WO2023015857A1

WO2023015857A1 - Underwater robot recovery device and mother vessel

Info

Publication number: WO2023015857A1
Application number: PCT/CN2022/076200
Authority: WO
Inventors: 李胜全; 杨玉亮; 陆海博; 李脊森; 叶心宇; 唐辉平; 张爱东
Original assignee: 鹏城实验室
Priority date: 2021-08-13
Filing date: 2022-02-14
Publication date: 2023-02-16
Also published as: CN113772022B; CN113772022A

Abstract

An underwater robot recovery device, comprising: a housing (210), a recovery plate (220), and a driving component. The housing (210) has a recovery cavity; a recovery port (A) communicated with the recovery cavity is provided in a side wall of the housing (210); one end of the recovery plate (220) is pivotally connected to the housing (210), and the recovery plate (220) is pivotable between an initial recovery position for opening the recovery port (A) and a final recovery position for closing the recovery port (A); the driving component is disposed on the housing (210); and the driving component is connected to the recovery plate (220) to drive the recovery plate (220) to pivot between the closing position and the opening position. The underwater robot recovery device or a mother vessel having same pushes an underwater robot into the recovery cavity by means of the recovery plate to complete recovery, thereby simplifying the recovery process and improving recovery efficiency.

Description

Underwater robot recovery device and mother ship

priority information

This application claims priority to a Chinese patent application with application number 202110934805.3 filed on August 13, 2021, the entire contents of which are incorporated herein by reference.

technical field

The present application relates to the field of underwater robots, in particular to an underwater robot recovery device and a mother ship.

Background technique

In related technologies, with the continuous deepening of the development of marine resources, the use of underwater vehicles (AUV) to study the ocean is increasing, and the requirements for the deployment and recovery of underwater robots are also increasing.

At present, the recovery of underwater robots is achieved by manually hanging the cable by the boat operator, or using a cable gun to mount the recovery cable to the AUV to achieve AUV recovery, which has the problems of low recovery efficiency and poor safety.

The above content is only used to assist in understanding the technical solution of the present application, and does not mean that the above content is admitted as prior art.

technical solution

The main purpose of this application is to provide an underwater robot recovery device and a mother ship, aiming to solve the technical problem of low recovery efficiency of AUV in the prior art.

In order to achieve the above purpose, in the first aspect, the application proposes an underwater robot recovery device, including:

A housing, the housing has a recovery bin inside, and the side wall of the housing has a recovery port communicating with the recovery bin;

a recovery plate, one end of the recovery plate is pivotally connected to the housing, and the recovery plate can be between the recovery initial position for opening the recovery opening and the recovery final position for covering the recovery opening rotate; and

A driving part, the driving part is arranged on the housing, and the driving part is connected with the recovery plate to drive the recovery plate to rotate between the closed position and the open position.

In one embodiment, it also includes:

A blind, one end of the blind is connected to the housing, and the other end is connected to the recovery plate; the blind can be switched between a rolled state and an unfolded state;

Wherein, when the recovery plate is at the recovery initial position, the shade is in the unfolded state, and a recovery docking area is defined by the housing, the recovery plate and the shade; the recovery plate is located at When the recovery end position is reached, the shade is in the rolling state.

In one embodiment, the shade includes:

a flexible cloth, one end of the flexible cloth is connected to the housing, and the other end is connected to the recovery plate; and

A plurality of support members, the plurality of support members can rotate around the pivot shaft between the recovery plate and the housing, and the plurality of support members are all connected to one side surface of the flexible part.

In one embodiment, the recycling board includes:

A recovery body, the recovery body is provided with a plurality of through holes;

A plurality of one-way flow structures, the one-way flow structures are arranged corresponding to the through holes, so as to make the through holes flow in one direction.

In one embodiment, the one-way flow structure includes:

A hole baffle, the hole baffle is pivotally connected to the recovery body, the hole baffle corresponds to the through holes one by one, and the hole baffle can open the water discharge of the through hole position and a closed position covering said through hole; and

An elastic member, the elastic member is arranged between the hole baffle and the recovery body, and the elastic member drives the hole baffle to rotate from the drain position to the closed position.

