A rapid deployment device for underwater gliders

Abstract

The present invention discloses a rapid underwater glider deployment device. A moon pool is provided in the middle of the aft deck of a catamaran. A deployment chamber is provided on the moon pool at the aft deck of the catamaran. The inner wall of the deployment chamber is provided with several layers of deployment slots. Outer pool supports are provided on both sides of the upper end of each deployment slot, and underwater gliders are placed on the upper ends of the outer pool supports on both sides. A horizontal motion drive device is provided in each deployment slot, and the driving end of each horizontal motion drive device contacts the underwater glider at its upper end. Deployment plates are provided on both sides of the moon pool, and the upper ends of the deployment plates on both sides are connected to the rotary drive assembly provided in the deployment chamber. An installation slot and a slide slot are provided on each deployment plate, and a vertical motion drive device is provided on the top of the installation slot. The driving end of the vertical motion drive device is connected to a slider, and the slider is connected to the support member in the pool. The rapid underwater glider deployment device provided by the present invention realizes the smooth deployment and recovery of multiple layers of underwater gliders.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of underwater gliders, and in particular to a rapid deployment device for underwater gliders. Background Art

[0002] Underwater gliders are a commonly used type of ocean observation and detection equipment. Currently, they are mainly deployed and recovered by cranes on operating vessels. Since the operation process includes multiple steps such as fixing, lifting, swinging outward, lowering, and unhooking, the efficiency is low. In addition, due to the swaying of the hull and the effect of wind during the lifting process, manual assistance such as handheld poles and other tools are often required on site, which poses risks of equipment collision, slipping, and people falling into the water. In addition, since underwater gliders contain external sensors, wings, and tail antennas, they are prone to collision during deployment and require special protection. Therefore, a faster and more convenient deployment solution is needed to meet the needs of rapid deployment in scenarios such as large batches, non-stop ships, and small operating windows.

[0003] The existing patent "A Ship-Based Underwater Glider Deployment and Recovery System and Corresponding Deployment and Recovery Method" (Application No.: 2016107362888) proposes a device and method for deploying and recovering a gliding underwater glider. However, the structure of the device is relatively complex, and the deployment process includes fixing, lowering, and releasing. Although it reduces manpower requirements, the operation process is time-consuming. At the same time, this slide deployment method ensures that the equipment still has a certain initial velocity when entering the water, resulting in a certain degree of collision between the underwater glider and the sea surface when it slides down to the sea surface, and cannot completely avoid the collision force during the deployment of the underwater glider. Summary of the Invention

[0004] Aiming at the technical problems existing in the prior art, the present invention provides.

[0005] In order to solve the above technical problems, the technical solution proposed by the present invention is:

[0006] A rapid underwater glider deployment device comprises a catamaran and a plurality of underwater gliders; a moon pool is provided in the middle of the deck stern of the catamaran, and the width of the moon pool is greater than the wing width of the underwater glider; a deployment chamber is provided on the moon pool at the stern of the catamaran; the inner side wall of the deployment chamber is provided with a plurality of deployment grooves from bottom to top; each deployment groove is provided with external support members on both sides of the upper end, and underwater gliders are matched and placed on the upper ends of the external support members on both sides; a horizontal motion driving device is provided in each deployment groove, and the driving end of each horizontal motion driving device contacts the underwater glider at its upper end; the moon pool is provided with a plurality of support members on both sides of the upper end, and the support members are ... The upper ends of the deployment plates on both sides are connected to the rotating drive components arranged in the deployment room; the interior and inner side walls of each deployment plate are respectively provided with communicating installation grooves and slide grooves, and the top of the installation groove is provided with a vertical motion drive device, and the driving end of the vertical motion drive device is connected to a matching slider passing through the slide groove, and the slider is connected to the support member in the pool; the deployment plates on both sides are initially vertical plates, and the support members outside the pool on the same layer are in contact with the support members inside the pool and are arranged parallel to each other. When the rotating drive component drives the deployment plate to rotate outward until it is in contact with the inner wall of the moon pool, the distance between the two support members in the pool is greater than the width of the underwater glider fuselage.

[0007] Furthermore, the outer pool support member includes an outer pool support plate, an outer pool rigid arc-shaped support portion and an outer pool elastic arc-shaped support portion; the outer pool support plates are respectively provided on both sides of the upper end of each of the deployment grooves, and the top ends of the outer pool support plates are sequentially provided with an outer pool rigid arc-shaped support portion and an outer pool elastic arc-shaped support portion facing outward, and an accommodating space is left between the outer pool elastic arc-shaped support portions on both sides, and the accommodating space is communicated with the interior of the deployment groove; underwater gliders are matched and placed on the upper ends of the outer pool elastic arc-shaped support portions on both sides, and a horizontal motion driving device is provided in each of the deployment grooves, and the driving end of each horizontal motion driving device passes through the accommodating space and contacts the underwater glider at its upper end; the in-pool support member includes an in-pool support plate, The rigid arc-shaped support part and the elastic arc-shaped support part in the pool are connected to the support plate in the pool. The top of the support plate in the pool is provided with the rigid arc-shaped support part and the elastic arc-shaped support part in the pool in sequence outward, and an accommodating space is also left between the elastic arc-shaped support parts in the pool on both sides; the deployment plates on both sides are initially vertical plates, and the support plates in the pool, the rigid arc-shaped support part and the elastic arc-shaped support part in the pool of each layer are respectively in contact with the support plates outside the pool, the rigid arc-shaped support part and the elastic arc-shaped support part outside the pool of the same layer and are arranged parallel to each other. When the rotary drive assembly drives the deployment plate to rotate outward until it is in contact with the inner wall of the moon pool, the distance between the two arc-shaped support parts in the pool is greater than the width of the underwater glider fuselage.

