CN117508464A - Floating box type AUV (autonomous Underwater vehicle) distributing and recycling device - Google Patents
Floating box type AUV (autonomous Underwater vehicle) distributing and recycling device Download PDFInfo
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- CN117508464A CN117508464A CN202311407548.3A CN202311407548A CN117508464A CN 117508464 A CN117508464 A CN 117508464A CN 202311407548 A CN202311407548 A CN 202311407548A CN 117508464 A CN117508464 A CN 117508464A
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- telescopic column
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- 238000004064 recycling Methods 0.000 title claims abstract description 13
- 238000003032 molecular docking Methods 0.000 claims abstract description 58
- 238000011084 recovery Methods 0.000 claims description 31
- 210000000078 claw Anatomy 0.000 claims description 20
- 239000000463 material Substances 0.000 claims description 10
- 210000001503 joint Anatomy 0.000 claims description 8
- 238000000034 method Methods 0.000 abstract description 8
- 230000004048 modification Effects 0.000 description 7
- 238000012986 modification Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 4
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000004075 alteration Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
Abstract
A buoyancy tank type AUV laying and recycling device relates to the technical field of intelligent underwater robots. The problem that how the AUV is limited in energy carried by the AUV due to the fact that the AUV is limited in volume, cannot finish the task work of long voyage and needs manual arrangement is solved, the cost is extremely high, a certain danger is associated, and the AUV is only realized in shallow sea and ports at present is solved. The invention provides a buoyancy tank type AUV (autonomous Underwater vehicle) laying and recycling device which comprises a floating platform, a rotating device, a butting device and the like, wherein a hydraulic telescopic column and a hydraulic telescopic column are respectively hinged with the butting device, a hydraulic pump is positioned above the floating platform, and the lower part of the floating platform is connected with the movable end of the laying and recycling device through the hydraulic telescopic column and the hydraulic telescopic column; the hydraulic pump drives the rotating disc to rotate in the horizontal direction and drives the butting device to adjust the angle in the horizontal direction; the motor drives the hydraulic telescopic column and the hydraulic telescopic column to stretch and retract to finish the angle between the hydraulic telescopic column and the docking device in the pitching direction. And the method is also suitable for the AUV docking field.
Description
Technical Field
The invention relates to the technical field of intelligent underwater robots.
Background
AUV (Autonomous Underwater Vehicle) is an important technical means for performing marine scientific investigation and protecting marine environment in modern times. Because the sensor original and the power device are carried by the power device, the power device has higher autonomous capability, can carry out tasks such as tracking, detecting, patrol and the like according to a preset task target, is widely applied to various fields such as army and civilian, and is an indispensable major equipment for building ocean countries.
The AUV is limited in energy carried by the AUV due to the volume of the AUV, and cannot complete long-range task work, and usually, after a given task is completed, the AUV is recovered to complete the work such as charging, data exchange, task downloading and the like.
AUV recovery usually adopts two methods, the first is a mother ship recovery method, and the method depends on weather factors for recovery and deployment and has high recovery cost. The second type adopts a horn mouth type docking device which is located on the sea floor, can realize autonomous retraction of the AUV, completes a series of works such as charging, data exchange and the like, has higher intelligent degree, but needs manual deployment, has extremely high cost and is accompanied with certain dangerousness, can be realized only in shallow sea and ports at present, and therefore, a brand new AUV deployment and recovery device needs to be designed to realize the task demands of the AUV working in deep sea and open sea. The device adopts a floating platform to provide buoyancy, a rotating device is connected with a docking device and the floating platform, two degrees of rotation freedom are provided, and the docking success rate of the AUV is improved by actively changing the horizontal and pitching angles of the docking device.
Disclosure of Invention
The invention solves the problems that the AUV cannot finish the task work of long voyage because of limited energy carried by the AUV due to the self volume, needs manual arrangement, has extremely high cost and has a certain danger, and is only realized in shallow sea and ports at present.
