CN116902144A - AUV releasing and recovering device and method - Google Patents
AUV releasing and recovering device and method Download PDFInfo
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- CN116902144A CN116902144A CN202311161912.2A CN202311161912A CN116902144A CN 116902144 A CN116902144 A CN 116902144A CN 202311161912 A CN202311161912 A CN 202311161912A CN 116902144 A CN116902144 A CN 116902144A
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- 238000000034 method Methods 0.000 title claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 238000011084 recovery Methods 0.000 claims description 23
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 18
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 18
- 241001330002 Bambuseae Species 0.000 claims description 18
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 18
- 239000011425 bamboo Substances 0.000 claims description 18
- 238000005452 bending Methods 0.000 claims description 8
- 238000007789 sealing Methods 0.000 claims description 8
- 238000003466 welding Methods 0.000 claims description 8
- 238000001125 extrusion Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000006243 chemical reaction Methods 0.000 claims description 4
- 238000004064 recycling Methods 0.000 abstract 2
- 230000000694 effects Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000758 substrate Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Filling Or Emptying Of Bunkers, Hoppers, And Tanks (AREA)
Abstract
The invention belongs to the technical field of AUV releasing and recycling application equipment, in particular to a device and a method for releasing and recycling AUV, aiming at the problem that the AUV is easy to fall off after being released and recycled, the device comprises a rectangular box body, a round hole is formed in one side of the rectangular box body, a round storage cylinder is fixedly welded on the inner wall of the round hole of the rectangular box body, the round storage cylinder penetrates through the rectangular box body, a rectangular hole is formed in the bottom of the round storage cylinder, a plurality of through holes are formed in the outer wall of the circumference of the round storage cylinder at equal intervals, a rotating block is rotatably arranged in the middle of one side, far away from the rectangular box body, of the inner wall of the round storage cylinder, and a rotary storage mechanism is rotatably arranged on one side, close to the rectangular box body, of the rotating block. According to the invention, the elastic system on the lifting arc plate pushes the elastic plate into the storage groove of the storage roller, the elastic plate enters the circular storage cylinder, and after one circle of rotation, the arc elastic plate seals the bottom of the circular storage cylinder, so that the elastic plate is prevented from falling off, and the AUV is protected.
Description
Technical Field
The invention relates to the technical field of AUV release and recovery application equipment, in particular to an AUV cluster release and recovery device and method.
Background
The current AUV cluster release recovery device of ocean engineering equipment mostly adopts the tube-shape storage container to retrieve and places, promptly retrieves AUV cluster to reach the recovery effect in a plurality of tube-shape containers, and this kind of mode is because one end is open state, because the unrestrained rocking effect of stormy waves on the sea down, can appear from recovery device drop the phenomenon, causes the AUV cluster to retrieve the risk of postfalling, causes great economic loss.
Disclosure of Invention
The invention provides an AUV releasing and recovering device, which comprises a rectangular box body, wherein a round hole is formed in one side of the rectangular box body, a round storage barrel is fixedly welded on the inner wall of the round hole of the rectangular box body, the round storage barrel penetrates through the rectangular box body, a rectangular hole is formed in the bottom of the round storage barrel, a plurality of through holes are formed in the circumferential outer wall of the round storage barrel at equal intervals, a rotating block is rotatably installed on the middle part of one side, far away from the rectangular box body, of the inner wall of the round storage barrel, a rotating storage mechanism is rotatably installed on one side, close to the rectangular box body, of the rotating block, a hanging plate is fixedly welded on the middle part, close to one side, of the bottom of the rectangular box body, of the hanging plate, a plug-in hole is formed in the middle part, close to one side, of the inner wall of the rectangular box body, a mounting plate is detachably installed on the front end, close to one side, of the round storage barrel through bolts, of the mounting plate, two bases are fixedly installed on the rear end of the inner wall of the rectangular box body through bolts, the top of the rectangular box body is detachably installed on one side, and a plurality of the rectangular box bodies are fixedly welded on one side, close to the outer wall of the rectangular box body.
Preferably, the rotary storage mechanism comprises a storage roller, a plurality of circular storage grooves are formed in the circumferential outer wall of the storage roller, base plates are fixedly welded on the inner wall of each storage groove, elastic mechanisms are arranged on two sides of the front ends of the base plates, a closed groove is formed in the bottom of the circumferential outer wall of the storage roller, a sealing mechanism is arranged on the inner wall of the closed groove, a rotating shaft is fixedly welded in the middle of one side of the storage roller, which is close to the rectangular box, and extends into the rectangular box, a bearing ring is rotatably mounted on one side, which is close to the storage roller, of the circumferential outer wall of the rotating shaft, a fixed circular plate is fixedly welded on the circumferential inner wall of the circular storage cylinder, and one end, which is far away from the storage roller, of the rotating shaft is fixedly welded with a gear block.