[0008] Furthermore, the horizontal motion drive device includes a first micro motor, a first limit block, a first sliding block, a first screw and a first driving rod; a first micro motor is provided at one end of each of the deployment grooves close to the moon pool, the motor shaft of the first micro motor is connected to the first screw, the motor shaft is penetrated by a first limit block, the first sliding block is threadedly connected to the first screw, the first limit block is fixed on the bottom wall of the deployment groove, the first sliding block is slidably arranged in the sliding groove opened on the first limit block, the upper end of the first sliding block is provided with a first driving rod, the first driving rod passes through the accommodating space and contacts one end face of the tail communication antenna rod of the underwater glider at its upper end; the length of the first screw is greater than the overall length of the underwater glider.

[0009] Furthermore, a limiting rod is provided on the inner bottom wall of each deployment groove, which passes through the accommodating space and is in contact with the other end face of the tail communication antenna rod of the underwater glider, so that the head end of the underwater glider does not extend into the moon pool.

[0010] Furthermore, a first infrared ranging sensor is provided on the bottom wall of the deployment groove at the bottom end, corresponding to the position of the tail communication antenna pole of the underwater glider, and a gap is left between the first infrared ranging sensor and the first limit block; the positions of the bottom plates of the remaining deployment grooves corresponding to the first infrared ranging sensors are all provided with mutually penetrating ranging grooves.

[0011] Furthermore, it also includes a second horizontal motion drive device; the second horizontal motion drive device includes a second micro motor, a second limit block, a second sliding block, a second screw rod and a second drive rod; a second micro motor is provided on the top wall of the deployment chamber, the motor shaft of the second micro motor is connected to the second screw rod, a second limit block is passed through the motor shaft, and a second sliding block is threadedly connected to the second screw rod, the second limit block is fixed on the top wall of the deployment groove, the first sliding block is slidably arranged in the sliding groove opened on the second limit block, the lower end of the second sliding block is embedded with a second drive rod, the second drive rod passes through the accommodating space and is separated from the head end of the underwater glider in the moon pool by a certain distance; the length of the second screw rod is greater than the overall length of the underwater glider.

[0012] Furthermore, the vertical motion drive device includes a third micro motor, a third limit block, a slider and a third screw rod; a third micro motor is provided at the top of each installation slot, the motor shaft of the third micro motor is connected to the third screw rod, a third limit block is passed through the motor shaft, and a third sliding block is threadedly connected to the third screw rod, the third limit block is fixed on the inner wall of the installation slot, one side of the slider is slid in the sliding slot opened on the inner wall of the installation slot, and the other side is matched with the sliding slot, and the inner end of the slider is provided with several layers of in-pool support plates from bottom to top through a connecting plate.

[0013] Furthermore, the rotation drive assembly includes a pin-connecting rod and a fourth micro motor; pin-connecting rods are provided on both sides of the upper end of each of the placement plates, the pin-connecting rods are fixedly connected to the inner wall of the placement chamber, and a pin-connecting shaft is fixed between the pin-connecting rods on both sides and the placement plates, the pin-connecting shaft is connected to the motor shaft of the fourth micro motor, and the fourth micro motor is arranged on the inner wall of the placement chamber; the rotation drive assembly and the second horizontal motion drive device are staggered with each other.

[0014] Furthermore, a vertical slot plate is provided at the stern end of the catamaran corresponding to the lower end of the moon pool, and a second infrared ranging sensor is provided on the end face of the vertical slot plate close to the moon pool; a third infrared ranging sensor is provided on the top wall of the deployment chamber corresponding to the middle position of the fuselage of the underwater glider, and the bottom plates of all deployment slots except the bottommost deployment slot are provided with mutually penetrating sensor slots corresponding to the positions of the third infrared ranging sensor; the third infrared ranging sensor and the second horizontal motion drive device are staggered with each other.

[0015] Furthermore, it also includes a control module, a first timer, a second timer, a third timer and a power supply module; the output ends of the first infrared sensor, the second infrared ranging sensor and the third infrared ranging sensor are electrically connected to the input end of the control module respectively; the input and output ends of the first timer, the second timer and the third timer are connected to the input and output ends of the control module; the output end of the control module is electrically connected to the input ends of the first micromotor, the second micromotor, the third micromotor and the fourth micromotor respectively; the first infrared sensor, the second infrared ranging sensor, the third infrared ranging sensor, the control module, the first timer, the second timer, the third timer, the first micromotor, the second micromotor, the third micromotor and the fourth micromotor are electrically connected to the power supply module respectively.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: (1) a moon pool is innovatively opened in the middle of the deck rear of the catamaran, which has a novel design, simple structure, and is easy and smooth to deploy. Multi-layer underwater gliders can be deployed quickly on the catamaran in large quantities without stopping the ship; (2) the multi-layer underwater gliders are automatically deployed in sequence and in an orderly manner on the catamaran. The entire deployment process does not require manual or tool-assisted adjustment of the position of the underwater glider, and it is deployed steadily in the sea. The underwater gliders contain external sensors, wings and tail antennas that need to be protected to avoid collision during deployment; the multi-layer underwater gliders are also recovered in sequence and in an orderly manner on the catamaran, which is very convenient and smooth to prevent collision force; (3) the structural layout of the deployment room is compact and does not take up space. Even when deploying or recovering multi-layer underwater gliders, its structural layout design will not take up too much space on the catamaran itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall three-dimensional structure of the present invention;

[0018] Figure 2 This is a schematic diagram of the three-dimensional structure of the present invention when the deployment chamber is not installed;

[0019] Figure 3 It is an overall top view of the present invention;

[0020] Figure 4 yes Figure 3 AA section view in the figure;

[0021] Figure 5 yes Figure 4 A magnified view of part A in FIG;

[0022] Figure 6 yes Figure 4 A magnified view of part B in FIG;

[0023] Figure 7 This is a schematic diagram of the three-dimensional structure of the present invention when the placement chamber, the protective hole plate and the protective cover plate are not installed;

[0024] Figure 8 yes Figure 7 Enlarged view of part C in ;

[0025] Figure 9 This is a schematic diagram of the three-dimensional structure of the present invention when the placement chamber, the protective hole plate and the protective cover plate are not installed;

