CN116834908A

CN116834908A - Unmanned supply vessel comprising matrix clamp and multi-claw wireless charging mechanical arm

Info

Publication number: CN116834908A
Application number: CN202310600628.4A
Authority: CN
Inventors: 何健超; 邹屹祁; 葛旺; 俞志伟; 徐奕新; 汪子淇; 符恒; 庄迪; 梁思怡; 张家琪; 常永瑞; 刘梦瑶
Original assignee: Nanjing University of Aeronautics and Astronautics
Current assignee: Nanjing University of Aeronautics and Astronautics
Priority date: 2023-05-25
Filing date: 2023-05-25
Publication date: 2023-10-03

Abstract

The invention discloses an unmanned replenishment ship comprising a matrix clamp and a multi-claw wireless charging mechanical arm, relates to the field of unmanned ship equipment, and aims at the problems that an existing crane is used for capturing an underwater robot through a wire rope connection retractor, the accuracy is very low, the capturing difficulty is high, and the wire rope can be stirred into a propeller of an underwater robot propeller, and the unmanned replenishment ship comprises a double-body replenishment ship with the matrix clamp and the multi-claw wireless charging mechanical arm, wherein the double-body replenishment ship comprises: the novel mushroom antenna comprises a left ship body, a right ship body, a left power set, a right power set, a connecting bridge plate, a front gantry, a rear gantry, a first camera, a second camera, a third camera, a controller and a mushroom antenna. The device is novel in structure, and the problems that the existing crane is used for connecting the winding and unwinding device to capture the underwater robot through the steel wire rope, the accuracy is low in the process, the capturing difficulty is high, and the steel wire rope can be stirred into the propeller of the underwater robot.

Description

Unmanned supply vessel comprising matrix clamp and multi-claw wireless charging mechanical arm

Technical Field

The invention relates to the field of unmanned ship equipment, in particular to an unmanned supply ship comprising a matrix clamp and a multi-claw wireless charging mechanical arm.

Background

An autonomous replenishment ship (hereinafter referred to as a support mother ship) is an unmanned ship having functions of docking, capturing, charging, replenishing, and throwing an underwater robot. The research result comprises the design of the appearance of a support mother ship, the appearance design science has certain sea wave resistance capability, and simultaneously has stronger carrying capability and meets the reliability of long-term operation; the robot and the replenishing ship are kept relatively static through the mechanical arm and the matrix clamp, the matrix clamp can adapt to the shapes of different underwater robots without positioning, and the joint is tight; the automatic recovery device comprises a base and a receiving device for wirelessly charging the underwater robot, wherein the automatic supply of the underwater robot is completed on the water surface through a mechanical arm which is wirelessly charged by multiple claws and comprises visual identification and various position detection sensors and an algorithm of the mechanical arm, and the automatic recovery device has the function of autonomously completing recovery operation; meanwhile, the system is provided with an underwater robot-supporting mother ship-bottom surface control base station data and communication system, a relay control algorithm for supporting mother ship development and a set of supporting mother ship hardware cores with GPS positioning and multiple surrounding environment sensing capabilities, and the system has the development capability of developing partial information processing and feedback closed-loop control for underwater robot groups. The existing autonomous replenishment ship uses mechanical equipment customized for underwater robots to carry out salvage and recovery, and is most represented by an autonomous submersible sewage recovery system of the Shenyang automation institute of China academy of sciences, but mainly uses a crane to connect a retractor through a wire rope to capture the underwater robots, the accuracy is low in the process, the capturing difficulty is high, the wire rope possibly stirs into the propeller of the underwater robot, and in order to solve the problems, we propose an unmanned replenishment ship comprising a matrix clamp and a multi-claw wireless charging mechanical arm.

Disclosure of Invention

The unmanned replenishment ship comprising the matrix clamp and the multi-claw wireless charging mechanical arm solves the problems that an existing crane is used for connecting a retractor to capture an underwater robot through a steel wire rope, accuracy is low in the process, capturing difficulty is high, and the steel wire rope can be stirred into a propeller of the underwater robot.