The invention provides a buoyancy tank type AUV (autonomous Underwater vehicle) distributing and recycling device, which adopts the following technical scheme: the floating box type AUV laying and recycling device comprises a floating platform, a rotating device, a butt joint device, a hydraulic pump and a motor, wherein the rotating device comprises a rotating disc, a hydraulic telescopic column A and a hydraulic telescopic column B;
the hydraulic telescopic column A and the hydraulic telescopic column B are respectively hinged with the docking device, the hydraulic pump is positioned above the floating platform, and the lower part of the floating platform is connected with the movable end of the laying and recycling device through the hydraulic telescopic column A and the hydraulic telescopic column B;
the hydraulic pump drives the rotating disc to rotate horizontally and drives the butting device to adjust the angle in the horizontal direction; and the hydraulic telescopic column A and the hydraulic telescopic column B are extended and retracted to finish the angle adjustment of the docking device in the pitching direction.
Further, a preferred embodiment is provided, the floating platform comprises a buoyancy tank type shell, buoyancy materials and a hoisting ring, the buoyancy materials are installed below the buoyancy tank type shell and are provided with notches for installing rotating devices, and the hoisting ring is installed at four corners of the upper side of the buoyancy tank type shell.
Further, a preferred embodiment is provided, locking device and guiding device are installed on the interfacing apparatus, the interfacing apparatus includes bell mouth shape guiding cover, cylindrical interfacing frame, square fixed frame A and square fixed frame B, bell mouth shape guiding cover welds with cylindrical interfacing frame, square fixed frame A and square fixed frame B symmetry are installed in cylindrical interfacing frame outside, hinge seat is all installed to square fixed frame A and square fixed frame B upside, locking device is all installed to both sides.
Further, a preferred embodiment is provided, wherein the space between the hinge seats on the upper sides of the square fixing frame A and the square fixing frame B is fixed.
Further, there is provided a preferred embodiment wherein the rotating disc is centrally mounted on the underside of the buoyancy tank type housing and is rotatably connected to the buoyancy tank type housing by a rotating post.
Further, a preferred embodiment is provided, the rotating device further comprises a rotating shaft, the hydraulic telescopic column A and the hydraulic telescopic column B are installed in the reserved notch at the lower side of the rotating disc, and the other end of the hydraulic telescopic column A and the hydraulic telescopic column B are hinged with the hinging seat on the square fixed frame A and the square fixed frame B in the butting device through the rotating shaft.
Further, a preferred embodiment is provided, the locking device comprises a locking mechanical claw, a positioner A and a positioner B, the locking mechanical claw is mounted at reserved positions of openings on two sides of the square fixed frame A and the square fixed frame B, the motor drives the locking mechanical claw to lock and fix the AUV, and the positioner A and the positioner B are mounted on the upper parts of the inner side walls of the square fixed frame A and the square fixed frame B respectively.
Further, there is provided a preferred embodiment, the guiding device includes a guiding light, an underwater sound transponder and an underwater camera, the guiding light is installed around the outer side of the bell-mouthed guiding cover; the underwater sound transponder is arranged on the lower side of the square fixed frame B; the underwater camera is arranged in front of the square fixed frame A.
Further, a preferred embodiment is provided, wherein the buoyancy tank type shell is rectangular.
Further, a preferred embodiment is provided wherein the buoyancy tank housing is uniform in length and width dimension and greater than the horizontal turning radius of the docking device.
The invention has the following beneficial effects: the invention provides a floating box type AUV (autonomous Underwater vehicle) laying and recycling device, which is used for conveniently realizing task requirements of AUV laying and recycling in deep sea and open sea. The buoyancy tank type AUV laying and recycling device drives the rotating device through the hydraulic pump to realize the angle adjustment of the docking device in the horizontal direction and the pitching direction, and the AUV docking success rate is improved.