Preferably, the elastic mechanism comprises an arc-shaped bent plate, the arc-shaped top of the arc-shaped bent plates is provided with an arc-shaped pushing plate through screw fixing, the sealing mechanism comprises a plurality of sleeves, the sleeves are all welded and fixed in a sealing groove of a storage roller, the inner walls of the sleeves are all spliced with ejector rods, the bottom ends of the ejector rods are fixedly provided with the same arc-shaped elastic plate through welding, the circumferential inner walls of the sleeves are all provided with pushing springs, the arc-shaped elastic plates are far away from the arc-shaped middle part of one side of the ejector rods, a plurality of spherical slotted holes are formed in the arc-shaped elastic plates at equal intervals, and rotating balls capable of rotating at will are arranged in the slotted holes.
Preferably, the lifting mechanism comprises a lifting plate, connecting holes are formed in the middle of two sides of the lifting plate, the front end and the rear end of the lifting plate, which are close to one side of the circular storage cylinder, are fixedly provided with sliding grooves through bolts, one side of each sliding groove is slidably provided with the same lifting arc plate, the middle part, which is close to one side of the rectangular box, of each lifting arc plate is fixedly provided with a connecting block, the connecting blocks penetrate through the connecting holes in the middle of the lifting plate, two sides of the arc tops of the lifting arc plates are fixedly provided with arc groove rods, the equal distances of two sides of the inner walls of notches of the arc groove rods are provided with a plurality of rotating shafts, the outer walls of the circumferences of the rotating shafts are respectively provided with rotating wheels, one side, which is far away from the rectangular box, of each lifting arc plate is fixedly provided with a vertical rod through welding, and the vertical rod penetrates through the inserting holes in the bottom of the rectangular box.
Preferably, the transmission mechanism comprises a mounting plate, the front end and the rear end of the mounting plate, which are close to one side of the circular storage cylinder, are fixedly provided with sliding rails through bolts, one side of each sliding rail is provided with a base block in a sliding manner, one side of each base block, which is close to the vertical rod, is fixedly provided with the same transverse lifting rod in a welded manner, the middle part, which is close to one side of the vertical rod, of each transverse lifting rod is fixedly provided with a connecting sleeve block in a welded manner, and the connecting sleeve blocks are fixedly welded at the top of the outer wall of the vertical rod.
Preferably, the front end welded fastening of horizontal lift pole has the rectangle piece, and the top of rectangle piece is opened there is the through-hole, and the inner wall grafting of through-hole has the loop bar, the top and the bottom of loop bar are all welded fastening in the top and the bottom of rectangle box inner wall, extrusion spring has been cup jointed at the top of loop bar circumference outer wall.
Preferably, the rotary mechanism comprises a servo motor, the servo motor is detachably mounted at the tops of the two bases through bolts, an output shaft is fixedly welded on one side of the servo motor, a gear plate is fixedly welded on one side, close to the servo motor, of the circumferential outer wall of the output shaft, and the gear plate is meshed with the gear block.
Preferably, a rotating plate is welded and fixed on one side of the output shaft away from the servo motor.
Preferably, a plurality of cylinder collision bars are welded and fixed at the eccentric center position of one side of the rotating plate far away from the servo motor.
