A tow slide type repeatable stowable device

Abstract

The present application belongs to the field of water surface autonomous deployment and recovery technology of autonomous underwater vehicle, in particular to a kind of repeatedly deployable device of towed slide, gantry and winch frame are respectively installed on the mother ship, winch is fixed on winch frame, the bow end of bracket is hinged with winch frame, both sides of the deployment and recovery direction of bracket are equipped with electric push rod, the both ends of each side electric push rod are respectively hinged with gantry and bracket;Both sides of the deployment and recovery direction of bracket are slidably connected with adapter, one end of recovery rope is wound on winch, the other end of recovery rope is respectively connected with one side of each side adapter, the other side of each side adapter is connected with the same side reel box installed on the stern of bracket through tension rope, capture push rod for docking with autonomous underwater vehicle is also installed on each side adapter.The present application has the advantages of repeatedly realizing deployment and recovery, reliable connection, simple operation and the like.

Description

Technical Field

[0001] This invention belongs to the field of autonomous deployment and recovery technology of autonomous underwater vehicles, specifically a towed slide-type reusable deployment and recovery device. Background Technology

[0002] Since their inception in the 1950s, autonomous underwater vehicles (AUVs) have been widely used in marine environmental monitoring, deep-sea resource exploration and development, underwater search and rescue and seabed salvage, and scientific research in the abyss and polar regions. However, traditional AUV recovery methods rely on ships and manual operation, which is not only inefficient but also poses significant personnel risks and safety hazards in harsh sea conditions. With the increasing complexity and duration of AUV missions, the importance of autonomous deployment and recovery systems is becoming increasingly apparent. Summary of the Invention

[0003] In order to address the dangers and problems currently faced by manually deploying and recovering autonomous underwater vehicles, the present invention aims to provide a towed slide-type reusable deployment and recovery device.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] This invention includes a bracket, a winch, an electric push rod, a gantry frame, a winch frame, an adapter, a capture push rod, a winding box, and a retrieval rope. The gantry frame and the winch frame are respectively installed on the mother ship. The winch is fixed on the winch frame. The bow end of the bracket is hinged to the winch frame. Electric push rods are provided on both sides of the bracket in the deployment and retrieval direction. The two ends of each electric push rod are respectively hinged to the gantry frame and the bracket. Adapters are slidably connected to both sides of the bracket in the deployment and retrieval direction. One end of the retrieval rope is wound around the hinge, and the other end of the retrieval rope is connected to one side of each adapter. The other side of each adapter is connected to the winding box installed on the stern end of the bracket on the same side via a tension rope. Each adapter is also equipped with a capture push rod for docking with an autonomous underwater vehicle.

[0006] Wherein: the bottom of the bracket is provided with pulleys along the deployment and recovery direction to facilitate the deployment and recovery of autonomous underwater vehicles, and the inner walls on both sides of the bracket in the deployment and recovery direction are provided with multiple guide wheels to facilitate the deployment and recovery of autonomous underwater vehicles.

[0007] Each electric push rod is located on the outside of the bracket. The upper and lower ends of each electric push rod are respectively hinged to the gantry and the bracket through hinges. The bracket achieves pitch movement by driving the electric push rods on both sides.

[0008] The bracket is equipped with a limiting frame for limiting the autonomous underwater vehicle.

[0009] The capture push rods on the two sides of the adapter are arranged opposite each other.

[0010] The bracket is equipped with slide rails on both sides of the top in the deployment and retrieval direction. The bottom of each adapter is connected to a slider. Each adapter is slidably connected to the slide rail on the same side via the slider, and slides back and forth on the slide rail on the same side in the deployment and retrieval direction.

[0011] The bow end of the bracket is hinged to the winch frame via a ball joint. One side of the ball joint is provided with a threaded post, which is connected to the bow end of the bracket via a nut. The other side of the ball joint is provided with a threaded hole, which is connected to the winch frame via a bolt.

