SELF-LEVELING ROTARY HANDLING-TYPE MULTI-AUTONOMOUS UNDERWATER VEHICLE (AUV) DOCKING AND TRANSFER DEVICES AND METHODS THEREOF

Abstract

Provided is a self-leveling rotary handling-type multi-autonomous underwater vehicle (AUV) docking and transfer device and its method. The device includes a docking module, a vertical handling module, and a rotary handling module; the docking module includes a rotary platform with a guide frame, and a top surface of the rotary platform is provided with a first clamping device; the vertical handling module is mounted on a side of the docking module; the vertical handling module includes a liftable handling platform, and the handling platform is provided with a locking device and a second clamping device; the rotary handling module is mounted below the docking module; the rotary handling module includes a multi-branch rotating shaft and a horizontal plate mounted on each branch rotating shaft; and the horizontal plate is arranged with an AUV charging and information interaction device and a third clamping device.

Claims

1. A self-leveling rotary handling-type multi-autonomous underwater vehicle (AUV) docking and transfer device, comprising a docking module, a vertical handling module, and a rotary handling module, wherein the docking module comprises a rotary platform with a guide frame, wherein a top surface of the rotary platform with the guide frame is provided with a first clamping device; the vertical handling module is installed at a side of the docking module; and the vertical handling module comprises a liftable handling platform, wherein the handling platform is provided with a locking device and a second clamping device; the rotary handling module is installed below the docking module; and the rotary handling module comprises a multi-branch rotating shaft having a plurality of branch rotating shafts around a center and a horizontal plate installed on each branch rotating shaft; and When the multi-branch rotating shaft rotates, the horizontal plate always remains in a horizontal state; and each horizontal plate is provided with an AUV charging and information interaction device and a third clamping device.

2. The self-leveling rotary handling-type multi-AUV docking and transfer device according to claim 1, wherein the rotary platform with the guide frame is driven by a rotary mechanism arranged at a bottom of the rotary platform.

3. The self-leveling rotary handling-type multi-AUV docking and transfer device according to claim 1, wherein the vertical handling module further comprises a lifting mechanism and a chassis; the chassis is provided with a lifting motor and a lead screw shaft supported by a vertical shaft bearing block, wherein an output end of the lifting motor is connected to the lead screw shaft via a lifting platform coupling; and slideways are provided on both sides of a top surface of the chassis and a bottom surface of the handling platform; and the lifting mechanism is a scissor frame structure, wherein sliding blocks are installed at an upper part and a bottom of the scissor frame structure, and the sliding blocks are arranged on the slideways at the both sides of the chassis and the handling platform; the lead screw shaft cooperates with a lead screw nut, and the lead screw nut is fixed on a pull rod; two sides of the pull rod are provided with studs, and the studs are connected to the sliding blocks on the top surface of the chassis.

4. The self-leveling rotary handling-type multi-AUV docking and transfer device according to claim 1, wherein the locking device comprises a locking frame and a small motor; shaft ends at two sides of the locking frame are fixed to the handling platform via lug seats; and the small motor drives the locking frame via a coupling.

5. The self-leveling rotary handling-type multi-AUV docking and transfer device according to claim 1, wherein the rotary handling module further comprises a rear mounting plate with a slide rail and a front mounting plate with a slide groove; and a center of one side end surface of each horizontal plate is provided with a long shaft end with a keyway, wherein the long shaft end with the keyway passes through each branch rotating shaft and cooperates with an intermediate connecting rod via a key, and the horizontal plate, the branch rotating shaft, and the intermediate connecting rod are fixed by an end cover; a pulley is installed at the other end of the intermediate connecting rod, and the pulley slides in the rear mounting plate with the slide rail; and the other side end surface of each horizontal plate is provided with a short shaft end, wherein the short shaft ends of every two horizontal plates are connected by a circular shaft pull rod, and the circular shaft of the circular shaft pull rod slides along the slide groove in the front mounting plate with the slide groove.

6. The self-leveling rotary handling-type multi-AUV docking and transfer device according to claim 1, wherein the first clamping device comprises a movable double V-block positioning device based on bevel gear rotation and a gripping device; the movable double V-block positioning device based on bevel gear rotation comprises a bevel gear, a bevel gear transmission shaft, a first fixed V-block, and a first movable V-block; the first fixed V-block is fixed on the rotary platform with the guide frame by bolts; the first movable V-block is driven by a long lead screw shaft, and the long lead screw shaft is connected to a motor via a coupling; one end of the long lead screw shaft is installed with a bevel gear, which meshes with a bevel gear on the bevel gear transmission shaft for rotation; two ends of the bevel gear transmission shaft are provided with bearings supported by bearing blocks; and an upper end of the first fixed V-block and an upper end of the first movable V-block are provided with the gripping device; the second clamping device comprises a second fixed V-block installed with the gripping device; and the third clamping device comprises a mobile double V-block positioning device and the gripping device; the mobile double V-block positioning device comprises a third fixed V-block and a second movable V-block; one end of a top surface of each horizontal plate is provided with a boss, and the third fixed V-block is installed on the boss; the second movable V-block is installed on a portion of the top surface of the horizontal plate where no boss is provided via a short lead screw shaft and a guide rod, and the short lead screw shaft is connected to a transmission motor via a coupling; an upper end of the third fixed V-block and an upper end of the second movable V-block are provided with the gripping device.

7. The self-leveling rotary handling-type multi-AUV docking and transfer device according to claim 6, wherein the clamping device comprises a mechanical palm and mechanical fingers connected to the mechanical palm, wherein a middle portion of the mechanical palm is provided with a hole for connecting to a shaft on a lower platform, a hole below the mechanical palm is hinged to one end of a hydraulic cylinder, and the other end of the hydraulic cylinder is hinged to the lower platform via a hydraulic cylinder lug seat.

8. The self-leveling rotary handling-type multi-AUV docking and transfer device according to claim 1, wherein the AUV charging and information interaction device comprises a magnetic AUV charging and information interaction device; the magnetic AUV charging and information interaction device comprises a charging base fixed on the horizontal plate by screws and a magnetic suction plate connected to the charging base via a tension spring; and the magnetic suction plate slides along a slide groove inside the charging base.

9. A method for the self-leveling rotary handling-type multi-AUV docking and transfer device of claim 1, comprising: when an AUV needs to dock and enter a compartment, the rotary platform with the guide frame rotating to a counter-current direction; the AUV seating downward onto the rotary platform under guidance of the guide frame; the rotary platform installed with the first clamping device conveying the AUV onto a lifted handling platform, the first clamping device and the locking device on the handling platform clamping and locking the AUV, the first clamping device on the rotary platform releasing the AUV, the handling platform starting to descend, and then the first clamping device on the rotary platform returning to an original position to free up space for downward handling of the AUV and waiting for a next AUV to seat downward; simultaneously, the horizontal plate having a vacant position in the rotary handling module rotating to a suitable position to prepare for receiving the AUV on a descended handling platform, the third clamping device on the horizontal plate grabbing the AUV, and the AUV reaching on the horizontal plate; and when the rotary handling module receives the next AUV, the multi-branch rotating shaft rotating to convey other horizontal plates having vacant positions to suitable positions to prepare for receiving the AUV.

10. The method for the self-leveling rotary handling-type multi-AUV docking and transfer device according to claim 9, further comprising: when the AUV descends and reaches the horizontal plate, grabbing the AUV for charging and information exchange; when charging of the AUV is completed, controlling the AUV charging and information interaction device to power off, and the rotary handling module rotating the AUV to an upper position; since the AUV is always kept horizontal during transfer, when the AUV reaches at a topmost position, releasing fixation of the AUV, and the AUV leaving the docking and transfer device to perform a task under an action of a thruster.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0014] To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings used in the embodiments are briefly introduced below. It should be understood that the following drawings only show some embodiments of the present disclosure and therefore should not be regarded as limiting the scope of the present disclosure.

[0015] FIG. 1 is a structural diagram illustrating an overall perspective view of a self-leveling rotary handling-type multi-autonomous underwater vehicle (AUV) docking and transfer device according to some embodiments of the present disclosure.

[0016] FIG. 2 is a structural diagram of a handling device with a gripping device and a locking device according to some embodiments of the present disclosure.

