CN116691975B - AUV docking device and method based on autonomous adjusting mechanism - Google Patents
AUV docking device and method based on autonomous adjusting mechanism Download PDFInfo
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- CN116691975B CN116691975B CN202310894760.0A CN202310894760A CN116691975B CN 116691975 B CN116691975 B CN 116691975B CN 202310894760 A CN202310894760 A CN 202310894760A CN 116691975 B CN116691975 B CN 116691975B
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- 238000003032 molecular docking Methods 0.000 title claims abstract description 76
- 230000007246 mechanism Effects 0.000 title claims abstract description 37
- 238000000034 method Methods 0.000 title claims abstract description 20
- 210000001503 joint Anatomy 0.000 claims description 21
- 238000004804 winding Methods 0.000 claims description 18
- 239000002184 metal Substances 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 12
- 230000002093 peripheral effect Effects 0.000 claims description 12
- 239000010959 steel Substances 0.000 claims description 12
- 238000005452 bending Methods 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 230000000007 visual effect Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 5
- 230000001276 controlling effect Effects 0.000 claims 2
- 230000008844 regulatory mechanism Effects 0.000 claims 1
- 238000010586 diagram Methods 0.000 description 12
- 238000005457 optimization Methods 0.000 description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013480 data collection Methods 0.000 description 1
- 230000009189 diving Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Classifications
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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
- B63G8/14—Control of attitude or depth
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
- B60L53/38—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles specially adapted for charging by inductive energy transfer
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The application relates to the technical field of AUV equipment, and particularly discloses an AUV docking device and a AUV docking method based on an autonomous adjusting mechanism. According to the application, the direction of the AUV equipment is adjusted by controlling the active rotation of the guide upright post, and the AUV equipment is seated on the positioning seat assembly by controlling the height of the locking assembly.
Description
Technical Field
The application relates to the technical field of AUV equipment, in particular to an AUV docking device and method based on an autonomous adjusting mechanism.
Background
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 (Remote Operated Vehicle, ROV for short); another type is a cableless underwater robot, commonly known as an autonomous underwater vehicle (Autonomous Underwater Vehicle, AUV for short). 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. For example, in the civil field, it can be used for laying pipelines, submarine investigation, data collection, drilling support, submarine construction, maintenance and repair of underwater equipment, etc.; the method can be used for reconnaissance, mine laying, mine sweeping, rescue and diving, lifesaving and the like in the military field. AUV equipment is generally matched with a docking platform for use, and can be docked at the water bottom, so that AUV can be charged.
AUV docking platform and AUV docking are an important step of realizing wireless charging, AUV equipment needs to be accurately seated on the AUV docking platform, the existing AUV docking platform is mostly positioned by adopting a guide rod, and then the AUV direction and height adjustment is realized by combining with a propeller on the AUV, so that seating is completed, the seating mode is easy to be interfered by water flow, and the seating precision is general, so that an AUV docking device based on an independent adjusting mechanism and a method thereof are provided.
Disclosure of Invention
Based on the technical problems in the background technology, the application provides an AUV docking device and method based on an autonomous adjusting mechanism.
The AUV docking device based on the autonomous adjusting mechanism comprises a support frame and a docking assembly, wherein a positioning seat assembly which is transversely arranged is arranged on one side of the upper part of the support frame, and a wireless charging assembly is arranged in the positioning seat assembly;
the support frame comprises a guide upright post which is vertically arranged, the guide upright post is of a hollow structure, positioning grooves which are distributed in an annular mode at equal intervals are formed in the peripheral surface of the guide upright post, the end face of each positioning groove is of a trapezoid structure, a locking assembly is sleeved on the guide upright post, a flange is rotatably arranged at the lower end of the guide upright post, a first driving unit used for driving the guide upright post to rotate is arranged on the flange, a second driving unit used for enabling the locking assembly to slide on the guide upright post is arranged at the lower end of the guide upright post, a circular baffle is fixedly arranged at the top of the guide upright post, and the locking assembly is used for limiting the butt joint assembly and the guide upright post to perform relative rotation;
the butt joint assembly comprises a connecting block, a tubular part is arranged at the middle position of the connecting block, a positioning rod is inserted in the tubular part, one end of the positioning rod penetrates out of one end of the tubular part, a terrace portion is fixed at one end of the positioning rod, a limiting retainer ring is arranged at the position, close to the inner side of the tubular part, of the outer peripheral surface of the positioning rod, a second spring is sleeved at the position, close to the limiting retainer ring, of the outer peripheral surface of the positioning rod, two guiding curved rods which are symmetrically distributed are arranged on one side, close to the terrace portion, of the connecting block, a trapezoid gap is formed between the guiding curved rods, and the distance, close to one end of the terrace portion, of the trapezoid gap is larger than the distance, close to one end of the tubular part, of the trapezoid gap.