[0012] The bracket is equipped with a guide device at its stern end. The guide device consists of guide plates symmetrically installed on both sides of the stern end of the bracket, and the guide plates on both sides are arranged in a figure-eight shape.

[0013] The adapter has multiple mounting holes along the height direction, and the capture push rod can be installed on the mounting holes at different heights to enable the deployment and recovery of different types of autonomous underwater vehicles.

[0014] The advantages and positive effects of this invention are as follows:

[0015] 1. This invention eliminates the need for manual hooking and unhooking of the autonomous underwater vehicle (AUV). All actions are performed autonomously by the AUV and the capture device mounted on its bow, greatly improving the safety of personnel.

[0016] 2. This invention features a modular design, allowing each module to be replaced individually, effectively reducing the cost of subsequent equipment maintenance and replacement.

[0017] 3. The present invention is equipped with a reel box and tension rope for the capture push rod. This ensures that the capture push rod can be successfully reconnected after being disconnected, so as to carry out the next retrieval operation. This is beneficial for repeatedly realizing the deployment and retrieval operation.

[0018] 4. The present invention has a guide device installed at the stern end of the bracket. As long as the capture device of the autonomous underwater vehicle enters the control range of the guide device, the present invention can dock with the autonomous underwater vehicle, thereby improving the reliability and efficiency of docking between the present invention and the autonomous underwater vehicle.

[0019] 5. The present invention has mounting holes of different heights along the height direction on the adapter, which can realize the deployment and recovery of different types of autonomous underwater vehicles. Attached Figure Description

[0020] Figure 1 This is one of the overall structural schematic diagrams of the present invention;

[0021] Figure 2 This is the second schematic diagram of the overall structure of the present invention;

[0022] Among them: 1 is bracket, 2 is winch, 3 is electric push rod, 4 is gantry frame, 5 is winch frame, 6 is pulley, 7 is slide rail, 8 is slider, 9 is adapter, 10 is hinge, 11 is capture push rod, 12 is reel box, 13 is guide wheel, 14 is ball hinge, 15 is recovery rope, 16 is limit frame, 17 is tensioning rope, 18 is guide plate, and 19 is mounting hole. Detailed Implementation

[0023] The invention will now be described in further detail with reference to the accompanying drawings.

[0024] like Figure 1 , Figure 2 As shown, the present invention includes a bracket 1, a winch 2, an electric push rod 3, a gantry 4, a winch frame 5, an adapter 9, a capture push rod 11, a winding box 12, and a retrieval rope 15. The gantry 4 and the winch frame 5 are respectively installed on the mother ship. The winch 2 is fixed on the winch frame 5. The bow end of the bracket 1 is hinged to the winch frame 5. Electric push rods 3 are provided on both sides of the bracket 1 in the deployment and retrieval direction (i.e., the length direction of the bracket 1). The two ends of each electric push rod 3 are respectively hinged to the gantry 4 and the bracket 1. The adapter 9 is slidably connected to both sides of the bracket 1 in the deployment and retrieval direction. One end of the retrieval rope 15 is wound around the hinge 2. The other end of the retrieval rope 15 is connected to one side of each adapter 9. The other side of each adapter 9 is connected to the winding box 12 installed on the same side of the bracket 1 via a tension rope 17. Each adapter 9 is also equipped with a capture push rod 11 for docking with an autonomous underwater vehicle.

[0025] In this embodiment, the gantry 4 and winch frame 5 are connected to and fixed on the mother ship using bolts and nuts. The winch 2 is fixed on the winch frame 5 using bolts and nuts. A recovery rope 15 extends from the winch 2 and is connected to two adapters 9 to facilitate the recovery of the autonomous underwater vehicle.

[0026] In this embodiment, the bow end of the bracket 1 is hinged to the winch frame 5 via a ball joint 14. One side of the ball joint 14 is provided with an M16 threaded post, which is connected to the bow end of the bracket 1 via an M16 nut. The other side of the ball joint 14 is provided with an M16 threaded hole, which is connected to the winch frame 5 via an M16 bolt.