In one embodiment, it also includes:

guide rails arranged along the length direction of the housing; and

At least one set of clamping components, the clamping components are movably arranged on the guide rail.

In one embodiment, one end of the housing has a release port communicating with the recovery bin;

The underwater robot recovery device also includes:

A cover plate, the cover plate is pivotably connected to the housing, and the cover plate is rotatable between a release position for opening the release opening and a cover position for covering the release opening.

In one embodiment, a buffer layer is provided on the side surface of the cover plate facing the recycling bin.

In the second aspect, the present application also provides an underwater robot autonomously recovering and deploying a mother ship, including:

the main hull; and

At least one underwater robot recovery device as described above.

In one embodiment, it also includes:

A folding arm, one end of the folding arm is connected to the main hull, and the other end is connected to the shell of the underwater robot recovery device, and the folding arm has a folded state and an extended state;

Wherein, when the folding arm is in the folded state, the underwater robot recovery device is located on the upper deck of the main hull, and when the folding arm is in the extended state, the housing is located on the main hull One side forms a side hull spaced apart from the main hull.

In one embodiment, the underwater robot recovery device and the folding arm both include two;

The shells of the two underwater robot recovery devices are arranged symmetrically along the width direction of the main hull, so that when the folding arms corresponding to the two shells are in the extended state, the two shells are respectively Located on both sides in the width direction of the main hull.

The invention provides a recovery device for an underwater robot and a mother ship. The recovery device for an underwater robot includes a shell and a recovery plate pivotally connected to the shell. A recovery docking area is formed between the recovery ports, and the underwater robot can navigate into the recovery docking area to enter the rotation path of the recovery plate. When the recovery plate rotates from the recovery initial position to the recovery final position, the underwater robot will The recovery port is pushed into the recovery bin to complete the recovery of the underwater robot. Compared with the existing recovery process, the underwater robot recovery device provided by the present invention pushes the underwater robot into the recovery bin to complete the recovery through the recovery plate, which simplifies the recovery process and improves the recovery efficiency.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to the structures shown in these drawings without creative effort.

Fig. 1 is the schematic diagram of the embodiment of the underwater robot recovery device proposed by the present application, wherein the recovery plate is in the recovery initial position;

2 is a schematic diagram of an embodiment of the underwater robot recovery device proposed by the present application, wherein the recovery plate is in the recovery initial position;

Fig. 3 is a schematic diagram of an embodiment of the underwater robot recovery device proposed by the present application, wherein the AUV is moved to an installation position staggered from the recovery port by the clamping component;

Fig. 4 is a schematic diagram of an embodiment of the underwater robot recovery device proposed by the present application, wherein the recovery plate is not shown, and the cover plate is opened, and the AUV is released;

Fig. 5 is a schematic diagram of the clamping assembly of the embodiment of the underwater robot recovery device proposed by the present application;

Fig. 6 is a schematic structural diagram of an embodiment of an underwater robot mother ship proposed by the present application, wherein the AUV is sailing towards the recovery and docking area;

Fig. 7 is a schematic structural diagram of an embodiment of an underwater robot mother ship proposed by the present application; wherein, the folding arm is in an unfolded state;

Fig. 8 is a schematic structural diagram of an embodiment of an underwater robot mothership proposed by the present application; wherein, the folding arm is in a folded state.

The realization, functional features and advantages of the present application will be further described in conjunction with the embodiments and with reference to the accompanying drawings.

Embodiments of the present invention

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of this application.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present application are only used to explain the relationship between the components in a certain posture (as shown in the figure). Relative positional relationship, movement conditions, etc., if the specific posture changes, the directional indication will also change accordingly.

In this application, unless otherwise clearly specified and limited, the terms "connection" and "fixation" should be interpreted in a broad sense, for example, "fixation" can be a fixed connection, a detachable connection, or an integral body; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, and it can be an internal communication between two elements or an interaction relationship between two elements, unless otherwise clearly defined. Those of ordinary skill in the art can understand the specific meanings of the above terms in this application according to specific situations.