An AUV cluster release recovery method comprises the following steps:
s1: firstly, an AUV enters the top of a lifting arc plate, a rotatable rotating wheel arranged in an arc-shaped groove rod contacts the outer wall of the AUV, so that the AUV can rotate stably, and meanwhile, an elastic system is arranged in the arc-shaped groove rod, so that the AUV is extruded and descends;
s2: at this time, the servo motor starts to operate, the servo motor drives the output shaft to rotate, the output shaft rotates to drive the rotating plate to rotate, the rotating cylindrical collision rod drives the transverse lifting rod to move upwards to a certain position, contact is lost, the remaining cylindrical collision rod can continuously lift, the transverse lifting rod is kept at the height, the vertical rod and the lifting arc plate are driven to lift in the sliding groove while the transverse lifting rod lifts, so that the AUV is driven to lift, the AUV passes through the circular storage cylinder to contact with the outer wall of the storage roller, friction is used for rotating, the output shaft drives the gear plate to mesh with the gear block to rotate, so that the storage roller is driven to rotate, and when the storage groove is rotated to be positioned above the AUV, the storage roller is pushed into the storage roller by an elastic system arranged in the arc groove rod and is carried into the circular storage cylinder;
s3: when the rotating shaft continuously rotates, the cylindrical collision rod can fall off to be in contact with the transverse lifting rod, so that the lifting arc plate descends, the same process drives a plurality of AUVs to enter the storage roller, and after the storage roller rotates for one circle, the storage roller pushes the spring to push the arc elastic plate to block the rectangular hole at the bottom of the circular storage cylinder, so that the rotation is prevented from falling;
s4: when the servo motor rotates reversely, the cylindrical collision rod can be driven to rotate reversely, so that the lifting arc plate is at the lowest position, the AUV is not required to fall out from the storage roller, the reverse rotating servo motor drives the gear plate to engage with the gear block to rotate reversely, the storage roller is driven to rotate reversely, and when the storage groove of the storage roller rotates to a rectangular opening below the circular storage cylinder, the storage roller and the circular storage cylinder can be pushed out by the arc bending plate and the arc pushing plate in a reaction mode, so that the release operation is achieved.
The beneficial effects of the invention are as follows:
1. the device is provided with the storage roller, the circular storage cylinder, the lifting arc plate and other devices, when in use, the AUV is moved to the top of the lifting arc plate, the rotatable storage roller is driven by the servo motor, the AUV is driven to rise by the lifting arc plate, the AUV is contacted with the rotating storage roller, after the AUV is contacted with the storage groove of the storage roller, the AUV is pushed into the storage groove of the storage roller by the elastic system on the lifting arc plate, and enters the circular storage cylinder, and after one circle of rotation, the circular storage cylinder bottom is sealed by the arc elastic plate, so that the AUV is prevented from falling, and the AUV is protected.
2. This device is through being provided with devices such as lifting arc board, arc chute pole, rotation wheel, when lifting arc board lifting AUV continuously rises and contacts pivoted storage gyro wheel, receives the extrusion, guarantees that it rotates on rotating the wheel to can not be carried by the rotation storage gyro wheel and drop from lifting arc board, prevent the damage.
Drawings
Fig. 1 is a schematic flow chart of an AUV cluster release recovery method according to the present invention;
fig. 2 is a schematic perspective view of an AUV cluster release recovery device according to the present invention;
fig. 3 is a schematic diagram of a semi-sectional structure of an AUV cluster release recovery device according to the present invention;
fig. 4 is a schematic bottom perspective view of an upright rod of an AUV cluster release recovery device according to the present invention;
fig. 5 is a schematic perspective view of a storage roller of an AUV cluster release recovery device according to the present invention;
fig. 6 is a schematic vertical structural view of a fixing circular plate of an AUV cluster release and recovery device according to the present invention;
fig. 7 is a schematic perspective view of an arc pushing plate of an AUV cluster release and recovery device according to the present invention;
fig. 8 is a schematic perspective view of a lateral lifting rod of an AUV cluster release and recovery device according to the present invention;
fig. 9 is a schematic perspective view of a rotating plate of an AUV cluster release and recovery device according to the present invention;
fig. 10 is a schematic perspective view of a lifting arc plate of an AUV cluster release recovery device according to the present invention.
In the figure: 1. a rectangular box body; 2. a storage roller; 3. a circular storage cylinder; 4. an expansion plate; 5. an arc-shaped groove rod; 6. lifting the arc plate; 7. a connecting block; 8. a sliding groove; 9. a hanger plate; 10. a vertical rod; 11. a rotating plate; 12. a base; 13. a servo motor; 14. a gear plate; 15. a gear block; 16. a bearing ring; 17. fixing the circular plate; 18. a rotating shaft; 19. an arc-shaped bending plate; 20. an arc-shaped pushing plate; 21. a rotating block; 22. a sleeve; 23. an arc-shaped elastic plate; 24. a push rod; 25. a rotation shaft; 26. a rotating wheel; 27. a loop bar; 28. extruding a spring; 29. an output shaft; 30. a cylindrical impact bar; 31. a mounting plate; 32. rotating the sphere; 34. rectangular blocks; 35. a sliding rail; 36. a base block; 37. connecting sleeve blocks; 38. a lateral lifting rod; 39. a fixed block; 40. a pushing spring; 41. a substrate.
