A triangular-layout corner-mounted multi-unmanned surface vessel deployment and recovery device

Abstract

This invention proposes a triangular-layout, angle-mounted multi-unmanned surface vessel (USV) deployment and recovery device to solve the problems of difficulty in recovering multiple USVs and the increased design complexity of the mother ship due to the recovery device. It includes a triangular pitch support frame unit mounted on the mother ship and a lifting device for receiving the USVs. The mother ship has a support, on which a rotating mechanism is mounted. A rotating platform is driven and connected to the rotating mechanism. Four rectangularly distributed hinged seats are fixedly connected to the rotating platform. Two of these hinged seats are hinged to the triangular pitch support frame unit, and the other two hinged seats are each hinged to a hydraulic rod. The telescopic ends of the hydraulic rods are hinged to the rear end of the triangular pitch support frame unit, and the hydraulic rods drive the triangular pitch support frame unit to perform pitching movements. The triangular pitch support frame unit includes an outer frame and an inner frame, with the inner frame located inside the outer frame. The outer frame includes two outer support frames and multiple support rods, and the inner frame includes two inner support frames and multiple connecting rods.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) deployment and recovery equipment, and in particular to a triangular-layout corner-mounted multi-USV deployment and recovery device. Background Art

[0002] With the rapid development of intelligent unmanned systems, unmanned surface vessels (USVs) suitable for aquatic environments have been widely used in scientific research, maritime rescue, and other fields, such as oceanographic surveys and maritime rescue in harsh sea conditions. However, due to limitations in the range and payload capacity of USVs, deployment and recovery of USV swarms still rely on mother ships. Currently, USV deployment and recovery technology is relatively underdeveloped, and research on simultaneous deployment and recovery of multiple USVs remains largely unexplored. Therefore, designing a multi-USV deployment and recovery device and conducting research on rapid deployment and recovery control of multiple USVs in complex sea conditions is of great practical significance to meet engineering needs.

[0003] Currently, the only technical solution that can meet practical needs is a single unmanned surface vessel (USV) deployment and recovery device, which has the following main shortcomings:

[0004] (1) Only one unmanned surface vessel can be deployed and retrieved in a single operation, resulting in low work efficiency. A single device can only lift one unmanned surface vessel at a time. When lifting a large number of unmanned surface vessels, the preparation time of the mother ship is too long. If multiple devices are installed to operate at the same time, it will not only occupy the deck space of the mother ship, but also increase the number of people required to operate the devices, which will seriously affect work efficiency.

[0005] (2) The installation of the device requires large-scale modification of the mother ship, resulting in poor versatility. For example, the existing stern slipway type small boat launching and launching device has the advantages of fast launching and launching speed and high sea state applicability, but in actual use, the stern of the mother ship needs to be modified into a large slipway or a special mother ship with a stern slipway needs to be customized. This increases the design and manufacturing difficulty of the mother ship and results in poor economic efficiency.

[0006] (3) Under complex sea conditions, the attitudes of the mother ship and the unmanned surface vessel (USV) are unstable, making docking difficult. Due to the different effects of waves and currents on the mother ship and USV, misalignment occurs between them. For side-mounted deployment and recovery devices, the suction effect of the ship must also be considered. These phenomena will seriously affect the docking and recovery of the USV. Summary of the Invention

[0007] In order to overcome the shortcomings of the prior art, the present invention provides a triangular layout corner frame multi-unmanned surface vessel deployment and recovery device to solve the problems of difficulty in recovering multi-unmanned surface vessels and the increased design difficulty of the mother ship due to the recovery device.

[0008] The technical solution is a triangular layout corner frame type multi-unmanned surface vessel deployment and recovery device, including a triangular pitch support frame unit mounted on the mother ship, and a lifting device for receiving unmanned surface vessels.

[0009] The mother ship is equipped with a support, and the support is equipped with a rotating mechanism. A rotating platform is drivenly connected to the rotating mechanism. Four rectangularly distributed hinge seats are fixedly connected to the rotating platform. Two of the hinge seats are hinged to a triangular pitch support frame unit, and the other two hinge seats are respectively hinged to hydraulic rods. The telescopic end of the hydraulic rod is hinged to the rear end of the triangular pitch support frame unit. The hydraulic rod drives the triangular pitch support frame unit to perform pitching movements.