As a further optimization of the technical scheme, the AUV docking device based on the independent adjusting mechanism comprises a motor support fixed at the lower part of a flange plate, a first motor is fixed on the motor support, an output shaft of the first motor penetrates through the motor support to be fixed with a driving gear, the lower end of the guide upright post penetrates through the flange plate to be fixed with a gear disc, and the gear disc is meshed with the driving gear.
In the preferred scheme, the first motor is controlled to work to drive the driving gear to rotate, so that the gear disc is driven to rotate, the guide upright post can be driven to rotate, the docking assembly is installed on AUV equipment, the docking assembly is locked by the locking assembly and cannot rotate relative to the guide upright post, and therefore the docking assembly and the AUV equipment can be driven to rotate and adjust through controlling the guide upright post to align the AUV equipment with the positioning seat assembly.
As a further optimization of the technical scheme, the AUV docking device based on the independent adjusting mechanism comprises a cylinder fixed at the lower end of a guide upright post, a second motor is fixed in the cylinder, an output shaft of the second motor is fixedly provided with a first screw rod, the first screw rod is rotatably arranged at the inner side of the guide upright post, the locking assembly comprises a movable sleeve sleeved on the guide upright post, a first screw rod sliding sleeve is sleeved on the first screw rod, a rectangular block is fixed between the first screw rod sliding sleeve and the movable sleeve, one of the rectangular blocks is provided with a strip-shaped groove in the positioning groove, the rectangular block is slidably arranged in the strip-shaped groove, a rotary power connector is coaxially fixed at the lower end of the cylinder, and the rotary power connector is electrically connected with the second motor.
In the preferred scheme, the second motor is controlled to work to drive the first screw rod to work, so that the first screw rod sliding sleeve matched with the second screw rod sliding sleeve is used to drive the rectangular block and the movable sleeve to slide on the guide upright post, and the position of the locking assembly can be adjusted.
As a further optimization of the technical scheme, the AUV docking device based on the independent adjusting mechanism, disclosed by the application, further comprises an annular piece fixed on the outer peripheral surface of the movable sleeve, wherein the lower part of the annular piece is provided with locking forks which are distributed in an annular mode at equal distance, the locking forks are provided with U-shaped openings, one side, close to the guide upright post, of the lower part of each locking fork is provided with a bevel part, a screw hole is formed in the position, close to the locking fork, of the annular piece, a proximity sensor is screwed in the screw hole, and the width of each U-shaped opening is larger than the diameters of the positioning rod and the guide bent rod.
In this preferred scheme, when second drive unit work, drive locking subassembly and move down, the locating lever card is gone into in the U type opening on one of them locking fork, then the U type opening and the two direction bent lever joint on two adjacent locking forks.
As a further optimization of the technical scheme, the AUV docking device based on the automatic adjusting mechanism comprises a connecting frame fixed on the upper portion of a flange plate, wherein a bending part inclining upwards is arranged on one side of the connecting frame, two symmetrically distributed guide sleeves are arranged on the upper portion of the bending part, one U-shaped rod is inserted into the two guide sleeves, limiting caps are arranged at two ends of the U-shaped rod, and the wireless charging assembly is fixed on the U-shaped rod.
As a further optimization of the technical scheme, according to the AUV docking device based on the independent adjusting mechanism, the same first bracket is fixed between the two guide sleeves, a second bracket is fixed at one end, close to a bending position, of the lower part of the U-shaped rod, a second screw rod sliding sleeve is fixed at the middle position of the lower part of the second bracket, a second screw rod is inserted into the second screw rod sliding sleeve, a third motor is fixed on the first bracket, and an output shaft of the third motor penetrates through the first bracket and is coaxially connected with one end of the second screw rod.
In the preferred scheme, the second screw rod is driven to rotate by controlling the third motor to work, so that the second screw rod sliding sleeve is matched with the U-shaped rod to move, the length of the U-shaped rod extending out of the guide sleeve is adjusted, and AUV equipment of different specifications is adapted.
As a further optimization of the technical scheme, the AUV docking device based on the independent adjusting mechanism comprises a supporting plate, wherein sleeves are fixed on two sides of the supporting plate, two ends of a U-shaped rod respectively penetrate through the two sleeves, the sleeves are fixed with the U-shaped rod through bolts, a circular sleeve with an opening at the top is arranged on the supporting plate, a telescopic sleeve is fixed in the circular sleeve, and a wireless charging emitter is fixed at the top position inside the telescopic sleeve.
As a further optimization of the technical scheme, the AUV docking device based on the autonomous adjusting mechanism is characterized in that a first spring is arranged on the inner side of the circular sleeve, and the first spring is in contact with the lower part of the wireless charging transmitter.