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. 1-10, an AUV releasing and recovering device and method includes a rectangular box 1, wherein a round hole is formed on one side of the rectangular box 1, a round storage cylinder 3 is welded and fixed on the inner wall of the round hole of the rectangular box 1, the round storage cylinder 3 penetrates through the rectangular box 1, a rectangular hole is formed on the bottom of the round storage cylinder 3, a plurality of through holes are formed on the outer wall of the circumference of the round storage cylinder 3 at equal intervals, a rotating block 21 is rotatably mounted on the middle part of one side of the inner wall of the round storage cylinder 3 far from the rectangular box 1, a rotating storage mechanism is rotatably mounted on one side of the rotating block 21 near the rectangular box 1, a hanging plate 9 is welded and fixed on the middle part of one side of the bottom of the rectangular box 1 near the round storage cylinder 3, a lifting mechanism is arranged on one side of the hanging plate 9 near the round storage cylinder 3, the lifting mechanism can lift the AUV to enter the rotating storage mechanism in sequence, meanwhile, the lifting mechanism is at the highest point under the drive of the rotating mechanism and the transmission mechanism and stays for a certain time, the middle part of one side of the inner wall bottom of the rectangular box body 1, which is close to the round storage cylinder 3, is provided with a plug hole, the front end of one side of the inner wall bottom of the rectangular box body 1, which is close to the round storage cylinder 3, is detachably provided with a mounting plate 31 through bolts, one side of the mounting plate 31, which is close to the round storage cylinder 3, is provided with the transmission mechanism, the rear end of the inner wall bottom of the rectangular box body 1 is fixedly provided with two bases 12 through bolts, the top of the two bases 12 is detachably provided with the rotating mechanism through bolts, one side of the circumferential outer wall of the round storage cylinder 3, which is close to the rectangular box body 1, is fixedly provided with a plurality of fixing blocks 39 through welding, one side of the fixing blocks 39 is fixedly arranged on one side of the rectangular box body 1, the round storage cylinder 3 is fixedly arranged on one side of the rectangular box body 1 through the fixing blocks 39, stability is increased, the AUV is pushed into the storage groove of the round storage cylinder 3 and the storage roller 2 through the lifting mechanism, and after one circle of rotation, the rectangular opening below the round storage cylinder 3 can be plugged by the arc-shaped elastic plate 23, so that falling is avoided.
Referring to fig. 3, fig. 4, fig. 5, rotatory storage mechanism includes stores gyro wheel 2, and the circumference outer wall of storing gyro wheel 2 opens there is a plurality of circular holding tanks, be convenient for store the AUV in the inside of circular holding tank alone, and the equal welded fastening of inner wall of every holding tank has base plate 41, and the front end both sides of polylith base plate 41 all set up elastic mechanism, and the bottom of storing gyro wheel 2 circumference outer wall is opened there is the closed groove, and the inner wall in closed groove sets up closing mechanism, closing mechanism can be with the rectangle trompil shutoff of its circular storage section of thick bamboo 3 circumference outer wall below, make its a plurality of AUVs be in circular storage section of thick bamboo 3 inside, the middle part welded fastening of storage gyro wheel 2 near rectangle box 1 one side has axis of rotation 18, and axis of rotation 18 stretches into the inside of rectangle box 1, one side that axis of rotation 18 circumference outer wall is close to storage gyro wheel 2 is rotated and is installed the race 16, and the outer wall rotation of race 16 is fixed with fixed circular disc 17, and fixed disc 17's circumference outer wall welded fastening is fixed disc 17 is fixed in the circumference inner wall of circular storage section of thick bamboo 3, fix its axis of rotation 18 at circular storage section of thick bamboo 3 inner wall through fixed disc 17, increase the holistic stability of gyro wheel 2, the whole rotation axis of rotation 18 is kept away from fixed gear 15 one end of the welding of gyro wheel 15.