In order to achieve the above purpose, the present invention adopts the following technical scheme:

an unmanned supply vessel containing matrix anchor clamps and multi-claw wireless charging's arm, including taking matrix anchor clamps's binary supply vessel and multi-claw wireless charging arm, binary supply vessel contains: the device comprises a left ship body, a right ship body, a left power set, a right power set, a connecting bridge plate, a front gantry, a rear gantry, a first camera, a second camera, a third camera, a controller, a mushroom antenna and a matrix clamp set.

Preferably, the left power set and the right power set are identical except that the steering of the motor is different, and each power set comprises a motor and a propeller and is used for providing power for the ship, and the steering is realized through the direct speed difference of the two power sets.

Preferably, the camera is used for performing visual obstacle avoidance and ensuring the butting accuracy of the mechanical arm during charging in navigation, data are directly transmitted to the controller, and the controller can control the multi-claw wireless charging mechanical arm, the matrix clamp group and the ship body power group.

Preferably, the matrix fixture group comprises N electromagnetic lock fixtures which are symmetrical on two sides and are arranged in a row A and a column B.

Preferably, the multi-claw wireless charging mechanical arm comprises a base, a rotating cradle head, a large arm, a small arm, a multi-claw palm disc, C wireless charging claw fingers, a first servo motor, a second servo motor, a third servo motor, a connecting rod and an electromagnetic lock, wherein the base is matched with the rotating cradle head in a coaxial manner, and the base can rotate relatively through the first servo motor.

Preferably, the electromagnetic lock clamp comprises a spring, a push rod and an electromagnet, wherein the push rod is pulled backwards when the electromagnetic lock clamp is electrified, and the spring pushes the push rod out of a fixed object after the electromagnetic lock clamp is powered off.

Preferably, the connecting rod is hinged with the small arm and the rotating cradle head, the large arm is hinged with the small arm and the rotating cradle head, the rotating cradle head has two degrees of freedom, the relative rotation of the large arm and the rotating cradle head is completed through the second servo motor, and the relative rotation of the small arm and the large arm is completed through the connecting rod and the third servo motor, so that the movement of the mechanical arm in space can be completed.

Preferably, the multi-claw palm disc is connected with the small arm through a top hinge, is connected with six wireless charging claws with central symmetry through hinges, and can be connected with C wireless charging claws through a mounting winch at the top end of the small arm to synchronously control retraction, so that the charging can be performed on a conventional disc type wireless charging receiving end when the C wireless charging claws are fully opened, and the charging can be performed on a retractable charging seat when the C wireless charging claws are fully retracted.

Preferably, the wireless charging claw is provided with D small-sized coils for electromagnetically inducing the coils at the charged end, the retractable charging seat comprises a charging seat cylinder body, a motor column, a lifting motor, a gear, a rack, a charging seat and E coils, the charging seat is divided into C groups, each group is provided with E coils, the quantity of the E coils is the same as that of the wireless charging claw, the E coils are required to be more than or equal to D, the charging seat cylinder body is fixed at the lower end of the motor column, the upper end of the motor column is fixed with the lifting motor, the lifting motor is fixed with the gear through the coaxial matching of a bolt, the gear and the rack form an up-down motion mechanism, and the upper end of the rack is fixed with the charging seat, so that the lifting of the charging seat can be controlled by the rotation of the motor.

Preferably, N is 24, A is 3, B is 4, C is 6,D is 6.

A control method of an unmanned tender vessel comprising a matrix clamp and a multi-claw wireless charged mechanical arm, comprising the following steps:

the butt joint process is divided into three stages: searching, positioning and butting of the underwater robot;

in the searching stage, the underwater robot searches the position of the large unmanned water supply vessel through a vision system of the underwater robot, and after the robot detects the supply vessel, the robot sends a signal to inform the supply vessel;

in the positioning stage, once the robot detects the replenishment ship, a self positioning system is used for calculating the distance and the relative position between the robot and the replenishment ship, and meanwhile, the replenishment ship can position the underwater robot so as to better control the position and the gesture of the mechanical arm;

in the docking stage, when the distance between the underwater robot and the replenishment ship is close enough, the multi-claw wireless charging mechanical arm automatically stretches out so as to guide and grab the underwater robot, the robot is stably fixed in the replenishment ship after grabbing through the matrix clamp, and the replenishment task is completed through multi-claw wireless charging.