[0017] FIG. 3 is a structural diagram of a self-leveling rotary handling device according to some embodiments of the present disclosure.

[0018] FIG. 4 is a structural diagram of partial connection parts of the self-leveling rotary handling device according to some embodiments of the present disclosure.

[0019] FIG. 5 is a structural diagram of a rotary platform with an adjustable docking angle according to some embodiments of the present disclosure.

[0020] FIG. 6 is a structural diagram of a bevel gear positioning device according to some embodiments of the present disclosure.

[0021] FIG. 7 is a structural diagram of a movable positioning device according to some embodiments of the present disclosure.

[0022] FIG. 8 is a cross-sectional structural diagram of a magnetic charging and information interaction device according to some embodiments of the present disclosure.

[0023] FIG. 9 is a schematic diagram illustrating a working process of the device adjusting a docking orientation according to an ocean current according to some embodiments of the present disclosure.

[0024] FIG. 10 is a schematic diagram illustrating a working process of an AUV seating downward according to some embodiments of the present disclosure.

[0025] FIG. 11 is a schematic diagram illustrating a working process of an AUV arriving at the docking and transfer device according to some embodiments of the present disclosure.

[0026] FIG. 12 is a schematic diagram illustrating a working process of an AUV moving toward a vertical handling mechanism according to some embodiments of the present disclosure.

[0027] FIG. 13 is a schematic diagram illustrating a working process of an AUV arriving at a scissor-type vertical handling mechanism according to some embodiments of the present disclosure.

[0028] FIG. 14 is a schematic diagram illustrating a working process of an AUV being handled downward onto a horizontal plate according to some embodiments of the present disclosure.

[0029] FIG. 15 is a schematic diagram illustrating a working process of an AUV aligning an axial position according to some embodiments of the present disclosure.

[0030] FIG. 16 is a schematic diagram illustrating a working process of a rotary handling mechanism rotating a vacant position to a topmost position according to some embodiments of the present disclosure.

[0031] FIG. 17 is a schematic diagram illustrating a working process of an AUV exiting from a compartment according to some embodiments of the present disclosure.

[0032] FIG. 18 is a flowchart illustrating an exemplary process for a method for a self-leveling rotary handling-type multi-AUV docking and transfer device according to some embodiments of the present disclosure.

[0033] Reference numerals in the drawings:

[0034] Bevel gear positioning device 1, rotary mechanism 2, rotary platform 3, gripping device 4, locking device 5, interaction device 6, movable positioning device 7, handling device 8, rotary handling mechanism 9, rotary main shaft drive motor 10, device housing 11, support frame 12, lug seat 13, small motor 14, coupling 15, locking frame 16, mechanical finger 17, mechanical palm 18, hydraulic cylinder 19, hydraulic cylinder lug seat 20, first fixed V-block 21, handling platform 22, inner rod member 23, outer rod member 24, pin shaft 25, chassis 26, lifting motor 27, lifting platform coupling 28, vertical shaft bearing block 29, lead screw shaft 30, pull rod 31, lead screw nut 32, stud 33, sliding block 34, bearing 35, rear mounting plate 36, intermediate connecting rod 37, six-branch rotating shaft 38, horizontal plate 39, circular shaft pull rod 40, front mounting plate 41, end cover 42, pulley 43, key 44, bevel gear 45, bevel gear transmission shaft 46, bearing block 47, long lead screw shaft 48, first movable V-block 49, motor 50, guide rod 51, short lead screw shaft 52, second movable V-block 53, transmission motor 54, magnetic suction plate 55, tension spring 56, charging base 57, second fixed V-block 58, third fixed V-block 59.

DETAILED DESCRIPTION

[0035] The technical solutions in the embodiments of the present disclosure are clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. It is apparent that the described embodiments are only some embodiments of the present disclosure, but not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure, without creative efforts, shall fall within the protection scope of the present disclosure.

[0036] In the description of the present disclosure, it is to be understood that the terms upper, middle, outer, inner, etc. indicating orientations or positional relationships are only for convenience of describing the present disclosure and simplifying the description, and do not indicate or imply that the referred components or elements must have a specific orientation or be constructed and operated in a specific orientation. Therefore, these terms are not to be construed as limiting the present disclosure.

[0037] In some embodiments, a self-leveling rotary handling-type multi-autonomous underwater vehicle (AUV) docking and transfer device (hereinafter referred to as a docking and transfer device) may include a docking module, a vertical handling module, and a rotary handling module.

[0038] In some embodiments, the docking module may include a rotary platform 3 with a guide frame. A top surface of the rotary platform 3 with the guide frame is provided with a first clamping device.

[0039] The rotary platform 3 with the guide frame is configured to carry and guide an AUV to move to a designated position. The rotary platform 3 with the guide frame may also be referred to as the rotary platform 3.

[0040] The guide frame refers to a structural component configured to guide the AUV to descend onto the rotary platform 3. In some embodiments, the guide frame may be rigidly connected to the rotary platform 3. The guide frame includes two symmetric structures with a cross-section of a right trapezoid. In the symmetric structures, a surface where a right-angle leg of the right trapezoid is located is rigidly connected to the rotary platform 3. Surfaces where shorter bases of the right trapezoids are located are arranged adjacent to each other. A distance between the surfaces where the shorter bases of the right trapezoids are located is the same as a width of the bevel gear positioning device 1.

[0041] In some embodiments, surfaces where oblique legs of the right trapezoids are located are inclined toward a symmetry line of the two symmetric structures. When the AUV descends to dock with the rotary platform 3, the guide frame is configured to gather AUVs within a certain range and guide them to descend onto the rotary platform 3.

[0042] For example, when the AUV travels above the guide frame and is located between surfaces where longer bases of the two right trapezoids are located, the AUV may be gradually guided by the guide frame to a position of the bevel gear positioning device 1 during descent.

[0043] In some embodiments, the rotary platform 3 is configured to rotate based on its bottom center, so that a cross-section of the guide frame faces an incoming direction of ocean current. The cross-section of the guide frame refers to a cross-section of the guide frame that is perpendicular to the rotary platform 3 and intersects with a straight line perpendicular to a center line of the bevel gear positioning device 1.

[0044] In some embodiments, the rotary platform 3 with the guide frame may be driven by a rotary mechanism 2 disposed at a bottom of the rotary platform 3.

[0045] The rotary mechanism 2 refers to a component configured to drive the rotary platform 3 for orientation adjustment.

[0046] In some embodiments, the rotary mechanism 2 may include a motor, an output flange, an ocean current sensor, a signal transceiver, etc. One side of the output flange is rigidly connected to the rotary platform 3, and the other side is connected to the motor. For example, when the ocean current sensor (e.g., an electromagnetic ocean current sensor) determines an ocean current direction and transmits the ocean current direction to a processor via the signal transceiver (e.g., a wireless communication chip), the processor may send a rotation command to the motor to control the motor to output a rotational torque to drive the output flange to rotate, thereby driving the rotary platform to rotate. For more content regarding the processor, refer to the description related to FIG. 18.

[0047] FIG. 5 is a structural diagram of a rotary platform with an adjustable docking angle according to some embodiments of the present disclosure.

[0048] In some embodiments, as shown in FIG. 5, the rotary mechanism 2 may be disposed at a bottom of the rotary platform 3, and the rotary mechanism 2 may be rigidly connected to a top of a device housing 11.

[0049] The first clamping device refers to a device on the rotary platform 3 configured to clamp the AUV.

[0050] In some embodiments, the first clamping device includes a movable double V-block positioning device 1 based on bevel gear rotation and a gripping device 4.

[0051] The movable double V-block positioning device 1 based on bevel gear rotation may also be referred to as the bevel gear positioning device 1.

[0052] The bevel gear positioning device 1 refers to a positioning mechanism at a top of the docking and transfer device configured to align a center line of the AUV with a center line of the bevel gear positioning device 1 and clamp and fix the AUV.

[0053] In some embodiments, the bevel gear positioning device 1 is arranged on the rotary platform 3. Merely by way of example, the bevel gear positioning device 1 is rigidly connected to the rotary platform 3 via bolts.

[0054] FIG. 6 is a structural diagram of a bevel gear positioning device according to some embodiments of the present disclosure.

