CN116902144B - AUV releasing and recovering device and method - Google Patents
AUV releasing and recovering device and method Download PDFInfo
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- CN116902144B CN116902144B CN202311161912.2A CN202311161912A CN116902144B CN 116902144 B CN116902144 B CN 116902144B CN 202311161912 A CN202311161912 A CN 202311161912A CN 116902144 B CN116902144 B CN 116902144B
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- 238000000034 method Methods 0.000 title claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims abstract description 45
- 238000011084 recovery Methods 0.000 claims description 23
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 13
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 13
- 241001330002 Bambuseae Species 0.000 claims description 13
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 13
- 239000011425 bamboo Substances 0.000 claims description 13
- 238000007789 sealing Methods 0.000 claims description 8
- 238000001125 extrusion Methods 0.000 claims description 6
- 230000005540 biological transmission Effects 0.000 claims description 5
- 238000003466 welding Methods 0.000 claims description 2
- 238000004064 recycling Methods 0.000 abstract 2
- 238000005452 bending Methods 0.000 description 5
- 230000000694 effects Effects 0.000 description 3
- 238000006243 chemical reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000002860 competitive effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process 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
Classifications
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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
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 twenty-first century is the concept of the ocean century in 2001 was first proposed in the united nations official document. The document states that within 50 years of human future development, the international marine situation will change significantly. The ocean will become the main competitive area of international development, including even new economic competition guided by high and new technologies. Under the large background of the times of development, people pay attention to the development of ocean economy, the development of ocean energy and the defending of offshore interests. Thus, the ocean engineering equipment is one of important tools for marine transportation, and the design and development values of the ocean engineering equipment are gradually increased.
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 one side of the rectangular box body is provided with a round hole, a round storage cylinder is welded and fixed on the inner wall of the round hole of the rectangular box body, the round storage cylinder penetrates through the rectangular box body, the bottom of the round storage cylinder is provided with a rectangular hole, and the circumference outer wall of the round storage cylinder is provided with a plurality of perforations at equal intervals, and the AUV releasing and recovering device is characterized in that: the middle part of one side of the inner wall of the rectangular storage cylinder far away from the rectangular box body is rotatably provided with a rotating block, one side of the rotating block far away from the rectangular box body is rotatably provided with a rotating storage mechanism, the middle part of one side of the bottom of the rectangular box body near the circular storage cylinder is fixedly provided with a hanging plate, one side of the hanging plate near the circular storage cylinder is provided with a lifting mechanism, the middle part of one side of the bottom of the inner wall of the rectangular box body near the circular storage cylinder is provided with a plugging hole, the front end of one side of the bottom of the inner wall of the rectangular box body near the circular storage cylinder is detachably provided with a mounting plate through a bolt, one side of the mounting plate near the circular storage cylinder is provided with a transmission mechanism, one side of the bottom of the inner wall of the rectangular box body far away from the circular storage cylinder is fixedly provided with two bases through bolts, the top of the two bases is detachably provided with a rotating mechanism through bolts, one side of the circumference outer wall of the circular storage cylinder near the rectangular box body is fixedly provided with a plurality of fixing blocks, and one side of the fixing blocks is fixedly welded on one side of the rectangular box body;
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 one end of the plurality of base plates, which face the inner wall of the circular storage cylinder, of each base plate, 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, close to the rectangular box, of the storage roller, and extends into the rectangular box, a bearing ring is rotatably mounted on one side, 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 a gear block is fixedly welded on one end, far away from the storage roller, of the rotating shaft;
the lifting mechanism comprises a lifting plate, connecting holes are formed in the middle of two sides of the lifting plate, sliding grooves are fixedly arranged at two ends of one side of the lifting plate, which is close to the round storage cylinder, of the lifting plate through bolts, one side of each sliding groove is slidably provided with the same lifting arc plate, a connecting block is fixedly welded in the middle of one side of the lifting arc plate, the connecting block penetrates through the connecting holes in the middle of the lifting plate, arc-shaped groove rods are fixedly welded at two sides of one end of the arc-shaped top of the lifting arc plate, which is close to the rectangular box, and one end of the arc-shaped top of the lifting arc plate, which is far away from the rectangular box, respectively, in the circumferential direction, arc-shaped groove rods are fixedly welded at two sides, a plurality of rotating shafts are uniformly arranged at two sides of the inner wall of a notch of each arc-shaped groove rod, rotating wheels are rotatably arranged on the outer walls of each rotating shaft, one side of the lifting arc plate, which is far from the rectangular box, an expansion plate is fixedly welded at one side of the top of the connecting block, which is far from one side of the lifting arc plate, and a vertical rod is fixedly welded at the top, and the vertical rod penetrates through the inserting holes at the bottom of the rectangular box;
the transmission mechanism comprises a mounting plate, two ends of the mounting plate, which are close to one side of the circular storage cylinder, are respectively provided with a sliding rail through bolts, one side of each sliding rail is respectively provided with a base block in a sliding manner, one side of each base block, which is close to the vertical rod, is fixedly welded with the same transverse lifting rod, the middle part, which is close to one side of the vertical rod, of each transverse lifting rod is fixedly welded with a connecting sleeve block, and the connecting sleeve blocks are fixedly welded at the top of the outer wall of the vertical rod.
