The invention relates to a floating ball pull-type seabed multi-AUV (Autonomous Underwater Vehicle) docking device based on a horizontal turntable, and belongs to the field of underwater operation robot equipment. Comprising a first butt joint end and a second butt joint end mounted on the AUV; the first butt joint end comprises a supporting module, a butt joint platform module and a floating ball collecting and releasing module with a mooring rope. When the AUV carrying the second butt joint end needs to be in butt joint, the floating ball winding and unwinding module with the cable releases the floating ball with the cable, after the second butt joint end on the AUV grabs the cable, the floating ball winding and unwinding module with the cable slowly retracts the floating ball, the floating ball pulls the AUV to move downwards, and meanwhile the supporting module rotates the butt joint platform module to the position where the AUV is about to fall down. When the AUV falls on the docking platform module, the docking platform module grabs the AUV and carries out charging and information exchange, and meanwhile, the floating ball retracting and releasing module with the cable completes retracting of a floating ball. According to the invention, butt joint transfer of multiple AUVs is realized, horizontal turntable transfer and floating ball traction butt joint are combined, the AUV butt joint success rate is improved, and the problem of delivery of multiple AUVs from a warehouse is solved.

    本发明涉及一种基于水平转盘的浮球牵引式海底多AUV对接装置,属于水下作业机器人装备领域。包括第一对接端和安装在AUV上的第二对接端;所述第一对接端包括支撑模块、对接平台模块、带缆绳的浮球收放模块;搭载有第二对接端的AUV需要对接时,带缆绳的浮球收放模块放出带缆绳的浮球,AUV上的第二对接端抓取缆绳后,带缆绳的浮球收放模块缓慢收回浮球,浮球牵引AUV向下移动,同时支撑模块将对接平台模块旋转到AUV即将下落的位置上,当AUV落在对接平台模块时,对接平台模块抓取AUV并进行充电和信息交换,同时带缆绳的浮球收放模块完成浮球的收回。该发明实现多台AUV对接转运,将水平转盘转运与浮球牵引对接相结合,提高了AUV对接成功率,解决了多台AUV出仓问题。


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    Title :

    Floating ball pull-type seabed multi-AUV (Autonomous Underwater Vehicle) docking device based on horizontal turntable


    Additional title:

    一种基于水平转盘的浮球牵引式海底多AUV对接装置


    Contributors:
    LIU XING (author) / WANG TONG (author) / GENG BO (author) / LU QIXING (author) / YAO FENG (author) / WANG YUJIA (author) / LEE KIL-DO (author) / YAN YINGQI (author) / ZHAO ZHOUCHEN (author)

    Publication date :

    2024-11-29


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen



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