[0055] In some embodiments, as shown in FIG. 6, the movable double V-block positioning device 1 based on bevel gear rotation includes a bevel gear 45, a bevel gear transmission shaft 46, a first fixed V-block 21, and a first movable V-block 49.

[0056] The bevel gear transmission shaft 46 refers to a rotating shaft that drives the long lead screw shaft 48 to rotate.

[0057] In some embodiments, when the bevel gear transmission shaft 46 rotates, a bevel gear 45 disposed on the bevel gear transmission shaft 46 is driven to rotate, the bevel gear 45 disposed on the bevel gear transmission shaft 46 drives another bevel gear 45 on the long lead screw shaft 48 that is meshed therewith to rotate simultaneously, thereby driving the long lead screw shaft 48 to rotate. The long lead screw shaft 48 and the first movable V-block 49 are threadedly engaged via a lead screw nut 32. The lead screw nut 32 is rigidly connected to the first movable V-block 49.

[0058] In some embodiments, the bevel gear transmission shaft 46 may be provided with two bevel gears 45. In this case, there are two long lead screw shafts 48. For example, one bevel gear 45 is disposed at each of two ends of the bevel gear transmission shaft 46. If the bevel gear transmission shaft 46 rotates, and the two bevel gears 45 disposed at the two ends of the bevel gear transmission shaft 46 may rotate synchronously at the same speed, the two bevel gears 45 drive two bevel gears 45 on the two long lead screw shafts 48 that are meshed therewith to rotate simultaneously, thereby driving the two long lead screw shafts 48 to rotate.

[0059] In some embodiments, the bevel gear transmission shaft 46 may be provided with one bevel gear 45. In this case, there is one long lead screw shaft 48. For example, if the bevel gear transmission shaft 46 rotates, the one bevel gear 45 disposed on the bevel gear transmission shaft 46 may rotate, and the one bevel gear 45 drives one bevel gear 45 on the long lead screw shaft 48 that is meshed therewith to rotate simultaneously, thereby driving the long lead screw shaft 48 to rotate.

[0060] The first fixed V-block 21 refers to a component fixed on the rotary platform 3. The first fixed V-block 21 is configured to eliminate lateral offset of the AUV.

[0061] In some embodiments, the first fixed V-block 21 may be rigidly connected to the rotary platform 3 via bolts.

[0062] The first movable V-block 49 refers to a component movable on the long lead screw shaft 48. The first movable V-block 49 is configured to push a tail end of the AUV and axially clamp the AUV.

[0063] In some embodiments, the first movable V-block 49 is driven by the long lead screw shaft 48.

[0064] In some embodiments, the first movable V-block 49 is movable on the long lead screw shaft 48.

[0065] In some embodiments, in response to the long lead screw shaft 48 rotating forward, the first movable V-block 49 moves forward; in response to the long lead screw shaft 48 rotating reversely, the first movable V-block 49 moves backward.

[0066] In some embodiments, the first fixed V-block 21 is fixed on the rotary platform 3 with the guide frame by bolts. The first movable V-block 49 is driven by the long lead screw shaft 48. The long lead screw shaft 48 is connected to a motor 50 via a coupling 15. One end of the long lead screw shaft 48 is installed with a bevel gear 45, which meshes with a bevel gear 45 on the bevel gear transmission shaft 46 for rotation. Two ends of the bevel gear transmission shaft 46 are provided with bearings 35 supported by bearing blocks 47. An upper end of the first fixed V-block 21 and an upper end of the first movable V-block 49 are provided with the gripping device 4.

[0067] In some embodiments, as shown in FIG. 6, the bevel gear positioning device 1 further includes a vertical shaft bearing block 29, a bearing 35, a coupling 15, a motor 50, a bearing block 47, and a long lead screw shaft 48.

[0068] The bearing 35 refers to a component for supporting the bevel gear transmission shaft 46. The bearings 35 are arranged at two ends of the bevel gear transmission shaft 46. The bearing 35 is supported by the vertical shaft bearing block 29, and the vertical shaft bearing block 29 is disposed on the rotary platform 3 to fix the bevel gear transmission shaft 46 on the rotary platform 3. The vertical shaft bearing block 29 refers to a component for limiting a position of the bearing 35 on the bevel gear transmission shaft 46. As an example, the vertical shaft bearing block 29 includes a partial vertical block, an integral vertical block, a flange vertical block, etc.

[0069] In some embodiments, a fixed end of the bearing 35 is connected to the vertical shaft bearing block 29, and a rotating end of the bearing 35 is connected to the bevel gear transmission shaft 46.

[0070] The coupling 15 refers to a component for transmitting rotational motion of the motor 50 to the bevel gear transmission shaft 46.

[0071] In some embodiments, one side of the coupling 15 is connected to the bevel gear transmission shaft 46, and the other side of the coupling 15 is connected to the motor 50.

[0072] The motor 50 refers to a device for transmitting rotational power to the bevel gear transmission shaft 46. As an example, the motor 50 includes a stepping motor, a servo motor, an asynchronous motor, etc.

[0073] In some embodiments, when the motor 50 rotates, the coupling 15 is driven to rotate, and the coupling 15 transmits power to the bevel gear transmission shaft 46, causing the bevel gear transmission shaft 46 to rotate.

[0074] The long lead screw shaft 48 refers to a component for driving the first movable V-block 49 to move.

[0075] In some embodiments, the long lead screw shaft 48 is disposed on the rotary platform 3 via the bearing 35 and the bearing block 47. The long lead screw shaft 48 and the bevel gear transmission shaft 46 are perpendicular to each other and in a same plane.

[0076] The bearing block 47 refers to a component for supporting the long lead screw shaft 48.

[0077] In some embodiments, a bearing 35 is disposed between the bearing block 47 and the long lead screw shaft 48.

[0078] In some embodiments, the bearing block 47 is disposed below the bearing 35 and connected to a fixed end of the bearing 35.

[0079] It is understandable that, similar to the bevel gear transmission shaft 46, both ends of the long lead screw shaft 48 are provided with the bearing 35 and the bearing block 47, an end of the long lead screw shaft 48 closer to the bevel gear transmission shaft 46 is provided with a bevel gear 45, and the bevel gear 45 on the long lead screw shaft 48 vertically meshes with the bevel gear 45 on the bevel gear transmission shaft 46. The bearing 35 at the end of the long lead screw shaft 48 closer to the bevel gear transmission shaft 46 is disposed between the bevel gear 45 and the first fixed V-block 21 and maintains a preset distance from the bevel gear transmission shaft 46. The preset distance is preset by a technician based on experience.

[0080] In some embodiments of the present disclosure, when the AUV is to be handled downward by the scissor-type vertical handling mechanism 8, the original first movable V-block 49 needs to be withdrawn to make room for the AUV to descend. At this time, movement of the V-block is mainly driven by two long lead screw shafts 48, if two motors are used, it is difficult to ensure that the two long lead screw shafts 48 rotate at the same frequency and speed. Therefore, the mechanism uses the motor 50 to drive the bevel gear transmission shaft 46, and then two bevel gears 45 drive the two long lead screw shafts 48 to rotate.

[0081] The gripping device 4 refers to a device for clamping the AUV to prevent lateral shaking.

[0082] In some embodiments, the gripping device 4 is hinged to the first fixed V-block 21, the second fixed V-block 58, the third fixed V-block 59, the first movable V-block 49, or the second movable V-block 53 via a pin shaft 25. The pin shaft 25 refers to a short shaft for hinging components.

[0083] In some embodiments, the gripping device 4 is hinged on each of the first fixed V-block 21, the second fixed V-block 58, the third fixed V-block 59, the first movable V-block 49, and the second movable V-block 53.

[0084] FIG. 2 is a structural diagram of a handling device with a gripping device and a locking device according to some embodiments of the present disclosure.

[0085] In some embodiments, as shown in FIG. 2, the gripping device 4 includes a mechanical palm 18 and mechanical fingers 17 connected to the mechanical palm 18.

[0086] The mechanical finger 17 refers to a component for applying pressure to the AUV to fix the AUV.

[0087] In some embodiments, the mechanical finger 17 is hinged to the mechanical palm 18 via the pin shaft 25.

[0088] The mechanical palm 18 refers to a component for transmitting pressure from the hydraulic cylinder 19 to the mechanical finger 17.