Referring to fig. 2 and 4, the elastic mechanism comprises an arc-shaped bending plate 19, arc-shaped pushing plates 20 are fixedly arranged at the arc-shaped tops of the arc-shaped bending plates 19 through screws, the arc-shaped bending plates 19 and the arc-shaped pushing plates 20 are flexible and bendable, the arc-shaped bending plates 19 can be extruded after an AUV enters, when the AUV is released, the AUV is pushed out by natural rebound when the AUV rotates to the bottom of the round storage cylinder 3, the sealing mechanism comprises a plurality of sleeves 22, the sleeves 22 are all welded and fixed in a sealing groove of the storage roller 2, ejector rods 24 are inserted into the inner walls of the sleeves 22, the bottom ends of the ejector rods 24 are welded and fixed with the same arc-shaped elastic plate 23, and the circumference inner wall of a plurality of sleeve pipes 22 all is provided with push spring 40, a plurality of spherical slotted holes have been seted up to cambered surface middle part equidistance that the ejector pin 24 one side was kept away from to arc elastic plate 23, and all be provided with rotatable rotation spheroid 32 at will in the slotted hole, when arc elastic plate 23 is at the inside rotation of circular storage section of thick bamboo 3, the inner wall of circular storage section of thick bamboo 3 can be contacted in proper order to a plurality of rotation spheroids 32, reduce frictional force, after rotating circular storage section of thick bamboo 3 bottom, by push spring 40 promotion with its inner wall shutoff, arc elastic plate 23 is great simultaneously, can not imbed in the rectangular trompil of circular storage section of thick bamboo 3 below, do not influence and rotate continuously.
Referring to fig. 8, 9, 10, lifting mechanism includes hanger plate 9, and open at hanger plate 9's both sides middle part has the connecting hole, hanger plate 9 is close to circular storage cylinder 3 one side's front end and rear end all through bolt fixed mounting has sliding tray 8, and one side slidable mounting of two sliding tray 8 has same lifting arc board 6, lifting arc board 6 is close to the middle part welded fastening of rectangle box 1 one side has connecting block 7, and connecting block 7 passes hanger plate 9 middle part's connecting hole, lifting arc board 6 arc top's both sides equal welded fastening has arc chute pole 5, and the equal distance in notch inner wall both sides of a plurality of arc chute pole 5 is provided with a plurality of rotation axis 25, and the circumference outer wall of a plurality of rotation axis 25 all rotates and installs rotor wheel 26, place the AUV at rotor wheel 26's top, can not be carried when lifting arc board 6 rises and contact the pivoted storage gyro wheel 2 and drop from lifting arc board 6, and the inside of arc chute pole 5 is provided with elastic force system, can receive the pressure drop when the rotation on rotor wheel 26, and the vertical pole 6 is located, and the rectangle lifting arc board 6 is not kept away from the side 10 of rectangle box 6, the fixed connection box 10 side of the inside 10, the fixed connection box 10 is kept away from the side of the fixed connection box 1, the top 10 side of the lift arc body is left side of the fixed to the top of the rectangle box 1, the vertical pole 10 is kept away from the inside the fixed top of the jack-up 10, the vertical pole 10 is left and is fixed to the rotor 1.
Referring to fig. 8 and 9, the transmission mechanism includes a mounting plate 31, the front end and the rear end of the mounting plate 31 near one side of the circular storage cylinder 3 are fixedly mounted with sliding rails 35 through bolts, one side of each of the two sliding rails 35 is slidably mounted with a base block 36, one side of each of the two base blocks 36 near the vertical rod 10 is fixedly welded with a same transverse lifting rod 38, the middle part of one side of each of the transverse lifting rods 38 near the vertical rod 10 is fixedly welded with a connecting sleeve block 37, the connecting sleeve block 37 is fixedly welded at the top of the outer wall of the vertical rod 10, when the transverse lifting rod 38 is subjected to an external force, the two sliding rails 35 are lifted and lowered, the vertical rod 10 is carried to lift and descend, and the transverse lifting rod 38 is mounted on the two sliding rails 35 and provided with an elastic system, and is kept at a height, so that an upward reaction pushing force can be generated when the transverse lifting rod is low.
Referring to fig. 5 and 8, a rectangular block 34 is welded and fixed at the front end of a horizontal lifting rod 38, a through hole is formed in the top of the rectangular block 34, a sleeve rod 27 is inserted into the inner wall of the through hole, the top and the bottom of the sleeve rod 27 are welded and fixed at the top and the bottom of the inner wall of the rectangular box body 1, an extrusion spring 28 is sleeved at the top of the circumferential outer wall of the sleeve rod 27, the extrusion spring 28 is pushed by lifting the rectangular block 34 when the horizontal lifting rod 38 ascends, and the extrusion spring 28 acts against the rectangular block 34 to exert a downward pushing force.