As a further optimization of the technical scheme, according to the AUV docking device based on the automatic adjusting mechanism, a steel wire is fixed at the middle position of the lower part of the wireless charging transmitter, the lower end of the steel wire penetrates out of the middle position of the lower part of the circular sleeve, the lower part of the circular sleeve is fixedly provided with a circular cover plate, the lower part of the circular sleeve is coaxially provided with a winding sleeve, the middle position of the lower part of the circular cover plate is fixedly provided with a waterproof gear motor, an output shaft of the waterproof gear motor penetrates through the bottom of the circular cover plate to be fixedly provided with a rotating arm, one end of the top of the rotating arm far away from the waterproof gear motor is provided with a stand column, a rectangular opening is formed in the stand column, the rectangular opening is rotationally provided with a metal pin, and the steel wire bypasses the metal pin to be fixedly connected with the winding sleeve.
In this preferred scheme, through the work of control waterproof gear motor, drive the swinging boom rotation, stand and the metal round pin that the cooperation set up realize around establishing the wire on the wire winding sleeve or with the wire from the wire winding sleeve to the first spring that the cooperation set up adjusts the length that the telescopic sleeve stretches out from circular sleeve.
An AUV docking device docking method based on an autonomous adjusting mechanism comprises the following steps:
s1: the method comprises the steps of preparing equipment, fixing a flange plate at the lower part of a support frame to the top of an AUV docking platform, electrically connecting the AUV docking platform with the device, fixedly mounting a docking assembly to the head of the AUV equipment, mounting a metal detector and a visual detection camera at the head of the AUV equipment, docking the AUV equipment with a guide upright post in the support frame in a matched mode, controlling a third motor to work according to the size of the AUV equipment, driving a second screw rod to rotate, driving the second screw rod sliding sleeve to drive the second bracket and a U-shaped rod to move, adjusting the whole length of a positioning seat assembly, and then adjusting the position of the charging bracket according to the position of a wireless charging receiver of the AUV equipment, so that when the AUV equipment is seated to the positioning seat assembly, the wireless charging transmitter can be aligned with the position of the wireless charging receiver, driving a rotating arm and the upright post to rotate through controlling a waterproof speed reducing motor, and matching a metal pin arranged to realize winding a steel wire on a winding sleeve or winding the steel wire out of the winding sleeve, and adjusting the height of the telescopic sleeve extending from the circular sleeve;
s2: the AUV equipment is in butt joint, a metal detector and a visual detection camera on the AUV equipment are matched, the AUV equipment is controlled to be close to an AUV butt joint platform in a manual operation or automatic navigation mode, then the AUV equipment is operated to be close to a guide upright post, a step part in a butt joint assembly is inserted into one of positioning grooves, then a second motor is controlled to work, a first screw rod is driven to rotate, a first screw rod sliding sleeve is matched, a movable sleeve is driven to slide downwards along the guide upright post, a U-shaped notch on a corresponding locking fork is driven to butt joint with a guide curved bar and a positioning bar in the sliding process, then a proximity sensor at a corresponding position feeds back a signal, then the first motor is controlled to work, a driving gear and a gear disc are matched, the guide upright post is driven to rotate, so that the butt joint assembly and the AUV equipment are driven to be adjusted to be aligned with the direction of a positioning seat assembly, then the second motor is continuously controlled to work, the AUV equipment is driven to move downwards, and the AUV equipment is seated on the upper part of the positioning seat assembly, and the AUV equipment is subjected to wireless charging through a wireless charging emitter;
s3: the equipment is separated, the second motor is controlled to reversely rotate, the first screw rod and the first screw rod sliding sleeve are matched, the locking assembly is driven to move upwards, the locking assembly is separated from the docking assembly, and then the AUV equipment is controlled to leave the AUV docking platform.
In summary, the beneficial effects of the application are as follows:
through the locking subassembly that can adjust from top to bottom that sets up and the guide post that can rotatory regulation, can be initiative lock with installing the docking module on AUV, the orientation of AUV equipment is adjusted through the rotation of control guide post initiative, realize through the height of control locking subassembly that AUV equipment is located on the positioning seat subassembly, can realize wireless charging transmitter and the wireless receiver closely dock of AUV equipment through flexible cover and the first spring of setting, guarantee going on smoothly that wireless charges, the positioning seat subassembly of adjustable length simultaneously, can adapt to the AUV equipment of different length, and the orientation of initiative adjustment AUV equipment compares in the propeller through AUV equipment self adjusts the direction, the adjustment precision is higher, can be faster more accurate to be located on the positioning seat subassembly.