[0089] In some embodiments, the mechanical palm 18 includes three openings, an opening at a top of the mechanical palm 18 is hinged to each of the mechanical fingers 17 via the pin shaft 25, an opening in a middle portion of the mechanical palm 18 is connected to the pin shaft 25 on a V-block (e.g., the first fixed V-block 21, the first movable V-block 49, etc.), an opening at a bottom of the mechanical palm 18 is hinged to one end of the hydraulic cylinder 19, another end of the hydraulic cylinder 19 is hinged to a lower platform (e.g., the rotary platform 3, the handling platform 22, the horizontal plate 39, etc.) via a hydraulic cylinder lug seat 20.

[0090] The hydraulic cylinder lug seat 20 refers to a component for connecting the first fixed V-block 21 and the hydraulic cylinder 19.

[0091] In some embodiments of the present disclosure, the gripping device 4 is installed on the first fixed V-block 21, when docking the AUV, the gripping device 4 cooperates with the first fixed V-block 21 to achieve positioning, and the gripping device 4 clamps the AUV during vertical and horizontal handling of the AUV.

[0092] The second fixed V-block 58 refers to a component fixed on the handling platform 22. The second fixed V-block 58 is configured to eliminate lateral offset of the AUV.

[0093] In some embodiments, the second fixed V-block 58 is rigidly connected to the handling platform 22 by bolts.

[0094] The movable double V-block positioning device 7 refers to a positioning mechanism inside the docking and transfer device for aligning a center line of the AUV with a center line of the movable double V-block positioning device 7 and clamping and fixing the AUV. The movable double V-block positioning device 7 is also referred to as the movable positioning device 7.

[0095] In some embodiments, the movable positioning device 7 is rigidly connected to the horizontal plate 39.

[0096] FIG. 7 is a structural diagram of a movable positioning device according to some embodiments of the present disclosure.

[0097] In some embodiments, as shown in FIG. 7, the movable positioning device 7 includes a third fixed V-block 59, a second movable V-block 53, a vertical shaft bearing block 29, a guide rod 51, a transmission motor 54, a coupling 15, a short lead screw shaft 52, and a bearing 35.

[0098] The third fixed V-block 59 refers to a component fixed on the horizontal plate 39. The third fixed V-block 59 is configured to eliminate lateral offset of the AUV.

[0099] In some embodiments, the third fixed V-block 59 is rigidly connected to the horizontal plate 39 by bolts.

[0100] The second movable V-block 53 refers to a component that moves on the short lead screw shaft 52. The second movable V-block 53 is configured to push a tail end of AUV and axially clamp the AUV.

[0101] In some embodiments, the guide rod 51 passes through the second movable V-block 53 and restricts a movement direction of the second movable V-block.

[0102] In some embodiments, the second movable V-block 53 is threadedly engaged with the short lead screw shaft 52 through a lead screw nut 32.

[0103] In some embodiments, in response to the short lead screw shaft 52 rotating forward, the second movable V-block 53 moves a short distance forward on the guide rod 51 and the short lead screw shaft 52; and in response to the short lead screw shaft 52 rotating reversely, the second movable V-block 53 moves a short distance backward on the guide rod 51 and the short lead screw shaft 52.

[0104] In some embodiments, the short lead screw shaft 52 is arranged between two guide rods 51, and each of two ends of the short lead screw shaft 52 is provided with a bearing 35 and a vertical shaft bearing block 29.

[0105] In some embodiments, one end of the short lead screw shaft 52 is connected to the transmission motor 54 through a coupling 15.

[0106] The transmission motor 54 refers to a device configured to transmit rotational power to the short lead screw shaft 52. As an example, the transmission motor 54 includes a stepper motor, a servo motor, an asynchronous motor, etc.

[0107] In some embodiments, when the transmission motor 54 rotates, the coupling 15 is driven to rotate, and the coupling 15 transmits power to the short lead screw shaft 52, causing the short lead screw shaft 52 to rotate.

[0108] In some embodiments, the first fixed V-block 21, the first movable V-block 49, the second fixed V-block 58, the third fixed V-block 59, and the second movable V-block 53 are each formed by two V-shaped half blocks. The two V-shaped half blocks are connected by a pin shaft 25 to form a V-block (e.g., the first fixed V-block).

[0109] In some embodiments of the present disclosure, using the interaction device 6 to perform charging and information exchange on the AUV has advantages such as good compatibility, low charging docking difficulty, and a simple device structure compared to conventional charging equipment. The movable positioning device 7 is configured to accurately position the AUV in an axial direction. Through cooperation between the second movable V-block 53 and the first fixed V-block 21, the AUV is moved to an ideal position to facilitate subsequent charging and information exchange for the AUV. When the AUV reaches a corresponding position, the charging device is energized, at this time, the magnetic suction plate 55 connected to a cable is adsorbed to a corresponding position of the AUV for charging. When charging of the AUV is completed, the device is de-energized, at this time, the magnetic suction plate 55 loses magnetism and is pulled back to its original position under the action of the tension spring 56.

[0110] In some embodiments, a vertical handling module is installed on one side of the docking module. As an example, the vertical handling module is installed on the device housing 11 that is collinear with the first movable V-block 49 and the first fixed V-block 21 in the docking module. The first movable V-block 49 is located between the first fixed V-block 21 and the vertical handling module.

[0111] In some embodiments, the vertical handling module includes a liftable handling platform 22. The handling platform 22 is provided with a locking device 5 and a second clamping device.

[0112] The handling platform 22 refers to a component configured to carry the AUV and the second clamping device.

[0113] In some embodiments, the handling platform 22 is disposed at a top end of the vertical handling module.

[0114] The second clamping device refers to a device disposed on the handling platform 22 and configured to clamp the AUV.

[0115] In some embodiments, the second clamping device includes the second fixed V-block 58 provided with the gripping device 4.

[0116] In some embodiments, the vertical handling module further includes a lifting mechanism and a chassis 26.

[0117] In some embodiments, the lifting mechanism is a scissor frame structure, sliding blocks 34 are installed at an upper part and a bottom of the scissor frame structure, and the sliding blocks 34 are arranged on the slideways at both sides of the chassis 26 and the handling platform 22. The lead screw shaft 30 cooperates with a lead screw nut 32, and the lead screw nut 32 is fixed on a pull rod 31. Two sides of the pull rod 31 are provided with studs 33, and the studs 33 are connected to the sliding blocks 34 on the top surface of the chassis 26.

[0118] The lead screw shaft 30 refers to a component configured to convert torque from the lifting motor 27 into a vertical lifting force for the handling platform 22.

[0119] In some embodiments, the lead screw shaft 30 is fixed to the chassis 26 through the vertical shaft bearing block 29 and the bearing 35. The lead screw shaft 30 is disposed at a center line of the chassis 26 and is parallel to a long side of the chassis 26.

[0120] The pull rod 31 refers to a component that connects the lead screw nut 32 and the sliding block 34.

[0121] In some embodiments, a middle section of the pull rod 31 is pin-connected to the lead screw nut 32, and both ends of the pull rod 31 are hinged to the sliding blocks 34 through the studs 33.

[0122] The lead screw nut 32 is a nut that engages with the lead screw shaft 30.

[0123] In some embodiments, the lead screw shaft 30 is threadedly engaged with the lead screw nut 32, and an outer side of the lead screw nut 32 is rigidly pin-connected to the pull rod 31.

[0124] In some embodiments, the sliding block 34 converts a pulling force of the pull rod 31 into a horizontal displacement of the sliding block 34 within a slide rail of the chassis 26.

[0125] In some embodiments, the sliding block 34 is embedded in the slide rail of the chassis 26, one end of the sliding block 34 is hinged to the pull rod 31, and another end of the sliding block 34 is hinged to a lower end of an inner rod member 23.

[0126] In some embodiments, the chassis 26 is provided with a lifting motor 27 and a lead screw shaft 30 supported by the vertical shaft bearing block 29, an output end of the lifting motor 27 is connected to the lead screw shaft 30 via a lifting platform coupling 28, and slideways are provided on both sides of a top surface of the chassis 26 and a bottom surface of the handling platform 22.

[0127] The chassis 26 refers to a component configured to carry the handling device 8.