In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present application, the descriptions of "first", "second", etc. are only for descriptive purposes, and cannot be interpreted as indications or hints Its relative importance or implicitly indicates the number of technical features indicated. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the meaning of "and/or" appearing in the whole text includes three parallel schemes, taking "A and/or B" as an example, including scheme A, scheme B, or schemes that both A and B satisfy. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present application.

The present application proposes an underwater robot recovery device. The recovery of the underwater robot is completed through the cooperation of the recovery plate with one end pivotally connected to the shell and the recovery port.

Referring to FIG. 1 to FIG. 2 , a recovery device 200 for an underwater robot is shown.

In this embodiment, a recovery device 200 for an underwater robot includes: a casing 210 , a recovery plate 220 and a driving part.

Specifically, the shell 210 can be a slender structure, such as a drop shape, a cigar shape or a boat shape, so as to reduce the wave resistance when the shell 210 moves forward. The housing 210 can be of a single-layer or multi-layer structure, so as to avoid damage caused by collision between the housing 210 and the underwater robot 300 during recovery. There is a recovery bin inside the housing 210 , and a recovery port A communicating with the recovery bin is provided on the side wall of the housing 210 . The recycling bins may be arranged along the length direction of the casing 210 . And the side wall of the housing 210 has a recovery port A communicating with the recovery bin. Referring to FIG. 1 and FIG. 2 , a recovery port A is opened on the left side wall of the casing 210 . In order to facilitate the underwater robot 300 to pass through the recovery port A, the recovery port A may also be configured as a strip.

In some other embodiments, the recovery port A may also be opened on the right side wall or the lower side wall, or even the upper side wall of the casing 210 , which is not limited in this embodiment.

In order to facilitate the underwater robot 300 to pass through the recovery port A, the shape of the recovery port A can be set as a strip.

One end of the recovery plate 220 is pivotally connected to the housing 210, and the recovery plate 220 can be in the recovery initial position for opening the recovery port A and the recovery final position for closing the recovery port A Rotate between. One end of the recovery plate 220 is a connection end, and the other end is a free end. The connection end is pivotally connected to the side wall of the housing 210 where the recovery port A is opened through a pivot shaft. Referring to FIG. 2 , the recovery port A is opened on the left side wall of the casing 210 , and the connection end of the recovery plate 220 is also pivotally connected to the left side wall of the casing 210 . Wherein, when the recovery plate 220 is at the recovery initial position, the recovery plate 220 rotates away from the housing 210 under the action of the driving member to form a certain angle with the left side wall of the housing 210 . If a recovery docking area is formed between the recovery plate 220 and the housing 210, since one end of the recovery plate 220 is connected to the housing 210 and the other end is in a free state, the recovery docking area can be gradually formed along the direction from the free end to the connecting end. Shrink arrangement, that is fan-shaped or cone-shaped.

Referring to FIG. 2 , when the pivot axis of the recovery plate 220 is parallel to the left side wall of the casing 210 , the recovery plate 220 can push the underwater vehicle 300 through its inner side wall opposite to the left side wall as a force application surface. In some other embodiments, the underwater robot 300 can be pushed into the recovery chamber more accurately and firmly through additional claws, limit slots and other structures provided on the recovery plate 220 .

The driving member is disposed on the housing 210 , and the driving member is connected to the recovery plate 220 to drive the recovery plate 220 to rotate between the closed position and the open position.

Referring to FIG. 1 and FIG. 2 , the driving member can be configured as a telescopic rod, the fixed end 223 of the telescopic rod is hinged on the housing 210 , and the telescopic end 222 is hinged on the recovery plate 220 . The recovery plate 220 is driven to swing between the recovery initial position and the recovery final position by the expansion and contraction of the telescopic rod. The telescopic rod can be located on the same side of the housing 210 and the recovery plate 220. As shown in FIG. 1 and FIG. One side surface of the recovery plate 210 is then connected to the outer side wall of the recovery plate 220 .

It can be understood that the telescopic rod can be configured as an electric rod, a hydraulic rod, a pneumatic push rod, and the like. This embodiment does not limit this.

