm top again, be convenient for follow-up to transfer, step by step orderly the UAV body down through simple reciprocating movement, and simple structure, convenient operation, low cost.

2. This AUV automatic rising is to cloth and is put recovery system down, be released the slide through the UAV body, make the UAV body slide down along the groove of transferring, and make the groove of transferring fall at two arc backup pad tops, make the UAV body push down the arc backup pad, make the arc backup pad drive the rotor plate decline, and the rotor plate drives the slider and slides in the guide rail, make the screw thread pole extrude the spring, thereby drive the stopper when making the rotor plate descend, remove locating piece one side when the stopper descends, the locating piece is spacing the stopper, make the stopper drive the rotor plate overturn, thereby make the UAV body slide to the aquatic from arc backup pad top, be favorable to putting the UAV body, the surface of water is pressed close to the position of transferring, reduce the impact to the UAV body, improve the security.

3. This AUV automatic rising butt joint cloth recycling system, the guide bar drives the slide bar and moves in the sliding sleeve is inside, the slide bar drives the clamping jaw and removes, make the clamping jaw shrink carry out the centre gripping to the UAV body front end, then drive the cable wire rolling through the start, the pulling UAV body slides along the connecting plate, make the UAV body pass through from the supporting shoe is inside and upwards slide from the baffle, multiaxis arm starts the UAV body that will pull up and snatchs afterwards, and place the UAV body in the storage cabin inside, be convenient for retrieve, be favorable to carrying out quick butt joint to the UAV body of aquatic navigation, and conveniently retrieve the UAV body, improve stability.

Drawings

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of the internal structure of the storage compartment of the present invention;

FIG. 3 is a side view of the present invention;

fig. 4 is a schematic structural view of the base plate of the present invention.

FIG. 5 is a schematic view of the structure of the deck of the present invention;

FIG. 6 is a schematic view of the structure of the separator of the present invention;

FIG. 7 is a schematic view of the swash plate and baffle plate of the present invention;

FIG. 8 is a schematic view of the structure of the arc-shaped support plate of the present invention;

FIG. 9 is a schematic view of the structure of the guide rail of the present invention;

FIG. 10 is a schematic view of a turntable according to the present invention;

FIG. 11 is a schematic view of the structure of the abutment of the present invention;

FIG. 12 is a schematic view of the structure of the guide plate of the present invention;

FIG. 13 is a schematic view of the structure of the sliding sleeve of the present invention;

FIG. 14 is a schematic view of a recovery system of the present invention;

FIG. 15 is a schematic diagram of the Beidou positioning module and AUV driving module of the present invention;

fig. 16 is a schematic diagram of a vision monitoring module, a robot arm driving module, and an AUV docking module according to the present invention.

In the figure: 1. a boat deck; 2. a bottom plate; 3. a storage compartment; 4. a UAV body; 5. a side plate; 6. a sloping plate; 7. a baffle; 8. a bracket; 9. an electric push rod; 10. a fixing plate; 11. a push plate; 12. a cross plate; 13. a support rod; 14. a partition plate; 15. a through groove; 16. a lower slide plate; 17. a fixed block; 18. a cover plate; 19. a lowering groove; 20. a guide rail; 21. a threaded rod; 22. a slide block; 23. a spring; 24. a rotating plate; 25. an arc-shaped supporting plate; 26. a screw block; 27. a limiting block; 28. a positioning block; 29. a spring plate; 30. a hoist; 31. a wire rope; 32. a guide plate; 33. a support block; 34. a connecting plate; 35. butt joint; 36. a turntable; 37. a guide disc; 38. an arc-shaped groove; 39. a sliding sleeve; 40. a slide bar; 41. a guide rod; 42. a clamping jaw; 43. a magnet; 44. a gear ring; 45. a rotating rod; 46. a gear; 47. a multi-axis mechanical arm; 48. a solar panel; 49. a storage battery; 50. a camera;

51. a central control system;

52. an AUV driving module; 521. a driver; 5211. stopping; 5212. operating;

53. the Beidou positioning module; 5301. a positioning unit; 5302. whether the specified position is reached; 5303. has reached a specified location; 5304. not reaching the designated position;

54. a visual monitoring module; 5401. the AUV enters a docking area; 5402. AUV enters a recovery area;

55. a mechanical arm driving module; 551. starting a mechanical arm; 5511. recovering AUV; 5512. laying AUV;

56. an AUV docking module; 561. starting a motor of the docking mechanism; 5611. forward rotation; 5612. and (5) reversing.