The floating platform adopted by the invention provides sufficient buoyancy for the deployment and recovery device, can enable the device to float on the water surface, is convenient for the recovery and release of a mother ship, avoids the need of artificial deployment and recovery of the traditional docking device due to the fact that the docking device is seated on the seabed, reduces the cost and avoids a certain risk.
The locking device comprises two pairs of replaceable locking mechanical claws, and mechanical claws with different inner diameter sizes can be adopted for AUVs with different sizes, so that the AUVs can be reliably locked without modification.
The rotating device comprises a rotating disc, a hydraulic telescopic column A and a hydraulic telescopic column B, and the docking device can be driven to conduct angle adjustment in the horizontal direction and the pitching direction through driving of the hydraulic pump.
The horn-shaped guide cover and the cylindrical butt-joint frame in the butt-joint device are of an open type strip-shaped frame structure, and the design can reduce the influence of water flow on the device, so that the stability of the device can be improved, and the rotating speed can be improved.
According to the invention, the angle of the butt joint interface can be raised through the angle adjustment of the pitching direction of the butt joint device, so that double guarantee is provided for locking of the AUV.
The invention is also applicable to the AUV docking field.
Drawings
Fig. 1 is a front view of the overall structure of the buoyancy tank type AUV deployment and recovery device of the present invention.
Fig. 2 is a side view showing the overall structure of the buoyancy tank type AUV deployment and recovery device according to the present invention.
Fig. 3 is a schematic diagram 1 of a docking operation state of the buoyancy tank type AUV deployment and recovery device according to the present invention.
Fig. 4 is a schematic diagram 2 of a docking operation state of the buoyancy tank type AUV deployment and recovery device according to the present invention.
Fig. 5 is a schematic diagram showing a recovery apparatus according to the present invention after recovering AUV.
In the figure, 1 is a floating platform, 2 is a rotating device, 3 is a butting device, 4 is a locking device, 5 is a guiding device, 6 is a hydraulic pump, 7 is a buoyancy tank shell, 8 is a buoyancy material, 9 is a hoisting circular ring, 10 is a rotating disc, 11 is a hydraulic telescopic column A, 12 is a hydraulic telescopic column B, 13 is a rotating shaft, 14 is a square fixed frame A, 15 is a square fixed frame B, 16 is a bell-mouth-shaped guiding cover, 17 is a cylindrical butting frame, 18 is a locking mechanical claw, 19 is a positioner A, 20 is a positioner B, 21 is a guiding lamp, 22 is an underwater camera, 23 is an underwater sound transponder, 24 is a motor, and 25 is an AUV.
Detailed Description
For the purposes of making the objects, technical solutions and advantages of the embodiments of the present application more clear, the technical solutions of the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is apparent that the described embodiments are some of the embodiments of the present application, but not all of the embodiments.
The first embodiment, referring to fig. 1, describes the present embodiment, a buoyancy tank type AUV deployment and recovery device, which includes a floating platform 1, a rotating device 2, a docking device 3, a hydraulic pump 6, and a motor 24, wherein the rotating device 2 includes a rotating disc 10, a hydraulic telescopic column a11, and a hydraulic telescopic column B12;
the hydraulic telescopic column A11 and the hydraulic telescopic column B12 are respectively hinged with the docking device 3, the hydraulic pump 6 is positioned above the floating platform 1, and the lower part of the floating platform 1 is connected with the movable end of the laying and recycling device through the hydraulic telescopic column A11 and the hydraulic telescopic column B12;
the hydraulic pump 6 drives the rotating disc 10 to rotate horizontally and drives the docking device 3 to adjust the angle in the horizontal direction; the hydraulic telescopic column A11 and the hydraulic telescopic column B12 extend and retract to drive the docking device 3 to realize angle adjustment in the pitching direction.