In some other embodiments, the telescopic rod can also be configured as a servo motor connected with a pivot shaft or the like.

In this embodiment, during the recovery operation of the underwater robot 300 , the driver drives the recovery plate 220 to expand to the recovery initial position, so that a recovery docking area is formed between the recovery plate 220 and the casing 210 . When the underwater robot 300 sails to the recovery docking area, the underwater robot 300 is located on the rotation path of the recovery plate 220, and when the driver drives the recovery plate 220 to rotate from the recovery initial position to the recovery final position, the recovery plate 220 is about to be located The underwater robot 300 on its rotation path is pushed from the recovery port A into the recovery bin.

Compared with existing methods such as cable recovery or recovery cage recovery, this embodiment achieves recovery by pushing the underwater robot 300 on its rotation path into the recovery bin through the recovery plate 220, which has higher recovery efficiency and is suitable for It is used when multiple AUVs need to be recovered.

In one embodiment, the underwater robot 300 also includes a shielding curtain 240, one end of the shielding curtain 240 is connected to the housing 210, and the other end is connected to the recovery plate 220; the shielding curtain 240 can be rolled up Toggles between the expanded state and the expanded state.

Wherein, when the recovery plate 220 is at the recovery initial position, the shade curtain 240 is in the unfolded state, and the casing 210, the recovery plate 220 and the shade curtain 240 define a recovery docking area; When the recovery plate 220 is located at the final recovery position, the blocking curtain 240 is in the rolled state.

Referring to Fig. 2, when the recovery plate 220 is in the recovery initial position, the recovery docking area between the recovery plate 220 and the housing 210 is empty up and down, in order to ensure that the underwater robot 300 can stay on the rotation path of the recovery plate 220 correctly, and To improve the success rate of pushing the recovery plate 220 into the recovery bin from the recovery port A, the recovery docking area can be further limited by the added blocking curtain 240 .

The shielding curtain 240 can be arranged on the same side of the housing 210 and the recovery plate 220. Referring to FIG. And the shielding curtain 240 and the driving member are respectively located on different sides of the housing 210 , for example, the shielding curtain 240 is located on the lower side of the housing 210 , and the driving member is located on the upper side of the housing 210 .

In this embodiment, when the driving member drives the recovery plate 220 to swing to the recovery initial position, the recovery plate 220 stretches and expands the shielding curtain 240 to the unfolded state. At this time, when the underwater robot 300 enters the recovery docking area above the shade curtain 240, the shade curtain 240 can hold the underwater robot 300 to prevent the underwater robot 300 from breaking away from the recovery docking area, so as to ensure that the underwater robot 300 Reliably located on the rotation path of the recovery plate 220 to be pushed into the recovery bin by the recovery plate 220 .

And in this embodiment, a recovery docking area is defined by the housing 210, the recovery plate 220, and the shielding curtain 240, and the AUV can complete the recovery after navigating to this area, thereby reducing the need for control during the recovery process. Accuracy requirements improve the recovery success rate.

Wherein, the shade curtain 240 may be configured as a soft cloth product, an elastic material product or a telescopic structure. Alternatively, in an embodiment, the shade 240 includes a flexible cloth (not shown) and a plurality of support members.

One end of the flexible cloth is connected to the housing 210 , and the other end is connected to the recovery plate 220 . The plurality of support members can rotate around the pivotal axis between the recovery plate 220 and the housing 210 , and the plurality of support members are all connected to one side surface of the flexible portion.

The flexible cloth can be fixed by rivets or bonded to the support. A plurality of supports support the flexible cloth as the skeleton of the flexible cloth to prevent the flexible cloth from being crushed by the weight of the underwater robot 300, thereby not only improving the supporting effect of the blind 240 on the underwater robot 300, but also improving the stability of the blind 240. reliability.

The plurality of supports can rotate around the pivot shaft between the recovery plate 220 and the housing 210, so that during the rotation of the recovery plate 220, the plurality of supports are fan-shaped to expand or contract, so that It saves the occupation of the space in the casing 210 and reliably supports the AUV300 above it.