Detailed Description

The embodiment of the invention provides an AUV automatic lifting butt-joint cloth recycling system.

Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6 and fig. 7, including ship board 1, ship board 1 top fixedly connected with bottom plate 2, bottom plate 2 top fixedly connected with deposits cabin 3, bottom plate 2 top is provided with recovery subassembly, deposit cabin 3 inside both sides both ends fixedly connected with curb plate 5, a plurality of curb plate 5 side all fixedly connected with swash plate 6 and baffle 7, be provided with a plurality of UAV bodies 4 between swash plate 6 and the baffle 7, bottom plate 2 top both sides all fixedly connected with support 8, the inside both fixedly connected with electric putter 9 of two supports 8, electric putter 9 output runs through deposit cabin 3 lateral wall and its front end fixedly connected with fixed plate 10, fixed plate 10 front side fixedly connected with push pedal 11, push pedal 11 top fixedly connected with diaphragm 12, diaphragm 12 top both sides all fixedly connected with branch 13, two branch 13 top fixedly connected with baffle 14, ship board 1 inside both sides all are provided with down the subassembly.

The inclined plates 6 and the baffles 7 are oppositely arranged, the lower sliding plate 16 is integrally formed on one side of the bottom end of the inclined plate 6, the push plate 11 and the supporting rods 13 are matched with the UAV body 4 in height, the partition plate 14 is matched with the UAV body 4 in width, the cross section of the rear end of the partition plate 14 is trapezoidal, the UAV body 4 is supported conveniently, the UAV body 4 is lifted upwards, through grooves 15 are formed in the inner side wall and the outer side wall of the storage cabin 3, the cross plate 12 and the partition plate 14 are respectively matched with the two through grooves 15, fixing blocks 17 are fixedly connected on two sides of the top of the bottom plate 2, cover plates 18 are fixedly connected on one side of the two fixing blocks 17, the cover plates 18 are fixedly connected with the outer wall of the storage cabin 3, the lower grooves 19 are formed in two sides of the inside of the ship plate 1, the UAV body 4 is conveniently distributed, and the two cover plates 18 are respectively arranged at the tops of the two lower grooves 19, so that the UAV body 4 is protected.

Specifically, the plurality of UAV bodies 4 are arranged at two sides inside the storage cabin 3, the bottommost UAV body 4 is placed at the top of the cross plate 12, the electric push rod 9 starts to drive the fixed plate 10 to shrink, and the fixed plate 10 pulls the push plate 11 to move back, the push plate 11 drives the cross plate 12 to move when moving, the cross plate 12 moves to one side of the inclined plate 6, and drives the supporting rod 13 and the baffle 14 to move to one side, the baffle 14 is pushed up by the lower-upper second UAV body 4, and the bottommost UAV body 4 positioned at the top of the cross plate 12 is separated from the cross plate 12, so that the UAV body 4 slides downwards along the push plate 11, falls to the top of the lower slide plate 16 when the UAV body 4 descends along the lower slide plate 16 to move outwards, the plurality of UAV bodies 4 are distributed and then the electric push rod 9 starts again, the electric push rod 9 pushes the fixed plate 10 to move outwards, and drives the push plate 11 to move, and the push plate 11 drives the cross plate 12 to move to one side when moving, the cross plate 12 returns to the position between the inclined plate 6 and the baffle 7 again, and the plurality of UAV bodies 4 at the top of the baffle 14 are separated from the lower plate 4, the UAV body 4 is convenient to descend sequentially, the UAV body is convenient to move downwards, and the UAV body is easy to move downwards, and the UAV body is convenient to move down in a simple and the following structure.

Referring to fig. 1, 2, 3, 4, 5, 6, 7, 8 and 9, the lowering assembly includes two guide rails 20, two threaded rods 21, two sliders 22, two rotating plates 24 and two arc-shaped support plates 25, the two guide rails 20 are respectively embedded in the ship plate 1 and located at two ends of the lowering groove 19, the threaded rods 21 are rotatably connected in the guide rails 20, the sliders 22 are slidably connected in the threaded rods 21 and sleeved on the outer sides of the threaded rods 21, the rotating plates 24 are rotatably connected to the front sides of the sliders 22, the arc-shaped support plates 25 are fixedly connected to one sides of the rotating plates 24, so that the arc-shaped support plates 25 support the UAV body 4, and the arc-shaped support plates 25 and the rotating plates 24 drive the sliders 22 to slide downwards.

