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Active capture underwater vehicle docking mechanism and working method thereof

A docking mechanism and submarine technology, which is applied to underwater operation equipment, underwater ships, motor vehicles, etc., can solve the problems of insufficient docking accuracy and low automation level, achieve good dynamic performance, avoid docking pose errors, and system fast response effect

Active Publication Date: 2022-04-26
SHANGHAI JIAO TONG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, the present invention provides a docking mechanism for actively capturing underwater vehicles and its working method, which solves the problems of the docking success rate, insufficient docking accuracy, and low automation level of the AUV return voyage.

Method used

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  • Active capture underwater vehicle docking mechanism and working method thereof
  • Active capture underwater vehicle docking mechanism and working method thereof
  • Active capture underwater vehicle docking mechanism and working method thereof

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0038] The present invention provides a docking mechanism for actively capturing underwater vehicles, such as figure 1 As shown, it includes clamping module 1, six-degree-of-freedom parallel robot 2, underwater base 3, control module 4, battery 5 and positioning module 6, control module 4 is connected to six-degree-of-freedom parallel robot 2, and six-degree-of-freedom parallel robot 2 Connected to the underwater base 3, the underwater base 3 is provided with a storage battery 5, the storage battery 5 is connected to the positioning module 6, the top of the six-degree-of-freedom parallel robot 2 is connected to the clamping module 1, and the clamping module 1 passes the control module 4 and the six 2 DOF parallel robots move synchronously. The six-degree-of-freedom parallel robot 2, the control module 4, the battery 5, and the positioning module 6 are installed on the underwater base 3, and the underwater base 3 is installed on the seabed or an underwater floating platform. Th...

Embodiment 2

[0045] The present invention also provides a working method for actively capturing the docking mechanism of the underwater vehicle, such as image 3 shown, including the following steps:

[0046] S1: The underwater vehicle 7 returns to the capturing workspace, the positioning module 6 obtains the pose of the underwater vehicle 7, and feeds back the pose information of the underwater vehicle 7 to the control module 4;

[0047] S2: According to the pose of the underwater vehicle 7, the control module 4 controls the motor of the six-degree-of-freedom parallel robot 2, so that the clamping module 1 moves to the pose of the underwater vehicle 7;

[0048] S3: the control module 4 starts the electromagnetic magnetic attraction device 13, the underwater vehicle 7 and the clamping device 11 are attracted together, and the control module 4 controls the clamping device 11 to close, so as to realize the capture of the underwater vehicle 7;

[0049] S4: The control module 4 controls the s...

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Abstract

The invention provides an active capture underwater vehicle docking mechanism and a working method thereof, and relates to the technical field of underwater docking. The active capture underwater vehicle docking mechanism comprises a clamping module, a six-degree-of-freedom parallel robot, an underwater base, a control module and a positioning module; the control module is connected with the six-degree-of-freedom parallel robot, the six-degree-of-freedom parallel robot is connected to the underwater base, the underwater base is provided with the storage battery, the storage battery is connected with the positioning module, the top of the six-degree-of-freedom parallel robot is connected with the clamping module, and the clamping module and the six-degree-of-freedom parallel robot synchronously move through the control module; the positioning module can obtain pose information of the underwater vehicle, so that the control module correspondingly controls the pose of the gripper, and capture and energy complementation of the underwater vehicle are realized. The grabbing mechanism and method for the underwater vehicle have the advantages of being high in system positioning precision, good in dynamic performance, high in adaptability, long in service life and the like, and the problems of recycling and energy supplementing of the underwater vehicle are solved.

Description

technical field [0001] The invention relates to the technical field of underwater docking, in particular to a docking mechanism for an active capture underwater vehicle and a working method thereof. In particular, an underwater docking mechanism based on a six-degree-of-freedom parallel mechanism and its working method. Background technique [0002] The major problems encountered by the current unmanned underwater vehicles in their role include deployment and recovery. Due to the limited energy carried by the AUV itself, after completing the mission, it needs to return to the voyage regularly for recovery, energy supply, data maintenance, and equipment maintenance. Moreover, the process of deploying and recovering AUVs is complex, consuming manpower and material resources. Manual recovery also faces the risk of ocean waves, which not only increases the operating cost of AUVs, but also limits the scope of operations of AUVs. [0003] Most of the traditional underwater vehic...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63C11/52B63G8/00B63G8/14
CPCB63C11/52B63G8/00B63G8/14Y02T10/70
Inventor 陈卫星文娱岳剑桥
Owner SHANGHAI JIAO TONG UNIV
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