CN218537067U

CN218537067U - Rod guide type AUV (autonomous Underwater vehicle) docking mechanism

Info

Publication number: CN218537067U
Application number: CN202223076124.7U
Authority: CN
Inventors: 刘继智; 侯永康; 徐忠浩; 辛筠炜; 覃爱茗
Original assignee: Nanhai Innovation And Development Base Of Sanya Harbin Engineering University
Current assignee: Nanhai Innovation And Development Base Of Sanya Harbin Engineering University
Priority date: 2022-11-21
Filing date: 2022-11-21
Publication date: 2023-02-28
Anticipated expiration: 2032-11-21

Abstract

The utility model belongs to the ocean is equipped and underwater robot field, the utility model provides a pole guide formula AUV docking mechanism, which comprises a fixing plate and i, the one end and the underwater robot head fixed connection of fixed plate, the other end fixedly connected with V type jaw of fixed plate, the opening direction of V type jaw is the same with underwater robot's direction of advance, the top sliding connection of V type jaw has the tight hook piece of clamp, be provided with the direction subassembly between the top of tight hook piece of clamp and V type jaw, be provided with the solid subassembly of card between the tight hook piece of clamp and the V type jaw, the solid subassembly of card corresponds and is provided with the recovery guide subassembly, be provided with drive assembly on the fixed plate, the direction subassembly is located between drive assembly and the solid subassembly of card, drive assembly is connected with the limit portion transmission that the tight hook piece of clamp is close to the fixed plate, drive assembly and underwater robot electric connection. The utility model discloses a structural commonality is strong, occupation space is little, installation and convenient to use and retrieve and release AUV's process is simple swift.

Description

Rod guide type AUV (autonomous Underwater vehicle) docking mechanism

Technical Field

The utility model belongs to ocean equipment and underwater robot field especially relate to a pole guide formula AUV docking mechanism.

Background

With the improvement of the technological level, an underwater robot (AUV) has become one of important tools for ocean development. The autonomous underwater robot has good maneuverability and large-range cruising ability, and plays an important role in underwater observation, drawing, positioning, deep sea sampling and other aspects.

Because the energy carried by the AUV is limited, the AUV must be salvaged to a carrier to supplement energy before the energy is exhausted, the underwater operation range of the AUV is greatly limited, and the use cost is increased. The underwater docking technology can provide energy supplement, data uploading and task downloading for the AUV, is a key technology for establishing a three-dimensional marine observation system, and can improve the operation efficiency and the operation range of the AUV. Researchers at home and abroad design and develop various AUV underwater docking systems aiming at different docking main bodies and docking environments, and the AUV underwater docking systems mainly comprise underwater box and cage docking, manipulator or carrier auxiliary docking, rod type guide docking, platform arresting cable docking and horn mouth guide docking. However, since the AUV has a plurality of models and different appearance structures, the universality of underwater box-cage butt joint and manipulator or carrier auxiliary butt joint is not strong; the requirements on the motion control capability and the maneuverability of the AUV by the platform barrier cable butt joint and the horn mouth guide butt joint are high, and meanwhile, the horn mouth guide butt joint structure is a gradually-shrunk butt joint port, so that the AUV is not easy to release, and secondary operation dispatching is not easy to perform. Therefore, a rod guide type AUV docking mechanism which has strong structural universality, occupies small space, is convenient to install and use and has simple and rapid AUV recovery and release processes is needed urgently.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a pole guide formula AUV docking mechanism to solve above-mentioned problem, reach that the structural commonality is strong, occupation space is little, installation and convenient to use just retrieve and release AUV's simple swift purpose of process.

In order to achieve the above purpose, the utility model provides a following scheme: a rod guide type AUV docking mechanism comprises a fixing plate, wherein one end of the fixing plate is fixedly connected with the head of an underwater robot, the other end of the fixing plate is fixedly connected with a V-shaped fork, the opening direction of the V-shaped fork is the same as the advancing direction of the underwater robot, a clamping hook piece is slidably connected to the top of the V-shaped fork, a guide component is arranged between the clamping hook piece and the top of the V-shaped fork, a clamping component is arranged between the clamping hook piece and the V-shaped fork, the clamping component is correspondingly provided with a recovery guide component, a driving component is arranged on the fixing plate, the guide component is located between the driving component and the clamping component, the driving component is in transmission connection with the edge portion, close to the fixing plate, of the clamping hook piece, and the driving component is electrically connected with the underwater robot.