Referring to fig. 1 to 5, the present embodiment provides sufficient buoyancy for a buoyancy tank type AUV deployment and recovery device by a floating platform 1, and ensures that the device floats on the water surface; the docking device 3 provides a docking channel for the AUV, and can be provided with a guide device 4 and a locking device 5 thereon, and the AUV performs position and posture information exchange through the guide device 5 and the buoyancy tank type AUV arrangement and recovery device in the docking process, so as to control the rotating device 2 to perform corresponding rotation and telescopic movement and further drive the docking device 3 to perform angle adjustment, and the locking device stretches out to lock and fix the AUV after the AUV is successfully docked; one end of the rotating device 2 is rotationally connected with the floating platform, the other end of the rotating device is hinged with the butting device 3, and the butting device can be subjected to angle adjustment in the horizontal direction and the pitching direction through the driving of the hydraulic pump; the hydraulic pump 6 is installed on the upper side of the floating platform 1 and provides power for each motion mechanism.
The second embodiment and the present embodiment are further defined by the arrangement and recovery device of the first embodiment, where the floating platform 1 includes a floating box type housing 7, a floating material 8 and a lifting ring 9, the floating material 8 is installed below the floating box type housing 7 and has a notch for installing the rotating device 2, and the lifting ring 9 is installed at four corners of the upper side of the floating box type housing 7.
Referring to fig. 1 and 2 for describing the present embodiment, both the buoyancy tank type housing 7 and the buoyancy material 8 according to the present embodiment provide a buoyancy guarantee device for the device, and the lifting ring 9 is fixed at four corners of the upper side of the buoyancy tank type housing 7, so as to provide a mounting position of the lifting rope for the mother ship recovery and release device.
The third embodiment and the present embodiment are further defined by the arrangement and recovery device of the buoyancy tank AUV according to the first embodiment, the docking device 3 is provided with a locking device 4 and a guiding device 5, the docking device 3 includes a bell-mouth shaped guiding cover 16, a cylindrical docking frame 17, a square fixing frame a14 and a square fixing frame B15, the bell-mouth shaped guiding cover 16 is welded with the cylindrical docking frame 17, the square fixing frame a14 and the square fixing frame B15 are symmetrically installed on the outer side of the cylindrical docking frame 17, hinge seats are installed on the upper sides of the square fixing frame a14 and the square fixing frame B15, and the locking device 4 is installed on two sides of the square fixing frame a14 and the square fixing frame B15.
Referring to fig. 1-5, in the embodiment, the bell-mouth-shaped guide cover 16 and the cylindrical butt-joint frame 17 in the tightening device 3 are welded together, and are both of an open bar-shaped frame structure, the square fixed frame a14 and the square fixed frame B15 are symmetrically installed on the outer side of the cylindrical butt-joint frame 17, hinge seats are installed on the upper sides of the square fixed frame a14 and the square fixed frame B15, and locking devices 4 are installed on two sides of the square fixed frame a14 and the square fixed frame B15.
The fourth embodiment and the present embodiment are further defined on the arrangement and recovery device for a floating tank AUV according to the third embodiment, wherein the distance between the hinge seats on the upper sides of the square fixed frame a14 and the square fixed frame B15 is fixed.
In the fifth embodiment, the present embodiment is further defined as the buoyancy tank type AUV deployment and recovery device according to the second embodiment, the rotating disc 10 is centrally installed on the lower side of the buoyancy tank type housing 7, and is rotatably connected with the buoyancy tank type housing 7 through a rotating column.
In the sixth embodiment, the present embodiment is further defined by the arrangement and recovery device for a buoyancy tank type AUV according to the first embodiment, the rotating device 2 further includes a rotating shaft 13, the hydraulic telescopic column a11 and the hydraulic telescopic column B12 are installed in a notch reserved at the lower side of the rotating disc 10, and the other end of the hydraulic telescopic column is hinged to a hinge seat on the square fixed frame a14 and the square fixed frame B15 in the docking device 3 through the rotating shaft 13.