The beneficial effects of the invention are as follows:

1. the matrix clamp can be used for fixing underwater robots with different shapes, so that the application range is wider;

2. the steps of butt joint fixation and salvage can be reduced by using the multi-claw wireless charging mechanical arm to directly charge the underwater robot, so that the efficiency is higher and the implementation difficulty is lower;

3. the retractable charging seat converts wireless charging from two-dimensional layout to three-dimensional layout, so that the surface area of the charging seat can be fully utilized, the charging efficiency is improved, and the effective load and the space of the underwater robot are increased.

To sum up, the device effectually solves current use lifting machine and connects the winding and unwinding device through wire rope and catch underwater robot, and the in-process accuracy is very low, catch the degree of difficulty big, and wire rope can stir the problem in the underwater robot propeller screw.

Drawings

Fig. 1 is a schematic structural view of the present invention.

Fig. 2 is a schematic view of the structure of fig. 1 at another view angle according to the present invention.

Fig. 3 is a schematic view of the structure of fig. 2 at another view angle according to the present invention.

Fig. 4 is a top view of the present invention.

Fig. 5 is a schematic structural diagram of the multi-claw wireless charging mechanical arm of the present invention.

Fig. 6 is a schematic view of the structure of fig. 5 at another view angle according to the present invention.

Fig. 7 is a schematic structural diagram of a retractable charging stand according to the present invention.

Fig. 8 is a schematic view of the underwater unmanned aerial vehicle of the present invention secured by a matrix clamp.

Reference numerals in the drawings: 1. a left hull; 2. a right hull; 3. a left power pack; 4. a right power pack; 5. connecting bridge plates; 6. a front gantry; 7. a rear gantry; 8. a first camera; 9. a second camera; 10. a third camera; 11. a controller; 12. a mushroom antenna; 13. a matrix clamp group; 14. a base; 15. rotating the cradle head; 16. a large arm; 17. a forearm; 18. a multi-claw palm plate; 19. wireless charging claw fingers; 20. a first servo motor; 21. a second servo motor; 22. a third servo motor; 23. a connecting rod; 24. a charging seat cylinder; 25. a motor column; 26. a lifting motor; 27. a gear; 28. a rack; 29. a charging stand; 30. a coil.

Detailed Description

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

Referring to fig. 1-8, an unmanned replenishment vessel comprising a matrix clamp and a multi-claw wireless charging robotic arm, comprising a double-body replenishment vessel with a matrix clamp and a multi-claw wireless charging robotic arm, the double-body replenishment vessel comprising: the ship comprises a left ship body 1, a right ship body 2, a left power set 3, a right power set 4, a connecting bridge plate 5, a front gantry 6, a rear gantry 7, a first camera 8, a second camera 9, a third camera 10, a controller 11, a mushroom antenna 12 and a matrix clamp set 13, wherein the left power set 3 and the right power set 4 are identical except for different motor steering, each power set comprises a motor and a propeller, and is used for providing power for a ship, and steering is realized through the direct speed difference of the two power sets.

The camera is used for performing visual obstacle avoidance and ensuring the butting accuracy of the mechanical arm during charging in navigation, data are directly transmitted to the controller 11, and the controller 11 can control the multi-claw wireless charging mechanical arm, the matrix clamp group 13 and the ship body power group; the matrix clamp group 13 comprises N electromagnetic lock clamps which are symmetrical on two sides and are arranged in rows A and columns B, and the matrix clamps are powered off simultaneously to fix the underwater unmanned aerial vehicle so as to avoid the relative movement between the underwater unmanned aerial vehicle and the supply vessel, so that the wireless charging mechanical arm is easier to butt joint and the charging process is more stable.