Drawings
Fig. 1 is a schematic structural diagram of an AUV docking device based on an autonomous adjusting mechanism according to the present application;
fig. 2 is a schematic structural diagram of an AUV docking device positioning seat assembly based on an autonomous adjusting mechanism according to the present application;
fig. 3 is a schematic structural diagram of an AUV docking device positioning seat assembly based on an autonomous adjusting mechanism according to the present application, with a wireless charging assembly removed;
fig. 4 is an exploded view of a wireless charging assembly of an AUV docking device based on an autonomous adjusting mechanism according to the present application;
fig. 5 is a schematic cross-sectional structure of a wireless charging assembly of an AUV docking device based on an autonomous adjusting mechanism according to the present application;
fig. 6 is a schematic structural diagram of an AUV docking device wireless charging assembly with a round cover plate removed based on an autonomous adjusting mechanism according to the present application;
fig. 7 is a schematic structural diagram of a circular cover plate of an AUV docking device based on an autonomous adjusting mechanism according to the present application;
fig. 8 is a schematic structural diagram of a docking assembly of an AUV docking device based on an autonomous adjusting mechanism according to the present application;
fig. 9 is an exploded view of a docking assembly of an AUV docking device based on an autonomous adjustment mechanism according to the present application;
fig. 10 is a schematic diagram of a lower structure of an AUV docking device support frame based on an autonomous adjusting mechanism according to the present application;
fig. 11 is a schematic structural diagram of an AUV docking device support frame based on an autonomous adjusting mechanism according to the present application;
fig. 12 is a schematic structural diagram of an AUV docking device guide post based on an autonomous adjusting mechanism according to the present application;
fig. 13 is a schematic structural diagram of an AUV docking device locking assembly based on an autonomous adjusting mechanism according to the present application;
fig. 14 is a schematic structural diagram of a first screw rod and a cylinder of an AUV docking device based on an autonomous adjusting mechanism according to the present application;
fig. 15 is a schematic structural diagram of a first screw and a second motor of an AUV docking device based on an autonomous adjusting mechanism according to the present application.
In the figure: 1. a support frame; 101. a guide column; 1011. a positioning groove; 1012. a circular baffle; 1013. a bar-shaped groove; 102. a flange plate; 103. a gear plate; 104. a cylinder; 1041. a rotary joint; 105. a motor bracket; 106. a first motor; 1061. a drive gear; 107. a locking assembly; 1071. an annular sheet; 1072. a movable sleeve; 10721. the first screw rod sliding sleeve; 10722. rectangular blocks; 1073. a proximity sensor; 1074. a locking fork; 10741. a bevel portion; 10742. u-shaped notch; 108. a first screw rod; 1081. a second motor; 2. a positioning seat assembly; 201. a connecting frame; 2011. a first bracket; 2012. a guide sleeve; 202. a U-shaped rod; 2021. a second bracket; 20211. a second screw rod sliding sleeve; 2022. a limit cap; 2023. a third motor; 2024. a second screw rod; 203. a charging stand; 2031. a support plate; 20311. a sleeve; 2032. a circular sleeve; 20321. a telescopic sleeve; 20322. a winding sleeve; 2033. a wireless charging transmitter; 2034. a circular cover plate; 2035. waterproof gear motor; 2036. a rotating arm; 20361. a column; 20362. a metal pin; 2037. a first spring; 2038. a steel wire; 3. a docking assembly; 301. a connecting block; 3011. a tubular portion; 302. a positioning rod; 3021. a landing part; 3022. a second spring; 3023. a limit retainer ring; 303. guiding curved rod.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to fig. 1 to 15 in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
Referring to fig. 1-15, an autonomous adjusting mechanism-based AUV docking device comprises a support frame 1 and a docking assembly 3, wherein a positioning seat assembly 2 which is transversely arranged is arranged on one side of the upper part of the support frame 1, and a wireless charging assembly is arranged in the positioning seat assembly 2;
the support frame 1 comprises a guide upright post 101 which is vertically arranged, the guide upright post 101 is of a hollow structure, positioning grooves 1011 which are distributed in an annular mode at equal distance are formed in the outer peripheral surface of the guide upright post 101, the end faces of the positioning grooves 1011 are of a trapezoid structure, a locking component 107 is sleeved on the guide upright post 101, a flange plate 102 is rotatably arranged at the lower end of the guide upright post 101, a first driving unit for driving the guide upright post 101 to rotate is arranged on the flange plate 102, a second driving unit for realizing sliding of the locking component 107 on the guide upright post 101 is arranged at the lower end of the guide upright post 101, a circular baffle 1012 is fixedly arranged at the top of the guide upright post 101, and the locking component 107 is used for limiting the butt joint component 3 and the guide upright post 101 to perform relative rotation;
the butt joint assembly 3 comprises a connecting block 301, a tubular portion 3011 is arranged at the middle position of the connecting block 301, a positioning rod 302 is inserted into the tubular portion 3011, one end of the positioning rod 302 penetrates out from one end of the tubular portion 3011, a stepped portion 3021 is fixed at one end of the positioning rod 302, a limit retainer ring 3023 is arranged at the position, close to the inner side of the tubular portion 3011, of the outer peripheral surface of the positioning rod 302, a second spring 3022 is sleeved at the position, close to the limit retainer ring 3023, of the outer peripheral surface of the positioning rod 302, two guide curved rods 303 which are symmetrically distributed are arranged on one side, close to the stepped portion 3021, of the connecting block 301, a trapezoid gap is formed between the two guide curved rods 303, and the distance, close to one end of the stepped gap, of the stepped gap is larger than the distance, close to one end of the tubular portion 3011, of the trapezoid gap.