[0026] Figure 10 yes Figure 9 Enlarged view of part D in FIG;

[0027] Figure 11 This is a schematic diagram of the three-dimensional structure of the present invention when the placement chamber and the protective cover are not installed;

[0028] Figure 12 yes Figure 11 Enlarged view of part E in FIG;

[0029] Figure 13 This is a top view of the entire present invention without the placement chamber, protective hole plate, and protective cover plate installed;

[0030] Figure 14 yes Figure 13 BB section view in the figure;

[0031] Figure 15 yes Figure 14 Enlarged view of part F in ;

[0032] Figure 16 yes Figure 13 CC section view in the figure;

[0033] Figure 17 yes Figure 13 DD section view in;

[0034] Figure 18 yes Figure 17 The enlarged view of the G part in the figure;

[0035] Figure 19 It is a schematic diagram of the three-dimensional structure of the underwater glider and the horizontal motion driving device of the present invention;

[0036] Figure 20 It is a schematic diagram of the three-dimensional structure of the underwater glider and the horizontal motion driving device of the present invention;

[0037] Figure 21 It is a schematic diagram of the three-dimensional structure of the placement plate and the vertical motion drive device of the present invention;

[0038] Figure 22 This is a schematic diagram of the structure of the interior of the placement plate and the vertical motion drive device of the present invention;

[0039] Figure 23 It is a flow chart of the control system of the present invention;

[0040] In the figure: 1. catamaran; 2. underwater glider; 3. moon pool; 4. deployment chamber; 5. deployment slot; 6. support plate outside the pool; 7. rigid arc-shaped support part outside the pool; 8. elastic arc-shaped support part outside the pool; 9. accommodating space; 10. first micro motor; 11. first limit block; 12. first sliding block; 13. first screw rod; 14. first driving rod; 15. deployment plate; 16. pin-jointed rod; 17. fourth micro motor; 18. mounting slot; 19. slide slot; 20. third micro motor; 21. third limit block; 22. slider; 23. third screw rod; 24. support plate inside the pool; 25. pool Inner rigid arc-shaped support part; 26, elastic arc-shaped support part in the pool; 27, limit rod; 28, first infrared ranging sensor; 29, ranging slot; 30, second micro motor; 31, second limit block; 32, second sliding block; 33, second driving rod; 34, vertical slot plate; 35, second infrared ranging sensor; 36, third infrared ranging sensor; 37, sensor slot; 38, control module; 39, first timer; 40, power module; 41, second screw rod; 42, connecting plate; 43, protective hole plate; 44, protective cover plate; 45, second timer; 46, third timer. DETAILED DESCRIPTION

[0041] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0042] Example:

[0043] like Figures 1 to 23 As shown, a rapid deployment device for underwater gliders comprises a catamaran 1 and a plurality of underwater gliders 2; a moon pool 3 is provided in the middle of the deck rear of the catamaran 1, and the width of the moon pool 3 is greater than the wing width of the underwater glider 2. Figure 2 and Figure 11-12 As shown, when the underwater glider 2 is not deployed underwater in the ocean, a protective hole plate 43 is provided on the mouth of the moon pool 3 at the outer side of the two deployment plates 15, and a protective cover plate 44 is provided on the hole plate. The protective cover plate 44 is flush with the deck surface of the catamaran 1, and the protective hole plate 43 and the protective cover plate 44 are both threadedly connected to the deck of the catamaran 1; the protection cover plate 44 and the protective hole plate 43 are provided to prevent people on the deck of the catamaran 1 from falling into the sea, so as to ensure the safety of the underwater glider rapid deployment device.

[0044] A moon pool 3 at the rear of the deck of the catamaran 1 is covered with a laying room 4. The laying room 4 is provided with a door for entering and exiting.

[0045] The inner wall of the deployment chamber 4 is provided with several layers of deployment grooves 5 from bottom to top; each deployment groove 5 is provided with outside pool support members on both sides of the upper end; the outside pool support members include outside pool support plates 6, outside pool rigid arc support parts 7 and outside pool elastic arc support parts 8; each deployment groove 5 is provided with outside pool support plates 6 on both sides of the upper end, and the top of the outside pool support plates 6 is provided with outside pool rigid arc support parts 7 and outside pool elastic arc support parts 8 in sequence facing outward, and an accommodating space 9 is left between the outside pool elastic arc support parts 8 on both sides, and the accommodating space 9 is communicated with the inside of the deployment groove 5; the upper ends of the outside pool elastic arc support parts 8 on both sides are matched with underwater gliders 2, and each deployment groove 5 is provided with a horizontal motion drive device, and the driving end of each horizontal motion drive device passes through the accommodating space 9 and contacts the underwater glider 2 at its upper end.

[0046] The horizontal motion drive device includes a first micromotor 10, a first limit block 11, a first sliding block 12, a first screw 13, and a first drive rod 14. A first micromotor 10 is provided at one end of each deployment slot 5 near the moon pool 3. The motor shaft of the first micromotor 10 is connected to the first screw 13. The first limit block 11 is passed through the motor shaft, and the first sliding block 12 is threadedly connected to the first screw 13. The first limit block 11 is fixed to the bottom wall of the deployment slot 5. The first sliding block 12 slides in the sliding groove defined in the first limit block 11. The upper end of the first sliding block 12 is provided with a first drive rod 14. The first drive rod 14 passes through the accommodating space 9 and contacts the end face of the tail communication antenna mast of the underwater glider 2 at its upper end. The length of the first screw 13 is greater than the overall length of the underwater glider 2.

[0047] Placement plates 15 are provided on either side of the moon pool 3. The upper ends of these plates are connected to a rotary drive assembly within the placement chamber 4. The rotary drive assembly comprises a pinning rod 16 and a fourth micromotor 17. Each placement plate 15 is provided with a pinning rod 16 on either side of its upper end, fixedly connected to the inner wall of the placement chamber 4. A pinning shaft is fixedly provided between the pinning rods 16 and the placement plates 15. The pinning shaft is connected to the motor shaft of a fourth micromotor 17, which is located on the inner wall of the placement chamber 4. The rotary drive assembly is staggered with the second horizontal motion drive device.

[0048] The interior and inner wall of each placement plate 15 are respectively provided with interconnected mounting grooves 18 and slide grooves 19. A vertical motion drive device is provided at the top of the mounting groove 18, and the vertical motion drive device includes a third micro motor 20, a third limit block 21, a slider 22 and a third screw rod 23; a third micro motor 20 is provided at the top of each mounting groove 18, and the motor shaft of the third micro motor 20 is connected to the third screw rod 23. A third limit block 21 is passed through the motor shaft, and a third sliding block is threadedly connected to the third screw rod 23. The third limit block 21 is fixed on the inner wall of the mounting groove 18, and one side of the slider 22 is slidably provided in the sliding groove provided on the inner wall of the mounting groove 18, and the other side is matched with the slide groove 19. The inner end of the slider 22 is provided with several layers of in-pool support plates 24 from bottom to top through the connecting plate 42.

[0049] The in-pool support members include an in-pool support plate 24, an in-pool rigid arc-shaped support portion 25 and an in-pool elastic arc-shaped support portion 26. The slider 22 is connected to the in-pool support plate 24. The top of the in-pool support plate 24 is provided with an in-pool rigid arc-shaped support portion 25 and an in-pool elastic arc-shaped support portion 26 in sequence outward, and an accommodating space 9 is also left between the in-pool elastic arc-shaped support portions 26 on both sides; the deployment plates 15 on both sides are initially vertical plates, and the in-pool support plates 24, in-pool rigid arc-shaped support portions 25 and in-pool elastic arc-shaped support portions 26 of each layer are respectively in contact with the out-pool support plates 6, out-pool rigid arc-shaped support portions 7 and out-pool elastic arc-shaped support portions 8 of the same layer and are arranged parallel to each other. When the rotary drive assembly drives the deployment plate 15 to rotate outward until it is in contact with the inner wall of the moon pool 3, the distance between the two in-pool arc-shaped support portions is greater than the width of the fuselage of the underwater glider 2.

[0050] A limiting rod 27 is provided on the inner bottom wall of each deployment slot 5. The limiting rod 27 passes through the accommodating space 9 and is in contact with the other end face of the tail communication antenna rod of the underwater glider 2. The head end of the underwater glider 2 does not extend into the moon pool 3.

[0051] A first infrared ranging sensor 28 is provided on the bottom wall of the lowest placement slot 5 corresponding to the position of the tail communication antenna pole of the underwater glider 2, and a gap is left between the first infrared ranging sensor 28 and the first limit block 11; the positions of the bottom plates of the remaining placement slots 5 corresponding to the first infrared ranging sensors 28 are all provided with mutually penetrating ranging slots 29.

[0052] The second horizontal motion driving device includes a second micro motor 30, a second limit block 31, a second sliding block 32, a second screw rod 41 and a second driving rod 33; a second micro motor 30 is provided on the inner top wall of the deployment chamber 4, and the motor shaft of the second micro motor 30 is connected to the second screw rod 41, the motor shaft is penetrated by a second limit block 31, and the second sliding block 32 is threadedly connected to the second screw rod 41, the second limit block 31 is fixed on the inner top wall of the deployment groove 5, the first sliding block 12 is slidably arranged in the sliding groove opened on the second limit block 31, and the lower end of the second sliding block 32 is embedded with a second driving rod 33, and the second driving rod 33 passes through the accommodating space 9 and is separated from the head end of the underwater glider 2 in the moon pool 3 by a certain distance; the length of the second screw rod 41 is greater than the overall length of the underwater glider 2.

[0053] A vertical slot plate 34 is provided at the tail end of the catamaran 1 corresponding to the lower end of the moon pool 3. A second infrared ranging sensor 35 is provided on the end surface of the vertical slot plate 34 close to the moon pool 3. The second infrared ranging sensor 35 also corresponds to the middle position of the fuselage of the underwater glider 2 when it is descending. A third infrared ranging sensor 36 is provided on the top wall of the deployment room 4 corresponding to the middle position of the fuselage of the underwater glider 2. The bottom plates of all deployment slots 5 except the bottommost deployment slot 5 are provided with mutually penetrating sensor slots 37 corresponding to the positions of the third infrared ranging sensor 36. The third infrared ranging sensor 36 and the second horizontal motion drive device are staggered with each other.

[0054] The output ends of the first infrared sensor, the second infrared ranging sensor 35, and the third infrared ranging sensor 36 are electrically connected to the input ends of the control module 38. The input and output ends of the first timer 39, the second timer 45, and the third timer 46 are electrically connected to the input and output ends of the control module 38. The output end of the control module 38 is electrically connected to the input ends of the first micromotor 10, the second micromotor 30, the third micromotor 20, and the fourth micromotor 17. The first infrared sensor, the second infrared ranging sensor 35, the third infrared ranging sensor 36, the control module 38, the first timer 39, the second timer 45, the third timer 46, the first micromotor 10, the second micromotor 30, the third micromotor 20, and the fourth micromotor 17 are electrically connected to the power module 40. The control module 38 is a controller. The control module 38, the power module 40, and the timers are all fixed to the inner wall of the placement chamber 4. The first infrared sensor, the second infrared ranging sensor 35, the third infrared ranging sensor 36, the control module 38, the power module 40, the first timer 39, the second timer 45, the third timer 46, the first micromotor 10, the second micromotor 30, the third micromotor 20 and the fourth micromotor 17 constitute a control system.

