CN117246491A - Flexible recovery system and method for multi-diameter AUV butt locking - Google Patents

Abstract

The invention discloses a flexible recovery system and a method for multi-diameter AUV butt locking, wherein the flexible recovery system comprises a first driving device, a driving disc, a fixed plate, a plurality of sliding rods, a plurality of connecting arms and a plurality of flexible arms, and the first driving device is connected with the driving disc; the driving disc is rotatably connected to the fixed plate; the circumference of the fixed plate is provided with a plurality of guide grooves, and the length direction of each guide groove is along the radial direction of the fixed plate; each guide groove is internally provided with a sliding rod, one end of the sliding rod is provided with a bulge, and the other end of the sliding rod is connected with the connecting arm; one end of each connecting arm far away from the sliding rod is connected with one flexible arm; the driving disc is provided with a plurality of driving grooves, and the bulge of each sliding rod is arranged in the corresponding driving groove; the end of each flexible arm has a second drive means for driving the flexible arm to lock the AUV. The flexible recovery system is simple and reliable in structure and convenient to adjust, and can be used for multi-diameter AUV butt joint locking based on a variable-diameter structure and a negative pressure adsorption principle.

Description

Flexible recovery system and method for multi-diameter AUV butt locking

Technical Field

The invention relates to the technical field of AUV recovery, in particular to a flexible recovery system and method for multi-diameter AUV butt locking.

Background

Currently, an AUV (Autonomous Underwater Vehicle ) is a common underwater motion load, and can carry various sensors to detect an underwater environment. Because AUV itself carries limited energy, usually need to adopt underwater connection station to carry out the connection recovery to it and carry out the energy supply to it under water to can realize the continuous execution task under water. The currently used docking station is a rigid structure, and the bell mouth-shaped structure for guiding is usually made of rigid metal, so that the impact force generated during the docking collision of the AUV is likely to damage the AUV and the sensing equipment carried by the AUV, and the risk is high, and therefore, flexible docking recovery systems are proposed in a few of the prior art. The same problem is faced with either flexible or rigid recovery systems: only a single diameter AUV can be recovered. In addition, when the AUV is successfully recovered, how to effectively fix the AUV in the recovery mechanism is required to be considered, and a mode of locking by an electromagnet is proposed in the prior art, but a ferromagnetic part must be installed on the AUV, which affects the streamline shape of the AUV on the one hand, and generates an additional magnetic field on the AUV body on the other hand, which affects the normal operation of the navigation device and the sensor. AUV for detecting in the future may be various, and the butt joint locking mode of the prior art greatly reduces the universality of the flexible butt joint recovery system in underwater application. If the AUV locking scheme is not good, the AUV can be separated from the recovery mechanism under the action of water flow even if the AUV is recovered.

Disclosure of Invention

Aiming at the defects or improvement demands of the prior art, the invention provides a flexible recovery system and a flexible recovery method for multi-diameter AUV butt joint locking, which have simple and reliable structure and convenient adjustment and can be used for the multi-diameter AUV butt joint locking based on a variable-diameter structure and a negative pressure adsorption principle.

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

In some embodiments, a flexible recovery system for multi-diameter AUV dock locking is provided, the flexible recovery system comprising a first drive device, a drive disk, a fixed plate, a plurality of sliding bars, a plurality of connecting arms, a plurality of flexible arms, the first drive device connected to the drive disk, the first drive device capable of driving the drive disk to rotate over a range of angles;

the fixed plate is used for being fixed on the base, and the driving disc is rotatably connected with the fixed plate; the fixing plate is circular, a plurality of guide grooves are formed in the circumferential direction of the fixing plate, and the length direction of each guide groove is along the radial direction of the fixing plate;

each guide groove is internally provided with a slide bar which can move along the radial direction of the fixed plate in the guide groove; one end of the sliding rod is provided with a bulge, and the other end of the sliding rod is connected with the connecting arm; one end of each connecting arm far away from the sliding rod is connected with one flexible arm;

the driving disc is provided with a plurality of driving grooves, and the length direction of each driving groove forms a certain angle with the radial direction of the fixing plate; the bulge of each sliding rod is arranged in the corresponding driving groove;

the end of each flexible arm is provided with a second driving device which is used for driving the flexible arm to lock the AUV.