Preferably, the clamping and fixing component comprises a first arc-shaped groove and a second arc-shaped groove, the first arc-shaped groove is formed in the side wall, close to the V-shaped fork head, of the clamping hook piece, the second arc-shaped groove is formed in the bottom of the inner side of the V-shaped fork head, and the first arc-shaped groove and the second arc-shaped groove are respectively arranged corresponding to the recycling guide component.

Preferably, the direction subassembly includes that the arc leads to groove and spacing post, the arc leads to the groove and vertically sets up press from both sides the top of tight hook piece, the bottom fixed connection of spacing post is in the top of V type jaw, spacing post sliding connection be in the arc leads to the inslot.

Preferably, the driving assembly comprises a steering engine and a rudder arm, the steering engine is fixedly connected to the top of the fixing plate, one end of the rudder arm is fixedly sleeved on the output shaft of the steering engine, and the other end of the rudder arm is close to the clamping hook piece and hinged to the edge of the fixing plate.

Preferably, the recycling guide assembly comprises a guide rod, one end of the guide rod is fixedly connected in the storage cabin, and the first arc-shaped groove and the second arc-shaped groove are respectively arranged corresponding to the circumferential side wall of the guide rod.

Preferably, the steering engine is electrically connected with the underwater robot.

The utility model discloses has following technological effect: the V-shaped fork head has the main functions of guiding the AUV in the AUV recovery process, reducing the difficulty of butt joint operation and simultaneously realizing primary butt joint with the recovery guide assembly; the clamping hook piece is mainly used for driving the clamping and fixing component to act so as to clamp or release the guide component, and therefore the AUV is recovered and released; the driving assembly is mainly used for driving the clamping hook piece to slide on the V-shaped fork head when the guide assembly is clamped or released; the guide assembly is mainly used for limiting the movement track of the clamping hook piece together with the driving assembly so as to realize the clamping effect of the clamping and fixing assembly; the main function of the recycling guide component is to provide a clamping structure for the clamping component. Overall, the utility model discloses a structural commonality is strong, occupation space is little, and installation and convenient to use just retrieve and release AUV's process is simple swift.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the embodiments will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic view of the docking mechanism of the present invention;

fig. 2 is a schematic view of the locking device of the docking mechanism of the present invention;

FIG. 3 is the AUV docking recovery process for installing the docking mechanism of the present invention;

wherein, 1, V-shaped fork head; 2. a steering engine; 3. a rudder arm; 4. clamping the hook sheet; 5. a fixing plate; 6. a first arc-shaped groove; 7. a second arc-shaped groove; 8. an arc-shaped through groove; 9. a limiting column; 10. a guide rod; 11. an underwater robot.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts all belong to the protection scope of the present invention.

In order to make the above objects, features and advantages of the present invention more comprehensible, the present invention is described in detail with reference to the accompanying drawings and the detailed description.

Referring to fig. 1-3, the utility model provides a pole guide formula AUV docking mechanism, which comprises a fixing plate 5, the one end of

fixed plate

5 and 11 head fixed connection of underwater robot, the other end fixedly connected with V type prong 1 of fixed plate 5, the opening direction of V type prong 1 is the same with the direction of advance of underwater robot 11, the top sliding connection of V type prong 1 has clamping hook piece 4, be provided with the guide subassembly between clamping hook piece 4 and the top of V type prong 1, be provided with the card solid subassembly between clamping hook piece 4 and the V type prong 1, the card solid subassembly correspondence is provided with retrieves the guide subassembly, be provided with drive assembly on the fixed plate 5, the guide subassembly is located between drive assembly and the card solid subassembly, drive assembly is connected with the limit portion transmission that clamping hook piece 4 is close to fixed plate 5, drive assembly and 11 electric connection of underwater robot.