[0010] The triangular pitch support frame unit includes an outer frame and an inner frame. The outer frame and the inner frame are similar in shape. The inner frame is located inside the outer frame. The outer frame includes two outer support frames and multiple support rods. The inner frame includes two inner support frames and multiple connecting rods.

[0011] The inner support frame and the outer support frame, located on the same side, are hinged together on the same hinge seat, one in front of the other, so that the inner frame and the outer frame are misaligned.

[0012] The outer support frame is arranged parallel to the inner support frame. The support rod and the connecting rod are perpendicular to the support frame. The connection position of the support rod relative to the outer frame is the same as the connection position of the connecting rod relative to the inner frame. The support rod and the connecting rod located at the same position on their respective support frames form a linkage bracket.

[0013] Each linkage bracket is equipped with a lifting device, and the support rod and the connecting rod are respectively rotatably inserted into different positions of the lifting device;

[0014] On the projection plane of the side of the support frame, the hinge point on the outer support frame is projected as point a, the hinge point on the inner support frame is projected as point b, the axis of the connecting rod in the linkage bracket is projected as point c, and the axis of the support rod is projected as point d. The line connecting abcd forms a parallelogram, with ab parallel to cd. According to the instability of the parallelogram, the triangular pitch support frame unit can swing up and down along the hinge, and ab is always parallel to cd.

[0015] The lifting device includes a double-roller winch, a double-point single boom, and a floating bracket. The double-roller winch includes two rollers with steel cables wound on them. The steel cables are connected to the double-point single boom, which is fixedly connected to the upper end of the floating bracket. The floating bracket is used to support the unmanned surface vessel.

[0016] Preferably, the rotating mechanism includes a base, a gear disk, and a servo motor. The base is fixedly connected to the support, the gear disk is coaxially rotatably connected to the base, the upper end of the gear disk is coaxially fixedly connected to the rotating platform, the servo motor is installed at the rear end of the rotating platform, the output end of the servo motor is connected to the gear disk through a drive gear, and the servo motor is located behind the triangular pitch support frame unit.

[0017] Preferably, the twin-roll winch further includes a reducer, a drive motor, two support beams, two triangular fixing frames, and two support plates; the two rolls are arranged side by side, the two support plates are located at both ends of the rolls, and the two ends of the rolls are rotatably connected to the two support plates respectively; the reducer is simultaneously driven by both rolls; the drive motor is driven by the reducer; the two triangular fixing frames correspond one-to-one with the two support plates; the triangular fixing frames are fixedly connected to the outside of the support plates; and the two support beams are fixedly connected side by side to the support plates.

[0018] Preferably, the triangular fixing frame has two rotating holes, and the support rod and connecting rod in the linkage bracket are respectively inserted into the two rotating holes; the angle between the line connecting the two rotating holes and the line connecting the axes of the two rollers is equal to the angle between the line connecting the two hinge points on the hinge seat and the horizontal plane, so that the lower end of the double roller winch is always parallel to the horizontal plane, making the lifting more stable.

[0019] Preferably, the outer support frame and the inner support frame are similar triangles to each other, and the vertices at the same position of the outer support frame and the inner support frame are used to connect the hinge seat; the number of linkage brackets is set in three sets, of which two sets of linkage brackets are set on the two vertices other than the hinge vertex on the support frame, and the other set is set on the long side of the support frame.

[0020] Preferably, the outer support frame and the inner support frame are fixedly connected with multiple support ribs for reinforcing the frame. The long side of the inner support frame is provided with a semi-circular support ring, and the support rod located on the long side of the support frame passes through the support ring, thereby limiting the rotation range of the small triangular frame.

[0021] Preferably, the double-point single boom includes two A-frame lifting frames, with a lifting rod fixed to the upper end of each lifting frame. The two lower ends of the lifting frames are respectively fixedly connected to the floating bracket. Two lifting rings are fixedly connected to the upper end of the lifting rod. The distance between the two lifting rings is the same as the distance between the axes of the two rollers on the double roller winch. The lifting rings are used to connect to the lifting hook.