Referring to fig. 2 and 3 for illustrating the present embodiment, the rotating disc 10 is rotatably connected to the buoyancy tank type housing 7 through a rotating column, and is installed at the center of the lower side of the buoyancy tank type housing 7, and the hydraulic pump 6 is driven to realize active rotation in the horizontal direction, so as to drive the docking device 3 to complete angle adjustment in the horizontal direction. One end of the hydraulic telescopic column A11 and one end of the hydraulic telescopic column B12 are arranged in the notch at the lower side of the rotary disc 10, and the other end of the hydraulic telescopic column A11 and the hydraulic telescopic column B12 are respectively hinged with the hinging seats arranged at the upper sides of the square fixed frame A14 and the square fixed frame B15 through rotating shafts. When the hydraulic telescopic column A11 performs extension and retraction movement and the hydraulic telescopic column B12 does not perform extension and retraction movement, the accompanying movement of the docking device 3 can be realized, the angle adjustment of the docking device 3 in the pitching direction is completed, and the hydraulic telescopic column A11 can simultaneously perform movement along the notch direction due to the fixed distance between the two hinged seats, so that the distance adjustment between the hydraulic telescopic column A11 and the hydraulic telescopic column B12 is realized.
The seventh embodiment and the present embodiment are further defined on the buoyancy tank type AUV deployment and recovery device according to the third embodiment, the locking device 4 includes a locking mechanical claw 18, a positioner a19 and a positioner B20, the locking mechanical claw 18 is installed at the reserved positions of openings on two sides of the square fixed frame a14 and the square fixed frame B15, the motor 24 drives the locking mechanical claw 18 to lock and fix the AUV, and the positioner a19 and the positioner B20 are installed on the upper portions of the inner side walls of the square fixed frame a14 and the square fixed frame B15 respectively.
Referring to fig. 3 and 4, in this embodiment, the locking mechanical claw 18 is installed at the opening positions reserved at two sides of the square fixed frame a11 and the square fixed frame B12, the positioners a19 and B20 are respectively installed at the upper parts of the inner sides of the square fixed frame a14 and the square fixed frame B15, the locking mechanical claw is activated after the positioner a19 detects the AUV in the docking process, the locking mechanical claw 18 is driven to extend by the motor 24 after the positioner B20 detects the AUV, locking fixation is completed for the AUV, and the locking mechanical claw 18 is retracted, so that preliminary release of the AUV is completed. The locking mechanical claws 18 with different inner diameters can be replaced for AUVs with different diameters, so that the AUVs can be locked and fixed better.
The eighth embodiment is further defined by the buoyancy tank type AUV deployment and recovery device according to the third embodiment, wherein the guiding device 5 includes a guiding lamp 21, an underwater sound transponder 23 and an underwater camera 22, and the guiding lamp 21 is installed on the outer side of the bell-mouth-shaped guiding cover 16 around the circumference; the underwater sound transponder 23 is mounted on the lower side of the square fixed frame B15; the underwater camera 22 is mounted in front of the square fixed frame a 14.
The guiding lamp 21 and the underwater sound transponder 23 in this embodiment provide the position and posture of the docking device for the AUV, guide the AUV to complete docking, capture the position and posture of the AUV by the underwater camera 22, and provide the position and posture of the AUV to the buoyancy tank type AUV deployment and recovery device, and further control the rotating device 2 to correspondingly rotate so as to realize the angle adjustment of the docking device 3 in the horizontal and pitching directions.
In the ninth embodiment, the present embodiment is further limited to the floating tank type AUV deployment and recovery device according to the first embodiment, and the outer shape of the floating tank type housing 7 is a cuboid.
In a tenth embodiment, the present embodiment is a further limitation of the buoyancy tank type AUV deployment and recovery device according to the ninth embodiment, wherein the length and width dimensions of the buoyancy tank type housing 7 are consistent and larger than the horizontal rotation radius of the docking device 3.