The guide rail 20 is internally and slidably connected with a thread block 26, the threaded rod 21 penetrates through the thread block 26 and is in threaded connection with the thread block 26, a spring 23 is fixedly connected between the thread block 26 and the sliding block 22, the spring 23 is sleeved outside the threaded rod 21, the front side of the sliding block 22 is fixedly connected with a spring piece 29, one side of the rotating plate 24 is fixedly connected with a limiting block 27, one end of the spring piece 29 is fixedly connected with the limiting block 27, the ship plate 1 is located at two sides of the interior of the lowering groove 19 and is fixedly connected with a positioning block 28, the positioning block 28 corresponds to the limiting block 27, and when the rotating plate 24 descends, the positioning block 28 limits the limiting block 27, so that the limiting block 27 drives the rotating plate 24 to overturn, and the UAV body 4 is lowered into water.

Specifically, the UAV body 4 is pushed out of the lower slide plate 16, so that the UAV body 4 slides down along the lower groove 19, the lower groove 19 falls on the tops of the two arc-shaped support plates 25, the UAV body 4 presses down the arc-shaped support plates 25, the arc-shaped support plates 25 drive the rotating plate 24 to descend, the rotating plate 24 drives the sliding block 22 to slide in the guide rail 20, the threaded rod 21 extrudes the spring 23, the limiting block 27 is driven to descend when the rotating plate 24 descends, the limiting block 27 moves to one side of the positioning block 28 when the limiting block 27 descends, the limiting block 28 limits the limiting block 27, the limiting block 27 drives the rotating plate 24 to overturn, so that the UAV body 4 slides down into water from the tops of the arc-shaped support plates 25, the UAV body 4 is conveniently laid down, the lower position is close to the water surface, the impact on the UAV body 4 is reduced, and the safety is improved.

The threaded rod 21 is rotated to drive the threaded block 26 to ascend, the threaded block 26 drives the spring 23 to ascend, and the spring 23 pushes the sliding block 22 to slide in the guide rail 20, so that the sliding block 22 drives the rotating plate 24 and the arc-shaped supporting plate 25 to ascend, the discharging groove 19 is blocked, the UAV body 4 is prevented from falling, and the overhaul is convenient.

Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 10, fig. 11, fig. 12 and fig. 13 again, the recovery assembly includes a hoist 30, a steel cable 31 and an abutment 35, the hoist 30 is fixedly connected to one side of the top of the base plate 2, one end of the steel cable 31 is connected with the output end of the hoist 30, one side of the inside of the base plate 2 is fixedly connected with a guide plate 32, one side of the top of the guide plate 32 is fixedly connected with a supporting block 33, the bottom end of the guide plate 32 is fixedly connected with a connecting plate 34, the front end of the uav body 4 is provided with a magnetic plate, the connecting plate 34 corresponds to the magnetic plate, the abutment 35 is fixedly connected with the bottom of the steel cable 31, the bottom of the abutment 35 is fixedly connected with a magnet 43, a turntable 36 is rotatably connected to the inside of the abutment 35, the turntable 36 is fixedly connected with the guide plate 37, and a plurality of arc grooves 38 are provided in the guide plate 37, so that the turntable 36 drives the guide plate 37 to rotate.

The inside annular array fixedly connected with a plurality of sliding sleeves 39 that is of butt joint 35, the inside sliding connection of a plurality of sliding sleeves 39 has slide bars 40, the equal fixedly connected with guide bar 41 of a plurality of slide bars 40 bottom, guide bar 41 runs through sliding sleeve 39 lateral wall and with sliding sleeve 39 sliding connection, a plurality of guide bars 41 run through a plurality of arc grooves 38 respectively and with a plurality of arc grooves 38 sliding connection, a plurality of slide bars 40 one end all fixedly connected with clamping jaw 42, carousel 36 outside fixedly connected with ring gear 44, butt joint 35 inside fixedly connected with motor, motor output fixedly connected with bull stick 45, bull stick 45 top fixedly connected with gear 46, gear 46 meshes with ring gear 44 to be connected, make bull stick 45 drive gear 46 rotation, thereby drive ring gear 44 rotation, drive carousel 36 rotation when ring gear 44 rotates, bottom plate 2 top one side fixedly connected with multiaxis arm 47, storage cabin 3 top fixedly connected with solar panel 48, storage cabin 3 inside fixedly connected with battery 49, solar panel 48 and battery 49 electric connection, storage cabin 3 inside top fixedly connected with camera 50, be favorable to carrying out real-time monitoring to UAV body 4, make things convenient for butt joint and transfer.