[0022] Preferably, the two hydraulic rods are equipped with synchronous hydraulic valves.

[0023] Preferably, the bottom of the floating bracket is hollowed out and the rear end of the floating bracket is open for the entry and exit of the unmanned surface vessel.

[0024] Compared with existing known technologies, the technical solution provided by this invention has the following significant advantages:

[0025] 1. By arranging three double-roller winches, hooks, and floating brackets on the triangular pitch support frame unit, three unmanned surface vessels (USVs) can be deployed and retrieved simultaneously or separately, improving the working efficiency of the USV mother ship and saving manpower. Furthermore, the triangular support frame shortens the overall structural length, resulting in a simpler and lighter overall structure, improving the adaptability and safety of the device, and facilitating the storage of the USVs.

[0026] 2. In this device, the support rods and connecting rods in each set of linkage brackets are synchronously rotated and connected to a lifting device, so that the support rods and connecting rods in each set of linkage brackets achieve synchronous linkage, thereby keeping the outer support frame and the inner support frame linked; the triangular support beam assembly is driven by a hydraulic rod system equipped with a synchronous hydraulic valve to complete the pitching action from 0° to 90° in the vertical plane.

[0027] 3. In this device, the servo motor and gear assembly drive the rotating platform, enabling the triangular pitch support unit to rotate at any angle in the horizontal plane, possessing one degree of rotational freedom. The linkage between the hydraulic rod system and the rotating mechanism gives the multi-unmanned surface vessel (USV) deployment and recovery device a cylindrical working range, effectively ensuring that the entire device can move smoothly, quickly, and accurately, adapting to USV deployment and recovery operations under complex sea conditions.

[0028] 4. The triangular-layout bracket-type multi-UAV deployment and recovery device provided in this recovery unit can rotate 180° horizontally after completing one round of deployment and recovery for the next round of UAV loading, enabling rapid deployment and recovery of multiple batches of UAVs. Furthermore, before and after UAV deployment and recovery missions on the mother ship, the triangular-layout bracket-type multi-UAV deployment and recovery device can be laid flat, rotated horizontally, and its floating bracket lowered before being fixed to the mother ship's deck, ensuring stability and safety during transportation. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the first state of the recycling device of the present invention.

[0030] Figure 2 This is a schematic diagram of the second state of the recycling device of the present invention.

[0031] Figure 3 This is a schematic diagram of the triangular pitch support frame unit of the present invention.

[0032] Figure 4 This is a structural schematic diagram of the linkage support and lifting device of the present invention.

[0033] Figure 5 This is a schematic diagram of the support and rotating mechanism of the present invention.

[0034] Figure 6 This is a schematic diagram of the connection between the linkage bracket and the two hinge seats of the present invention.

[0035] Figure 7 This is a schematic diagram of the outer frame of the present invention.

[0036] Figure 8 This is a schematic diagram of the inner frame of the present invention.

[0037] Figure 9 This is a schematic diagram of the lifting device of the present invention.

[0038] Figure 10 This is a schematic diagram of the structure of the double-roller winch of the present invention.

[0039] Explanation of the labels in the diagram:

[0040] 1. Unmanned surface vessel;

[0041] 2. Triangular pitch support frame unit; 201. Outer frame; 2011. Outer support frame; 2012. Support rod; 202. Inner frame; 2021. Inner support frame; 2022. Connecting rod; 2023. Support ring;

[0042] 3. Lifting device; 301. Double roller winch; 3011. Roller; 3012. Steel cable; 3013. Reducer; 3014. Drive motor; 3015. Support beam; 3016. Triangular fixing frame; 3017. Support plate; 302. Double-point single boom; 3021. Lifting frame; 3022. Lifting rod; 3023. Lifting ring; 303. Floating bracket;

[0043] 4. Support;

[0044] 5. Rotating mechanism; 501. Base; 502. Gear disk; 503. Servo motor; 504. Drive gear;

[0045] 6. Rotating platform;

[0046] 7. Hinge mount;

[0047] 8. Hydraulic rod;

[0048] 9. Linkage bracket. Detailed Implementation

[0049] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0050] Depend on Figure 1 , Figure 2 A triangular-layout corner-mounted multi-unmanned surface vessel (USV) 1 deployment and recovery device is provided, comprising a triangular pitch support frame unit 2 mounted on a mother ship, and a lifting device 3 for receiving the USV 1.

