CN113428326A

CN113428326A - Standard load cabin underwater replacing device for modular underwater intelligent equipment platform

Info

Publication number: CN113428326A
Application number: CN202110763953.3A
Authority: CN
Inventors: 蔡劭琨; 潘献飞; 王雪莹; 孟洋涛; 刘一麟
Original assignee: National University of Defense Technology
Current assignee: National University of Defense Technology
Priority date: 2021-07-06
Filing date: 2021-07-06
Publication date: 2021-09-24

Abstract

The invention relates to an underwater replacing device for a standard load cabin of a modular underwater intelligent equipment platform, and belongs to the field of underwater unmanned equipment. The underwater replacement device comprises a modularized underwater intelligent equipment platform shell, a standardized load cabin and a mechanical arm module. The underwater standard load cabin replacing method mainly depends on the specific implementation steps of the replacing device. In the deep sea application field, aiming at the problem that the cost of data transmission and energy supply is high when floating at each time, the underwater replacing device for the standard load cabin can realize continuous uninterrupted operation of the modular underwater intelligent equipment platform, the endurance time is prolonged, and the use cost is reduced. Meanwhile, the rotation of the functional modules can be realized, the functional diversity of the modularized underwater intelligent equipment platform is increased, and the use flexibility is improved.

Description

Standard load cabin underwater replacing device for modular underwater intelligent equipment platform

Technical Field

The invention relates to the field of underwater unmanned equipment, in particular to an underwater replacing device for a standard load cabin of a modular underwater intelligent equipment platform.

Background

The AUV is an autonomous underwater vehicle, the capability of people for exploring the ocean is gradually enhanced along with the development of science and technology, and further requirements are made on exploration dimensions and exploration depth. The exploration dimensionality is improved, the requirement for the task load is rich, and the exploration depth is improved, so that the requirement for the compression resistance and the underwater task endurance is strong. The execution of tasks depends on the specific task module. However, the load capacity of an AUV is limited, and the AUV has different requirements on task modules under different time and place environments and specific task conditions.

The traditional AUV generally determines the task module to be carried before launching water, and cannot be adaptively adjusted according to the environment. After the preset task detection is finished, the floating is needed, the specific requirements cannot be directly put forward on line according to the specific underwater conditions, and the specific task module combination cannot be directly changed underwater. In the face of unknown environments, effective data collection can be completed only by one-time submergence difficultly.

In deep sea exploration, a large amount of energy and time are needed for floating and submerging the AUV each time, so that the operation time is shortened, and meanwhile, the operation is interrupted. AUV task loads lacking flexibility are difficult to adapt to increasingly rapid and efficient diversified deep sea exploration tasks.

Disclosure of Invention

Aiming at the defects in the underwater detection practice, the invention provides the standard load cabin underwater replacing device for the modular underwater intelligent equipment platform, which can realize continuous uninterrupted operation of the modular underwater intelligent equipment platform, increase the endurance time and reduce the use cost. Meanwhile, the rotation of the functional modules can be realized, the functional diversity of the modularized underwater intelligent equipment platform is increased, and the use flexibility is improved.

The technical scheme of the invention is as follows:

the standard load cabin underwater replacing device for the modular underwater intelligent equipment platform comprises a standard load cabin, a modular underwater intelligent equipment platform shell and a mechanical arm module; the standard load cabin is fixed inside the modular underwater intelligent equipment platform through the locking mechanism, and when replacement operation is executed, the mechanical arm grabs the standard load cabin to be replaced and places the standard load cabin at a corresponding position.

As a further improvement of the above technical solution:

the modularized underwater intelligent equipment platform shell comprises a photoelectric interface, a limit switch interface, a shell locking mechanism and a wireless communication module.

As a further improvement of the above technical solution:

the mechanical arm module comprises a mechanical arm and a grabbing module, and the grabbing module of the mechanical arm carries a sensing module and a communication module.

As a further improvement of the above technical solution:

the standard load cabin comprises a photoelectric interface, a limit switch, a task load of a load cabin and mechanical arm connecting mechanism and a locking module.

The invention has the following beneficial effects:

the invention realizes the replacement of the modular underwater intelligent equipment platform in the standard load cabin of the underwater environment. For the modularized underwater intelligent equipment platform carrying different functional modules, the current situation that one functional module needs to be floated up for replacement and maintenance when the functional module has a problem is avoided, and the underwater operation capability of the modularized underwater intelligent equipment platform is improved.

The standard load cabin is replaced, the battery component and the data component are replaced, the underwater cruising ability of the modular underwater intelligent equipment platform can be greatly improved, and the continuous uninterrupted execution of specific tasks of the modular underwater intelligent equipment platform can be realized.

The invention realizes the replacement of the standard load cabin of the underwater environment, enables a plurality of modularized underwater intelligent equipment platforms to share the redundancy module, and realizes the alternation of the functional modules of the modularized underwater intelligent equipment platforms, thereby reducing the load of the modularized underwater intelligent equipment platforms and improving the cruising ability. The seabed detection is multidimensional, different task modules play a role in different specific tasks, and the detection of the same sea area can be carried by multiple platforms to alternately carry different combined task modules for measurement. Under the condition of long endurance, the load of each operation is guaranteed to be the effective load as much as possible.