The multi-claw wireless charging mechanical arm comprises a base 14, a rotating cradle 15, a large arm 16, a small arm 17, a multi-claw palm disc 18, C wireless charging claw fingers 19, a first servo motor 20, a second servo motor 21, a third servo motor 22, a connecting rod 23 and an electromagnetic lock, wherein the base 14 is matched with the rotating cradle 15 coaxially, and the first servo motor 20 can rotate relatively.

The electromagnetic lock clamp comprises a spring, a push rod and an electromagnet, wherein the push rod is pulled backwards when the electromagnetic lock clamp is electrified, and the spring pushes the push rod out of a fixed object after the electromagnetic lock clamp is powered off.

The connecting rod 23 is hinged with the small arm 17 and the rotating cradle head 15, the large arm 16 is hinged with the small arm 17 and the rotating cradle head 15, the rotation with two degrees of freedom is realized, the relative rotation of the large arm 16 and the rotating cradle head 15 is realized through the second servo motor 21, and the relative rotation of the small arm 17 and the large arm 16 is realized through the connecting rod and the third servo motor 22, so that the mechanical arm can move in space.

The multi-claw palm disc 18 is connected with the small arm 17 through a top hinge, is connected with six wireless charging claws which are symmetrical in center through hinges, can be connected with C wireless charging claws through a mounting winch at the top end of the small arm 17 to synchronously control retraction, can charge a conventional disc type wireless charging receiving end when the C wireless charging claws are fully opened, and can charge a retractable charging seat 29 when the C wireless charging claws are fully retracted.

The wireless charging claw 19 comprises D small coils 30 which are used for electromagnetic induction with the coil 30 at a charged end, the retractable charging seat 29 comprises a charging seat cylinder 24, a motor column 25, a lifting motor 26, a gear 27, a rack 28, a charging seat 29 and E coils 30, the charging seat 29 is divided into C groups, each group comprises E coils 30, the number of the E coils is equal to or greater than D as the number of the wireless charging claw 19, the charging seat cylinder 24 is fixed with the lower end of the motor column 25, the upper end of the motor column 25 is fixed with the lifting motor 26, the lifting motor 26 and the gear 27 are coaxially matched and fixed through a bolt, the gear 27 and the rack 28 form an up-down motion mechanism, the upper end of the rack 28 is fixed with the charging seat 29, so that the motor can control the lifting of the charging seat 29, the volume of the retractable charging seat 29 can be reduced when the charging seat 29 is retracted, the charging seat 29 and a multi-claw wireless charging mechanical arm are butted after being fixed by a matrix clamp, and then the retractable charging seat 29 comprises the charging seat 24, the motor column 25, the lifting motor 26, the gear 27, the rack 28 and the E coils 30; the charging seat 29 is divided into C groups, each group contains E coils 30, the number of the E coils is equal to that of the wireless charging claw fingers 19, E is required to be more than or equal to D, the charging seat cylinder 24 is fixed with the lower end of the motor column 25, and the upper end of the motor column 25 is fixed with the lifting motor 26; the lifting motor 26 and the gear 27 are coaxially matched and fixed through a bolt; the gear 27 and the rack 28 form an up-down movement mechanism, the upper end of the rack 28 is fixed with the charging seat 29, so that the motor can rotate to control the charging seat 29 to lift

Specifically, N is 24, A is 3, B is 4, C is 6,D and 6.

in the positioning stage, once the robot detects the replenishment ship, the robot uses a positioning system to calculate the distance and the relative position between the robot and the replenishment ship, and meanwhile, the replenishment ship can position the underwater robot so as to better control the position and the gesture of the mechanical arm;

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

Claims

1. An unmanned supply vessel containing matrix anchor clamps and multi-claw wireless charging's arm, including taking matrix anchor clamps's binary supply vessel and multi-claw wireless charging arm, its characterized in that, binary supply vessel contains: the novel multifunctional intelligent multifunctional ship comprises a left ship body (1), a right ship body (2), a left power unit (3), a right power unit (4), a connecting bridge plate (5), a front gantry (6), a rear gantry (7), a first camera (8), a second camera (9), a third camera (10), a controller (11), a mushroom antenna (12) and a matrix clamp group (13).