Referring to fig. 10 and 12, the first driving unit includes a motor bracket 105 fixed at the lower part of the flange 102, a first motor 106 is fixed on the motor bracket 105, an output shaft of the first motor 106 passes through the motor bracket 105 and is fixed with a driving gear 1061, the lower end of the guiding upright 101 passes through the flange 102 and is fixed with a gear disc 103, the gear disc 103 is meshed with the driving gear 1061, here, the first motor 106 is controlled to work, the driving gear 1061 is driven to rotate, so as to drive the gear disc 103 to rotate, so that the guiding upright 101 can be driven to rotate, the docking assembly 3 is required to be mounted on the AUV device, the docking assembly 3 is locked by the locking assembly 107 and cannot rotate relative to the guiding upright 101, so that the docking assembly 3 and the AUV device can be driven to rotate and adjust by controlling the guiding upright 101 to align the AUV device with the positioning seat assembly 2.
Referring to fig. 10, 14 and 15, the second driving unit includes a cylinder 104 fixed at the lower end of the guide post 101, a second motor 1081 is fixed in the cylinder 104, an output shaft of the second motor 1081 is fixed with a first screw rod 108, the first screw rod 108 is rotatably disposed at the inner side of the guide post 101, the locking assembly 107 includes a movable sleeve 1072 sleeved on the guide post 101, a first screw rod sliding sleeve 10721 is sleeved on the first screw rod 108, a rectangular block 10722 is fixed between the first screw rod sliding sleeve 10721 and the movable sleeve 1072, one of the positioning slots 1011 is provided with a strip-shaped slot 1013, the rectangular block 10722 is slidably disposed in the strip-shaped slot 1013, a rotary connector 1041 is coaxially fixed at the lower end of the cylinder 104, the rotary connector 1041 is electrically connected with the second motor 1081, and drives the first screw rod 108 to work by controlling the second motor 1081, thereby cooperating with the first screw rod 10721, and driving the rectangular block 10722 and the movable sleeve 1072 to slide on the guide post 101, thereby locking assembly 107 can be locked.
Referring to fig. 10, 11 and 13, the locking assembly 107 further includes an annular plate 1071 fixed on the outer peripheral surface of the movable sleeve 1072, locking forks 1074 distributed in an annular shape are disposed at the lower portion of the annular plate 1071, U-shaped notches 10742 are disposed on the locking forks 1074, inclined surface portions 10741 are disposed at one side of the lower portion of the locking forks 1074, which is close to the guide upright post 101, screw holes are formed in the positions, close to the locking forks 1074, of the annular plate 1071, proximity sensors 1073 are screwed into the screw holes, the width of the U-shaped notches 10742 is larger than the diameters of the positioning rods 302 and the guide curved rods 303, when the second driving unit works, the locking assembly 107 is driven to move downwards, the positioning rods 302 are clamped into the U-shaped notches 10742 on one of the locking forks 1074, and then the U-shaped notches 10742 on two adjacent locking forks 1074 are clamped with the two guide curved rods.
Referring to fig. 1-6, the positioning seat assembly 2 includes a connecting frame 201 fixed on the upper portion of the flange 102, a bent portion inclined obliquely upwards is provided on one side of the connecting frame 201, two symmetrically distributed guide sleeves 2012 are provided on the upper portion of the bent portion, the same U-shaped rod 202 is inserted into the two guide sleeves 2012, two ends of the U-shaped rod 202 are both provided with limit caps, the wireless charging assembly is fixed on the U-shaped rod 202, the same first bracket 2011 is fixed between the two guide sleeves 2012, a second bracket 2021 is fixed at one end, close to the bent portion, of the lower portion of the U-shaped rod 202, a second screw rod slide 20211 is fixed at the middle position of the lower portion of the second bracket 2021, a second screw rod 2024 is inserted into the second screw rod slide 20211, a third motor 2023 is fixed on the first bracket 2011, an output shaft of the third motor 2023 penetrates through the first bracket 2011 and is coaxially connected with one end of the second screw rod 4, and the third motor 2023 is controlled to work here, and the second screw rod 2024 is driven to rotate, so that the second screw rod 2024 is driven to stretch out of the second screw rod slide sleeve 202, and the length of the second screw rod is adjusted to be different from the U-shaped rod 202.
Referring to fig. 1-7, the wireless charging assembly includes a support plate 2031, two sides of the support plate 2031 are respectively fixed with a sleeve 20311, two ends of the U-shaped rod 202 respectively pass through the two sleeves 20311, the sleeves 20311 are fixed with the U-shaped rod 202 through bolts, a circular sleeve 2032 with an open top is arranged on the support plate 2031, a telescopic sleeve 20321 is fixed in the circular sleeve 2032, a wireless charging emitter 2033 is fixed at the top position inside the telescopic sleeve 20321, a first spring 2037 is arranged inside the circular sleeve 2032, and the first spring 2037 is in contact with the lower part of the wireless charging emitter 2033.