In one embodiment, the recovery board 220 includes:

A plurality of one-way flow structures are provided in one-to-one correspondence with the through-holes, so that the through-holes can flow in one direction.

The one-way flow structure can be a one-way flow assembly such as a one-way valve. In one embodiment, referring to FIG. 2 , the one-way flow structure includes: a hole baffle plate 221 and an elastic member (not shown),

The hole baffle 221 is pivotably connected to the recovery body, and the hole baffle 221 corresponds to the through holes one by one, and the hole baffle 221 can be in the drain position for opening the through holes. Rotate between the closed position and cover the through hole. The elastic member is disposed between the hole baffle 221 and the recovery body, and the elastic member drives the hole baffle 221 to rotate from the drain position to the closed position.

Specifically, the hole baffle 221 rotates between the drain position for opening the through hole and the closed position for covering the through hole, that is, the hole baffle 221 allows the through hole to be opened in one direction, and the water flow can flow through the through hole. Flow to the other side of the recovery plate 220. The elastic member drives the hole baffle plate 221 to move from the water discharge position to the closed position, so as to keep the through hole in a normally closed state. And under the impact of the water flow, the through hole is opened by overcoming the effect of the elastic member.

When the underwater robot recovery device 200 recovers the underwater robot 300, after the recovery plate 220 is unfolded, the overall water immersion volume of the recovery device will inevitably increase, increasing the navigation resistance, which may cause the attitude of the recovery device to change under the action of the navigation resistance. Stablize. Especially after the underwater robot 300 sails to the recovery docking area, the waves generated by the underwater robot 300 further impact the recovery plate 220 and the shell 210 , causing the overall recovery device to overturn. Therefore, in this embodiment, the recovery plate 220 body of the recovery plate 220 is provided with a plurality of through holes, and there is a one-way opening hole baffle plate 221 in the plurality of through holes, so that it can be opened outwards in one direction under the action of water flow. Drain the water to prevent the recovery device from overturning under the impact of water.

The through hole can extend along the thickness direction of the recovery body to penetrate through the recovery body, and can also extend along a direction forming a certain angle with the thickness direction, so that when the recovery plate 220 is in the recovery initial position, the through hole is parallel to the housing 210, Therefore, the water flow can flow along the direction of the through hole at this time, so as to reduce the sailing resistance of the recovery plate 220 . The through holes can be arranged in arrays on the recovery body to make the water flow through the recovery plate 220 more uniform.

The hole baffle 221 can be installed on the side surface of the recovery plate 220 away from the housing 210 , so as to prevent the hole baffle 221 from colliding with the underwater vehicle 300 moving inside the recovery plate 220 and being damaged.

The elastic member can be configured as a torsion spring, and the torsion spring is sleeved on the pivot shaft between the hole baffle 221 and the recovery body, and the torsion spring makes the hole baffle 221 have a tendency to be normally closed, that is, it often moves from the discharge position to the The closed position described above is moved. When the water flow hits the hole baffle 221 from the inner side of the recovery body, it overcomes the resistance of the torsion spring and opens the hole baffle 221 to complete the water discharge.

In an embodiment, referring to FIG. 3 , the recovery chamber is arranged along the length direction of the casing 210 , and may include multiple placement positions for underwater robots 300 inside, and the placement positions are arranged sequentially along the length direction of the casing 210 . At this time, the underwater robot recovery device 200 further includes: a guide rail 231 , and at least one set of clamping components 230 . The guide rail 231 is arranged along the length direction of the housing 210 . The clamping assembly 230 is movably disposed on the guide rail 231 .

The guide rail 231 extends along the length direction of the housing 210 , so that the clamping assembly 230 can move on the guide rail 231 along the length direction of the housing 210 . After an underwater robot 300 enters the recovery bin from the recovery port A, the clamping assembly 230 moves to the underwater robot 300 on the guide rail 231, completes the clamping of the underwater robot 300 and then moves along the guide rail 231 to move it Move to the corresponding placement position of the recovery bin, and vacate the position corresponding to the recovery port A so as to facilitate the recovery operation of the next underwater robot 300 .