[0027] In this embodiment, a pulley 6 is provided at the bottom of the bracket 1 along the deployment and recovery direction to facilitate the deployment and recovery of the autonomous underwater vehicle. The pulley 6 is preferably located at the middle position of the bottom of the bracket 1.

[0028] In this embodiment, the inner walls on both sides of the bracket 1 in the deployment and recovery direction are provided with multiple guide wheels 13 to facilitate the deployment and recovery of autonomous underwater vehicles. There are multiple guide wheels 13 on each side, which are set at the same height along the deployment and recovery direction. The guide wheels 13 on each side are preferably located on the inner side of the bracket 1 near the top.

[0029] In this embodiment, the electric push rod 3 on each side is located on the outside of the bracket 1. The upper end of the electric push rod 3 on each side is hinged to the upper crossbeam of the gantry 4 through the hinge 10. The fisheye at the lower end of the electric push rod 3 on each side is hinged to the bracket 1 through the hinge 10. The bracket 1 achieves pitch movement by driving the electric push rods 3 on both sides.

[0030] In this embodiment, slide rails 7 are installed on the top of both sides of the bracket 1 in the deployment and retrieval direction, and sliders 8 are connected to the bottom of the adapter 9. Each adapter 9 is slidably connected to the slide rail 7 on the same side through the slider 8, and slides back and forth on the slide rail 7 on the same side in the deployment and retrieval direction.

[0031] In this embodiment, the bracket 1 is also provided with a limiting frame 16 for limiting the autonomous underwater vehicle. The limiting frame 16 is preferably located near the bow end of the bracket 1.

[0032] In this embodiment, the capture push rods 11 on both sides of the adapter 9 are arranged opposite each other. The other end of the retrieval rope 15 away from the winch 2 is connected to the adapter 9 via a hook. The retrieval rope 15 is used to tow the autonomous underwater vehicle. In this embodiment, the adapter 9 has multiple mounting holes 19 along the height direction. The capture push rods 11 are installed in the mounting holes 19 at different heights to enable the deployment and retrieval of different types of autonomous underwater vehicles.

[0033] In this embodiment, a guide device is installed at the stern end of the bracket 1. The guide device in this embodiment is a guide plate 18 symmetrically installed on both sides of the stern end of the bracket 1, and the two guide plates 18 are arranged in a figure-eight shape. As long as the capture device at the bow end of the autonomous underwater vehicle enters the control range of the guide device, the capture push rod 11 can be docked with the autonomous underwater vehicle, which improves the reliability and efficiency of docking with the autonomous underwater vehicle.

[0034] The working principle of this invention is as follows:

[0035] In the initial state, the capture push rod 11 is located at the stern end of the bracket 1 (which is also located at the stern of the mother ship).

[0036] When a recovery operation is required, the mother ship receives a recovery command and heads towards the autonomous underwater vehicle (AUV). During the mother ship's journey, the two maintain constant communication and real-time positioning. After the mother ship reaches the vicinity of the AUV, the stern end of the support frame 1 tilts downwards under the action of the electric push rod 3, extending the capture push rod 11 and gradually bringing it closer to the water surface. When the capture push rod 11 is level with the water surface, it is ready for recovery. The AUV then heads towards the capture push rod 11, preparing for docking. The autonomous underwater vehicle (AUV) continues towards the launch and recovery device. It engages with the capture device (the capture device at the bow of the AUV in this invention is prior art) and the capture push rod 11, thus docking the AUV with the launch and recovery device. After confirming that the AUV has engaged, the winch 2 operates, pulling the adapter 9 via the recovery rope 15. The adapter 9 slides on the slide rail 7, pulling the AUV onto the bracket 1 of the launch and recovery device. After the AUV is pulled to the limiting frame 16, the electric push rod 3 retracts, resetting the bracket 1. The entire recovery process is thus completed.