Drawings

FIG. 1 is a schematic view of a robotic arm gripping a standard load chamber;

FIG. 2 is a front cut-away view of a standard load capsule assembled in a modular subsea intelligent equipment platform;

FIG. 3 is a side cutaway view of a standard load pod assembled in a modular subsea intelligent equipment platform;

wherein: 1. a standard load compartment; 101. an opto-electrical interface; 102. a limit switch; 103. a locking module; 104. the load cabin is connected with the mechanical arm; 105. task load;

2. a modular underwater intelligent equipment platform housing; 201. a housing locking mechanism; 202. an opto-electrical interface; 203 limit switch interface;

3. a robotic arm module; 301. a mechanical arm grabbing module; 302. a robotic arm.

Detailed Description

The invention provides an underwater replacing device for a standard load cabin of a modular underwater intelligent equipment platform, which can realize continuous uninterrupted operation of the modular underwater intelligent equipment platform, increase the endurance time and reduce the use cost. Meanwhile, the rotation of the functional modules can be realized, the functional diversity of the modularized underwater intelligent equipment platform is increased, and the use flexibility is improved.

The following description of the embodiments of the present invention is provided with reference to the accompanying drawings:

a standard load cabin is change device under water for modularization intelligence equipment platform under water, including standard load cabin 1, modularization intelligence equipment platform casing 2 under water, arm module 3. The specific structure of the standard load cabin 1 and the assembly relationship between the standard load cabin and the modular underwater intelligent equipment platform are shown in fig. 2 and 3.

When a command of replacing the standard load cabin sent by the control center is received, the two modularized underwater intelligent equipment platforms are close to each other.

When specifically carrying out the change operation, at first modularization intelligence equipment platform under water opens the protecting cover, in order to keep the relatively fixed between two platforms, one of them platform calls the arm and snatchs another platform of fixed, realizes relatively fixed between two platforms.

As shown in fig. 1, the mechanical arm 3 on the modular underwater intelligent equipment platform is paired with the standard load cabin to be replaced through the communication module, the standard load cabin 1 to be replaced is determined and grabbed, and then the

locking modules

103 and 201 of the standard load cabin 1 to be replaced are turned off to release the standard load cabin. And placing the standard load cabin 1 to be replaced in a temporary locking mechanism of the modularized underwater intelligent equipment shell to realize temporary locking of the standard load cabin.

The robot arm gripping module 301 is used to grip the standard load compartment to be replaced by gripping the load compartment and the engaging mechanism 104 of the robot arm and place it in a position in front of the standard load compartment to be replaced. After the alignment condition is determined through the

limit switches

102 and 203, the replaced standard load cabin is locked, and the

photoelectric interfaces

101 and 202 between the standard load cabin and the modular underwater intelligent equipment shell are connected.

The standard load compartment is placed in the same way in the position vacated by another standard load compartment.

And retracting the mechanical arm, closing a protective cover on the modular underwater intelligent equipment platform, disconnecting the wireless communication, and separating the two modular underwater intelligent equipment platforms to carry out respective tasks.

The foregoing description is illustrative of the present invention and is not to be construed as limiting thereof, except as set forth in the following claims. It will be apparent to those skilled in the art that various changes and modifications can be made in the above embodiments without departing from the scope of the invention, and it is intended to cover all such modifications, equivalents and modifications as fall within the true spirit of the invention.

Claims

1. The underwater standard load cabin replacement device for the modular underwater intelligent equipment platform is characterized by comprising a standard load cabin, a modular underwater intelligent equipment platform shell and a mechanical arm module; the standard load cabin is fixed inside the modular underwater intelligent equipment platform through a locking mechanism, and when replacement operation is executed, the mechanical arm grabs the standard load cabin to be replaced and places the standard load cabin at a corresponding position;

the modularized underwater intelligent equipment platform shell comprises a photoelectric interface, a limit switch interface, a shell locking mechanism and a wireless communication module;

the mechanical arm module comprises a mechanical arm and a grabbing module, and the grabbing module of the mechanical arm carries a sensing module and a communication module;

2. The underwater standard load capsule replacing device for the modular underwater intelligent equipment platform as recited in claim 1, wherein the photoelectric interfaces of the standard load capsule are distributed on the side surface and the bottom surface, and can respectively realize the communication between the standard load capsule and the modular underwater intelligent equipment platform as well as the adjacent standard load capsule.

3. The underwater modular payload bay replacement device of claim 1, wherein the surface of the payload bay has a communication module to assist the robotic arm in locating the work position more quickly.

4. The modular underwater intelligent equipment platform standard load capsule underwater replacement device of claim 1, wherein the modular underwater intelligent equipment platform housing has a temporary locking mechanism for temporary placement of the standard load capsule.

5. The modular underwater intelligent equipment platform standard load capsule underwater exchange device of claim 1, wherein the modular underwater intelligent equipment platform housing has a communication module capable of assisting in positioning the mission load by the robotic arm.

6. The underwater standard load chamber replacement device for the modular underwater intelligent equipment platform as recited in claim 1, wherein the robot arm module is additionally provided with a sensing and communication module, and positioning and grasping of the replacement module are realized through sensing and communication.