The V-shaped fork head 1 has the main functions of guiding the AUV in the AUV recovery process, reducing the difficulty of butt joint operation and simultaneously realizing primary butt joint with a recovery guide assembly; the clamping hook piece 4 is mainly used for driving the clamping and fixing component to act so as to clamp or release the guide component, and therefore the AUV is recovered and released; the driving component is mainly used for driving the clamping hook piece 4 to slide on the V-shaped fork head 1, so that the recovery guide component is clamped or released; the guide assembly is mainly used for limiting the movement track of the clamping hook sheet 4 together with the driving assembly to realize the clamping effect of the clamping and fixing assembly; the main function of the recycling guide component is to provide a clamping structure for the clamping component. Overall, the utility model discloses a structural commonality is strong, occupation space is little, and installation and convenient to use just retrieve and release AUV's process is simple swift.

Further optimize the scheme, the solid subassembly of card includes first arc recess 6 and second arc recess 7, and first arc recess 6 is seted up on pressing from both sides tight hook piece 4 and being close to the lateral wall of V type jaw 1, and second arc recess 7 is seted up in the inboard bottom of V type jaw 1, and first arc recess 6 and second arc recess 7 correspond the setting with retrieving the guide subassembly respectively.

After the recycling guide component is contacted with the second arc-shaped groove 7, the first arc-shaped groove 6 is driven by the clamping hook piece 4 to move towards the second arc-shaped groove 7, and the recycling guide component is clamped together.

Further optimize the scheme, the direction subassembly includes that the arc leads to groove 8 and spacing post 9, and the arc leads to groove 8 and vertically sets up at the top of pressing from both sides tight hook piece 4, and the bottom fixed connection of spacing post 9 is at the top of V type jaw 1, and spacing post 9 sliding connection leads to the inslot 8 at the arc.

Further optimize the scheme, drive assembly includes steering wheel 2 and rudder arm 3, and steering wheel 2 fixed connection is at the top of fixed plate 5, and the fixed cover of one end of rudder arm 3 is established on the output shaft of steering wheel 2, and the other end of rudder arm 3 is articulated with the limit portion that presss from both sides tight hook 4 and be close to fixed plate 5.

After the second arc-shaped groove 7 is in contact with the recovery guide assembly to complete preliminary butt joint, the steering engine 2 rotates forwards by a certain angle to drive the rudder arm 3 to rotate, the rudder arm 3 rotates to push the clamping hook piece 4 to move, the rudder arm 3 is connected with the clamping hook piece 4 through a revolute pair, the limiting column 9 limits the movement of the clamping hook piece 4 by limiting the movement range of the arc-shaped through groove 8, the linear movement of the clamping hook piece 4 is changed into the curvilinear movement, the clamping hook piece 4 can be rotated to change the position, finally the first arc-shaped groove 6 moves towards the second arc-shaped groove 7, the closed circle which is larger than 3/4 is formed around the recovery guide assembly to limit the radial displacement of the recovery guide assembly relative to the AUV, and the recovery of the AUV is realized.

According to a further optimized scheme, the recycling guide assembly comprises a guide rod 10, one end of the guide rod 10 is fixedly connected into a cabin opening of the storage cabin, and the first arc-shaped groove 6 and the second arc-shaped groove 7 are arranged corresponding to the circumferential side wall of the guide rod 10 respectively.

The outer diameter of the guide rod 10 is smaller than the inner diameters of the first arc-shaped groove 6 and the second arc-shaped groove 7, so that when the first arc-shaped groove 6 is driven by the clamping hook piece 4 to move towards the second arc-shaped groove 7, the guide rod 10 can be smoothly surrounded, the AUV can move along the axial direction of the guide rod after the clamping hook piece 4 completes the clamping action, and the AUV is guaranteed to smoothly fall into the storage cabin to be recovered.

Further optimize the scheme,

steering wheel

2 and 11 electric connection of underwater robot.

An operator can control the steering engine 2 by controlling the underwater robot 11.