Referring to fig. 4-7, a steel wire 2038 is fixed at the middle position of the lower part of the wireless charging transmitter 2033, the lower end of the steel wire 2038 penetrates out from the middle position of the lower part of the circular sleeve 2032, a circular cover plate 2034 is fixed at the lower part of the circular sleeve 2032, a winding sleeve 20322 is coaxially arranged at the lower part of the circular sleeve 2032, a waterproof gear motor 2035 is fixed at the middle position of the lower part of the circular cover plate 2034, an output shaft of the waterproof gear motor 2035 penetrates through the bottom of the circular cover plate 2034 to be fixed with a rotating arm 2036, a stand column 20361 is arranged at the top of the rotating arm 2036 at the end far away from the waterproof gear motor 2035, a rectangular opening is formed in the stand column 20361, a metal pin 20362 is fixedly connected with the winding sleeve 20322, the steel wire 2038 bypasses the metal pin 20362, the wire 2036 is driven to rotate by controlling the waterproof gear motor 2035, the stand column 20361 and the metal pin 20362 which are matched, and the wire 2038 is wound on the winding sleeve 20322 or the wire 2038 is stretched out from the sleeve 20322, so that the length of the first spring 2037 stretches out and stretches out from the winding sleeve 2032.
An AUV docking device docking method based on an autonomous adjusting mechanism comprises the following steps:
s1: the method comprises the steps of preparing equipment, fixing a flange 102 at the lower part of a support frame 1 to the top of an AUV docking platform, electrically connecting the AUV docking platform with the device, fixedly installing a docking assembly 3 to the head of the AUV equipment, installing a metal detector and a visual detection camera at the head of the AUV equipment, matching and operating the AUV equipment to dock with a guide upright post 101 in the support frame 1, controlling a third motor 2023 to work according to the size of the AUV equipment, driving a second screw 2024 to rotate, matching and arranging a second screw sliding sleeve 20211, driving the second bracket 2021 and a U-shaped rod 202 to move, adjusting the whole length of a positioning seat assembly 2, and then adjusting the position of a charging bracket 203 according to the position of a wireless charging receiver of the AUV equipment, so that when the AUV equipment is seated on the positioning seat assembly 2, the wireless charging transmitter 2033 can be aligned with the position of the wireless charging receiver, driving a rotating arm 2036 and an upright post wire 20361 to rotate by controlling a waterproof reducing motor 2035, and matching and arranging a metal pin 2038 to realize winding the wire 2038 on the wire 20322 or extending the wire 20322 out of the wire 20322 from the wire 20322 by adjusting the wire 20322;
s2: the AUV equipment is in butt joint, a metal detector and a visual detection camera on the AUV equipment are matched, the AUV equipment is controlled to be close to an AUV butt joint platform in a manual operation or automatic navigation mode, then the AUV equipment is operated to be close to a guide upright post 101, a step part 3021 in a butt joint assembly 3 is inserted into one of positioning grooves 1011, then a second motor 1081 is controlled to work, a first screw rod 108 is driven to rotate, a matched first screw rod sliding sleeve 10721 is driven to drive a movable sleeve 1072 to slide downwards along the guide upright post 101, a U-shaped opening 10742 on a corresponding locking fork 1074 is driven to be in butt joint with a guide curved rod 303 and a positioning rod 302 in the sliding process, then a proximity sensor 1073 at a corresponding position feeds back a signal, then the first motor 106 is controlled to work, a driving gear 1061 and a gear disc 103 are matched to drive the guide upright post 101 to rotate, so that the butt joint assembly 3 and the AUV equipment are driven to be adjusted to be aligned with the direction of a positioning seat assembly 2, then the second motor 1081 is continuously controlled to work, the locking assembly 107 is driven to move downwards, the AUV equipment is driven to move downwards, and then the AUV equipment is driven to be charged to the upper part of the positioning assembly 2033 through a wireless charging device;
s3: the equipment is separated, the second motor 1081 is controlled to reversely rotate, and the locking assembly 107 is driven to move upwards by matching with the first screw rod 108 and the first screw rod sliding sleeve 10721, so that the equipment is separated from the docking assembly 3, and then the AUV equipment is controlled to leave the AUV docking platform.
Spatially relative terms, such as "above … …," "above … …," "upper surface at … …," "above," and the like, may be used herein for ease of description to describe one device or feature's spatial location relative to another device or feature as illustrated in the figures. It will be understood that the spatially relative terms are intended to encompass different orientations in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "above" or "over" other devices or structures would then be oriented "below" or "beneath" the other devices or structures. Thus, the exemplary term "above … …" may include both orientations of "above … …" and "below … …". The device may also be positioned in other different ways (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present application and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the application described herein may be capable of being practiced otherwise than as specifically illustrated and described. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The foregoing is only a preferred embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art, who is within the scope of the present application, should make equivalent substitutions or modifications according to the technical scheme of the present application and the inventive concept thereof, and should be covered by the scope of the present application.