Specifically, the position of the UAV body 4 is monitored in real time through the camera 50, the winch 30 is made to lower the steel cable 31, the steel cable 31 drives the butt joint 35 to lower, when the UAV body 4 moves to the bottom of the butt joint 35, the magnet 43 and the front end of the UAV body 4 are made to absorb, and accordingly the UAV body 4 is initially positioned, then the rotating rod 45 is started to drive the gear 46 to rotate, the gear 46 is rotated to drive the gear ring 44 to rotate, when the gear ring 44 rotates, the rotating disc 36 is rotated to drive the guide disc 37 to rotate, the plurality of arc grooves 38 limit the plurality of guide rods 41, the plurality of guide rods 41 are driven to slide along the arc grooves 38 in the sliding sleeve 39, the guide rods 41 drive the sliding rods 40 to move in the sliding sleeve 39, the sliding rods 40 drive the clamping jaws 42 to clamp the front end of the UAV body 4, the UAV body 4 is started to wind up through the winch 30, the UAV body 4 is pulled to slide along the UAV body 34, the UAV body 4 is enabled to pass through the inside the supporting block 33 and slide upwards from the guide plate 32, and then the mechanical arm is started to grab the pulled up body 4, and the UAV body 4 is placed inside the connecting plate 3 to be stored in the multiple-axis cabin so that the UAV cabin is convenient to store. The UAV body 4 beneficial to underwater navigation is quickly docked, the UAV body 4 is conveniently recycled, and the stability is improved.

Referring to fig. 1, 14, 15 and 16 again, the device comprises a central control system 51, an AUV driving module 52, a beidou positioning module 53, a vision monitoring module 54 and a mechanical arm driving module 55, wherein the AUV driving module 52, the beidou positioning module 53, the vision monitoring module 54, the mechanical arm driving module 55 and the AUV docking module 56 are all connected with the output end of the central control system 51, the mechanical arm driving module 55 is connected with the output end of the vision monitoring module 54, the AUV docking module 56 is connected with the output end of the vision monitoring module 54, the AUV driving module 52 is connected with the output end of the beidou positioning module 53, the beidou positioning module 53 comprises a positioning unit 5301 and whether the output end of the positioning unit 5301 reaches a designated position 5302, the output end of the positioning unit 5301 is connected with whether the output end of the designated position 5302 reaches the designated position 5303 and does not reach the designated position 5304, the AUV driving module 52 comprises a driver 521, the driver 521 output is connected with a stop 5211 and a run 5212, the output which has reached a specified position 5303 is connected with the stop 5211, the output which has not reached the specified position 5304 is connected with the run 5212, the position of the UAV body 4 is monitored by the Beidou positioning module 53, and the UAV body 4 is controlled to move, the vision monitoring module 54 comprises an AUV entering docking area 5401 and an AUV entering recycling area 5402, the AUV docking module 56 comprises a docking mechanism motor start 561, the docking mechanism motor start 561 output is connected with a forward rotation 5611 and a reverse rotation 5612, the AUV entering docking area 5401 output is connected with the docking mechanism motor start 561, the mechanical arm driving module 55 comprises a mechanical arm start 551, the mechanical arm start 551 output is connected with an AUV recycling 5511 and an AUV arrangement 5512, the AUV entering recycling area 5402 output is connected with the mechanical arm start 551, the real-time monitoring is performed on the UAV body 4, the docking and multi-axis robotic arm 47 is controlled.

Specifically, the central control system 51 controls the beidou positioning module 53 to send a signal to the positioning unit 5301 so as to judge whether the specified position 5302 is reached or not, if the specified position 5302 is located away from the specified area of the ship board 1, the specified position 5303 is sent a signal, and the specified position 5303 is sent a signal to the stop 5211, so that the stop 5211 controls the driver 521 of the UAV body 4 to be closed, if the specified area of the ship board 1 is not reached, the specified position 5304 is not sent a signal to the operation 5212, and the driver 521 is controlled to keep working until the UAV body 4 reaches the area.