In some embodiments, the first drive means comprises a hydraulic cylinder comprising a push rod and a base, the drive plate being connected to the push rod of the hydraulic cylinder, the base being for hinged connection to the base.

In some embodiments, the push rod has a connecting hole at one end, the connecting hole is in a strip shape, and a connecting pin is arranged at the outer side of the driving disc and is arranged in the connecting hole.

In some embodiments, the flexible arm has an inner flow passage and an outer flow passage and is driven by a hydraulic pressure difference between the inner flow passage and the outer flow passage; when the pressure of the inner runner is greater than that of the outer runner, the flexible arms are turned outwards, and a plurality of flexible arms form a horn mouth guide structure; when the pressure of the outer runner is greater than that of the inner runner, the flexible arm is driven inwards and is used for driving the flexible arm to be attached to the AUV.

In some embodiments, the second driving device includes a propeller, and the propeller is used for driving the flexible arm to adsorb with the AUV, so as to ensure a locking state of the AUV.

In some embodiments, the end of the flexible arm has a hollowed-out structure that is a radial through hole that penetrates the flexible arm; the hollow structure comprises a conical hole and a cylindrical hole, the propeller is arranged at the junction of the conical hole and the cylindrical hole, and the conical hole is arranged on the inner side of the bell mouth guiding structure.

In some embodiments, the guide grooves are uniformly distributed in the circumferential direction of the fixing plate, and the number of the guide grooves is 6.

In some embodiments, the connecting arm is cylindrical, and an axis of the connecting arm is perpendicular to a plane in which the fixing plate is located.

In another aspect, the present application also provides a method for flexible recovery of multi-diameter AUV dock locks, the method comprising dock locking an AUV with a flexible recovery system for multi-diameter AUV dock locks as described in any of the embodiments above.

In some embodiments, the method comprises:

the driving disc is driven to rotate by a certain angle through the first driving device, so that the space formed by surrounding the connecting arms is matched with the peripheral size of the AUV;

after the AUV enters a space formed by encircling the plurality of connecting arms, driving the plurality of flexible arms to attach to the AUV, and completing butt joint;

after the plurality of flexible arms are attached to the AUV, the tail ends of the flexible arms are driven by the second driving device to lock the AUV.

Compared with the prior art, the beneficial effects of some embodiments of the invention are at least as follows: (1) In some embodiments of the invention, the contact between the AUV and the recovery system is flexible, so that the damage to the AUV caused by rigid collision is avoided, and the protection effect on the sensor in the AUV is also realized; (2) In some embodiments, after the AUV has been recovered successfully, when the AUV rapidly vibrates or moves due to external environmental changes such as ocean currents, the rotation of the propeller on the flexible arm can keep the locking of the flexible arm to the AUV, so that the AUV stopping stability is improved; (3) In some embodiments, the recycling of AUVs of different calibers by the variable diameter mechanism improves the versatility of the system.

Drawings

Fig. 1 is a schematic diagram of the overall structure of a flexible recovery system for multi-diameter AUV docking locking according to an embodiment of the present invention.

Fig. 2 is a schematic diagram of a driving disc according to an embodiment of the present invention.

FIG. 3 is a schematic view showing the structure of a fixing plate according to an embodiment of the present invention

Fig. 4 is a schematic structural view of a sliding rod of a limiting plate according to an embodiment of the present invention.

Fig. 5 is a schematic partial structural view of a flexible recovery system in one embodiment of the invention.

Fig. 6 is a schematic structural view of a flexible arm in one embodiment of the invention.

Fig. 7, 8 and 9 are schematic space diagrams formed by enclosing a plurality of connecting arms with different diameters when the sliding rod is at different positions according to some embodiments of the present invention, wherein (a), (b) and (c) are front view, right view and left view respectively.

Detailed Description

The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.

In the description of the present invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "circumferential", etc. indicate orientations or positional relationships based on the one shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. The interpretation of such words should be done from the perspective of one skilled in the art. For example, "above … …", "below … …" should be understood as the positional relationship of the body structure or structure of the component or the like in the initial state, which may be broken through during movement. "… … disposed on … …" is to be understood as the general connection of the components, not necessarily above.