Claims (5)
1. An AUV docking device based on an autonomous adjusting mechanism comprises a support frame (1) and a docking assembly (3), and is characterized in that one side of the upper part of the support frame (1) is provided with a transversely arranged positioning seat assembly (2), and a wireless charging assembly is arranged in the positioning seat assembly (2);
the support frame (1) comprises a guide upright post (101) which is vertically arranged, the guide upright post (101) is of a hollow structure, positioning grooves (1011) which are distributed in an annular mode at equal intervals are formed in the outer peripheral surface of the guide upright post (101), the end faces of the positioning grooves (1011) are of a trapezoid structure, a locking assembly (107) is sleeved on the guide upright post (101), a flange plate (102) is rotatably arranged at the lower end of the guide upright post (101), a first driving unit which is used for driving the guide upright post (101) to rotate is arranged on the flange plate (102), a second driving unit which is used for enabling the locking assembly (107) to slide on the guide upright post (101) is arranged at the lower end of the guide upright post (101), a circular baffle (1012) is fixedly arranged at the top of the guide upright post (101), and the locking assembly (107) is used for limiting the butt joint assembly (3) and the guide upright post (101) to perform relative rotation;
the butt joint assembly (3) comprises a connecting block (301), a tubular part (3011) is arranged in the middle of the connecting block (301), a positioning rod (302) is inserted into the tubular part (3011), one end of the positioning rod (302) penetrates out from one end of the tubular part (3011), a ladder stand part (3021) is fixed at one end of the positioning rod (302), a limit retainer ring (3023) is arranged at the position, close to the inner side of the tubular part (3011), of the outer peripheral surface of the positioning rod (302), a second spring (3022) is sleeved at the position, close to the limit retainer ring (3023), of the outer peripheral surface of the positioning rod (302), two guide curved rods (303) which are symmetrically distributed are arranged on one side, close to the ladder stand part (3021), a trapezoid gap is formed between the two guide curved rods (303), and the distance, close to one end of the ladder stand part (3021), of the trapezoid gap is larger than the distance, close to one end of the tubular part (3011);
the first driving unit comprises a motor bracket (105) fixed at the lower part of the flange plate (102), a first motor (106) is fixed on the motor bracket (105), a driving gear (1061) is fixed on an output shaft of the first motor (106) through the motor bracket (105), a gear disc (103) is fixed at the lower end of the guide upright post (101) through the flange plate (102), and the gear disc (103) is meshed with the driving gear (1061); the second driving unit comprises a cylinder (104) fixed at the lower end of the guide upright post (101), a second motor (1081) is fixed in the cylinder (104), a first screw rod (108) is fixed on an output shaft of the second motor (1081), the first screw rod (108) is rotatably arranged at the inner side of the guide upright post (101), the locking assembly (107) comprises a movable sleeve (1072) sleeved on the guide upright post (101), a first screw rod sliding sleeve (10721) is sleeved on the first screw rod (108), a rectangular block (10722) is fixed between the first screw rod sliding sleeve (10721) and the movable sleeve (1072), a strip groove (1013) is formed in one positioning groove (1011), the rectangular block (10722) is slidably arranged in the strip groove (1013), a rotary joint (1041) is coaxially fixed at the lower end of the cylinder (104), and the rotary joint (1041) is electrically connected with the second motor (1081); the locking assembly (107) further comprises an annular sheet (1071) fixed on the outer peripheral surface of the movable sleeve (1072), locking forks (1074) distributed in an annular mode at equal distances are arranged at the lower portions of the annular sheet (1071), U-shaped openings (10742) are formed in the locking forks (1074), inclined surface portions (10741) are formed in the lower portions of the locking forks (1074) close to one sides of the guide upright posts (101), screw holes are formed in the positions, close to the locking forks (1074), of the annular sheet (1071), proximity sensors (1073) are screwed in the screw holes, and the width of the U-shaped openings (10742) is larger than the diameters of the positioning rods (302) and the guide curved rods (303); the positioning seat assembly (2) comprises a connecting frame (201) fixed on the upper portion of a flange plate (102), bending parts inclined upwards are arranged on one side of the connecting frame (201), two symmetrically-distributed guide sleeves (2012) are arranged on the upper portion of the bending parts, the same U-shaped rod (202) is inserted into the two guide sleeves (2012), limiting caps are arranged at two ends of the U-shaped rod (202), the wireless charging assembly is fixed on the U-shaped rod (202), the wireless charging assembly comprises a supporting plate (2031), sleeves (20311) are fixed on two sides of the supporting plate (2031), two ends of the U-shaped rod (202) respectively penetrate through the two sleeves (20311), the sleeves (20311) are fixed with the U-shaped rod (202) through bolts, round sleeves (2032) with top openings are arranged on the supporting plate (2031), telescopic sleeves (20321) are fixed in the round sleeves (2032), and wireless charging transmitters (2033) are fixed at the inner top positions of the telescopic sleeves (21).