2. An unmanned feeding vessel comprising a matrix clamp and a multi-jaw wireless charged mechanical arm according to claim 1, characterized in that the left power pack (3) and the right power pack (4) are identical except for the motor steering, each power pack comprising a motor and a propeller for powering the vessel, steering being achieved by the direct speed difference of the two power packs.

3. An unmanned feeding vessel comprising a matrix clamp and a multi-claw wireless charging mechanical arm according to claim 1, wherein the camera is used for visually avoiding obstacles in navigation and ensuring the docking accuracy of the mechanical arm during charging, the data is directly transmitted to the controller (11), and the controller (11) can control the multi-claw wireless charging mechanical arm, the matrix clamp group (13) and the hull power group.

4. An unmanned feeding vessel comprising a matrix clamp and a multi-claw wireless charging mechanical arm according to claim 1, wherein the matrix clamp group (13) comprises two symmetrical N electromagnetic lock clamps which are arranged in a row and a column.

5. The unmanned feeding ship comprising a matrix clamp and a multi-claw wireless charging mechanical arm according to claim 1, wherein the multi-claw wireless charging mechanical arm comprises a base (14), a rotary cradle head (15), a large arm (16), a small arm (17), a multi-claw palm plate (18), C wireless charging claw fingers (19), a first servo motor (20), a second servo motor (21), a third servo motor (22), a connecting rod (23) and an electromagnetic lock, and the base (14) is matched with the rotary cradle head (15) coaxially and can rotate relatively through the first servo motor (20).

6. The unmanned feeding vessel comprising a matrix clamp and a multi-claw wireless charging mechanical arm according to claim 5, wherein the electromagnetic locking clamp comprises a spring, a push rod and an electromagnet, the push rod is pulled backwards when the electromagnetic locking clamp is electrified, and the spring pushes the push rod out of a fixed object after the electromagnetic locking clamp is powered off.

7. An unmanned feeding vessel comprising a matrix clamp and a multi-claw wireless charged mechanical arm according to claim 1, wherein the connecting rod (23) is hinged with the small arm (17) and the rotary holder (15), the large arm (16) is hinged with the small arm (17) and the rotary holder (15), the rotation with two degrees of freedom is realized by the second servo motor (21), the relative rotation of the large arm (16) and the rotary holder (15) is realized by the connecting rod and the third servo motor (22), and the spatial movement of the mechanical arm can be realized.

8. The unmanned feeding boat comprising the matrix clamp and the multi-claw wireless charging mechanical arm according to claim 1, wherein the multi-claw palm disc (18) is connected with the small arm (17) through a top hinge, is connected with six central symmetrical wireless charging claws through hinges, can synchronously control retraction through a winch arranged at the top end of the small arm (17) to connect with C wireless charging claws, can charge a conventional disc type wireless charging receiving end when the C wireless charging claws are fully opened, and can charge a retractable charging seat (29) when the C wireless charging claws are fully retracted.

9. The unmanned feeding ship comprising a matrix clamp and a multi-claw wireless charging mechanical arm according to claim 1, wherein the wireless charging claw fingers (19) comprise D small-sized coils (30) for electromagnetic induction with the coils (30) at the charged ends, the retractable charging seat (29) comprises a charging seat cylinder (24), a motor column (25), a lifting motor (26), a gear (27), a rack (28), a charging seat (29) and E coils (30), the charging seat (29) is divided into C groups, each group comprises E coils (30), the number of the E coils is equal to or greater than D as the number of the wireless charging claw fingers (19), the upper ends of the charging seat cylinder (24) and the lower ends of the motor column (25) are fixed, the upper ends of the motor column (25) and the lifting motor (26) are fixed through coaxial matching of the pins, the gear (27) and the rack (28) form an up-down motion mechanism, and the upper ends of the rack (28) and the charging seat (29) are fixed through pins, and the lifting of the rack (29) can be controlled to rotate.

10. A method of controlling an unmanned tender vessel comprising a matrix clamp and a multi-jaw wireless charged robotic arm, characterized in that the unmanned tender vessel according to any of the preceding claims 1-9 comprises the following processes: