Submersible vehicle laying and recovering device with variable structure and laying and recovering method thereof

Abstract

The invention relates to a submersible vehicle laying and recovering device with a variable structure. The device comprises an electrical control system and a laying and recovering mechanism system; the electrical control system comprises a main control module, three electrical driving modules connected with the main control module, a communication module and a power supply management module; and the laying and recovering mechanism system comprises a device moving mechanism, a support mechanism and a submersible vehicle bearing mechanism. The support mechanism comprises two sets of telescopic door-shaped supports which are arranged side by side, each set of telescopic door-shaped support comprises fixing supports located at the two sides and a telescopic mechanism erected on the fixing supports at the two sides, and the telescopic mechanisms can change the width of the door-shaped supports under driving of a first electric driving module. The submersible vehicle bearing mechanism comprises an electric capstan, a twisted rope and a bearing net, a plurality of lifting ropes are connected to the two sides of the bearing net respectively, and the lifting ropes on the two sides are connected to the two top cross beams through lifting rings and the electric capstan respectively. The invention further provides a laying method and a recovery method of the submersible vehicle.

Description

technical field [0001] The invention relates to the field of deployment and recovery of underwater vehicles, in particular to a recovery and deployment device suitable for torpedo-shaped submersibles. Background technique [0002] The submersible can operate in the deep sea for a long time and long distance, and its main tasks mainly include seabed exploration, seabed monitoring, and underwater tasks. Retrieval and deployment are important links in the operation process of submersibles, which involve the availability and applicability of underwater unmanned submersibles. Usually, the deployment and recovery of the submersible is directly hoisted by the crane or A-frame of the mother ship. Since submersibles usually operate in the open sea, the sea conditions in the open sea are relatively complicated and the wind and waves are relatively large. The submersible swings violently with the waves on the water surface, making the recovery process difficult and inefficient. The s...

AI Technical Summary

Problems solved by technology

Existing patents such as "A Structure-Adjustable Submersible Suspension Point Externally Mounted Recovery Device and Method" (Patent No.: CN106744258A) adopt a cage-type recovery device, which has a fixed structure and lacks a motion adjustment mechanism. If the submersible The irregular movement of the submersible due to the influence of wind and waves is easy to collide with the recovery device, which will cause damage to the sensors on the surface of the multi-joint submersible and damage the submersible.

For example, the patent of "a submersible retractable device" (patent number: CN110001895B) is composed of three groups of grasping arms, which can satisfy the deployment and recovery of submersibles in still water, but in complex sea conditions, the operation is difficult and it is not easy to guarantee the submersible. Safe and efficient recovery deployment

For example, "A Manufacturing Method for Retractable Device of Underwater Glider and Unmanned Submersible Vehicle" (Patent No.: CN109050839A) uses an inclined track to retract and deploy the submersible, which can reduce the impact of wind and waves during the deployment of the submersible. However, due to the lack of flexibility in the orbital angle and structure, it is difficult to recover the submersible

[0004] Most submersibles have a rigid structure, and they can move forward and backward through the propeller at the tail, and cannot move laterally

Therefore, when recovering, it is difficult to drive into the mechanism quickly and accurately

If manual assisted recycling is used, there will be a greater potential safety hazard for personnel

Especially when the sea is rough and the waves are strong, the recycling process is difficult and time-consuming

It can be seen that most of the existing deployment devices cannot meet the needs of submersible retraction and deployment under complex sea conditions, and cannot avoid collisions and violent swings during the retraction and deployment process, and it is difficult to ensure the efficiency and safety of retraction and deployment. Therefore, more Advanced and reliable retractable device and control method

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