Referring to fig. 1 and 2, the buoyancy tank type housing 7 according to this embodiment is rectangular, the length and width dimensions are consistent and slightly larger than the horizontal rotation radius of the docking device, the buoyancy material 8 is rectangular, and the buoyancy material is uniformly fixed on the lower side of the buoyancy tank type housing 7 and leaves a position for installing the rotating disc 10.
The working principle of the invention is as follows: the invention is laid in the target sea area by a mother ship, and the floating platform 1 provides sufficient buoyancy to enable the buoyancy tank type AUV laying and recovering device to float on the water surface. In the AUV homing process, the underwater acoustic transponder 23 arranged on the docking device 3 can interact with the AUV in real time in position and posture information, and in the AUV docking process, on one hand, the AUV acquires the position and posture of the bell-mouth-shaped guide cover 16 of the docking device 3 through the light source of the guide lamp 21 on the docking device 3 so as to perform docking motion; on the other hand, the docking device 3 can acquire position and posture information of the AUV through the underwater camera 22 arranged on the front side of the square fixed frame, so that the docking success rate is improved by controlling the rotating device 2 to adjust the angle of the docking device 3, the rotating disc 10 is driven by the hydraulic pump 6 to rotate horizontally so as to drive the docking device 3 to realize angle adjustment in the horizontal direction, and the extending and retracting of the hydraulic telescopic column A11 and the hydraulic telescopic column B12 are controlled so as to drive the docking device 3 to realize angle adjustment in the pitching direction. When the AUV enters the docking device 3, the locking mechanical claw 18 is activated after the AUV is detected by the positioner A19, and the locking mechanical claw 18 is controlled to extend after the AUV is detected by the positioner B12, so that the AUV is locked and fixed. Then, the hydraulic telescopic column A11 is controlled to retract and the hydraulic telescopic column B12 is controlled to extend, so that the butt joint opening of the butt joint device 3 faces obliquely upwards, secondary guarantee is made for locking and fixing of the AUV, after information exchange is completed, the hydraulic telescopic column B12 is controlled to retract and the hydraulic telescopic column A11 is controlled to extend, the butt joint opening of the butt joint device 3 faces obliquely downwards, and the retraction locking mechanical claw 18 releases the AUV.
Those skilled in the art will appreciate that the foregoing is merely a preferred embodiment of the invention and that various combinations or combinations of features recited in the various embodiments of the disclosure and/or the claims may be provided even if such combinations or combinations are not explicitly recited in the disclosure. Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described, or equivalents may be substituted for elements thereof, and any modifications, equivalents, improvements and changes may be made without departing from the spirit and principles of the present invention.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiments and all such alterations and modifications as fall within the scope of the invention. It will be apparent to those skilled in the art that various modifications and variations can be made to the present invention without departing from the spirit or scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.
Claims (10)
1. The buoyancy tank type AUV laying and recycling device is characterized by comprising a floating platform (1), a rotating device (2), a butting device (3), a hydraulic pump (6) and a motor (24), wherein the rotating device (2) comprises a rotating disc (10), a hydraulic telescopic column A (11) and a hydraulic telescopic column B (12);
the hydraulic telescopic column A (11) and the hydraulic telescopic column B (12) are respectively hinged with the butt joint device (3), the hydraulic pump (6) is positioned above the floating platform (1), and the lower part of the floating platform (1) is connected with the movable end of the deployment and recovery device through the hydraulic telescopic column A (11) and the hydraulic telescopic column B (12);
the hydraulic pump (6) drives the rotating disc (10) to rotate horizontally and drives the butting device (3) to adjust the angle in the horizontal direction; the hydraulic telescopic column A (11) and the hydraulic telescopic column B (12) are extended and retracted to drive the angle adjustment of the docking device (3) in the pitching direction.