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, one end of the transverse lifting rod is fixedly welded with a rectangular block, the top of the rectangular block is provided with a through hole, the inner wall of the through hole is inserted with a loop bar, the top and the bottom of the loop bar are fixedly welded at the top and the bottom of the inner wall of the rectangular box body respectively, and the top of the circumferential outer wall of the loop bar is sleeved with an extrusion spring.
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 the moment, the servo motor starts to operate, the servo motor drives the rotating plate to rotate, the rotating plate drives the cylindrical collision rod to push the transverse lifting rod to move upwards to a certain position, the cylindrical collision rod continuously lifts to drive the AUV to lift, the AUV passes through the round storage cylinder to contact the outer wall of the storage roller, the AUV rotates due to friction, the output shaft drives the storage roller to rotate, when the storage tank rotating to the storage roller is positioned above the AUV, the AUV is pushed into the storage roller by an elastic system arranged in the arc-shaped groove rod and is carried into the round storage cylinder, and the AUV is carried into the round storage cylinder when the output shaft continuously rotates;
s3: when the output shaft continuously rotates, the cylindrical collision rod is separated from contact with the transverse lifting rod, so that the lifting arc plate descends to drive a plurality of AUVs to enter the storage roller, and after the storage roller rotates for one circle, the pushing spring pushes the arc elastic plate to block the rectangular hole at the bottom of the circular storage cylinder;
s4: the servo motor drives the cylindrical collision rod to reversely rotate, so that the lifting arc plate is at the lowest position, the reversely rotating servo motor drives the gear plate to be meshed with the gear block to reversely rotate, the storage roller is driven to reversely rotate, and when the storage groove of the storage roller rotates to a rectangular opening below the circular storage cylinder, the AUV can be reversely pushed out of the storage roller and the circular storage cylinder by the arc-shaped plate and the arc-shaped pushing plate to carry out release operation.
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. 2-10, an AUV releasing and recovering device includes a rectangular box 1, 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 and the rectangular box 1 penetrate, a rectangular hole is formed at the bottom of the round storage cylinder 3, a plurality of through holes are formed in the circumference outer wall of the round storage cylinder 3 at equal intervals, a rotating block 21 is rotatably installed at the middle part of one side of the inner wall of the round storage cylinder 3 far from the rectangular box 1, a rotary storage mechanism is rotatably installed at one side of the rotating block 21 near the rectangular box 1, a lifting plate 9 is fixedly welded at 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 at one side of the lifting plate 9 near the round storage cylinder 3, the lifting mechanism sequentially enters the rotary storage mechanism, meanwhile, the lifting mechanism is positioned at the highest point of the driving of the rotary mechanism and the driving mechanism, and stays for a certain time, a plug hole is formed in the middle part of one side of the inner wall bottom of the rectangular box 1 near the round storage cylinder 3, a rotary storage cylinder 1 near one side of the round storage cylinder 3, a rotary storage mechanism is rotatably installed at one side of the bottom of the rectangular box 1 near the round storage cylinder 3, a detachable mounting plate 31 is installed near the round storage cylinder 3, and a mounting plate 31 is detachably mounted at one side near the round storage cylinder 3 through the rotary storage mechanism; one side of the bottom of the inner wall of the rectangular box body 1 far away from the circle center storage cylinder 3 is fixedly provided with two bases 12 through bolts, the tops of the two bases 12 are detachably provided with a rotating mechanism through bolts, one side of the circumference outer wall of the circular storage cylinder 3 close to the rectangular box body 1 is fixedly provided with a plurality of fixing blocks 39 in a welded mode, one side of each fixing block 39 is fixedly provided with one side of the rectangular box body 1, the circular storage cylinder 3 of the rectangular box body is fixed on one side of the rectangular box body 1 through the fixing blocks 39, stability is improved, the AUV is pushed into the storage grooves of the circular storage cylinder 3 and the storage rollers 2 through a lifting mechanism, and after one circle of rotation, the rectangular opening below the circular storage cylinder 3 is plugged by the arc-shaped elastic plate 23 to avoid falling.