The working process of the embodiment is as follows: when the AUV needs to be recovered, an operator controls the AUV to approach the guide rod 10, the V-shaped fork head 1 at the head of the AUV faces the guide rod 10, the AUV is continuously controlled to advance, and the guide rod 10 slides into the second arc-shaped groove 7 at the bottom of the V-shaped fork head 1 under the guidance of the V-shaped groove. The steering wheel 2 is controlled to rotate forwards by a certain angle, the steering wheel 2 drives the rudder arm 3 to rotate, the rudder arm 3 drives the clamping hook piece 4 to move under the common motion limitation of the arc-shaped through groove 8 and the limiting column 9, the first arc-shaped groove 6 on the clamping hook piece 4 rotates towards the second arc-shaped groove 7, the guide rod 10 is locked to realize recovery, and the AUV can utilize the drive of the AUV and the limitation of the guide rod to align with the hatch of the storage cabin and fall into the storage cabin. When the AUV needs to be released, the AUV is controlled to move out of the storage cabin, the steering engine 2 is controlled to rotate reversely for a certain angle, and then the AUV can be separated from the guide rod 10, so that the AUV is released.

In the description of the present invention, it is to be understood that the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description of the present invention, and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, should not be construed as limiting the present invention.

The above-mentioned embodiments are only intended to describe the preferred embodiments of the present invention, but not to limit the scope of the present invention, and those skilled in the art should also be able to make various modifications and improvements to the technical solution of the present invention without departing from the spirit of the present invention, and all such modifications and improvements are intended to fall within the scope of the present invention as defined in the appended claims.

Claims

1. The utility model provides a pole guide formula AUV docking mechanism which characterized in that: the underwater robot clamping device is characterized by comprising a fixing plate (5), one end of the fixing plate (5) is fixedly connected with the head of an underwater robot (11), the other end of the fixing plate (5) is fixedly connected with a V-shaped fork head (1), the opening direction of the V-shaped fork head (1) is the same as the advancing direction of the underwater robot (11), the top of the V-shaped fork head (1) is slidably connected with a clamping hook piece (4), a guide component is arranged between the clamping hook piece (4) and the top of the V-shaped fork head (1), a clamping component is arranged between the clamping hook piece (4) and the V-shaped fork head (1), the clamping component is correspondingly provided with a recycling guide component, a driving component is arranged on the fixing plate (5), the guide component is located between the driving component and the clamping component, the driving component is connected with the clamping hook piece (4) close to the transmission edge portion of the fixing plate (5), and the driving component is electrically connected with the underwater robot (11).

2. The rod-guided AUV docking mechanism of claim 1, wherein: the clamping component comprises a first arc-shaped groove (6) and a second arc-shaped groove (7), the first arc-shaped groove (6) is formed in the side wall, close to the V-shaped fork head (1), of the clamping hook piece (4), the second arc-shaped groove (7) is formed in the bottom of the inner side of the V-shaped fork head (1), and the first arc-shaped groove (6) and the second arc-shaped groove (7) are arranged corresponding to the recycling guide component respectively.

3. The rod-guided AUV docking mechanism of claim 1, wherein: the direction subassembly includes that the arc leads to groove (8) and spacing post (9), the arc leads to the groove (8) and vertically sets up press from both sides the top of tight hook piece (4), the bottom fixed connection of spacing post (9) is in the top of V type jaw (1), spacing post (9) sliding connection be in the arc leads to in the groove (8).

4. The rod-guided AUV docking mechanism of claim 1, wherein: the driving assembly comprises a steering engine (2) and a rudder arm (3), the steering engine (2) is fixedly connected to the top of the fixing plate (5), one end of the rudder arm (3) is fixedly sleeved on an output shaft of the steering engine (2), and the other end of the rudder arm (3) is close to the clamping hook piece (4) and is hinged to the edge of the fixing plate (5).

5. The rod-guided AUV docking mechanism of claim 2, wherein: the recycling guide assembly comprises a guide rod (10), one end of the guide rod (10) is fixedly connected in a storage cabin opening, and the first arc-shaped groove (6) and the second arc-shaped groove (7) are respectively arranged corresponding to the circumferential side wall of the guide rod (10).

6. The rod-guided AUV docking mechanism of claim 4, wherein: the steering engine (2) is electrically connected with the underwater robot (11).