Referring to fig. 5, 6 and 7, the rotating mechanism comprises a servo motor 13, the servo motor 13 is detachably mounted on the tops of two bases 12 through bolts, an output shaft 29 is fixedly welded on one side of the servo motor 13, a gear plate 14 is fixedly welded on one side, close to the servo motor 13, of the circumferential outer wall of the output shaft 29, the gear plate 14 is meshed with the gear block 15, the gear block 15 with a small size is meshed with the gear plate 14, and the gear block 15 is driven to slowly rotate by the gear plate 14, so that the effect of reducing speed is achieved.
Referring to fig. 8, a rotating plate 11 is welded and fixed on one side of the output shaft 29 away from the servo motor 13, a plurality of column collision rods 30 are welded and fixed on one side of the rotating plate 11 away from the servo motor 13, the column collision rods 30 are located at the eccentric center positions of the rotating plate 11, the length of each column collision rod 38 is only equal to the middle of the rotating plate 11, the column collision rods 30 are guaranteed to lift the corresponding horizontal lifting rods 38 in rotation and separate from the corresponding horizontal lifting rods 38 in rotation for the other half circle, the horizontal lifting rods 38 are lowered, the column collision rods 30 press the corresponding horizontal lifting rods 38 in a downward direction of the rotating plate 11, and when all the column collision rods 30 press the corresponding horizontal lifting rods 38, the elastic systems in the two sliding rails 35 are used for reactively pushing the corresponding horizontal lifting rods 38 to lift the corresponding horizontal lifting rods 38, so that the corresponding horizontal lifting rods 38 can be lifted in a forward rotation of the column collision rods 30.
Referring to fig. 1-10, an AUV cluster release recovery method includes the steps of:
s1: firstly, an AUV enters the top of a lifting arc plate 6, contacts the outer wall of the AUV through a rotatable rotating wheel 26 arranged in an arc-shaped groove rod 5, contacts a rotating storage roller 2 during lifting, is carried by the rotating wheel to rotate, can ensure the stable rotation of the AUV, and meanwhile, an elastic system is arranged in the arc-shaped groove rod 5, so that the AUV is extruded and descends;
s2: at this time, the servo motor 13 starts to operate, the servo motor 13 drives the output shaft 29 to rotate, the output shaft 29 rotates to drive the rotating plate 11 to rotate, the rotating plate 11 drives the cylindrical collision rod 30 to rotate, the rotating cylindrical collision rod 30 pushes the transverse lifting rod 38 to move upwards to a certain position, contact is lost, the rest cylindrical collision rod 30 can continuously lift, the transverse lifting rod 38 is kept at the height, the vertical rod 10 and the lifting arc plate 6 are driven to lift in the sliding groove 8 while the transverse lifting rod 38 ascends, so as to drive the AUV to ascend, the AUV passes through the circular storage cylinder 3 to contact with the outer wall of the storage roller 2 and can be used for friction to rotate, meanwhile, the output shaft 29 drives the gear plate 14 to mesh with the gear block 15 to rotate, so as to drive the storage roller 2 to rotate slowly, when the storage groove is located above the AUV, the elastic system arranged in the arc-shaped groove rod 5 pushes the inside of the storage roller 2, the arc-shaped pushing plate 20 and the arc-shaped bent plate 19 can be extruded when entering the storage roller 2, and the AUV can be carried into the inside the circular storage cylinder 3 when continuously rotating;
s3: when the rotating shaft 25 continuously rotates, the cylindrical collision rod 30 is enabled to fall off and contact with the transverse lifting rod 38, so that the lifting arc plate 6 descends, a plurality of AUVs are driven to enter the storage roller 2 in the same process, after the storage roller 2 rotates for one circle, the pushing spring 40 pushes the arc elastic plate 23 to rotate on the inner wall of the circular storage cylinder 3, the rotating ball 32 always contacts the inner wall of the circular storage cylinder 3 during rotation, friction force is reduced, the rotation in the inner part of the arc elastic plate is not influenced, after the rotation is continued for one circle, the arc elastic plate 23 is larger than a rectangular opening at the bottom of the circumferential outer wall of the circular storage cylinder 3, the rectangular opening at the bottom of the circular storage cylinder 3 is blocked, the rectangular opening at the bottom of the circular storage cylinder 3 is not blocked, and the rotation is prevented from falling after the blocking;
s4: when the servo motor 13 rotates reversely, the cylindrical collision rod 30 is driven to rotate reversely, so that the arc plate 6 is at the lowest position, AUV is not required to fall out from the storage roller 2, the gear plate 14 is driven by the reverse rotating servo motor 13 to engage with the gear block 15 to rotate reversely, the storage roller 2 is driven to rotate reversely, and when the storage groove of the storage roller 2 rotates to a rectangular opening below the circular storage cylinder 3, the storage roller 2 and the circular storage cylinder 3 are pushed out by the arc bending plate 19 and the arc pushing plate 20 in a reaction mode, so that the release operation is achieved.