[0128] In some embodiments, the chassis 26 is disposed at a bottom of the handling device 8.

[0129] The lifting motor 27 refers to a component configured to provide driving force for the handling device 8.

[0130] In some embodiments, the lifting motor 27 is disposed at a tail end of the chassis 26. For example, the lifting motor 27 is disposed on the chassis 26 near an edge and the edge is a short side of the chassis 26.

[0131] In some embodiments, the lifting motor 27 is connected to the lead screw shaft 30 through the lifting platform coupling 28. The lifting motor 27 transmits torque to the lead screw shaft 30, and the torque is converted into a horizontal pulling force of the nut through the lead screw nut 32, driving opening and closing of the scissor mechanism.

[0132] The lifting platform coupling 28 refers to a component configured to connect the lifting motor 27 and the lead screw shaft 30.

[0133] In some embodiments, the lifting platform coupling 28 is configured to compensate for a slight offset between the lifting motor 27 and the lead screw shaft 30.

[0134] In some embodiments, the locking device 5 includes a locking frame 16 and a small motor 14. Shaft ends on both sides of the locking frame 16 are fixed to the handling platform 22 through lug seats 13. The small motor 14 drives the locking frame 16 through the coupling 15.

[0135] The locking device 5 refers to a component configured to lock a position of the AUV.

[0136] In some embodiments, the locking device 5 is rigidly connected to the handling platform 22 through the lug seats 13.

[0137] In some embodiments, as shown in FIG. 2, the locking device 5 includes the locking frame 16 and the small motor 14.

[0138] The locking frame 16 refers to a U-shaped structure configured to apply pressure to the AUV and locking the AUV.

[0139] In some embodiments, the shaft ends on both sides of the locking frame 16 are rotatably connected to the lug seats 13.

[0140] In some embodiments, shaft ends on both sides of the locking frame 16 are fixed to the handling platform 22 via the lug seats 13.

[0141] The lug seat 13 refers to a component for fixing the locking device 5.

[0142] In some embodiments, the lug seat 13 is rigidly connected to the handling device 8.

[0143] The small motor 14 refers to a component for applying a rotational force to the locking frame 16. For example, the small motor 14 may include a servo motor, a stepper motor, or the like.

[0144] In some embodiments, the small motor 14 is rotatably connected to the locking frame 16 via the coupling 15.

[0145] In some embodiments, the small motor 14 drives the locking frame 16 via the coupling 15.

[0146] In some embodiments of the present disclosure, the locking device 5 is designed to consider that when the handling device 8 performs vertical handling of the AUV, relying solely on a pair of mechanical fingers 17 of the gripping device 4 for clamping has certain instability factors. Therefore, the mechanism uses the small motor 14 to drive the locking frame 16 to rotate and press against a tail of the AUV, playing a stabilizing role on the AUVs during handling.

[0147] In some embodiments, the vertical handling module may also be referred to as the handling device 8.

[0148] In some embodiments, as shown in FIG. 2, the handling device 8 further includes an inner rod member 23 and an outer rod member 24.

[0149] The inner rod member 23 refers to a lever for converting a horizontal pulling force of a nut into a vertical lifting force of the handling platform 22.

[0150] In some embodiments, the inner rod member 23 is disposed inside the handling device 8.

[0151] In some embodiments, a lower end of the inner rod member 23 is coupled to a slide rail of the chassis 26 via the sliding block 34, and an upper end of the inner rod member 23 is coupled to a bottom rail of the handling platform 22 via the sliding block 34.

[0152] The outer rod member 24 refers to a lever that cooperates with the inner rod member 23 to provide a vertical lifting force to the handling platform 22.

[0153] In some embodiments, the outer rod member 24 is disposed inside the handling device 8 and is cross-hinged to the inner rod member 23 via a pin shaft 25.

[0154] In some embodiments, a lower end of the outer rod member 24 is fixedly hinged to the chassis 26, and an upper end of the outer rod member 24 is fixedly hinged to the handling platform 22.

[0155] In some embodiments of the present disclosure, the handling device 8 is capable of performing vertical handling of the AUV, which is primarily achieved by the lifting motor 27 driving the lead screw shaft 30 to rotate, the pull rod 31 with the lead screw nut 32 moving under the drive of the lifting motor 27, and one end of the pull rod 31 being connected to the sliding block 34, which in turn drives the inner rod member 23 and the outer rod member 24 of the scissor frame structure to move. The AUV can be placed on the handling device 8 for vertical handling. This primarily achieves lowering the docked AUV to the transfer mechanism for subsequent charging and information exchange.

[0156] In some embodiments, the rotary handling module is installed below the docking module. For example, the rotary handling module may be disposed inside the device housing 11.

[0157] In some embodiments, the rotary handling module includes a multi-branch rotating shaft 38 (i.e., a six-branch rotating shaft) having a plurality of branch rotating shafts around a center, and a horizontal plate 39 installed on each branch rotating shaft.

[0158] The six-branch rotating shaft 38 refers to a component for distributing torque from the drive motor 10 to the six horizontal plates 39.

[0159] In some embodiments, a central shaft of the six-branch rotating shaft 38 is fixedly connected to a center of the bottom support frame 12 via the bearing block 47. In some embodiments, the central shaft is rigidly connected to the six-branch rotating shaft.

[0160] In some embodiments, the central shaft of the six-branch rotating shaft 38 is driven by the rotary main shaft drive motor 10.

[0161] The horizontal plate 39 refers to a platform for carrying the third clamping device to charge the AUV.

[0162] In some embodiments, one end of the horizontal plate 39 may be a long shaft end, the other end of the horizontal plate 39 may be a short shaft end, and the long shaft end may pass through the branch rotating shaft.

[0163] In some embodiments, when the multi-branch rotating shaft 38 rotates, the horizontal plate 39 always remains in a horizontal state. For example, the long shaft end of the horizontal plate 39 passes through the branch rotating shaft and the intermediate connecting rod 37 and is fixed by the end cover 42, during rotation, a line where the intermediate connecting rod 37 is located is one side of a parallelogram; the short shaft end of the horizontal plate 39 is connected to a circular shaft pull rod 40, a line where the circular shaft pull rod 40 is located is another side of the parallelogram; a line between the long shaft end and the short shaft end of the horizontal plate 39 is one side of the parallelogram; when the multi-branch rotating shaft 38 rotates, the circular shaft pull rod 40, the front mounting plate 41, the end cover 42, the pulley 43, the key 44, the intermediate connecting rod 37, and the horizontal plate 39 may form a parallelogram rigid body. Regardless of where the central shaft rotates, the horizontal plate always remains in the horizontal state.

[0164] In some embodiments, the AUV charging and information interaction device 6 and the third clamping device are arranged on each horizontal plate.

[0165] The AUV charging and information interaction device refers to a device for charging the AUV and performing information exchange. In some embodiments, the AUV charging and information interaction device includes the magnetic AUV charging and information interaction device 6.

[0166] In some embodiments, the magnetic AUV charging and information interaction device 6 may also be referred to as the interaction device 6.

[0167] In some embodiments, the magnetic AUV charging and information interaction device 6 includes a charging base 57 fixed to the horizontal plate 39 via screws, and a magnetic suction plate 55 connected inside the charging base 57 via a tension spring 56.

[0168] FIG. 8 is a cross-sectional structural diagram of a magnetic charging and information interaction device according to some embodiments of the present disclosure.

[0169] In some embodiments, as shown in FIG. 8, the interaction device 6 may be disposed on the horizontal plate 39.

[0170] The magnetic suction plate 55 refers to a component for establishing contact resistance, a charging path, and a data transmission path. For example, the magnetic suction plate 55 may include an electric permanent magnetic suction plate, an iron core electromagnetic suction disk, etc.

[0171] In some embodiments, the magnetic suction plate 55 is elastically connected to the charging base 57 via the tension spring 56, and the magnetic suction plate 55 is capable of sliding at a small angle along a slide groove inside the charging base 57.

[0172] For example, when the magnetic suction plate 55 is energized, the magnetic suction plate 55 may adsorb onto the AUV for charging and information exchange. When the magnetic suction plate 55 is de-energized, the magnetic suction plate 55 loses magnetism and is pulled back inside the charging base 57 by the tension spring 56.