[0055] The working principle of this embodiment is:

[0056] In the normal non-deployed state, the four underwater gliders 2 are placed in parallel on the four layers of deployment slots 5 ( Figure 1-23 In the bottom pool, the underwater glider 2 placed on the elastic arc-shaped support portion 26 is not placed in the normal non-deployed state. Figure 1-23 The underwater glider 2 placed on the elastic arc-shaped support portion 26 in the bottom pool is only for the convenience of illustrating the working process and principle of the underwater glider 2);

[0057] When deployment is required, the protective hole plate 43 and the protective cover plate 44 are removed; the first infrared ranging sensor 28 in the control system is connected to the power supply of the controller. First, the first infrared ranging sensor 28 measures the distance between the first infrared ranging sensor 28 and the lowest tail communication antenna pole, which is the deployment first set distance signal. The first infrared ranging sensor 28 transmits the deployment first set distance signal to the controller, and the controller controls the first micro motor 10 in the lowest deployment slot 5 to start working (the power supply of the first infrared ranging sensor 28 is turned off again), and the controller controls the first timer 39 to start timing; the motor shaft of the first micro motor 10 drives the first screw rod 13 to rotate. When the first screw rod 13 rotates, the first sliding block 12 slides horizontally in a straight line toward the direction close to the moon pool 3. The sliding groove provided on the first limit block 11 serves as a linear trajectory limit for the first sliding block 12. The first sliding block 12 drives the first driving rod 14 and the lowest underwater glider 2 to move horizontally in a straight line toward the direction close to the moon pool 3;

[0058] When the first timer 39 reaches the set time, the first timer 39 transmits the time signal to the controller, and the controller controls the first micro motor 10 to stop working. At this time, the bottom underwater glider 2 slides above the elastic arc-shaped support part 26 in the pool and the bottom underwater glider 2 is completely located in the moon pool 3. The controller controls the third micro motor 20 to start working. The motor shaft of the third micro motor 20 drives the third screw rod 23 to rotate. When the third screw rod 23 rotates, the slider 22 makes a vertical linear motion downward. The slider 22 then drives the connecting plate 42, the support plates 24 in each pool, the rigid arc-shaped support parts 25 in each pool and the elastic arc-shaped support parts in each pool. 26 makes a vertical linear motion downward, and thus the underwater glider 2 on the lowest layer also slides downward under the drive of the slider 22; when the second infrared ranging sensor 35 measures the distance between the second infrared sensor and the tail of the sliding underwater glider 2, this is the first set distance signal of entering the water, and the second infrared ranging sensor 35 transmits the first set distance signal of entering the water to the controller, and the controller controls the third micromotor 20 to stop working. At this time, the bottom surface of the fuselage of the lowest layer underwater glider 2 is in contact with the sea surface or separated by a very small distance, and the controller controls the fourth micromotor 17 to start working, and the controller controls the second timer 45 to start timing.

[0059] The motor shaft of the fourth micro motor 17 drives the pin connecting rod 16 to rotate, and then the pin connecting rod 16 drives the two deployment plates 15 to rotate outward; the second timer 45 starts timing and when the set time is reached, the second timer 45 transmits the time signal to the controller, and the controller controls the fourth micro motor 17 to stop working. At this time, the width between the elastic arc-shaped support parts 26 in the pool on both sides is greater than the width of the fuselage of the underwater glider 2 on the lowest layer. The elastic arc-shaped support parts 26 in the pool on both sides no longer support the underwater glider 2 on the lowest layer, and the underwater glider 2 on the lowest layer falls smoothly into the sea water, realizing the smooth entry and deployment of the underwater glider 2 into the water. The entire process does not require manual or tool-assisted adjustment of the position of the underwater glider 2, nor does it involve risks of equipment collision, slippage, or personnel falling into the water. Most importantly, due to the rapid deployment device for underwater gliders, there is no high-speed falling collision force between the underwater glider 2 and the sea surface as in traditional hoisting and lowering, nor is there the impact collision force between the underwater glider 2 and the sea surface as in the sliding track. This ensures that the underwater glider 2, which includes external sensors, wings, and tail antennas that require special protection, will not collide during deployment. The rapid deployment device for underwater gliders can meet the needs of rapid deployment in large quantities without stopping the ship.

[0060] After the lowest underwater glider 2 completes the smooth deployment work, and so on, when the second, third or fourth underwater glider 2 needs to be deployed, the first infrared ranging sensor 28 is connected to the power supply of the controller, and the first infrared ranging sensor 28 measures the distance between the first infrared ranging sensor 28 and the tail communication antenna pole of the second, third or fourth layer. This is the deployment second set distance signal, the deployment third set distance signal or the deployment fourth set distance signal. The first infrared ranging sensor 28 transmits the deployment second set distance signal, the deployment third set distance signal or the deployment fourth set distance signal to the controller, and the controller The first micro motor 10 in the second, third, or fourth layer of the deployment slot 5 is controlled to start working (the power of the first infrared ranging sensor 28 is then turned off), and the controller controls the first timer 39 to start timing; the motor shaft of the first micro motor 10 drives the first screw rod 13 to rotate. When the first screw rod 13 rotates, the first sliding block 12 slides horizontally and linearly toward the moon pool 3. The sliding groove defined in the first limit block 11 serves as a linear trajectory limit for the first sliding block 12. The first sliding block 12 drives the first driving rod 14 and the underwater glider 2 on the lowest layer to perform horizontal linear motion toward the moon pool 3;

[0061] When the first timer 39 times to the set time, the first timer 39 transmits the time signal to the controller, and the controller controls the first micro motor 10 to stop working. At this time, the second, third or fourth layer underwater glider 2 slides above the elastic arc-shaped support part 26 in the pool and the underwater glider 2 is completely located in the moon pool 3, and the controller controls the third micro motor 20 to start working. The motor shaft of the third micro motor 20 drives the third screw rod 23 to rotate. When the third screw rod 23 rotates, the slider 22 makes a vertical linear motion downward, and the slider 22 drives the connecting plate 42, the support plates 24 in each pool, the rigid arc-shaped support parts 25 in each pool and the elastic arc-shaped support parts 26 in each pool to make a vertical linear motion downward, thereby the second, third or fourth layer underwater glider 2 also Driven by the slider 22, it slides downward; when the second infrared ranging sensor 35 measures the distance between the second infrared sensor and the tail wing of the second, third or fourth underwater glider 2 that slides down, this is the second set distance signal, the third set distance signal or the fourth set distance signal of entering the water, and the second infrared ranging sensor 35 transmits the second set distance signal, the third set distance signal or the fourth set distance signal of entering the water to the controller, and the controller controls the third micro motor 20 to stop working. At this time, the bottom surface of the fuselage of the second, third or fourth underwater glider 2 is in contact with the sea surface or separated by a very small distance, and the controller controls the fourth micro motor 17 to start working, and at the same time, the controller controls the second timer 45 to start timing;

[0062] The motor shaft of the fourth micro motor 17 drives the pin connecting rod 16 to rotate, and then the pin connecting rod 16 drives the two deployment plates 15 to rotate outward; the second timer 45 starts timing and when the time reaches the set time, the second timer 45 transmits the time signal to the controller, and the controller controls the fourth micro motor 17 to stop working. At this time, the width between the elastic arc-shaped support parts 26 in the pool on both sides is greater than the width of the fuselage of the second, third or fourth layer of underwater glider 2. The elastic arc-shaped support parts 26 in the pool on both sides no longer support the underwater glider 2 on the bottom layer. The underwater glider 2 on the bottom layer falls smoothly into the sea water, realizing the smooth entry and deployment of the underwater glider 2 into the water. The whole process of deployment does not require manual or tool-assisted adjustment of the position of the underwater glider 2, and there is no risk of equipment collision, slipping, or people falling into the water. Most importantly, due to the underwater glider rapid deployment device, there is no high-speed falling collision force between the underwater glider 2 and the sea surface caused by traditional hoisting and lowering, and there is no high-speed impact collision force between the underwater glider 2 and the sea surface caused by sliding on the existing sliding track. As a result, the underwater glider 2, which includes external sensors, wings and tail antennas that need to be protected, will not collide during deployment. The underwater glider rapid deployment device can meet the needs of rapid deployment in large quantities and without stopping the ship.

[0063] After the deployment of all layers of underwater gliders 2 is completed, the protective hole plates 43 and the protective cover plates 44 are installed. In other embodiments, the number of layers of underwater gliders 2 is not limited to four.

[0064] When the underwater glider 2 in the sea has completed its work, the ship (according to the sensor) is driven to a position near the top of the underwater glider 2, so that the moon pool 3 corresponds to the water surface position above the underwater glider 2; the protective cover plate 44 is removed while the protective hole plate 43 is retained, and the position of the underwater glider 2 is manually adjusted with the help of tools; the power supply of the fourth micro motor 17 is turned on, and the motor shaft of the fourth micro motor 17 drives the two deployment plates 15 to rotate inward until the two deployment plates 15 are in a vertical state (the inner sides of the two deployment plates 15 are limited by a vertical limit rod, and the vertical limit rod is set on the deck); the underwater glider to be recovered in the sea 2 is also driven by the inward rotation of the elastic arc-shaped support parts 26 on the two placement plates 15, and is placed on the upper ends of the elastic arc-shaped support parts 26 on both sides of the pool. Then, the position of the underwater glider 2 is manually adjusted with the help of tools so that the underwater glider 2 to be recovered is completely located in the moon pool 3; the power supply of the third infrared ranging sensor 36 is turned on, and the third infrared ranging sensor 36 measures the distance between the third infrared ranging sensor 36 and the middle position of the fuselage of the underwater glider 2 below. When the measured distance is the distance between the third infrared ranging sensor 36 and the bottom end of the lowest placement slot 5, this is the first set distance signal for recovery, and the third set distance signal is used for recovery. The three infrared ranging sensors 36 transmit the recovered first set distance signal to the controller, and the controller controls the third micro motor 20 and the second micro motor 30 to start working (the power of the third infrared ranging sensor 36 is turned off again), and the controller controls the third timer 46 to start timing; the motor shaft of the third micro motor 20 rotates, and the third screw rod 23 rotates to drive the slider 22, the connecting plate 42, the support plate 24 in the pool, the rigid arc support part 25 in the pool and the elastic arc support part 26 in the pool to move upward until the elastic arc support part 26 in the pool supporting the underwater glider 2 is aligned with the elastic arc support part outside the bottom layer of the pool. The supporting parts 8 are parallel and in contact with each other, and the third micromotor 20 stops moving; the motor shaft of the second micromotor 30 drives the second screw rod 41 to rotate. When the second screw rod 41 rotates, the second sliding block 32 slides horizontally and linearly in a direction away from the moon pool 3. The sliding groove provided on the second limiting block 31 limits the linear trajectory of the second sliding block 32. When the third micromotor 20 stops moving, the second driving rod 33 moves horizontally until it contacts the head end of the underwater glider 2. The second sliding block 32 drives the second driving rod 33 and the bottommost underwater glider 2 to move horizontally and linearly in a direction away from and close to the moon pool 3.

[0065] When the third timer 46 reaches the set time, the third timer 46 transmits the time signal to the controller, and the controller controls the second micro motor 30 to stop working. At this time, the bottom underwater glider 2 slides above the elastic arc-shaped support part 8 outside the pool, and the tail end of the bottom underwater glider 2 contacts the limit rod 27; thereby, the recovery process of the underwater glider 2 is realized. The recovery process does not require the underwater glider 2 to be hoisted onto the ship, so there is no risk of equipment collision, slipping, or people falling into the water. The underwater glider 2, including external sensors, wings and tail antennas that need to be protected, will not collide during recovery.