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 (10)
1. The utility model provides a device that AUV released and retrieve usefulness, includes rectangle box (1), and one side of rectangle box (1) is opened there is the round hole, and the round hole inner wall welded fastening of rectangle box (1) has round storage section of thick bamboo (3), and round storage section of thick bamboo (3) runs through with rectangle box (1), and the bottom of round storage section of thick bamboo (3) is opened there is the rectangular hole, and a plurality of perforation have been seted up to the circumference outer wall equidistance of round storage section of thick bamboo (3), characterized in that, one side middle part rotation that rectangle box (1) was kept away from to round storage section of thick bamboo (3) inner wall installs turning block (21), and one side rotation that turning block (21) is close to rectangle box (1) is installed rotary storage mechanism, the middle part welded fastening that rectangle box (1) bottom is close to round storage section of thick bamboo (3) one side has hanger plate (9), and one side that hanger plate (9) are close to round storage section of thick bamboo (3) is provided with lifting mechanism, the middle part that round storage section of thick bamboo (3) one side is close to round storage section of thick bamboo (1) is opened there is the jack-up, and one side of rectangle box (1) inner wall bottom is kept away from round storage section of thick bamboo (1) one side is provided with one side through the round mounting plate (31) and is installed the front end (31) through the mounting plate (31), and rotary mechanism is detachably installed through the bolt at the top of two bases (12), one side that circular storage cylinder (3) circumference outer wall is close to rectangle box (1) welded fastening has a plurality of fixed blocks (39), and one side welded fastening of a plurality of fixed blocks (39) is in one side of rectangle box (1).
2. The AUV release and recovery device according to claim 1, wherein the rotary storage mechanism comprises a storage roller (2), a plurality of circular storage grooves are formed in the circumferential outer wall of the storage roller (2), base plates (41) are fixedly welded on the inner wall of each storage groove, elastic mechanisms are arranged on two sides of the front ends of the base plates (41), a closed groove is formed in the bottom of the circumferential outer wall of the storage roller (2), a sealing mechanism is arranged on the inner wall of the closed groove, a rotating shaft (18) is fixedly welded in the middle of one side of the storage roller (2) close to the rectangular box (1), the rotating shaft (18) stretches into the rectangular box (1), a bearing ring (16) is rotatably mounted on one side of the circumferential outer wall of the rotating shaft (18) close to the storage roller (2), a fixed circular disc (17) is fixedly welded on the circumferential inner wall of the circular storage cylinder (3), and a gear block (15) is fixedly welded on one end of the rotating shaft (18) far away from the storage roller (2).
3. The AUV release and recovery device according to claim 2, wherein the elastic mechanism comprises an arc-shaped bent plate (19), arc-shaped top parts of the arc-shaped bent plates (19) are fixedly provided with arc-shaped pushing plates (20) through screws, the sealing mechanism comprises a plurality of sleeves (22), the sleeves (22) are welded and fixed in a sealing groove of the storage roller (2), the inner walls of the sleeves (22) are respectively inserted with a push rod (24), the bottom ends of the push rods (24) are fixedly provided with the same arc-shaped elastic plate (23) through welding, the circumference inner walls of the sleeves (22) are respectively provided with a pushing spring (40), the arc-shaped elastic plates (23) are far away from the arc-shaped middle part on one side of the push rods (24) and are equidistantly provided with a plurality of spherical slotted holes, and rotating spheres (32) capable of rotating at will are arranged in the slotted holes.