[0173] The tension spring 56 refers to a spring component for connecting the magnetic suction plate 55 and the charging base 57.

[0174] The present disclosure does not impose limitations on the selection of the tension spring 56.

[0175] The charging base 57 refers to a pressure-resistant slide groove base for providing a floating track for the magnetic suction plate 55.

[0176] It is understandable that an arc of the slide groove at a top of the charging base 57 is consistent with an external shape of the AUV, when the AUV reaches a charging position for charging, the magnetic suction plate 55 is powered on and may adsorb below the AUV. After the magnetic suction plate 55 is powered off, and pulled back by the tension spring 56, the magnetic suction plate 55 may deviate from its original falling position due to ocean current influence, but it still slides to a suitable position via the slide groove inside the charging base 57.

[0177] FIG. 3 is a structural diagram of a self-leveling rotary handling device according to some embodiments of the present disclosure.

[0178] In some embodiments, as shown in FIG. 3, the rotary handling module further includes the rear mounting plate with a slide rail 36 and the front mounting plate with a slide groove 41.

[0179] The rear mounting plate 36 refers to a component for providing a slide rail for the pulley 43.

[0180] In some embodiments, the slide rail on the rear mounting plate 36 may be circular.

[0181] In some embodiments, the rear mounting plate 36 is fixed to a side of the device housing 11 having the vertical handling module by bolts. A center of the slide rail of the rear mounting plate 36 is at a different position from a center of the six-branch rotating shaft 38. A distance between a center of the rear mounting plate 36 and a center of the six-branch rotating shaft 38 is the same as a distance between a long shaft end of the intermediate connecting rod 37 connected to the horizontal plate 39 and an opening of the pulley 43.

[0182] The front mounting plate 41 refers to a component that provides a circular slide groove for the circular shaft pull rod 40. A center of the circular slide groove and the center of the six-branch rotating shaft 38 are on a same horizontal line.

[0183] FIG. 4 is a structural diagram of partial connection parts of a self-leveling rotary handling device according to some embodiments of the present disclosure.

[0184] In some embodiments, as shown in FIG. 3 and FIG. 4, a center of one side end surface of each horizontal plate 39 is provided with a long shaft end with a keyway, and the long shaft end with the keyway passes through each branch rotating shaft and cooperates with the intermediate connecting rod 37 via a key 44. The horizontal plate 39, the branch rotating shaft, and the intermediate connecting rod 37 are fixed by an end cover 42. A pulley 43 is installed at the other end of the intermediate connecting rod 37, and the pulley 43 slides in the rear mounting plate 36 with the slide rail. The other side end surface of each horizontal plate 39 is provided with a short shaft end, the short shaft ends of every two horizontal plates 39 are connected by the circular shaft pull rod 40, and the circular shaft of the circular shaft pull rod 40 slides along the slide groove in the front mounting plate 41 with the slide groove.

[0185] The intermediate connecting rod 37 refers to a component that converts a rotational motion of the rotating shaft into a parallel constraint of the horizontal plate.

[0186] In some embodiments, one end of the intermediate connecting rod 37 is connected to the long shaft end of the horizontal plate 39 via the key 44, and the other end of the intermediate connecting rod 37 is connected to the pulley 43.

[0187] In some embodiments, an end of the intermediate connecting rod 37 connected to the horizontal plate 39 is rotatably connected to the six-branch rotating shaft 38 via the keyway. The keyway may be a rectangular straight groove. The intermediate connecting rod 37 and the horizontal plate 39 may be locked via the keyway and the key 44, so that a central shaft may transmit torque to the horizontal plate 39 via the intermediate connecting rod 37.

[0188] In some embodiments, short shafts between two adjacent horizontal plates 39 are connectable via the circular shaft pull rod 40.

[0189] In some embodiments, the horizontal plate 39 revolves around the rotating shaft of the rotary handling mechanism 9 while remaining horizontal.

[0190] The circular shaft pull rod 40 refers to a component for rigidly connecting the two adjacent horizontal plates 39.

[0191] In some embodiments, the circular shaft of the circular shaft pull rod 40 is slidable along the slide groove in the front mounting plate 41.

[0192] The end cover 42 refers to a component for axially locking the horizontal plate 39 and the intermediate connecting rod 37.

[0193] The pulley 43 is slidable in the rear mounting plate 36.

[0194] The key 44 refers to a component for transmitting torque so that the long shaft of the horizontal plate 39 and the intermediate connecting rod 37 have no relative rotation.

[0195] It is understandable that when the rotary main shaft drive motor 10 drives the six-branch rotating shaft 38 to rotate, the six horizontal plates 39 can achieve horizontal rotation along a circumference. It is worth noting that a rotation center of the six-branch rotating shaft 38 and a rotation center of the rear mounting plate 36 are not concentric, and a distance between the two rotation centers is the same as a center distance between two end holes on the intermediate connecting rod 37.

[0196] It should be noted that the movable double V-block positioning device 1 based on bevel gear transmission may also be referred to as the bevel gear positioning device 1. The rotary platform 3 with the guide frame may also be referred to as the rotary platform 3. The magnetic AUV charging and information interaction device 6 may also be referred to as the interaction device 6. The movable double V-block positioning device 7 may also be referred to as the movable positioning device 7. The scissor-type vertical handling device 8 may also be referred to as the handling device 8. The self-leveling rotary handling mechanism 9 may also be referred to as the rotary handling mechanism 9. The device bottom support frame 12 may also be referred to as the support frame 12 or the bottom support frame 12. The rear mounting plate 36 with the slide rail may also be referred to as the rear mounting plate 36. The circular shaft pull rod 40 may also be referred to as the pull rod 40 with circular shaft. The front mounting plate 41 with the slide groove may also be referred to as the front mounting plate 41. The first movable V-block 49 driven by a double lead screw may also be referred to as the first movable V-block 49.

[0197] In some embodiments of the present disclosure, the rotary handling mechanism 9 can handle a plurality of AUVs simultaneously and requires only one drive source to achieve a handling and transfer action. Furthermore, the handling mechanism can keep the AUV horizontal during handling. Since an AUV generally carries equipment, a change in the AUV's posture can easily cause a collision with a compartment body during exiting and is not conducive to the AUV's posture after exiting from the compartment. However, the horizontal plate remaining horizontal at all times solves this problem well.

1. Overall Technical Solution of the Device

[0198] In embodiments of the present disclosure, the device mainly includes the movable double V-block positioning device 1 based on bevel gear transmission, the rotary mechanism 2, the rotary platform 3 with the guide frame, the gripping device 4, the locking device 5, the magnetic AUV charging and information interaction device 6, the movable double V-block positioning device 7, the scissor-type vertical handling device 8, the self-leveling rotary handling mechanism 9, the rotary main shaft drive motor 10, the device housing 11, and the device bottom support frame 12, as shown in FIG. 1 and FIG. 5. First, the rotary platform 3 with the guide frame driven by the rotary mechanism 2 is arranged at a top of the docking and transfer device. The movable double V-block positioning device 1 based on bevel gear transmission is arranged on the rotary platform 3 with the guide frame. A scissor-type vertical handling device 8 is arranged on a right side of the docking and transfer device. The gripping device 4 and the locking device 5 are arranged on the scissor-type vertical handling device 8. The self-leveling rotary handling mechanism 9 is arranged at a center of the docking and transfer device. Each horizontal plate 39 is provided with a movable double V-block positioning device 7 and a magnetic AUV charging and information interaction device 6. The device bottom support frame 12 supports the entire device.

2. Technical Solution of Double V-Block Positioning Device Based on Bevel Gear Transmission

[0199] The double V-block positioning device mainly includes the bevel gear transmission shaft 46, the bevel gear 45, the vertical shaft bearing block 29, the bearing 35, the coupling 15, the motor 50, the bearing block 47, the long lead screw shaft 48, the first fixed V-block 21, and the first movable V-block 49 driven by a double lead screw, as shown in FIG. 6. The movable double V-block positioning device 1 based on bevel gear transmission is entirely arranged on the rotary platform 3 with the guide frame. First, two bevel gears 45 are arranged on the bevel gear transmission shaft 46. Two ends of the bevel gear transmission shaft 46 are provided with bearings 35 which are supported by the vertical shaft bearing blocks 29. The bevel gear transmission shaft 46 is driven by the motor 50. The first fixed V-block 21 is fixed on the rotary platform 3 with the guide frame by bolts. Meanwhile, one end of the long lead screw shaft 48 is provided with the bevel gear 45.