[0051] In some embodiments, reference Figure 5 The mother ship is equipped with a support 4, and a rotating mechanism 5 is mounted on the support 4. A rotating platform 6 is connected to the rotating mechanism 5 via a transmission.

[0052] Specifically, the rotating mechanism 5 includes a base 501, a gear disk 502, and a servo motor 503. The base 501 is fixedly connected to the support 4, and the gear disk 502 is coaxially rotatably connected to the base 501. The upper end of the gear disk 502 is coaxially fixedly connected to the rotating platform 6. The servo motor 503 is installed at the rear end of the rotating platform 6, and the output end of the servo motor 503 is connected to the gear disk 502 via a drive gear 504. The servo motor 503 is located behind the triangular pitch support unit 2. After the servo motor 503 is started, power is transmitted through a shaft key to rotate the drive gear 504. The drive gear 504 and the gear disk 502 rotate synchronously, driving the rotating platform 6 to rotate, thereby adjusting the working angle of the entire device on the horizontal plane.

[0053] Furthermore, four rectangularly distributed hinge seats 7 are fixedly connected to the rotating platform 6. Two of the hinge seats 7 are hinged to the triangular pitch support frame unit 2, and the other two hinge seats 7 are respectively hinged to hydraulic rods 8. The telescopic ends of the hydraulic rods 8 are hinged to the rear end of the triangular pitch support frame unit 2. The triangular pitch support frame unit 2 is driven to perform pitching motion through the hydraulic rods 8. Through the synchronous extension and retraction of the two hydraulic rods 8, the triangular pitch support frame unit 2 can complete the pitching motion from 0° to 90° in the vertical plane. The hydraulic rods 8 are controlled by a pneumatic unit (not shown in the figure). By changing the extension and retraction speed of the hydraulic rods 8, the pitching speed and extension length of the triangular pitch support frame unit 2 can be adjusted.

[0054] The linkage between the hydraulic rod system and the rotating mechanism 5 enables the deployment and recovery device of the unmanned surface vessel 1 to have a cylindrical working range, and effectively ensures that the whole device can move smoothly, quickly and accurately, adapting to the deployment and recovery of the unmanned surface vessel 1 under complex sea conditions.

[0055] In some embodiments, reference Figure 3 , Figure 4 , Figure 7 and Figure 8The triangular pitch support unit 2 includes an outer frame 201 and an inner frame 202. The outer frame 201 and the inner frame 202 have similar shapes. The inner frame 202 is located inside the outer frame 201. The outer frame 201 includes two outer support frames 2011 and multiple support rods 2012. The inner frame 202 includes two inner support frames 2021 and multiple connecting rods 2022.

[0056] Among them, the inner support frame 2021 and the outer support frame 2011, located on the same side, are hinged together on the same hinge seat 7, so that the inner frame 202 and the outer frame 201 are misaligned; the outer support frame 2011 and the inner support frame 2021 are similar triangles to each other, and the vertices of the outer support frame 2011 and the inner support frame 2021 at the same position are used to connect the hinge seat 7.

[0057] Further, refer to Figure 6 The outer support frame 2011 and the inner support frame 2021 are arranged in parallel. The support rod 2012 and the connecting rod 2022 are perpendicular to the support frame. The connection position of the support rod 2012 relative to the outer frame 201 is the same as the connection position of the connecting rod 2022 relative to the inner frame 202. The support rod 2012 and the connecting rod 2022 located at the same position on their respective support frames form a linkage bracket 9. Each linkage bracket 9 is provided with a lifting device 3. The support rod 2012 and the connecting rod 2022 are respectively rotatably inserted into different positions of the lifting device 3.