[0066] After the lowest underwater glider 2 completes the smooth recovery work, and so on, when the third infrared ranging sensor 36 measures the distance between the third infrared ranging sensor 36 and the middle position of the fuselage of the lowest underwater glider 2 or the middle position of the fuselage of the second underwater glider 2 or the middle position of the fuselage of the third underwater glider 2, this is the recovery of the second set distance signal or the recovery of the third set distance signal or the recovery of the fourth set distance signal, the third infrared ranging sensor 36 will recover the second set distance signal or the recovery of the third set distance signal or the recovery of the fourth set distance signal to the controller, the controller controls the third micro motor 20 and the second micro motor 30 to start working (the power supply of the third infrared ranging sensor 36 is turned off again), and the controller controls the third timer 46 to start timing; the motor shaft of the third micro motor 20 rotates, and the third screw rod 23 rotates to drive the slider 22, the connecting plate 42, and the support in the pool The support plate 24, the rigid arc-shaped support part 25 in the pool and the elastic arc-shaped support part 26 in the pool move upward until the elastic arc-shaped support part 26 in the pool supporting the underwater glider 2 is parallel to and contacts the second layer of elastic arc-shaped support part 8 outside the pool or the third layer of elastic arc-shaped support part 8 outside the pool or the fourth layer of elastic arc-shaped support part 8 outside the pool, and the third micro motor 20 stops moving; the motor shaft of the second micro motor 30 drives the second screw rod 41 to rotate, and when the second screw rod 41 rotates, the second sliding block 32 slides horizontally in a straight line in the direction away from the moon pool 3, and the sliding groove provided on the second limit block 31 serves as a linear trajectory limit for the second sliding block 32. When the third micro motor 20 stops moving, the second driving rod 33 moves horizontally until it contacts the head end of the underwater glider 2, and the second sliding block 32 drives the second driving rod 33 and the underwater glider 2 on the lowermost layer to move horizontally in a straight line in the direction away from the moon pool 3;

[0067] When the third timer 46 times to the set time, the third timer 46 transmits the time signal to the controller, and the controller controls the second micro motor 30 to stop working. At this time, the second-layer underwater glider 2 or the third-layer underwater glider 2 or the fourth-layer underwater glider 2 slides above the elastic arc-shaped support part 8 outside the pool and the tail end of the second-layer underwater glider 2 or the third-layer underwater glider 2 or the fourth-layer underwater glider 2 contacts the limit rod 27; thereby realizing the recovery process of the second-layer underwater glider 2 or the third-layer underwater glider 2 or the fourth-layer underwater glider 2; the recovery process does not require the underwater glider 2 to be hoisted onto the ship, so there is no risk of equipment collision, slipping, people falling into the water, etc., so that the underwater glider 2 including external sensors, wings and tail antennas that need to be protected will not collide during recovery.

[0068] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the principles of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, various improvements and modifications that do not depart from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A rapid deployment device for underwater gliders, characterized by: The invention comprises a catamaran (1) and a plurality of underwater gliders (2); a moon pool (3) is provided in the middle of the deck tail of the catamaran (1), and the width of the moon pool (3) is greater than the wing width of the underwater glider (2); a deployment chamber (4) is provided on the moon pool (3) at the deck tail of the catamaran (1); the inner side wall of the deployment chamber (4) is provided with a plurality of layers of deployment grooves (5) from bottom to top; each deployment groove (5) is provided with external support members on both sides of the upper end, and the upper ends of the external support members on both sides are matched with underwater gliders (2); a horizontal motion driving device is provided in each deployment groove (5), and the driving end of each horizontal motion driving device is in contact with the underwater glider (2) at its upper end; deployment plates (15) are provided on both sides of the moon pool (3), and the two sides are provided with the external support members. The upper end of the side deployment plate (15) is connected to the rotary drive assembly provided in the deployment chamber (4); the interior and inner side wall of each deployment plate (15) are respectively provided with a communicating installation groove (18) and a slide groove (19); the top of the installation groove (18) is provided with a vertical motion drive device, the driving end of the vertical motion drive device is connected to a matching slider (22) passing through the slide groove (19), and the slider (22) is connected to the support member in the pool; the deployment plates (15) on both sides are initially vertical plates, and the support members outside the pool and the support members inside the pool on the same layer are in contact and arranged parallel to each other. When the rotary drive assembly drives the deployment plate (15) to rotate outward until it is in contact with the inner wall of the moon pool (3), the distance between the two support members in the pool is greater than the width of the fuselage of the underwater glider (2).

2. The underwater glider rapid deployment device according to claim 1, characterized in that: The outer pool support member comprises an outer pool support plate (6), an outer pool rigid arc support portion (7) and an outer pool elastic arc support portion (8); the outer pool support plate (6) is provided on both sides of the upper end of each of the deployment grooves (5), and the top end of the outer pool support plate (6) is provided with an outer pool rigid arc support portion (7) and an outer pool elastic arc support portion (8) in sequence facing outwards, and an accommodating space (9) is left between the outer pool elastic arc support portions (8) on both sides, and the accommodating space (9) is communicated with the interior of the deployment groove (5); the upper ends of the outer pool elastic arc support portions (8) on both sides are matched with underwater gliders (2), and a horizontal motion driving device is provided in each of the deployment grooves (5), and the driving end of each horizontal motion driving device passes through the accommodating space (9) and contacts the underwater glider (2) at its upper end; the inner pool support member comprises an inner pool support plate (24), an inner pool rigid arc support portion ( 25) and an elastic arc-shaped support portion (26) in the pool, the slider (22) is connected to the support plate (24) in the pool, the top of the support plate (24) in the pool is provided with an inner rigid arc-shaped support portion (25) and an inner elastic arc-shaped support portion (26) in the pool in sequence, and an accommodation space (9) is also left between the inner elastic arc-shaped support portions (26) on both sides; the deployment plates (15) on both sides are initially vertical plates, the inner support plate (24) in the pool, the rigid arc-shaped support portion (25) in the pool, and the inner elastic arc-shaped support portion (26) in the pool of each layer are respectively in contact with the outer support plate (6) in the pool, the outer rigid arc-shaped support portion (7), and the outer elastic arc-shaped support portion (8) in the pool of the same layer and are arranged parallel to each other, and when the rotation drive assembly drives the deployment plate (15) to rotate outward until it is in contact with the inner wall of the moon pool (3), the distance between the two inner arc-shaped support portions is greater than the width of the fuselage of the underwater glider (2).