3. Technical Solution of the Locking Device

[0200] The locking device mainly includes the locking frame 16, the lug seat 13, the small motor 14, and the coupling 15, as shown in FIG. 2. Shaft ends extending from two ends of the locking frame 16 may cooperate with the lug seats 13 for rotation. Meanwhile, the small motor 14 may drive the locking frame 16 to rotate via the coupling 15, thereby achieving a pressing action on one end of the AUV.

4. Technical Solution of the Gripping Device

[0201] The gripping device mainly includes the mechanical fingers 17, the mechanical palm 18, the hydraulic cylinder 19, and the hydraulic cylinder lug seat 20, as shown in FIG. 2. The mechanical fingers 17 are connected to the mechanical palm 18. A middle portion of the mechanical palm 18 is provided with a hole for connecting to a shaft on the V-block. A hole below the mechanical palm 18 is hinged to one end of the hydraulic cylinder 19. The other end of the hydraulic cylinder 19 is hinged to the V-block via the hydraulic cylinder lug seat 20.

5. Technical Solution of the Vertical Handling Device

[0202] The vertical handling device mainly includes the chassis 26, the inner rod member 23, the outer rod member 24, the pin shaft 25, the lifting motor 27, the lead screw shaft 30, the lead screw nut 32, the vertical shaft bearing block 29, the pull rod 31, the sliding block 34, the stud 33, the handling platform 22, and the lifting platform coupling 28, as shown in FIG. 2. A lower end surface of the chassis 26 is connected to a frame end surface. An upper end surface of the chassis 26 is provided with the lifting motor 27. The lead screw shaft 30 is arranged on the chassis 26 via the vertical shaft bearing block 29. An output end of the lifting motor 27 is connected to the lead screw shaft 30 via the lifting platform coupling 28. The lead screw shaft 30 and the lead screw nut 32 are in threaded cooperation. The lead screw nut 32 is fixed on the pull rod 31. Two sides of the pull rod 31 are connected to the studs 33. The studs 33 are connected to the sliding blocks 34. The inner rod member 23 and the outer rod member 24 are combined into a scissor frame structure. The handling platform 22 is arranged on the scissor frame structure.

6. Technical Solution of the Self-Leveling Rotary Handling Mechanism

[0203] The self-leveling rotary handling mechanism mainly includes the horizontal plate 39, the six-branch rotating shaft 38, the intermediate connecting rod 37, the rear mounting plate 36 with the slide rail, the front mounting plate 41 with the slide groove, the circular shaft pull rod 40, the pulley 43, the end cover 42, and the key 44, as shown in FIG. 3 and FIG. 4. A central shaft of the six-branch rotating shaft 38 is driven by the rotary main shaft drive motor 10. Branches of the six-branch rotating shaft 38 are rotatably engaged with long shaft ends of the six horizontal plates 39, respectively. The long shaft end of the horizontal plate 39 has the keyway. The long shaft end with the keyway cooperates with the intermediate connecting rod 37 via the key 44. One end of the intermediate connecting rod 37 cooperates with the six-branch rotating shaft 38 via the keyway, and the other end of the intermediate connecting rod 37 cooperates with the pulley 43. The pulley 43 is slidable in the rear mounting plate 36 with the slide rail. The other end of the horizontal plate 39 has a short shaft end with a cylindrical boss. The short shaft ends between every two horizontal plates 39 are connected via the circular shaft pull rod 40.

7. Technical Solution of the AUV Charging and Information Interaction Device

[0204] The AUV charging and information interaction device mainly includes the third fixed V-block 59, the second movable V-block 53, the vertical shaft bearing block 29, the guide rod 51, the transmission motor 54, the coupling 15, the short lead screw shaft 52, the bearing 35, the magnetic suction plate 55, the charging base 57, and the tension spring 56, as shown in FIG. 7 and FIG. 8. The fixed V-block is connected to the horizontal plate 39. Two ends of the two guide rods 51 are fixed to the horizontal plate 39 via the bearings 35 and the vertical shaft bearing blocks 29, respectively. The short lead screw shaft 52 is arranged between the two guide rods 51. Meanwhile, two ends of the short lead screw shaft 52 are provided with the bearings 35 and the vertical shaft bearing blocks 29. One end of the short lead screw shaft 52 is connected to the transmission motor 54 via the coupling 15. The second movable V-block 53 moves for a distance on the two guide rods 51 via the short lead screw shaft 52. Both types of V-blocks may be split into left and right parts. The charging base 57 is fixed on the horizontal plate 39 by screws. The magnetic suction plate 55 is connected inside the charging base 57 via the tension spring 56. The magnetic suction plate 55 is slidable for a small angle along a slide groove inside the charging base 57.

[0205] FIG. 18 is a flowchart illustrating an exemplary process of a method for the self-leveling rotary handling-type multi-AUV docking and transfer device according to some embodiments of the present disclosure.

[0206] In some embodiments, as shown in FIG. 18, a process 1800 may be performed by the docking and transfer device. The process 1800 includes operations 1810 to 1850.

[0207] In some embodiments, the docking and transfer device may further include a processor.

[0208] In some embodiments, the processor may include a central processing unit (CPU), an application-specific integrated circuit (ASIC), an application-specific instruction set processor (ASIP), a physics processing unit (PPU), a digital signal processor (DSP), a microprocessor unit, a reduced instruction set computer (RISC), a microprocessor, or any combination thereof. In some embodiments, the processor may be local or remote. In some embodiments, the processor may be implemented on a cloud platform. For example, the cloud platform may include a private cloud, a public cloud, a hybrid cloud, a community cloud, a distributed cloud, an internal cloud, a multi-layer cloud, or any combination thereof.

[0209] In 1810, in response to determining that an AUV needs to dock and enter a compartment, the rotary platform 3 rotates to a counter-current direction.

[0210] Docking and entering the compartment refers to a process in which the AUV needs to enter the docking and transfer device for charging or information exchange.

[0211] The counter-current direction refers to a direction in which an entrance of the guide frame of the rotary platform 3 directly faces an incoming ocean current.

[0212] In some embodiments, in response to the AUV needing to dock and enter the compartment, the docking and transfer device sends an instruction to the rotary mechanism 2 to control the rotary platform 3 to rotate to the counter-current direction.

[0213] FIG. 9 is a schematic diagram illustrating a working process of the device adjusting a docking orientation based on ocean current according to some embodiments of the present disclosure.

[0214] It is understandable that, as shown in FIG. 9, when the AUV needs to dock, the docking system needs to be prepared in advance. To ensure stability of the AUV during docking, counter-current docking is required. At this time, the rotary mechanism 2 is driven to adjust the rotary platform 3, so that the entrance of the rotary platform 3 faces the same direction as the ocean current direction, and the gripping device 4 on the rotary platform 3 is opened to prepare for clamping the descended AUV.

[0215] In 1820, the AUV seats downward onto the rotary platform 3 under the guidance of the guide frame.

[0216] In some embodiments, the docking and transfer device may guide the AUV to seat downward onto the rotary platform 3 in a plurality of ways.

[0217] FIG. 10 is a schematic diagram illustrating a working process of an AUV seating downward according to some embodiments of the present disclosure.

[0218] It is understandable that, as shown in FIG. 10, when the AUV is relatively far from the docking and transfer device, the docking and transfer device uses acoustic positioning to determine the position of the AUV. When the AUV is relatively close to the docking and transfer device, an underwater camera is used for optical positioning. When the AUV detects the docking and transfer device, the AUV may be guided by the guide frame and propelled by the thruster to seat downward onto the bevel gear positioning device 1. Then, the gripping devices 4 on the first fixed V-block 21 and the first movable V-block 49 of the bevel gear positioning device 1 clamp the AUV. When the position of the AUV is fully determined, the gripping device 4 on the first fixed V-block 21 releases, and the gripping device 4 on the first movable V-block 49 clamps the AUV. The motor 50 on the bevel gear positioning device 1 is driven to move the first movable V-block 49.