Referring to fig. 3, fig. 4, fig. 5, rotatory storage mechanism includes stores gyro wheel 2, and it has a plurality of circular holding tanks to store the circumference outer wall of gyro wheel 2, be convenient for store the AUV in the inside of circular holding tank alone, and the equal welded fastening of inner wall in every holding tank has base plate 41, and the both sides that the polylith base plate 41 is towards circular storage section of thick bamboo 3 inner wall one end all set up elastic mechanism, and it has the closed groove to store the bottom of gyro wheel 2 circumference outer wall, 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 is close to rectangular box 1 one side has axis of rotation 18, and axis of rotation 18 stretches into the inside of rectangular box 1, one side that axis of rotation 18 is close to store gyro wheel 2 rotates and installs race 16, and the outer wall rotation of race 16 is fixed circular plate 17, and the circumference outer wall welded fastening of fixed circular plate 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 through fixed circular plate 17, the inner wall of rotation 18, increase the whole stability of gyro wheel 2, the whole welded fastening of rotation piece 15 is kept away from 2.
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, fig. 9, fig. 10, lifting mechanism includes hanger plate 9, and open at the both sides middle part of hanger plate 9 has the connecting hole, hanger plate 9 is close to circular storage cylinder 3 one side both ends all through bolt fixed mounting has slide groove 8, and one side slidable mounting of two slide grooves 8 has same lift arc board 6, lift 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 the connecting hole at hanger plate 9 middle part, lift arc board 6 arc top is close to the one end of rectangle box 1 and is kept away from the one end of rectangle box 1 and all welded fastening in circumference both sides respectively, and the equal distance in notch inner wall both sides of a plurality of arc chute 5 is provided with many rotation axis 25, and the circumference outer wall of a plurality of rotation axis 25 all rotates and install rotor 26, place the top at rotor 26 with lifting arc board 6, when lifting arc board 6 rises and contacts pivoted storage roller 2 and can not be carried from arc board 6 and drop, and the inside of arc chute 5 is provided with elastic system, AUV carries out on rotor 26 and lift arc board 6 lift arc board 10, lift arc board 10 and the inside 10 of the fixed connection box 10, the inside of lift arc box 10 is kept away from, the fixed connection plate 10, the inside the lift arc box 10 is kept away from the side of rectangle box 1, and the lift arc board is kept away from the top of the fixed connection plate 10.
Referring to fig. 8 and 9, the transmission mechanism includes a mounting plate 31, both ends of the mounting plate 31 near one side of the circular storage cylinder 3 are fixedly mounted with sliding rails 35 through bolts, one sides of the two sliding rails 35 are slidably mounted with a base block 36, one side 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 the side of the transverse lifting rod 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 external force, the two sliding rails 35 are lifted and lowered, the vertical rod 10 is carried to perform lifting and lowering movements, 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 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 one end of a horizontal lifting rod 38, a through hole is formed at 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 1 respectively, 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 remaining 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 can be 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, the AUV rotates due to friction, meanwhile, the output shaft 29 drives the gear plate 14 to mesh with the gear block 15 to rotate, when the cylindrical collision rod 30 rotates to the storage roller 2 and is located above the AUV, thereby driving the storage roller 2 to rotate slowly, when the storage groove is located above the AUV, the storage roller 2 is pushed into the circular arc by an elastic system arranged in the arc-shaped groove rod 5, the AUV can be pushed by the elastic system arranged in the arc-shaped pushing plate 20 and the arc-shaped plate 19 can continuously enter the circular storage cylinder 3 when entering the storage roller 2;
s3: when the output shaft 29 continuously rotates, the cylindrical collision rod 30 is separated from 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 circular storage cylinder 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 lifting arc plate 6 is at the lowest position, the reversely rotating servo motor 13 drives the gear plate 14 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 AUV is pushed out of the storage roller 2 and the circular storage cylinder 3 by the reaction of the arc-shaped bent plate 19 and the arc-shaped pushing plate 20, 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 (7)
1. The utility model provides a device that recovery was used is released to AUV, includes rectangle box (1), and opens one side of rectangle box (1) has the round hole, and rectangle box (1) round hole inner wall welded fastening has a circular storage section of thick bamboo (3), and circular storage section of thick bamboo (3) run through with rectangle box (1), and the bottom of circular storage section of thick bamboo (3) is opened there is the rectangular hole, and a plurality of perforation, its characterized in that have been seted up to the circumference outer wall equidistance of circular storage section of thick bamboo (3): the rotary storage device is characterized in that a rotary block (21) is rotatably arranged in the middle of one side, far away from the rectangular box body (1), of the inner wall of the rectangular box body (3), a rotary storage mechanism is rotatably arranged in one side, close to the rectangular box body (1), of the rotary block (21), a hanging plate (9) is fixedly arranged in the middle of one side, close to the circular box body (3), of the bottom of the rectangular box body (1), a lifting mechanism is arranged in one side, close to the circular box body (3), of the hanging plate (9), a plug-in hole is formed in the middle of one side, close to the circular box body (3), of the bottom of the inner wall of the rectangular box body (1), a mounting plate (31) is detachably arranged on one side, close to the circular box body (3), of the mounting plate (31), a transmission mechanism is arranged on one side, far away from the circular box body (3), of the bottom of the rectangular box body (1), two bases (12) are fixedly arranged through bolts, the rotary mechanism is detachably arranged on one side, close to the circular box body (3), of the bottom of the rectangular box body (3), a plurality of fixed blocks (39) are fixedly arranged on one side, close to the circumference, of the rectangular box body (1), and the fixed blocks (39 are welded on one side, and fixed to one side, of the rectangular box body (39;