In the present invention, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," "secured," and the like are to be construed broadly in view of those skilled in the art and may, for example, be fixedly connected, detachably connected, or be integrated; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

As shown in fig. 1-5, fig. 1 is a flexible recovery system for multi-diameter AUV butt locking according to some embodiments of the present application, where the flexible recovery system includes a first driving device 1, a driving disc 2, a fixing plate 3, a plurality of sliding rods 4, a plurality of connecting arms 5, and a plurality of flexible arms 6, where the first driving device 1 is connected to the driving disc 2, and the first driving device 1 can drive the driving disc 2 to rotate within a certain angle range. The end of each flexible arm 6 is provided with second driving means 7, the second driving means 7 being arranged to drive said flexible arm locking AUV.

Referring to fig. 1-3, in some embodiments, a fixed plate 3 is used to be fixed to a base (not shown), and the driving disk 2 is rotatably connected to the fixed plate 3. The fixing plate 3 is circular, and a plurality of guide grooves 31 are formed in the circumferential direction of the fixing plate 3, and the length direction of each guide groove is along the radial direction of the fixing plate 3.

In some embodiments, the guide grooves 31 are uniformly distributed in the circumferential direction of the fixing plate 3. In some embodiments, the fixing plate 3 has a fixing shaft 32 at the center and a fixing base plate 33 at the edge of the fixing plate 3. The fixing base plate 33 is used to be connected with the base, thereby fixing the fixing plate 3 to the base. The drive disc 2 is rotatably connected to the fixed plate 3 via a fixed shaft 33. Referring to fig. 2, the driving disk 2 has a plurality of driving grooves 21 thereon, and a length direction of each of the driving grooves 21 is at an angle to a radial direction of the fixing plate 3. In some embodiments, the angle of the length direction of the driving groove 21 to the radial direction of the fixing plate 3 is 30-60 degrees. The center of the driving disc 2 is provided with a hole 23, and the driving disc 2 is sleeved on a fixed shaft 32 at the center of the fixed plate 3 through the hole 23.

Referring to fig. 1 and 4, in some embodiments, one slide bar 4 is provided in each guide groove 31, and the slide bar 4 is capable of moving radially along the fixed plate 3 in the guide groove 31. The slide bars 4 have protrusions 41 at one end, the protrusions 41 of each slide bar 4 being arranged in the corresponding driving slot 21. The other end of the slide bar 4 is connected with a connecting arm 5. One end of each of the connecting arms 5 remote from the slide bar 4 is connected to one of the flexible arms 6. Specifically, in some embodiments, the end of the slide bar 4 to which the connection arm 5 is connected has a threaded hole 42, and the connection arm 5 is connected to the slide bar 4 by a screw and the threaded hole 42. In some embodiments, the connecting arm 5 is cylindrical, and the axis of the connecting arm 5 is perpendicular to the plane of the fixing plate. The center of the cylindrical connecting arm is of a cavity structure, and a pipeline (such as a power supply line and a control line) can pass through the hollow connecting arm.

In some embodiments, the number of guide grooves 31 is 6. Correspondingly, the number of the slide bars 4 is 6, and the number of the driving grooves 21 is 6. The number of connecting arms 5 is 6 and the number of flexible arms is also 6.

In some embodiments, the end of each slide bar 4 connected to the connecting arm 5 has an arcuate bar 43. The radius of the arc-shaped strip 43 is equal to the radius of the fixed plate 3. The arc-shaped strip 43 and the slide bar 4 form a T-shaped structure, the T-shaped structure is more stable, and the arc-shaped strip 43 can be limited in the radial direction.

Referring to fig. 5, in some embodiments, the first driving means 1 comprises hydraulic cylinders, only 1 hydraulic cylinder being required. The hydraulic cylinder comprises a push rod 11 and a base 12, the driving disc 2 is connected with the push rod 11 of the hydraulic cylinder, and the base 12 is used for being hinged with the base.

Specifically, in some embodiments, the push rod 11 has a connection hole 13 at one end, the connection hole is in a strip shape, and a connection pin 22 is disposed on the outer side of the driving disc 2, and the connection pin 22 is disposed in the connection hole 13. The connecting pin is slidable in the connecting hole. The whole hydraulic cylinder can swing, and the push rod of the hydraulic cylinder can push the connecting pin, so that the driving disc is driven to rotate. Through setting up the stroke of the push rod of pneumatic cylinder, can control the travel distance of slide bar for the slide bar forms the variable diameter mechanism, thereby realizes the recovery to different bore AUVs, has improved the commonality of this system.