4. The AUV releasing and recovering device according to claim 3, wherein the lifting mechanism comprises a lifting plate (9), connecting holes are formed in the middle of two sides of the lifting plate (9), sliding grooves (8) are formed in the front end and the rear end of one side of the lifting plate (9) close to the circular storage cylinder (3) through bolts in a fixed mode, one side of each sliding groove (8) is slidably provided with the same lifting arc plate (6), the middle of one side of the lifting arc plate (6) close to the rectangular box body (1) is fixedly provided with a connecting block (7) through welding, the connecting block (7) penetrates through the connecting holes in the middle of the lifting plate (9), arc groove rods (5) are fixedly welded on two sides of the arc top of the lifting arc plate (6), rotating wheels (26) are rotatably arranged on the outer walls of the circumference of the inner walls of the grooves of the arc grooves (5), one side of the lifting arc plate (6) far away from the rectangular box body (1) is fixedly provided with a connecting block (7), and the top of the lifting arc plate (6) penetrates through the connecting block (10).
5. The AUV releasing and recovering device according to claim 4, wherein the transmission mechanism comprises a mounting plate (31), the front end and the rear end of one side of the mounting plate (31) close to the round storage cylinder (3) are fixedly provided with sliding rails (35) through bolts, one side of each sliding rail (35) is provided with a base block (36) in a sliding manner, one side of each base block (36) close to the upright (10) is fixedly provided with the same transverse lifting rod (38) in a welding manner, the middle part of one side of each transverse lifting rod (38) close to the upright (10) is fixedly provided with a connecting sleeve block (37) in a welding manner, and the connecting sleeve blocks (37) are fixedly welded at the top of the outer wall of the upright (10).
6. The AUV releasing and recovering device according to claim 5, wherein a rectangular block (34) is welded and fixed at the front end of the transverse lifting rod (38), a through hole is formed in the top of the rectangular block (34), a loop bar (27) is inserted into the inner wall of the through hole, the top and the bottom of the loop bar (27) are welded and fixed at the top and the bottom of the inner wall of the rectangular box (1), and an extrusion spring (28) is sleeved at the top of the circumferential outer wall of the loop bar (27).
7. The AUV release and recovery device according to claim 6, wherein the rotation mechanism comprises a servo motor (13), the servo motor (13) is detachably mounted on the top of the two bases (12) through bolts, an output shaft (29) is welded and fixed on one side of the servo motor (13), a gear plate (14) is welded and fixed on one side of the circumferential outer wall of the output shaft (29) close to the servo motor (13), and the gear plate (14) is meshed with the gear block (15).
8. The AUV release and recovery device according to claim 7, wherein a rotating plate (11) is welded and fixed to the output shaft (29) on the side away from the servo motor (13).
9. The device for releasing and recovering an AUV according to claim 8, wherein a plurality of cylindrical impact bars (30) are welded and fixed to a side of the rotating plate (11) away from the servo motor (13) at a position deviated from the center of the circle.
10. An AUV cluster release recovery method, comprising an AUV release recovery apparatus according to claim 9, characterized by the steps of:
s1: firstly, an AUV enters the top of a lifting arc plate (6), and contacts the outer wall of the AUV through a rotatable rotating wheel (26) arranged in an arc groove rod (5), so that the AUV can be rotationally stabilized, and meanwhile, the AUV is extruded and can be lowered;
s2: at the moment, the servo motor (13) starts to operate, the servo motor (13) can drive the rotating plate (11) to rotate, the rotating plate (11) drives the cylindrical collision rod (30) to push the transverse lifting rod (38) to move upwards to a certain position, the cylindrical collision rod (30) can continuously lift to drive the AUV to lift, the AUV passes through the circular storage cylinder (3) to contact with the outer wall of the storage roller (2) and can be used for friction to rotate, the output shaft (29) drives the storage roller (2) to rotate, and an elastic system arranged in the arc-shaped groove rod (5) pushes the inside of the storage roller (2) and is carried into the circular storage cylinder (3);
s3: when the rotating shaft (25) continuously rotates, the cylindrical collision rod (30) can fall off to be in contact with the transverse lifting rod (38), so that the lifting arc plate (6) descends to drive a plurality of AUVs to enter the storage roller (2), and after the storage roller (2) rotates for one circle, the pushing spring (40) pushes the arc elastic plate (23) to block the rectangular hole at the bottom of the circular storage cylinder (3);
s4: the servo motor (13) drives the cylindrical collision rod (30) to reversely rotate, so that the lifting arc plate (6) is at the lowest position, AUV is not required to fall out from the storage roller (2), the reverse rotating servo motor (13) drives the gear plate (14) to engage with the gear block (15) to reversely rotate, the storage roller (2) is driven to reversely rotate, and the storage roller (2) and the circular storage cylinder (3) are pushed out by the reaction of the arc-shaped bending plate (19) and the arc-shaped pushing plate (20).
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