[0058] Specifically, refer to Figure 4 , Figure 4 Each dashed ellipse contains a set of linkage brackets 9 and a lifting device 3. There are three sets of linkage brackets 9, two of which are located on the support frame at the two vertices other than the hinge vertex, and the other set is located on the long side of the support frame. The projections of the lifting devices 3 on the three sets of linkage brackets onto the plane of the long side of the support frame are equidistant.

[0059] When the long side of the support frame is horizontal, the triangular pitch support frame unit 2 is lowered to its limit position. At this time, the three lifting devices 3 are arranged at equal intervals, which can simultaneously lift or release three unmanned boats 1.

[0060] The use of a triangular support frame shortens the overall length of the structure, making the device simple, lightweight, and improving its adaptability and safety, while also facilitating the storage of the unmanned surface vessel 1.

[0061] The support rods 2012 and connecting rods 2022 in each set of linkage brackets 9 are synchronously rotated and connected to a lifting device 3, so that the support rods 2012 and connecting rods 2022 in each set of linkage brackets 9 can achieve synchronous linkage, thereby keeping the outer support frame 2011 and the inner support frame 2021 linked.

[0062] refer to Figure 6 On the projection plane of the side of the support frame, the hinge point on the outer support frame 2011 is projected as point a, the hinge point on the inner support frame 2021 is projected as point b, the axis of the connecting rod 2022 in the linkage bracket 9 is projected as point c, and the axis of the support rod 2012 is projected as point d. The line connecting abcd forms a parallelogram, with ab parallel to cd. Based on the instability of the parallelogram, the triangular pitch support frame unit 2 can swing up and down along the hinge, and ab is always parallel to cd, providing feasibility for the installation of the lifting device 3.

[0063] Furthermore, the three sets of linkage brackets 9 form three parallelograms with the two hinge points, as shown below. Figure 6 As shown by the dashed line in the image, Figure 6 There are three parallelograms enclosed by dotted lines in the middle, namely abc1d1, abc2d2, and abc3d3. This ensures that the lifting devices 3 on the three sets of linkage supports 9 can move synchronously, so as to achieve the effect of recovering multiple unmanned boats 1 at one time.

[0064] In some embodiments, reference Figure 9 The lifting device 3 includes a double-roller winch 301, a double-point single boom 302, and a floating bracket 303. The double-roller winch 301 includes two rollers 3011, on which steel cables 3012 are wound. The steel cables 3012 are connected to the double-point single boom 302, which is fixedly connected to the upper end of the floating bracket 303. The bottom of the floating bracket 303 is hollowed out, and the rear end of the floating bracket 303 is open for entering and exiting the unmanned surface vessel 1. The rollers 3011 are used to store the steel cables 3012. Driven by the drive motor 3014, the rollers 3011 can rotate around the axis in the forward or reverse direction to wind up and unwind the steel cables 3012 to complete the work of hoisting and launching the unmanned surface vessel 1.

[0065] Specifically, refer to Figure 10 The double-roll winch 301 also includes a reducer 3013, a drive motor 3014, two support beams 3015, two triangular fixing frames 3016, and two support plates 3017. The two rolls 3011 are arranged side by side, and the two support plates 3017 are arranged at both ends of the rolls 3011. The two ends of the rolls 3011 are rotatably connected to the two support plates 3017 respectively. The reducer 3013 is simultaneously connected to both rolls 3011. The drive motor 3014 is connected to the reducer 3013. The two triangular fixing frames 3016 correspond one-to-one with the two support plates 3017. The triangular fixing frames 3016 are fixedly connected to the outside of the support plates 3017. The two support beams 3015 are fixedly connected to the support plates 3017 side by side.

[0066] Furthermore, two rotating holes are provided on the triangular fixing frame 3016, and the support rod 2012 and connecting rod 2022 in the linkage bracket 9 are respectively inserted into the two rotating holes; the angle between the line connecting the two rotating holes and the line connecting the axes of the two rollers 3011 is equal to the angle between the line connecting the two hinge points on the hinge seat 7 and the horizontal plane, so that the lower end of the double roller winch 301 is always parallel to the horizontal plane, making the lifting more stable.