In this embodiment, reference is made to fig. 7 to fig. 9, which are schematic space diagrams formed by enclosing a plurality of connecting arms with different diameters when the sliding rod is at different positions, wherein the diameter is the largest in fig. 7, and the diameter is the smallest in fig. 9, and (a), (b), and (c) are front view, right view, and left view, respectively. The fixed plate is fixed with the base, and the slide bar can radially move on the guide way of fixed plate. The driving disc is provided with uniformly distributed driving grooves, and the protrusions on the sliding rod can move in the driving grooves. The driving disc is connected with a push rod of the hydraulic cylinder, the hydraulic cylinder is vertically installed, and the driving disc can rotate in a certain angle range through the linear motion of the push rod, so that the slide rod is pushed to move radially synchronously. When the push rod is positioned at different positions, the diameters of envelope circles formed by the space formed by the enclosing of the connecting arms of the array are also different, so that AUVs with different diameters can be recovered.

Referring to fig. 6, the flexible arm 6 has an inner flow passage 61 and an outer flow passage 62, and is driven by a hydraulic pressure difference between the inner flow passage 61 and the outer flow passage 62. When the pressure of the inner flow channel 61 is greater than that of the outer flow channel 62, the flexible arms 6 are turned outwards, and the plurality of flexible arms form a bellmouth-shaped guide structure. When the pressure of the outer flow passage 62 is greater than that of the inner flow passage 61, the flexible arm 6 is driven inward for driving the flexible arm to fit the AUV. Specifically, the flexible arms are hydraulically actuated, and when the pressure in the inner flow path is greater than the pressure in the outer flow path, the flexible arms are turned outwardly and the plurality of array flexible arms form a butt-joint bell mouth. The flare can direct the AUV in the dock into the recovery system. When the AUV enters an enveloping circle formed by guiding the AUV into the connecting arm, the inner runner pressure and the outer runner pressure of the flexible arm are changed, so that the outer runner pressure is larger than the inner runner pressure, and the flexible arm is driven to the inner side until the flexible arm is attached to the AUV.

In some embodiments, the second driving device 7 comprises a propeller, and the propeller is used for driving the flexible arm to adsorb with the AUV, so as to ensure the locking state of the AUV. Specifically, the tail end of the flexible arm 6 is provided with a hollow structure, and the hollow structure is a radial through hole penetrating through the flexible arm 6. The hollow structure comprises a conical hole 63 and a cylindrical hole 64, the propeller is arranged at the junction of the conical hole and the cylindrical hole, and the conical hole is arranged at the inner side of the bell mouth guiding structure. The water discharge direction of the propeller is from the inside to the outside of the bell mouth guide structure (arrow direction in fig. 6). When flexible arm and AUV carry out the laminating, control the screw on every flexible arm and open, rivers are from being close to AUV side entering screw, follow and are far away from AUV side entering screw, consequently cause the inboard of horn mouth guide structure to appear the state of relative low pressure to form pressure differential in the inboard and the outside of horn mouth guide structure, make flexible arm can adsorb with the AUV according to the negative pressure absorption principle, thereby guarantee the locking state to the AUV.

In some embodiments of the present application, there is also provided a method for flexible recovery of multi-diameter AUV dock locks, the method comprising dock locking an AUV using the flexible recovery system for multi-diameter AUV dock locks described in any of the embodiments above.

In some embodiments, the method comprises: the driving disc is driven to rotate by a certain angle through the first driving device, so that the space formed by the surrounding of the connecting arms is matched with the peripheral size of the AUV. And after the AUV enters a space formed by encircling the plurality of connecting arms, driving the plurality of flexible arms to attach to the AUV, so as to complete butt joint. After the plurality of flexible arms are attached to the AUV, the tail ends of the flexible arms are driven by the second driving device to lock the AUV.

In some embodiments of the invention, the contact between the AUV and the recovery system is flexible, so that the damage to the AUV caused by rigid collision is avoided, and the protection effect on the sensor in the AUV is also realized. In some embodiments, after the AUV has been recovered successfully, when the AUV is rapidly vibrated or moved due to external environmental changes such as ocean currents, rotation of the propeller on the flexible arm can keep locking of the flexible arm on the AUV, so as to increase the docking stability of the AUV. In some embodiments, the recycling of AUVs of different calibers by the variable diameter mechanism improves the versatility of the system.