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 one end of the inner wall of each circular storage cylinder (3) facing to the plurality of 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, close to the rectangular box (1), of the storage roller (2), the rotating shaft (18) stretches into the rectangular box (1), a bearing ring (16) is fixedly arranged on one side, close to the storage roller (2), of the circumferential outer wall of the rotating shaft (18), a fixed circular plate (17) is fixedly arranged on the outer wall of the bearing ring, the circumferential outer wall of the fixed circular plate (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, far away from the storage roller (2), of the rotating shaft (18);
the lifting mechanism comprises a lifting plate (9), connecting holes are formed in the middle of two sides of the lifting plate (9), arc groove rods (5) are fixedly arranged at two ends of one side of the lifting plate (9) close to the round storage cylinder (3) through bolts, a lifting arc plate (6) is slidably arranged on one side of the two sliding grooves (8), a connecting block (7) is fixedly welded at the middle of one side of the lifting arc plate (6) close to the rectangular box body (1), the connecting block (7) penetrates through the connecting holes in the middle of the lifting plate (9), arc groove rods (5) are fixedly welded at the arc top of the lifting arc plate (6) in the circumferential direction respectively at one end of the lifting arc plate (6) close to the rectangular box body (1) and one end of the lifting arc plate (6) far away from the rectangular box body (1), a plurality of rotating shafts (25) are uniformly arranged at equal intervals on two sides of the inner wall of a notch, rotating wheels (26) are rotatably arranged on the outer circumferential walls of the plurality of the rotating shafts (25), an expansion plate (4) is fixedly welded at one side of the lifting arc plate (6) far from the rectangular box body (1), and the arc top (7) is far from the rectangular box body (1) and penetrates through the connecting holes (10);
the transmission mechanism comprises a mounting plate (31), two ends 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 mode, one side of each base block (36) close to the vertical rod (10) is fixedly provided with the same transverse lifting rod (38) in a welded mode, the middle of one side of each transverse lifting rod (38) close to the vertical rod (10) is fixedly provided with a connecting sleeve block (37) in a welded mode, and the connecting sleeve blocks (37) are fixedly welded to the top of the outer wall of the vertical rod (10).
2. The AUV release and recovery device according to claim 1, 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.
3. The AUV releasing and recovering device according to claim 2, wherein one end of the horizontal lifting rod (38) is welded and fixed with a rectangular block (34), 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 to the top and the bottom of the inner wall of the rectangular box body (1) respectively, and an extrusion spring (28) is sleeved on the top of the circumferential outer wall of the sleeve rod (27).
4. A device for releasing and recovering an AUV according to claim 3, wherein the rotating 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 fixedly welded on one side of the servo motor (13), a gear plate (14) is fixedly welded 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).
5. The AUV release and recovery device according to claim 4, wherein a rotating plate (11) is welded and fixed to the output shaft (29) on the side away from the servo motor (13).
6. The AUV release and recovery device according to claim 5, wherein a plurality of cylindrical impact bars (30) are welded and fixed to the side of the rotating plate (11) away from the servo motor (13) at a position deviated from the center of the circle.
7. An AUV cluster release recovery method, comprising an AUV release recovery apparatus according to claim 6, 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), the AUV rotates due to friction, the output shaft (29) drives the storage roller (2) to rotate, when the storage groove rotating to the storage roller (2) is located above the AUV, the AUV is pushed into the storage roller (2) by an elastic system arranged in the arc groove rod (5) and is carried into the circular storage cylinder (3), and the AUV is carried into the circular storage cylinder (3) when the output shaft (29) continuously rotates;
s3: when the output shaft (29) continuously rotates, the cylindrical collision rod (30) is separated from 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, the reversely rotating servo motor (13) drives the gear plate (14) to be meshed with the gear block (15) to reversely rotate, the storage roller (2) is driven to reversely rotate, and when the storage groove of the storage roller (2) rotates to a rectangular opening below the circular storage cylinder (3), the AUV can be reversely acted by the arc-shaped bent plate (19) and the arc-shaped pushing plate (20) to push out the storage roller (2) and the circular storage cylinder (3) to carry out release operation.
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| CN116902144A (en) | 2023-10-20 |
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