[0067] Furthermore, the double-point single boom 302 includes two A-frame lifting frames 3021, with a lifting rod 3022 fixed to the upper end of each lifting frame 3021. The two lower ends of the lifting frames 3021 are respectively fixedly connected to the floating bracket 303. Two lifting rings 3023 are fixedly connected to the upper end of the lifting rod 3022. The distance between the two lifting rings 3023 is the same as the distance between the axes of the two rollers 3011 on the double roller winch 301. A hook is fixedly connected to the end of the steel cable 3012, and the lifting rings 3023 are used to connect the lifting hook.

[0068] By arranging three double-roller winches 301, hooks, and floating brackets 303 on the triangular pitch support frame unit 2, three unmanned surface vessels 1 can be deployed and recovered simultaneously or separately, which improves the working efficiency of the unmanned surface vessel mother ship and saves manpower.

[0069] To improve the stability of the support frame, multiple support ribs for reinforcing the frame are fixedly connected to the outer support frame 2011 and the inner support frame 2021. At the same time, in order to prevent the support ribs from interfering with the swing of the support rod 2012, a semi-circular support ring 2023 is provided on the long side of the inner support frame 2021. The support rod 2012 located on the long side of the support frame passes through the support ring 2023, thereby limiting the rotation range of the small triangular frame.

[0070] To achieve synchronized operation of the two hydraulic rods 8, a synchronization hydraulic valve (not shown in the figure) is provided on the two hydraulic rods 8.

[0071] This recovery device features a triangular-layout, corner-mounted multi-UAV deployment and recovery system. After completing one round of deployment and recovery, it can rotate 180° horizontally to load the next batch of UAVs, enabling rapid deployment and recovery of multiple batches of UAVs. Furthermore, before and after UAV deployment and recovery operations on the mother ship, the triangular-layout, corner-mounted multi-UAV deployment and recovery system can be laid flat, rotated horizontally, and its floating support lowered before being fixed to the mother ship's deck, ensuring stability and safety during transport.

[0072] It is evident that the triangular layout corner frame multi-unmanned surface vessel deployment and recovery device provided by this invention can effectively solve the problems of existing unmanned surface vessel recovery devices being unable to recover multiple unmanned surface vessels at once, as well as the unreasonable structure and difficulty in setting up the recovery device.

Claims

1. A triangular-layout corner-mounted multi-unmanned surface vessel (USV) deployment and recovery device, characterized in that, This includes a triangular pitch support frame unit mounted on the mother ship, and a lifting device for supporting unmanned surface vessels. The mother ship is equipped with a support, and the support is equipped with a rotating mechanism. A rotating platform is drivenly connected to the rotating mechanism. Four rectangularly distributed hinge seats are fixedly connected to the rotating platform. Two of the hinge seats are hinged to a triangular pitch support frame unit, and the other two hinge seats are respectively hinged to hydraulic rods. The telescopic ends of the hydraulic rods are hinged to the rear end of the triangular pitch support frame unit. The hydraulic rods drive the triangular pitch support frame unit to perform pitching movements. The triangular pitch support frame unit includes an outer frame and an inner frame. The outer frame and the inner frame are similar in shape. The inner frame is located inside the outer frame. The outer frame includes two outer support frames and multiple support rods. The inner frame includes two inner support frames and multiple connecting rods. The inner support frame and the outer support frame, located on the same side, are hinged together on the same hinge seat, one in front of the other, so that the inner frame and the outer frame are misaligned. The outer support frame is arranged parallel to the inner support frame. The support rod and the connecting rod are perpendicular to the support frame. The connection position of the support rod relative to the outer frame is the same as the connection position of the connecting rod relative to the inner frame. The support rod and the connecting rod located at the same position on their respective support frames form a linkage bracket. Each linkage bracket is equipped with a lifting device, and the support rod and the connecting rod are respectively rotatably inserted into different positions of the lifting device; On the projection plane of the side of the support frame, the hinge point on the outer support frame is projected as point a, the hinge point on the inner support frame is projected as point b, the axis of the connecting rod in the linkage bracket is projected as point c, the axis of the support rod is projected as point d, and the line connecting abcd forms a parallelogram, with ab parallel to cd. The lifting device includes a double-roller winch, a double-point single boom, and a floating bracket. The double-roller winch includes two rollers with steel cables wound on them. The steel cables are connected to the double-point single boom, which is fixedly connected to the upper end of the floating bracket. The floating bracket is used to support the unmanned surface vessel.