It will be readily appreciated by those skilled in the art that the foregoing description is merely a preferred embodiment of the invention and is not intended to limit the invention, but any modifications, equivalents, improvements or alternatives falling within the spirit and principles of the invention are intended to be included within the scope of the invention.

Claims (10)

1. The flexible recovery system for multi-diameter AUV butt locking is characterized by comprising a first driving device (1), a driving disc (2), a fixing plate (3), a plurality of sliding rods (4), a plurality of connecting arms (5) and a plurality of flexible arms (6), wherein the first driving device (1) is connected with the driving disc (2), and the first driving device (1) can drive the driving disc (2) to rotate within a certain angle range;

the fixed plate (3) is used for being fixed on the base, and the driving disc (2) is rotatably connected with the fixed plate (3); the fixing plate (3) is circular, a plurality of guide grooves (31) are formed in the circumferential direction of the fixing plate (3), and the length direction of each guide groove is along the radial direction of the fixing plate (3);

each guide groove (31) is internally provided with a slide bar (4), and the slide bar (4) can move along the radial direction of the fixed plate (3) in the guide groove (31); one end of the sliding rod (4) is provided with a bulge (41), and the other end is connected with the connecting arm (5); one end of each connecting arm (5) far away from the sliding rod (4) is connected with one flexible arm (6);

the driving disc (2) is provided with a plurality of driving grooves (21), and the length direction of each driving groove forms a certain angle with the radial direction of the fixed plate (3); the bulge (41) of each sliding rod (4) is arranged in the corresponding driving groove (21);

the end of each flexible arm (6) is provided with a second driving device (7), and the second driving device (7) is used for driving the flexible arms to lock the AUV.

2. A flexible recycling system according to claim 1, characterized in that the first driving means (1) comprise a hydraulic cylinder comprising a push rod (11) and a base (12), the driving disc (2) being connected with the push rod (11) of the hydraulic cylinder, the base (12) being intended for a hinged connection with the base.

3. A flexible recycling system according to claim 2, characterized in that the push rod (11) has a connecting hole (13) at one end, said connecting hole being elongated, the outside of the driving disc (2) having a connecting pin (22), said connecting pin (22) being arranged in said connecting hole (13).

4. The flexible recovery system according to claim 1, characterized in that the flexible arm (6) has an inner flow channel (61) and an outer flow channel (62) and is driven by a hydraulic difference between the inner flow channel (61) and the outer flow channel (62); when the pressure of the inner flow channel (61) is larger than that of the outer flow channel (62), the flexible arms (6) are turned outwards, and a plurality of flexible arms form a horn mouth guiding structure; when the pressure of the outer flow channel (62) is larger than that of the inner flow channel (61), the flexible arm (6) is driven inwards to drive the flexible arm to be attached to the AUV.

5. The flexible recovery system of claim 4, wherein the second driving means (7) comprises a propeller for driving the flexible arm to adsorb with the AUV, thereby ensuring a locked state of the AUV.

6. The flexible recycling system according to claim 5, characterized in that the end of the flexible arm (6) has a hollowed-out structure, which is a radial through hole penetrating the flexible arm (6); the hollow structure comprises a conical hole (63) and a cylindrical hole (64), the propeller is arranged at the junction of the conical hole and the cylindrical hole, and the conical hole is arranged on the inner side of the bell mouth guiding structure.

7. A flexible recycling system according to claim 1, characterized in that the guiding grooves (31) are evenly distributed in the circumference of the fixing plate (3), the number of the guiding grooves (31) being 6.

8. A flexible recycling system according to claim 1, characterized in that said connecting arm (5) is cylindrical, the axis of said connecting arm (5) being perpendicular to the plane of said fixing plate.

9. A method for flexible recovery of multi-diameter AUV dock-lock, the method comprising dock-locking an AUV with the flexible recovery system for multi-diameter AUV dock-lock of any one of claims 1-8.

10. The method according to claim 9, characterized in that the method comprises:

the driving disc is driven to rotate by a certain angle through the first driving device, so that the space formed by surrounding the connecting arms is matched with the peripheral size of the AUV;

after the AUV enters a space formed by encircling the plurality of connecting arms, driving the plurality of flexible arms to attach to the AUV, and completing butt joint;

after the plurality of flexible arms are attached to the AUV, the tail ends of the flexible arms are driven by the second driving device to lock the AUV.