[0037] When the autonomous underwater vehicle (AUV) needs to be deployed again, a deployment operation is performed. Upon receiving the deployment command, the mother ship proceeds to the designated water area. Under the action of the electric push rod 3, the bracket 1 tilts again, causing the AUV to slide downwards under the action of the tension rope 17 and its own weight. The capture push rod 11 is then retrieved, separating it from the capture device at the bow of the AUV, thus completing the autonomous deployment of the AUV.

[0038] This invention is applicable to small and medium-sized autonomous underwater vehicles (AUVs) of suitable models equipped with a vertical capture device at the bow, which are deployed and recovered autonomously by a mother ship on the water surface without human intervention.

Claims

1. A towable slide-type reusable deployment and retraction device, characterized in that: The system includes a bracket (1), a winch (2), an electric push rod (3), a gantry (4), a winch frame (5), an adapter (9), a capture push rod (11), a reel box (12), and a retrieval rope (15). The gantry (4) and the winch frame (5) are respectively installed on the mother ship. The winch (2) is fixed on the winch frame (5). The bow end of the bracket (1) is hinged to the winch frame (5). Electric push rods (3) are provided on both sides of the bracket (1) in the deployment and retrieval direction. The two ends of the electric push rods (3) on each side are respectively connected to the gantry. (4) and bracket (1) are hinged; both sides of the bracket (1) in the deployment and retrieval direction are slidably connected to the adapter (9), one end of the retrieval rope (15) is wound around the winch (2), and the other end of the retrieval rope (15) is connected to one side of each adapter (9). The other side of each adapter (9) is connected to the winding box (12) installed on the stern end of the bracket (1) on the same side through the tension rope (17). Each adapter (9) is also equipped with a capture push rod (11) for docking with the autonomous underwater vehicle. Each electric push rod (3) is located on the outside of the bracket (1). The upper and lower ends of each electric push rod (3) are respectively hinged to the gantry (4) and the bracket (1) through the hinge (10). The bracket (1) achieves pitching motion by driving the electric push rods (3) on both sides.

2. The towed slide type reusable retractable device according to claim 1, characterized in that: The bottom of the bracket (1) is provided with pulleys (6) to facilitate the deployment and recovery of autonomous underwater vehicles along the deployment and recovery direction. The inner walls on both sides of the bracket (1) in the deployment and recovery direction are provided with multiple guide wheels (13) to facilitate the deployment and recovery of autonomous underwater vehicles.

3. The towed slide type reusable retractable device according to claim 1, characterized in that: The bracket (1) is equipped with a limiting bracket (16) for limiting the autonomous underwater vehicle.

4. The towed slide type reusable retractable device according to claim 1, characterized in that: The capture push rods (11) on the two sides of the adapter (9) are arranged opposite each other.

5. The towed slide type reusable retractable device according to claim 1, characterized in that: The bracket (1) has slide rails (7) installed on the top of both sides in the deployment and retrieval direction. The bottom of each adapter (9) is connected to a slider (8). Each adapter (9) is slidably connected to the slide rail (7) on the same side through the slider (8) and slides back and forth on the slide rail (7) on the same side in the deployment and retrieval direction.

6. The towed slide type reusable retractable device according to claim 1, characterized in that: The bow end of the bracket (1) is hinged to the winch frame (5) via a ball joint (14). One side of the ball joint (14) is provided with a threaded post, which is connected to the bow end of the bracket (1) via a nut. The other side of the ball joint (14) is provided with a threaded hole, which is connected to the winch frame (5) via a bolt.

7. The towed slide type reusable retractable device according to claim 1, characterized in that: The bracket (1) is equipped with a guide device at its stern end. The guide device is a guide plate (18) symmetrically installed on both sides of the stern end of the bracket (1). The guide plates (18) on both sides are arranged in a figure-eight shape.

8. The towed slide type reusable retractable device according to claim 1, characterized in that: The adapter (9) has multiple mounting holes (19) along the height direction. The capture push rod (11) can be installed on the mounting holes (19) at different heights to realize the deployment and recovery of different types of autonomous underwater vehicles.

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