Safe and efficient arrangement and take-back method and device for underwater vehicle

A recovery device and recovery method technology, applied to underwater ships, underwater operation equipment, transportation and packaging, etc., can solve problems such as low success rate at one time, uncontrollable movement, collision between submersible and mother ship, etc., and achieve deployment and recovery Personnel safety, improved efficiency and success rate, good motion control effect

Active Publication Date: 2019-05-21
JIANGSU UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

As for the underwater and underwater recovery submersible scene, since most of the submersibles are under-actuated, and their motion is uncontrollable due to the wind and surge, the difficulty of capturing and docking is more difficult than that of spacecraft docking, and the first-time success rate is less than Low, and, once the capture fails, the submersible and the mother ship may collide
Chinese Patent Publication No.: CN104890835B mentions "inflatable anti-collision airbag" in the specific implementation method, but only "in order to prevent the submersible from colliding with the recovery system, inflatable anti-collision airbags are installed on the left and right sides of the bell mouth," not to protect the submersible; And it is a pity that the inventor of this invention did not creatively use the inflatable anti-collision airbag to prevent the submersible from colliding with the mother ship. According to the device disclosed in this invention, the success rate of one-time capture will not be 100%, and there must be submersibles. The possibility of collision with the mother ship, so the invention is not practical
Judging from the public technical schemes of using robots instead of humans to carry out underwater submersible recovery operations, they all tend to passively prevent the submersible from colliding with the mother ship. To truly achieve this effect, a feasible solution is to hoist the submersible When adding a robot to simulate the scene of manually pulling it away from the mother ship, but the robot cannot have the sensitivity and reliability of a human to deal with emergencies, so it is necessary to consider a proactive protection scheme for the submersible

Method used

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  • Safe and efficient arrangement and take-back method and device for underwater vehicle
  • Safe and efficient arrangement and take-back method and device for underwater vehicle
  • Safe and efficient arrangement and take-back method and device for underwater vehicle

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0040] Such as figure 1 As shown, a device for laying and recovering underwater submersibles on water in this embodiment includes a mother ship 1, a hook robot 2, a capturing robot 3, a console 4, a hoist 5, and a retractable cable machine 6, wherein the console 4, Both the crane 5 and the cable take-up and unwinder 6 are arranged on the mother ship. The mother ship 1 is covered with a protective airbag cushion 8 to protect the underwater submersible and the mother ship. There will be no adverse consequences even if the two collide. The retractable cable machine 6 is connected to the capture robot 3 through the umbilical cable 7 to capture the robot 3 The hook robot 2 is electrically connected to the console 4, and the console 4 controls its work. Among them, the capturing method of the robot can be electromagnetic chuck, vacuum chuck, and external components of the underwater submersible.

[0041] In this embodiment, a method for deploying an underwater vehicle based on the abo...

Embodiment 2

[0045] Such as figure 2 , 3 As shown, a device for deploying and recovering underwater submersibles on water in this embodiment includes a mother ship 1, a console, a crane 5, a recovery device 9 and a lifting protection cabin 10. The recovery device 9 is used to capture the underwater submersible 17, and the console is placed in the mother ship, which can be placed in any suitable compartment of the mother ship. Such as image 3 As shown, the hoisting protection cabin 10 of this embodiment includes a circular tube with an inner diameter larger than the outer diameter of the recovery device 9, a cable retractor 6 located in the circular tube, a protection cabin water depth gauge, and a protection cabin controller. A hoisting umbilical cable 11 is connected between the hoisting protective cabin 10 and the mother ship 1. The hoisting umbilical cable 11 is electrically and optically connected to the umbilical cable 7, the protective cabin controller and the console, and is connect...

Embodiment 3

[0053] For the application of the present invention in underwater concealed deployment and recovery scenarios, the mother ship adopts the known underwater deployment non-wire-controlled torpedo method to deploy the underwater submersible, and when the underwater submersible is recovered, the mother ship adopts the well-known underwater deployment wire-controlled torpedo To deploy the recovery device of the second embodiment of the present invention, it is only necessary to place a commercial cable retractor in the underwater deployment tube.

[0054] Placement of recovery device:

[0055] Before the recovery device is placed underwater, it is inflated through the recovery device's inflation nozzle. The mother ship console will test the recovery device including the gas pressure stored in the recovery cylinder. At this time, the recovery device’s rope airbag roll is in an inflated state. The spring in the rope tube is in a compressed state, and the recovery device is deployed in a w...

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PUM

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Abstract

The invention discloses a safe and efficient arrangement and take-back method and device for an underwater vehicle. A technical scheme of active protection is adopted, and in this way, when the underwater vehicle is arranged and taken back, negative effects will not be generated even under the condition that the underwater vehicle collides with a ship; cable control and a take-back device with a rope catching mechanism are adopted, so that the efficiency of arranging and taking back the underwater vehicle is improved greatly, and the success rate of arranging and taking back the underwater vehicle is increased greatly; in order to realize the aim of avoiding negative effects when underwater vehicle and the ship collide, the device mainly adopts an air bag, a rope, a plastic rod and other light materials, and therefore the device is easy and convenient to machine and manufacture, and costs are low. The safe and en efficient arrangement and take-back method and device are suitable for scenes wherein underwater hidden arrangement and take-back are conducted, and only charging and data receiving and transmitting are conducted on the underwater vehicle, can realize that a person can arrange and take back the underwater vehicle on a common ship deck without leaving from a mother ship, and is high in adaptability, and the person for arranging and taking back the underwater vehicle issafe. The safe and efficient arrangement and take-back method and device is feasible, practical, reliable and complete and has broad market application prospects.

Description

Technical field [0001] The invention relates to the field of deployment and recovery of underwater submersibles, in particular to a method and device for deployment and recovery of safe and efficient underwater submersibles. Background technique [0002] With the continuous deepening of the development of marine resources, the use of underwater submersibles to study the ocean is increasing, and the requirements for deployment and recovery of underwater submersibles are also increasing. Because the underwater submersible is far less affected by wind and waves than the surface of the water, its underwater deployment and recovery are widely used. But from the current domestic institutions that are actually engaged in the research and development and production of underwater submersibles: Chinese Patent Publication Nos. CN108216522A, CN104670440A, CN103183113A, CN108688782A, CN106956757A, CN106956760A, CN106314732B, published by the Shenyang Institute of Automation of the Chinese Aca...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B63B17/00B63C11/00B63G8/00
Inventor 彭银仙张永信
Owner JIANGSU UNIV OF SCI & TECH
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