2. The buoyancy tank type AUV deployment and retrieval device according to claim 1, wherein the floating platform (1) comprises a buoyancy tank type shell (7), buoyancy materials (8) and a lifting circular ring (9), wherein the buoyancy materials (8) are installed below the buoyancy tank type shell (7) and leave a notch for installing a rotation device (2), and the lifting circular ring (9) is installed at four corners of the upper side of the buoyancy tank type shell (7).
3. The buoyancy tank type AUV deployment and recovery device according to claim 1, wherein a locking device (4) and a guiding device (5) are installed on the docking device (3), the docking device (3) comprises a bell-mouth-shaped guide cover (16), a cylindrical docking frame (17), a square fixing frame A (14) and a square fixing frame B (15), the bell-mouth-shaped guide cover (16) is welded with the cylindrical docking frame (17), the square fixing frame A (14) and the square fixing frame B (15) are symmetrically installed on the outer side of the cylindrical docking frame (17), hinge seats are installed on the upper sides of the square fixing frame A (14) and the square fixing frame B (15), and the locking device (4) is installed on two sides of the square fixing frame A (14) and the square fixing frame B (15).
4. A buoyancy tank type AUV deployment and retrieval device according to claim 3 wherein the spacing of the hinge seats on the upper sides of the square fixed frame a (14) and square fixed frame B (15) is fixed.
5. The buoyancy tank type AUV deployment and retrieval device according to claim 2 wherein the rotating disc (10) is centrally mounted on the underside of the buoyancy tank type housing (7) and is rotatably connected to the buoyancy tank type housing (7) by a rotating post.
6. The buoyancy tank type AUV deployment and recovery device according to claim 1, wherein the rotating device (2) further comprises a rotating shaft (13), the hydraulic telescopic column A (11) and the hydraulic telescopic column B (12) are arranged in a notch reserved on the lower side of the rotating disc (10), and the other end of the hydraulic telescopic column A and the hydraulic telescopic column B are hinged with a hinging seat on the square fixed frame A (14) and the square fixed frame B (15) in the butting device (3) through the rotating shaft (13).
7. The buoyancy tank type AUV deployment and recovery device according to claim 3, wherein the locking device (4) comprises a locking mechanical claw (18), a positioner A (19) and a positioner B (20), the locking mechanical claw (18) is arranged at reserved positions of openings on two sides of the square fixed frame A (14) and the square fixed frame B (15), the motor (24) drives the locking mechanical claw (18) to lock and fix the AUV, and the positioner A (19) and the positioner B (20) are respectively arranged on the upper parts of the inner side walls of the square fixed frame A (14) and the square fixed frame B (15).
8. -the buoyancy tank AUV deployment and retrieval device according to claim 3, characterized in that the guiding device (5) comprises a guiding light (21), an underwater acoustic transponder (23) and an underwater camera (22), the guiding light (21) being peripherally mounted outside the bell-mouth shaped guiding hood (16); the underwater sound transponder (23) is arranged on the lower side of the square fixed frame B (15); the underwater camera (22) is mounted in front of the square fixed frame A (14).
9. The buoyancy tank type AUV deployment and retrieval device according to claim 1 wherein the buoyancy tank type housing (7) is rectangular in shape.
10. The buoyancy tank AUV deployment and retrieval device according to claim 9 wherein the buoyancy tank enclosure (7) is of uniform length and width dimensions and greater than the horizontal radius of rotation of the docking device (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311407548.3A CN117508464A (en) | 2023-10-27 | 2023-10-27 | Floating box type AUV (autonomous Underwater vehicle) distributing and recycling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311407548.3A CN117508464A (en) | 2023-10-27 | 2023-10-27 | Floating box type AUV (autonomous Underwater vehicle) distributing and recycling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117508464A true CN117508464A (en) | 2024-02-06 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311407548.3A Pending CN117508464A (en) | 2023-10-27 | 2023-10-27 | Floating box type AUV (autonomous Underwater vehicle) distributing and recycling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117508464A (en) |
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2023
- 2023-10-27 CN CN202311407548.3A patent/CN117508464A/en active Pending
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