[0219] FIG. 11 is a schematic diagram illustrating a working process of an AUV arriving at the docking and transfer device according to some embodiments of the present disclosure.

[0220] It is understandable that, as shown in FIG. 11, when the AUV has seated down onto the rotary platform 3 with the guide frame, the mechanical fingers 17 of the gripping device 4 clamp the AUV, and the rotary platform 3 with the guide frame gradually returns to its original position under the action of the rotary mechanism 2.

[0221] In 1830, the rotary platform 3 installed with the first clamping device conveys the AUV onto a lifted handling platform 22.

[0222] In some embodiments, the docking and transfer device may control the first clamping device and the locking device 5 on the handling platform 22 to clamp and lock the AUV. The first clamping device on the rotary platform 3 releases the AUV. The handling platform 22 starts to descend, and then the first clamping device on the rotary platform returns to its original position to free up space for downward handling of the AUV and waits for a next AUV to seat downward.

[0223] FIG. 12 is a schematic diagram illustrating a working process of an AUV moving towards the vertical handling mechanism according to some embodiments of the present disclosure.

[0224] It is understandable that, as shown in FIG. 12, the handling device 8 raises the handling platform 22 with the second fixed V-block 58. The gripping device 4 on the handling platform 22 opens, the mechanical fingers 17 on the first fixed V-block 21 of the rotary platform 3 open, and the gripping device 4 on the first movable V-block 49 continues to clamp. Driven by the bevel gear positioning device 1, the first movable V-block 49 moves the AUV towards the second fixed V-block 58 on the handling platform 22 of the handling device 8, and the gripping device 4 on the handling platform 22 clamps the AUV. Simultaneously, the locking device 5 locks the AUV under the drive of the small motor 14, the gripping device 4 on the rotary platform 3 releases, and then, the first movable V-block 49 on the rotary platform 3 returns to the original position to free up space for downward handling of the AUV and to receive the next AUV.

[0225] FIG. 13 is a schematic diagram illustrating a working process of an AUV arriving at the scissor-type vertical handling mechanism according to some embodiments of the present disclosure.

[0226] It is understandable that, as shown in FIG. 13, when the AUV has arrived on the handling platform 22 of the handling device 8, the AUV contacts the second fixed V-block 58 on the handling platform 22, and the gripping device 4 on the second fixed V-block 58 clamps the AUV. Simultaneously, the locking device 5 locks the AUV, and the first movable V-block 49 on the rotary platform 3 retracts to the original position to free up space for downward handling of the AUV.

[0227] In 1840, the horizontal plate 39 having a vacant position in the rotary handling module is rotated to a suitable position to prepare for receiving the AUV on a descended handling platform.

[0228] In some embodiments, the docking and transfer device may control the third clamping device on the horizontal plate 39 to grasp the AUV, enabling the AUV to reach the horizontal plate 39.

[0229] FIG. 14 is a schematic diagram illustrating a working process of an AUV being handled downward to the horizontal plate according to some embodiments of the present disclosure.

[0230] It is understandable that, as shown in FIG. 14, the handling device 8 handles the AUV downward to the horizontal plate 39 on the rotary handling mechanism 9, the gripping device 4 on the second movable V-block 53 of the horizontal plate 39 clamps the AUV, the gripping device 4 and the locking device 5 on the handling device 8 release, and the AUV is moved for axial position adjustment under the drive of the second movable V-block 53 on the horizontal plate 39.

[0231] FIG. 15 is a schematic diagram illustrating a working process of an AUV aligning an axial position according to some embodiments of the present disclosure.

[0232] It is understandable that, as shown in FIG. 15, when the AUV has been moved to a suitable axial position under the drive of the second movable V-block 53 on the horizontal plate 39, the mechanical fingers 17 of the gripping device 4 on the third fixed V-block 59 may clamp the AUV, then, the interaction device 6 may be powered on, and under the action of magnetic force, the magnetic suction plate 55 adsorbs to a suitable position below the AUV for charging/information exchange.

[0233] In 1850, in response to determining that the rotary handling module receives the next AUV, the multi-branch rotating shaft 38 rotates to convey other horizontal plates 39 having vacant positions to suitable positions to prepare for receiving the AUV.

[0234] In some embodiments, when the AUV descends onto the horizontal plate 39, the AUV is grabbed for charging and information exchange. When charging of the AUV is completed, the AUV charging and information interaction device is controlled to power off, and the rotary handling module rotates the AUV to an upper position. Since the AUV is always kept horizontal during transfer, when the AUV reaches at a topmost position, fixation of the AUV is released, and the AUV leaves the docking and transfer device to perform a task under an action of a thruster.

[0235] FIG. 16 is a schematic diagram illustrating a working process of a rotary handling mechanism rotating a vacant position to a topmost position according to some embodiments of the present disclosure.

[0236] It is understandable that, as shown in FIG. 16, when docking of one AUV is completed, the docking and transfer device may control the interaction device 6 to be powered off, and the magnetic suction plate 55 separates from the AUV under the action of the tension spring 56. By driving the rotary main shaft drive motor 10 to drive the rotary handling mechanism 9, the horizontal plate 39 that has completed docking is transferred downward, and a horizontal plate 39 that has not completed docking is rotated to the topmost position suitable for docking.

[0237] FIG. 17 is a schematic diagram illustrating a working process of an AUV exiting from a compartment according to some embodiments of the present disclosure.

[0238] It is understandable that, as shown in FIG. 17, when the AUV has completed charging and information exchange, the AUV may be transferred to the topmost position under the action of the rotary handling mechanism 9, and the mechanical fingers of the gripping device 4 on the horizontal plate 39 all release. Since the AUV remains horizontal during handling, when the AUV reaches the topmost compartment position, the attitude of the AUV itself is already horizontal, which can ensure a stable attitude during exiting from the compartment. The gripping devices 4 on the third fixed V-block 59 and the second movable V-block 53 may be controlled to release, and then the AUV may leave the docking and transfer device under the action of the thruster to perform a task. The compartment position refers to a position where each horizontal plate 39 is located during movement.

[0239] In summary, the present discloses a self-leveling rotary handling-type multi-AUV docking and transfer device, which belongs to the field of long-term resident underwater operation robot equipment. The docking and transfer device mainly includes a bevel gear positioning device 1, a rotary mechanism 2, a rotary platform 3, a gripping device 4, a locking device 5, an interaction device 6, a movable positioning device 7, a handling device 8, a rotary handling mechanism 9, a rotary main shaft drive motor 10, a device housing 11, and a support frame 12. The rotary platform 3 driven by the rotary mechanism 2 is arranged at a top of the docking and transfer device. Simultaneously, a vertical handling device mainly includes the handling device 8, the gripping device 4, the locking device 5, etc. Simultaneously, the rotary handling device mainly includes the rotary handling mechanism 9, the movable positioning device 7, the interaction device 6, the rotary main shaft drive motor 10, etc., which work collaboratively to achieve rotary handling of a plurality of AUVs while maintaining the AUVs in a horizontal attitude. The present disclosure combines vertical handling and rotary handling to achieve the transfer of multiple AUVs. Simultaneously, the present disclosure separates a docking part from a transfer part, and independently controls the orientation of the docking platform. Further, the interaction device performs charging and information exchange for the AUVs. The device not only greatly increases a number of AUVs for docking and transfer, but also maintains the AUVs in a horizontal attitude during transfer, preparing for subsequent actions such as the AUV exiting from the compartment. The present disclosure also performs an independent rotary action for the docking part. Compared with rotating the entire device, only rotating the docking part greatly reduces rotary resistance of the mechanism in seawater. In addition, the device has the advantages of a simple structure, simple operation, safety, reliability, etc.

[0240] In the description of the present disclosure, reference terms such as one embodiment, an example, a specific example, etc., mean that a specific feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present disclosure. In the present disclosure, schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials, or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0241] The embodiments of the present disclosure disclosed above are only used to help illustrate the present disclosure. The embodiments do not describe all details exhaustively, nor do they limit the present disclosure to the specific implementations described. Obviously, many modifications and variations can be made according to the content of the present disclosure. This disclosure selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present disclosure, thereby enabling those skilled in the art to well understand and utilize the present disclosure. The present disclosure is limited only by the claims and their full scope and equivalents.