2. The triangular layout corner frame type multi-unmanned surface vessel deployment and recovery device according to claim 1, characterized in that, The rotating mechanism includes a base, a gear disk, and a servo motor. The base is fixedly connected to the support, the gear disk is coaxially rotatably connected to the base, the upper end of the gear disk is coaxially fixedly connected to the rotating platform, and the servo motor is installed at the rear end of the rotating platform. The output end of the servo motor is connected to the gear disk through a drive gear.

3. The triangular-layout corner-mounted multi-unmanned surface vessel deployment and recovery device according to claim 1, characterized in that, The twin-roll winch also includes a reducer, a drive motor, two support beams, two triangular fixing frames, and two support plates; Two rollers are arranged side by side, and two support plates are arranged at both ends of the rollers. The two ends of the rollers are rotatably connected to the two support plates respectively. The reducer is simultaneously connected to both rollers. The drive motor is connected to the reducer. Two triangular fixing frames correspond one-to-one with the two support plates. The triangular fixing frames are fixedly connected to the outside of the support plates. Two support beams are fixedly connected to the support plates side by side.

4. A triangular-layout corner-mounted multi-unmanned surface vessel deployment and recovery device according to claim 3, characterized in that, The triangular fixing frame has two rotating holes, and the support rod and connecting rod in the linkage bracket are respectively inserted into the two rotating holes; The angle between the line connecting the two rotating holes and the line connecting the axes of the two rollers is equal to the angle between the line connecting the two hinge points on the hinge seat and the horizontal plane, and the lower end of the double roller winch is always parallel to the horizontal plane.

5. A triangular-layout corner-mounted multi-unmanned surface vessel deployment and recovery device according to claim 1, characterized in that, The outer support frame and the inner support frame are similar triangles to each other, and the vertices at the same position of the outer support frame and the inner support frame are used to connect the hinge seat; The number of linkage brackets is set in three sets, with two sets of linkage brackets set on the two other vertices of the support frame except for the hinge vertex, and the other set set on the long side of the support frame.

6. A triangular-layout corner-mounted multi-unmanned surface vessel deployment and recovery device according to claim 5, characterized in that, The lifting devices on the three sets of linkage brackets are equidistantly arranged on the plane where the long side of the support frame is located.

7. A triangular-layout corner-mounted multi-unmanned surface vessel deployment and recovery device according to claim 6, characterized in that, The outer support frame and the inner support frame are fixedly connected to multiple support ribs for reinforcing the frame. The inner support frame has a semi-circular support ring on its long side. The support rod located on the long side of the support frame passes through the support ring, limiting the rotation range of the small triangular frame.

8. A triangular-layout corner-mounted multi-unmanned surface vessel deployment and recovery device according to claim 1, characterized in that, The double-point single boom includes two A-frame lifting frames, with a lifting rod fixed to the upper end of each lifting frame. The two lower ends of the lifting frames are respectively fixedly connected to the floating bracket. Two lifting rings are fixedly connected to the upper end of the lifting rod. The distance between the two lifting rings is the same as the distance between the axes of the two rollers on the double roller winch. A hook is fixedly connected to the end of the steel cable, and the lifting rings are used to connect to the lifting hook.

9. A triangular-layout corner-mounted multi-unmanned surface vessel deployment and recovery device according to claim 1, characterized in that, The two hydraulic rods are equipped with synchronous hydraulic valves.

10. A triangular-layout corner-mounted multi-unmanned surface vessel deployment and recovery device according to claim 1, characterized in that, The bottom of the floating bracket is hollowed out, and the rear end of the floating bracket is open for the entry and exit of the unmanned vessel.

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