3. The underwater glider rapid deployment device according to claim 2, characterized in that: The horizontal motion driving device comprises a first micro motor (10), a first limit block (11), a first sliding block (12), a first screw rod (13) and a first driving rod (14); a first micro motor (10) is provided at one end of each of the deployment grooves (5) close to the moon pool (3); a motor shaft of the first micro motor (10) is connected to the first screw rod (13); a first limit block (11) is passed through the motor shaft; a first sliding block (12) is threadedly connected to the first screw rod (13); the first limit block (11) is fixed on the inner bottom wall of the deployment groove (5); the first sliding block (12) is slidably provided in the sliding groove provided on the first limit block (11); a first driving rod (14) is provided at the upper end of the first sliding block (12); the first driving rod (14) passes through the accommodating space (9) and contacts the end face of the tail communication antenna rod of the underwater glider (2) at its upper end; the length of the first screw rod (13) is greater than the overall length of the underwater glider (2).

4. The underwater glider rapid deployment device according to claim 3, characterized in that: A limiting rod (27) is provided on the inner bottom wall of each of the deployment grooves (5). The limiting rod (27) passes through the accommodating space (9) and is in contact with the other end face of the tail communication antenna rod of the underwater glider (2). The head end of the underwater glider (2) does not extend into the moon pool (3).

5. The underwater glider rapid deployment device according to claim 4, characterized in that: A first infrared ranging sensor (28) is provided on the bottom wall of the bottommost deployment slot (5) at a position corresponding to the tail communication antenna pole of the underwater glider (2), and a gap is left between the first infrared ranging sensor (28) and the first limit block (11); and mutually interpenetrating ranging slots (29) are provided at positions corresponding to the first infrared ranging sensor (28) on the bottom plates of the remaining deployment slots (5).

6. The underwater glider rapid deployment device according to claim 5, characterized in that: The invention also includes a second horizontal motion driving device; the second horizontal motion driving device includes a second micro motor (30), a second limit block (31), a second sliding block (32), a second screw and a second driving rod (33); a second micro motor (30) is provided on the top wall of the deployment chamber (4); a motor shaft of the second micro motor (30) is connected to the second screw; a second limit block (31) is passed through the motor shaft; a second sliding block (32) is threadedly connected to the second screw; the second limit block (31) is fixed on the top wall of the deployment groove (5); the first sliding block (12) is slidably arranged in the sliding groove opened on the second limit block (31); a second driving rod (33) is embedded in the lower end of the second sliding block (32); the second driving rod (33) passes through the accommodating space (9) and is separated from the head end of the underwater glider (2) in the moon pool (3) by a certain distance; the length of the second screw is greater than the overall length of the underwater glider (2).

7. The underwater glider rapid deployment device according to claim 1, characterized in that: The vertical motion driving device includes a third micro motor (20), a third limit block (21), a slider (22) and a third screw rod (23); a third micro motor (20) is provided at the top end of each of the mounting grooves (18); the motor shaft of the third micro motor (20) is connected to the third screw rod (23); a third limit block (21) is passed through the motor shaft; a third sliding block is threadedly connected to the third screw rod (23); the third limit block (21) is fixed on the inner wall of the mounting groove (18); one side of the slider (22) is slidably provided in a sliding groove opened on the inner wall of the mounting groove (18); the other side is matched and passed through a sliding groove (19); the inner end of the slider (22) is provided with several layers of in-pool support plates (24) from bottom to top through a connecting plate (42).

8. The underwater glider rapid deployment device according to claim 7, characterized in that: The rotation drive assembly includes a pin-connecting rod (16) and a fourth micro-motor (17); pin-connecting rods (16) are provided on both sides of the upper end of each of the placement plates (15); the pin-connecting rods (16) are fixedly connected to the inner wall of the placement chamber (4); a pin-connecting shaft is fixedly provided between the pin-connecting rods (16) on both sides and the placement plates (15); the pin-connecting shaft is connected to the motor shaft of the fourth micro-motor (17); the fourth micro-motor (17) is provided on the inner wall of the placement chamber (4); the rotation drive assembly and the second horizontal motion drive device are staggered in position.

9. The underwater glider rapid deployment device according to claim 6, characterized in that: A vertical slot plate (34) is provided at the tail end of the catamaran (1) corresponding to the lower end of the moon pool (3), and a second infrared ranging sensor (35) is provided on the end surface of the vertical slot plate (34) close to the moon pool (3); a third infrared ranging sensor (36) is provided on the top wall of the deployment room (4) corresponding to the middle part of the fuselage of the underwater glider (2); and mutually penetrating sensor slots (37) are provided on the bottom plates of all deployment slots (5) except the bottommost deployment slot (5) corresponding to the third infrared ranging sensor (36); and the third infrared ranging sensor (36) and the second horizontal motion driving device are staggered in position.

10. The underwater glider rapid deployment device according to claim 9, characterized in that: The system further comprises a control module (38), a first timer (39), a second timer (45), a third timer (46) and a power module (40); the output ends of the first infrared distance sensor (28), the second infrared distance sensor (35) and the third infrared distance sensor (36) are respectively electrically connected to the input end of the control module (38); the input and output ends of the first timer (39), the second timer (45) and the third timer (46) are connected to the input and output ends of the control module (38); the output end of the control module (38) is respectively electrically connected to the first The input ends of the micromotor (10), the second micromotor (30), the third micromotor (20) and the fourth micromotor (17) are electrically connected; the first infrared ranging sensor (28), the second infrared ranging sensor (35), the third infrared ranging sensor (36), the control module (38), the first timer (39), the second timer (45), the third timer (46), the first micromotor (10), the second micromotor (30), the third micromotor (20) and the fourth micromotor (17) are electrically connected to the power module (40) respectively.

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