Referring to FIG. 3 , the recovery compartment in the housing 210 is arranged along the length direction of the housing 210 and has two orientations. The guide rail 231 is also arranged along the length direction of the housing 210 in the recovery compartment. At this time, the recovery port A is opened near the end of the casing 210 . During recovery, after the underwater robot 300 enters the recovery bin from the recovery port A, the clamping assembly 230 can move to the corresponding position to complete the clamping of the underwater robot 300, and then transport the underwater robot 300 as a whole along the guide rail 231 to The placement position at the other end of the interior of the recovery bin is vacant to the placement position facing the recovery port A. In order to recover the second underwater robot 300 after the recovery plate 220 is deployed again.

Referring to FIG. 5 , the clamping assembly 230 may include a fixing seat 233 , a second guide rail 235 and a moving part 234 . The fixed seat 233 is movably arranged on the guide rail 231, the fixed seat 233 has a first clamping surface, the second guide rail 235 can be fixed on the fixed seat 233 along the height direction of the housing 210, and the second guide rail 235 can be connected with the guide rail 231 Orthogonal arrangement is used to allow the moving space of the underwater robot 300 on the guide rail 231 . The moving part 234 is movably disposed on the second guide rail 235 , and the moving part 234 has a second clamping surface facing the first clamping surface. When the underwater robot 300 needs to be clamped, the moving part 234 moves away from the fixed seat 233, and then the clamping assembly 230 moves to the underwater robot 300 in the recovery bin as a whole, and the moving part 234 moves from top to bottom , so that the first clamping surface and the second clamping surface complete the clamping operation on the underwater robot 300 from the upper and lower sides of the underwater robot 300 .

In some other embodiments, the clamping assembly 230 can also perform clamping operations from the left and right sides of the underwater robot 300 , which is not limited in this embodiment.

It can be understood that the clamping component 230 may also be other clamping structures such as mechanical claws, which is not limited in this embodiment.

The movement of the clamping assembly 230 or the moving part can be realized by driving assemblies such as rack and pinion, synchronous belt, and rope. This embodiment will not repeat it. Referring to FIG. 5 , the clamping assembly 230 moves on the guide rail 231 by driving the lead screw structure through the motor 232 .

In one embodiment, one end of the housing 210 has a release port communicating with the recovery bin;

The underwater robot recovery device 200 also includes:

A cover plate 250, one end of the cover plate 250 is pivotably connected to the housing 210, and the cover plate 250 can be in a release position for opening the release port and a cover position for covering the release port Rotate between.

Referring to FIG. 4 , the recovery bin is arranged along the length direction of the housing 210 , and the release port is disposed at one end of the housing 210 in the length direction. Therefore, the AUV300 can be stored in the casing 210 to complete operations such as transfer. When reaching the release water area of the underwater robot 300, the release port can be opened by rotating the cover plate 250 from the cover position to the square position, and then the clamping assembly pushes the AUV300 to be partially immersed in the water, and then the housing 210 moves forward or to the corresponding position. After moving, the underwater robot 300 is naturally released from the release port to complete the deployment operation.

In this embodiment, the release process of the AUV is rapid, and the release operation of multiple AUVs can be realized efficiently.

Or in some other embodiments, the release port can be set on the side of the casing 210, and when the casing 210 moves, the underwater robot 300 can be pushed out from the casing 210 through an additional mechanical arm to complete the deployment operation.

The cover plate 250 covers the release port at the cover position, so as to prevent the underwater robot 300 from detaching from the release port during the recovery operation.

In one embodiment, referring to FIG. 3 , a buffer layer 252 is provided on a surface of the cover plate 250 facing the recycling bin. The buffer layer 252 is a collision buffer made of soft buffer material to prevent the AUV from being damaged. In other embodiments, the buffer layer 252 is equipped with a ranging sensor 253, which can detect the position of the AUV in the recovery bin in real time, so as to control the movement of the clamping assembly 230 in the recovery bin to move the AUV to the corresponding placement position.