When the UAV body 4 is moved to the docking position, the vision monitoring module 54 controls to monitor the position of the UAV body 4 in real time, and when the UAV body 4 is moved to the docking position, signals are sent to the AUV entering docking region 5401, the AUV entering docking region 5401 signals the docking mechanism motor start 561, the docking mechanism motor start 561 signals the forward rotation 5611, so that the UAV body 4 is clamped, when the UAV body 4 is moved to the recovery position after docking, signals are sent to the AUV entering recovery region 5402, the AUV entering recovery region 5402 signals the mechanical arm start 551, the UAV body 4 is recovered, and the UAV body 4 is placed in the storage cabin 3 for storage.

The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. AUV automatic rising butt joint cloth puts recovery unit, including ship board (1), its characterized in that: boat board (1) top fixedly connected with bottom plate (2), bottom plate (2) top fixedly connected with deposits cabin (3), bottom plate (2) top is provided with retrieves the subassembly, deposit cabin (3) inside both sides both ends equal fixedly connected with curb plate (5), a plurality of curb plate (5) equal fixedly connected with swash plate (6) and baffle (7) in one side, be provided with a plurality of UAV bodies (4) between swash plate (6) and baffle (7), equal fixedly connected with support (8) in bottom plate (2) top both sides, two equal fixedly connected with electric putter (9) of support (8) inside, electric putter (9) output runs through and deposits cabin (3) lateral wall and its front end fixedly connected with fixed plate (10), fixed plate (10) front side fixedly connected with push pedal (11), equal fixedly connected with diaphragm (12) in diaphragm (12) top both sides, two equal fixedly connected with branch (13) in branch (13) top fixedly connected with baffle (14), both sides equal subassembly (1) are put down.

2. The AUV automatic lifting butt-joint cloth recycling device according to claim 1, wherein: the novel multifunctional automatic folding device comprises a plurality of inclined plates (6) and a plurality of baffle plates (7), wherein the inclined plates (6) and the baffle plates (7) are oppositely arranged, a lower sliding plate (16) is integrally formed on one side of the bottom end of each inclined plate (6), the heights of each push plate (11) and each supporting rod (13) are matched with the corresponding UAV body (4), the width of each baffle plate (14) is matched with the corresponding UAV body (4), the cross section of the rear end of each baffle plate (14) is trapezoid, through grooves (15) are formed in the inner side wall and the outer side wall of each storage cabin (3), each transverse plate (12) and each baffle plate (14) are respectively matched with the corresponding through grooves (15), fixing blocks (17) are fixedly connected to two sides of the top of each bottom plate (2), one side of each fixing block (17) is fixedly connected with a cover plate (18), the outer wall of each cover plate (18) is fixedly connected with the corresponding storage cabin (3), the corresponding lower grooves (19) are respectively formed in the two sides of the inner side of each ship plate (1).

3. The AUV automatic lifting butt-joint cloth recycling device according to claim 1, wherein: the lowering assembly comprises two guide rails (20), two threaded rods (21), two sliding blocks (22), two rotating plates (24) and two arc-shaped supporting plates (25), the two guide rails (20) are respectively embedded in the ship plate (1) and positioned at two ends of the lowering groove (19), the threaded rod (21) is rotationally connected inside the guide rail (20), the sliding block (22) is slidingly connected inside the threaded rod (21) and sleeved outside the threaded rod (21), the rotating plate (24) is rotationally connected to the front side of the sliding block (22), and the arc-shaped supporting plate (25) is fixedly connected to one side of the rotating plate (24).

4. An AUV automatic lifting butt-joint cloth recovering device according to claim 3, characterized in that: guide rail (20) inside sliding connection has screw thread piece (26), threaded rod (21) run through screw thread piece (26) and with screw thread piece (26) threaded connection, fixedly connected with spring (23) between screw thread piece (26) and slider (22), spring (23) cover are located the threaded rod (21) outside, slider (22) front side fixedly connected with shell fragment (29), rotor plate (24) one side fixedly connected with stopper (27), shell fragment (29) one end and stopper (27) fixed connection, ship board (1) are located the equal fixedly connected with locating piece (28) of the inside both sides of drop groove (19), locating piece (28) are corresponding with stopper (27).

