The invention relates to an underwater AUV tool replacement assembly, an underwater AUV tool replacement device and a replacement control method. The device comprises a positioning and guiding unit, a locking and positioning unit, a rotary tool library unit and a tool storing and taking unit. A deformable guide cover in the positioning guide unit can be controlled by a hydraulic system, and the shape of the deformable guide cover is adjusted according to the numerical value of a pressure sensor on the AUV; according to the locking and positioning unit, a worm is driven by a second motor to drive a locking inner disc to rotate, so that a locking sliding block slides in the direction of a guide rail, the AUV is locked or loosened, a gear on a positioning frame is driven by a first motor to drive the whole locking disc to rotate in the circumferential direction, and circumferential position adjustment of the AUV in the locked state is achieved; the rotary tool magazine unit is used for achieving butt joint of the tool magazine end and the AUV end, and replacement of different tools is achieved. By means of the technical scheme, accurate butt joint and locking of the AUV and the tool replacing device can be guaranteed, and the tool replacing efficiency of the AUV in the deep sea is improved.
本公开涉及一种水下AUV工具更换组件、装置及控制更换的方法。所述装置包括定位导向单元、锁紧定位单元、旋转工具库单元以及工具存取单元;定位导向单元中的可变形导向罩能够被液压系统控制,根据AUV上的压力传感器数值来调节可变形导向罩的形状;锁紧定位单元,通过第二电机驱动蜗杆带动锁紧内盘转动,使锁紧滑块沿导轨方向滑动,实现对AUV的锁紧或松开,通过第一电机驱动定位架上的齿轮带动整个锁紧盘的周向转动,实现对锁紧状态下的AUV进行周向位置调整;旋转工具库单元用于实现工具库端与AUV端的对接,实现不同工具的更换。利用本公开给出的技术方案能够确保AUV与工具更换装置的精准对接和锁紧,提高了AUV在深海更换工具的效率。
Underwater AUV tool replacement assembly and device and method for controlling replacement
水下AUV工具更换组件、装置及控制更换的方法
2023-12-05
Patent
Elektronische Ressource
Chinesisch
IPC: | B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen |
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