In the second aspect, referring to FIG. 6 , the present application also provides an underwater robot autonomous recovery and deployment mother ship, including: a main hull 100 ; and an underwater robot recovery device 200 . The shell 210 of the underwater robot recovery device 200 is disposed on one side of the main hull 100 to form a side hull spaced apart from the main hull 100 .

The specific structure of the underwater robot recovery device 200 is with reference to the above-mentioned embodiment, because this underwater robot recovery mother ship adopts all the technical solutions of all the above-mentioned embodiments, so it has at least all the beneficial effects brought by the technical solutions of the above-mentioned embodiments, No more details here.

Wherein, the side hulls and the main hull 100 constitute a multihull together. Compared with the existing mother ship, the multi-hull mother ship has the advantages of high stability, low resistance and good overall arrangement, and is suitable for operation scenarios under high sea conditions.

At the same time, the underwater robot self-recovery and deployment mothership provided by this application makes full use of the space in the side hull of the multihull for AUV recovery and deployment, so as to reduce changes to the shape of the mothership and avoid the shape and function of the mothership itself. restricted.

Among them, the autonomous recovery and deployment of underwater robots may include USV (Unmanned Surface Vehicle, unmanned surface vehicle), manned ship, etc., which are not limited in this embodiment.

In one embodiment, referring to Fig. 7 and Fig. 8, the autonomous recovery and deployment of the mother ship by the underwater robot 300 also includes:

A folding arm 102, one end of the folding arm 102 is connected to the main hull 100, and the other end is connected to the housing 210 of the underwater robot recovery device 200, and the folding arm 102 has a folded state and an extended state;

Wherein, when the folding arm 102 is in the folded state, the underwater robot recovery device 200 is located on the upper deck 101 of the main hull 100, and when the folding arm 102 is in the extended state, the shell 210 is located on one side of the main hull 100 to form a side hull spaced apart from the main hull 100 .

The folding arms 102 may include at least one group, and each group of folding arms 102 is correspondingly installed with the underwater robot recovery device 200 . Referring to FIG. 2 , two folding arm mounts 211 are arranged at intervals on the upper surface of the housing 210 , and are connected to the folding arm through the foldable mounts.

In this embodiment, the underwater robot autonomously recovers and deploys the mother ship. After the recovery operation is completed and during the transportation operation, the underwater robot recovery device 200 can be installed on the upper deck 101 of the underwater robot through the folding arm 102, so as to reduce the occupied volume and facilitate transport to increase sailing speed. When deploying or recovering is required, the folding arm 102 is extended so that the hull 210 is located on one side of the main hull 100 to form a side hull spaced apart from the main hull 100 . Therefore, the underwater robot 3 autonomously recovers and deploys the main hull and the side hulls of the mother ship to form a multi-hull ship, thereby improving the stability and seaworthiness of the mother ship. Alternatively, when the underwater robot autonomously recovers and deploys the mother ship and can navigate in water, the folding arm 102 is also in an extended state to improve the stability and seaworthiness of the mother ship.

As shown in FIG. 6 and FIG. 7 , the underwater robot recovery device 200 and the folding arm 102 both include two. The casings 210 of the two underwater robot recovery devices 200 are arranged symmetrically along the width direction of the main hull 100, so that when the folding arms 102 corresponding to the two casings 210 are in the extended state, the two The hulls 210 are respectively located on both sides of the main hull 100 in the width direction, so that the mother ship is configured as a trimaran. In this embodiment, the recovery port A of each shell 210 is located on the side surface away from the main hull 100 , that is, the recovery port A of the shell 210 on the left side of the main hull 100 is located on the left side wall of the shell 210 . The recovery port A of the casing 210 on the right side of the main hull 100 is located on the right side wall of the casing 210 . Therefore, when the main hull 100 is deployed, the recovery and deployment of the AUV 300 can be performed on both sides at the same time, further improving the operating efficiency. Moreover, such an arrangement can also reduce the impact of the recovery and deployment of the AUVs 300 on both sides of the main hull 100 on the navigation of the main hull 100 .