5. The AUV automatic lifting butt-joint cloth recycling device according to claim 1, wherein: the recovery assembly comprises a winch (30), a steel cable (31) and an abutting joint (35), wherein the winch (30) is fixedly connected to one side of the top of a bottom plate (2), one end of the steel cable (31) is connected with the output end of the winch (30), a guide plate (32) is fixedly connected to one side of the inside of the bottom plate (2), a supporting block (33) is fixedly connected to one side of the top of the guide plate (32), a connecting plate (34) is fixedly connected to the bottom end of the guide plate (32), a magnetic plate is arranged at the front end of a UAV body (4), the connecting plate (34) corresponds to the magnetic plate, the abutting joint (35) is fixedly connected to the bottom end of the steel cable (31), a magnet (43) is fixedly connected to the bottom of the abutting joint (35), a rotary table (36) is rotatably connected to the inside of the abutting joint (35), and a plurality of arc grooves (38) are formed in the inside of the guide plate (37).

6. The AUV automatic lifting butt-joint cloth recycling device according to claim 5, wherein: the inside annular array fixedly connected with sliding sleeve (39) that is of butt joint (35), a plurality of the inside equal sliding connection of sliding sleeve (39) has slide bar (40), a plurality of the equal fixedly connected with guide bar (41) of slide bar (40) bottom, guide bar (41) run through sliding sleeve (39) lateral wall and with sliding sleeve (39) sliding connection, a plurality of guide bar (41) run through a plurality of arc grooves (38) respectively and with a plurality of arc grooves (38) sliding connection, a plurality of slide bar (40) one end equal fixedly connected with clamping jaw (42), carousel (36) outside fixedly connected with ring gear (44), inside fixedly connected with motor of butt joint (35), motor output fixedly connected with bull stick (45), bull stick (45) top fixedly connected with gear (46), gear (46) and ring gear (44) meshing connection.

7. The AUV automatic lifting butt-joint cloth recycling device according to claim 1, wherein: the solar energy storage device is characterized in that a multi-axis mechanical arm (47) is fixedly connected to one side of the top of the bottom plate (2), a solar panel (48) is fixedly connected to the top of the storage cabin (3), a storage battery (49) is fixedly connected to the inside of the storage cabin (3), the solar panel (48) is electrically connected with the storage battery (49), and a camera (50) is fixedly connected to the top end of the inside of the storage cabin (3).

8. An AUV automatic lifting butt-joint cloth-placing and recovering system, which is applicable to any one of the AUV automatic lifting butt-joint cloth-placing and recovering devices as defined in claims 1-7, and is characterized in that: including central control system (51), AUV drive module (52), big dipper positioning module (53), vision monitoring module (54) and arm drive module (55), AUV drive module (52), big dipper positioning module (53), vision monitoring module (54), arm drive module (55) and AUV butt joint module (56) all are connected with central control system (51) output, arm drive module (55) are connected with vision monitoring module (54) output, AUV butt joint module (56) are connected with vision monitoring module (54) output, AUV drive module (52) are connected with big dipper positioning module (53) output.

9. The AUV automatic lifting docking deployment and retrieval system of claim 8, wherein: the Beidou positioning module (53) comprises a positioning unit (5301) and whether the positioning unit reaches a designated position (5302), wherein the output end of the positioning unit (5301) is connected with the designated position (5302) or not, the output end of the designated position (5302) or not is connected with the designated position (5303) or not and the designated position (5304) or not, the AUV driving module (52) comprises a driver (521), the output end of the driver (521) is connected with a stop (5211) and an operation (5212), the output end of the designated position (5303) or not is connected with the stop (5211), and the output end of the designated position (5304) or not is connected with the operation (5212).

10. The AUV automatic lifting docking deployment and retrieval system of claim 9, wherein: the visual monitoring module (54) comprises an AUV entering butt joint area (5401) and an AUV entering recovery area (5402), the AUV butt joint module (56) comprises a butt joint mechanism motor start (561), the output end of the butt joint mechanism motor start (561) is connected with a forward rotation (5611) and a reverse rotation (5612), the output end of the AUV entering butt joint area (5401) is connected with the butt joint mechanism motor start (561), the mechanical arm driving module (55) comprises a mechanical arm start (551), the output end of the mechanical arm start (551) is connected with an AUV recovery area (5511) and an AUV distribution area (5512), and the output end of the AUV entering recovery area (5402) is connected with the mechanical arm start (551).