2. The AUV docking device based on the autonomous adjusting mechanism according to claim 1, wherein a same first bracket (2011) is fixed between two guide sleeves (2012), a second bracket (2021) is fixed at one end, close to a bending position, of the lower portion of the U-shaped rod (202), a second screw sliding sleeve (20211) is fixed at the middle position of the lower portion of the second bracket (2021), a second screw (2024) is inserted in the second screw sliding sleeve (20211), a third motor (2023) is fixed on the first bracket (2011), and an output shaft of the third motor (2023) penetrates through the first bracket (2011) and is coaxially connected with one end of the second screw (2024).
3. The AUV docking device based on an autonomous adjustment mechanism as claimed in claim 2, wherein a first spring (2037) is provided inside the circular sleeve (2032), the first spring (2037) being in contact with a lower portion of the wireless charging transmitter (2033).
4. The AUV docking device based on the autonomous adjusting mechanism according to claim 3, wherein a steel wire (2038) is fixed at the middle position of the lower portion of the wireless charging transmitter (2033), the lower end of the steel wire (2038) penetrates out from the middle position of the lower portion of the circular sleeve (2032), a circular cover plate (2034) is fixed at the lower portion of the circular sleeve (2032), a winding sleeve (20322) is coaxially arranged at the lower portion of the circular sleeve (2032), a waterproof gear motor (2035) is fixed at the middle position of the lower portion of the circular cover plate (2034), a rotating arm (2036) is fixed at the bottom of the output shaft of the waterproof gear motor (2035) through the circular cover plate (2034), a stand column (20361) is arranged at one end, far away from the waterproof gear motor (2035), a rectangular gap is formed in the stand column (61), a metal pin (20362) is rotatably arranged at the rectangular gap, and the steel wire (2038) is fixedly connected with the winding sleeve (20322) by bypassing the metal pin (20362).
5. A docking method of an AUV docking device based on an autonomous regulatory mechanism in accordance with claim 4, comprising the steps of:
s1: the method comprises the steps of preparing equipment, fixing a flange plate (102) at the lower part of a support frame (1) to the top of an AUV docking platform, electrically connecting the AUV docking platform with the device, fixedly mounting a docking assembly (3) to the head of the AUV equipment, mounting a metal detector and a visual detection camera at the head of the AUV equipment, matching and operating the AUV equipment to a guide upright post (101) in the support frame (1), controlling a third motor (2023) to work according to the size of the AUV equipment, driving a second screw rod (2024) to rotate, matching and setting a second screw rod sliding sleeve (20211), driving the second support (2021) and a U-shaped rod (202) to move, adjusting the whole length of a positioning seat assembly (2), and then adjusting the position of a charging support (203) according to the position of a wireless charging receiver of the AUV equipment, so that when the AUV equipment is seated on the positioning seat assembly (2), the wireless charging emitter (2033) is aligned with the position of the wireless charging receiver, driving a rotating arm (2036) to rotate by controlling a waterproof speed reducing motor (2035) to rotate, driving the rotating arm (2036) to rotate and a wire pin (20322) to stretch out of a wire sleeve (2038) or stretch out of the wire sleeve (2038) from the wire winding sleeve (2038) to the wire winding sleeve (2038);
s2: the AUV equipment is in butt joint, a metal detector and a visual detection camera on the AUV equipment are matched, the AUV equipment is controlled to be close to an AUV butt joint platform in a manual operation or automatic navigation mode, then the AUV equipment is operated to be close to a guide upright post (101), a step table part (3021) in a butt joint assembly (3) is inserted into one of positioning grooves (1011), then a second motor (1081) is controlled to work, a first screw rod (108) is driven to rotate, thus a first screw rod sliding sleeve (10721) is matched, a movable sleeve (1072) is driven to slide downwards along the guide upright post (101), a U-shaped opening (10742) on a corresponding locking fork (1074) is driven to be in butt joint with a guide curved rod (303) and a positioning rod (302) in a sliding process, then a proximity sensor (1073) at a corresponding position is controlled to work, a driving gear (1061) and a gear disc (103) are matched, the guide upright post (101) is driven to rotate, thus the butt joint assembly (3) and the AUV equipment are driven to be adjusted to be aligned with the positioning assembly (2), then the AUV equipment is driven to move down, and the charging assembly (107) is driven to move down in a wireless mode, and the charging assembly (2) is further driven to move down through the wireless charging assembly (107);
s3: the equipment is separated, the second motor (1081) is controlled to reversely rotate, the first screw rod (108) and the first screw rod sliding sleeve (10721) are matched, the locking assembly (107) is driven to move upwards, the locking assembly is separated from the docking assembly (3), and then the AUV equipment is controlled to leave the AUV docking platform.
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| CN202310894760.0A CN116691975B (en) | 2023-07-20 | 2023-07-20 | AUV docking device and method based on autonomous adjusting mechanism |
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