The above are only optional embodiments of the application, and are not intended to limit the patent scope of the application. Under the application concept of the application, the equivalent structural transformation made by using the description of the application and the contents of the accompanying drawings, or direct/indirect Applications in other relevant technical fields are included in the patent protection scope of the present application.

Claims

A recovery device for an underwater robot, wherein the recovery device for an underwater robot comprises:

A housing, the housing has a recovery bin inside, and the side wall of the housing has a recovery port communicating with the recovery bin;

a recovery plate, one end of the recovery plate is pivotally connected to the housing, and the recovery plate can be between the recovery initial position for opening the recovery opening and the recovery final position for covering the recovery opening rotate; and

A driving part, the driving part is arranged on the housing, and the driving part is connected with the recovery plate to drive the recovery plate to rotate between the closed position and the open position.
The underwater robot recovery device according to claim 1, wherein the underwater robot recovery device further comprises:

A blind, one end of the blind is connected to the housing, and the other end is connected to the recovery plate; the blind can be switched between a rolled state and an unfolded state;

Wherein, when the recovery plate is at the recovery initial position, the shade is in the unfolded state, and a recovery docking area is defined by the housing, the recovery plate and the shade; the recovery plate is located at When the recovery end position is reached, the shade is in the rolling state.
The underwater robot recovery device according to claim 2, wherein the shading curtain comprises:

a flexible cloth, one end of the flexible cloth is connected to the housing, and the other end is connected to the recovery plate; and

A plurality of support members, the plurality of support members can rotate around the pivot shaft between the recovery plate and the housing, and the plurality of support members are all connected to one side surface of the flexible part.
The underwater robot recovery device according to claim 1, wherein the recovery plate comprises:

A recovery body, the recovery body is provided with a plurality of through holes;

A plurality of one-way flow structures, the one-way flow structures are arranged corresponding to the through holes, so as to make the through holes flow in one direction.
The underwater robot recovery device according to claim 4, wherein the one-way circulation structure comprises:

A hole baffle, the hole baffle is pivotally connected to the recovery body, the hole baffle corresponds to the through holes one by one, and the hole baffle can open the water discharge of the through hole position and a closed position covering said through hole; and

An elastic member, the elastic member is arranged between the hole baffle and the recovery body, and the elastic member drives the hole baffle to rotate from the drain position to the closed position.
The underwater robot recovery device according to claim 1, wherein the underwater robot recovery device further comprises:

guide rails arranged along the length direction of the housing; and

At least one set of clamping components, the clamping components are movably arranged on the guide rail.
The underwater robot recovery device according to claim 1, wherein one end of the housing has a release port communicating with the recovery bin;

The underwater robot recovery device also includes:

A cover plate, the cover plate is pivotably connected to the housing, and the cover plate is rotatable between a release position for opening the release opening and a cover position for covering the release opening.
An underwater robot autonomously recovers and deploys a mother ship, wherein the underwater robot autonomously recovers and deploys a mother ship comprising:

the main hull; and

At least one underwater robot recovery device according to any one of claims 1 to 7, the shell of the underwater robot recovery device is arranged on one side of the main hull to form a side spaced apart from the main hull hull.
The autonomous recovery and deployment of the mother ship by the underwater robot according to claim 8, wherein the autonomous recovery and deployment of the mother ship by the underwater robot further comprises:

A folding arm, one end of the folding arm is connected to the main hull, and the other end is connected to the shell of the underwater robot recovery device, and the folding arm has a folded state and an extended state;

Wherein, when the folding arm is in the folded state, the underwater robot recovery device is located on the upper deck of the main hull, and when the folding arm is in the extended state, the housing is located on the main hull One side forms a side hull spaced apart from the main hull.
According to claim 9, the underwater robot autonomously recovers and deploys the mother ship, wherein the underwater robot recovery device and the folding arm both include two;

The shells of the two underwater robot recovery devices are arranged symmetrically along the width direction of the main hull, so that when the folding arms corresponding to the two shells are in the extended state, the two shells are respectively Located on both sides in the width direction of the main hull.