Launching and recovering device for multi-joint submersible vehicle

Abstract

The invention relates to a launching and retrieving device for a multi-joint submersible vehicle. The device comprises a foundation bearing structure, two folding door structures, a door opening mechanism and an electrical transmission system, each folding door structure is divided into a top door and a tail door, and the two doors are connected through a heavy elastic hinge; the two top doors are connected with the foundation bearing structure through the heavy hinges, and each top door is provided with a guide rail and a sliding block, and connected with the door opening mechanism; the door opening mechanism comprises a rotating disc, a pull rod A, a push rod A, a pull rod B and a push rod B, the rotating disc is connected between the electric transmission system and the foundation bearing structure through an output shaft, the pull rod A and the push rod A and the pull rod B and the push rod B are symmetrically connected to the two sides of the rotating disc, and the pull rod A and the pull rod B are connected to the rotating disc through pin shafts and can rotate around the pin shafts on the rotating disc.

Description

technical field [0001] The invention relates to the technical field of deep-sea underwater vehicles (also known as underwater vehicles), in particular to a deployment and recovery device for autonomous underwater vehicles. Background technique [0002] Marine scientific research and resource exploration have become one of the basic strategies of major countries in the world. With the deepening of the exploration and research process, people's focus has gradually shifted from the offshore to the deep sea. For this reason, scientific research institutions and companies in related fields have launched various remotely operated unmanned submersibles (ROVs), autonomous Equipment such as underwater vehicles (AUV) and buoys and related supporting facilities. The deployment and recovery plan is the key to the normal operation of underwater submersibles such as ROVs and AUVs. For detection equipment such as large ROVs and AUVs, the deployment and recovery operations are generally ca...

AI Technical Summary

Problems solved by technology

[0005] (1) There are many automatic recovery devices or schemes for underwater submersibles such as small AUVs, but for the deployment and recovery devices or schemes of large underwater submersibles, there is generally a lack of automation functions, and the deployment and recovery methods are more complicated ;

[0006] (2) For the deployment and recovery of large underwater submersibles, hoisting methods (setting lifting points on the submersible) or tools such as cages and net bags are generally used. Personnel assistance is generally required during the deployment and recovery stage, and the operation method is complex and has certain limitations. risk;

[0007] (3) The traditional cage recovery method requires the underwater submersible to have the function of autonomous docking, or the auxiliary personnel control the underwater submersible into the cage through remote operation on the mother ship. The entire recovery process is cumbersome and has the risk of failure;

[0008] (4) The existing cage recovery, net bag recovery and hoisting recovery methods all require the submersible to move to the designated position autonomously, and keep the relative position of the recovery device and the mother ship unchanged. During this operation, only the submersible has the maneuverability. The release and recovery device does not have the ability to maneuver;

[0009] (5) The clamping mechanism of the traditional deployment device or other mechanisms that require action mostly use equipment such as oil cylinders, and the layout of the oil circuit is complicated. At the same time, it needs supporting equipment such as hydraulic stations, and it is difficult to switch to the manual state for debugging.

[0010] At present, there are few deployment and recovery schemes for large underwater submersibles. The existing schemes do not have automatic functions, and the recovery method is relatively difficult and the process is cumbersome.

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