Single-point hook and double-point hanging type recovery device for underwater vehicle and application of single-point hook and double-point hanging type recovery device

Abstract

The invention discloses a single-point hook and double-point lifting type recovery device for an underwater vehicle and application. The single-point hook and double-point lifting type recovery device comprises a hook assembly, a hook assembly, a rope limiting assembly and a lifting point. The upper end of the lifting hook assembly is connected with the mother ship lifting device and located below the lifting hook assembly. The hook assembly comprises a hanging ring hooked with the lifting hook assembly, the lower end of the hook assembly is installed in a hanging ring locker installation hole, and the side edges of the hanging ring make contact with each other. The lifting ring locker is fixedly connected with the rope limiting assembly; the rope limiting assembly comprises a rope limiting plate which is fixedly connected with a supporting stress point of the underwater vehicle; the other end of the lifting ring connecting rope is connected with the lifting point; one end of the auxiliary rope is in ring connection with the auxiliary rope locker mounted on the rope limiting plate, and the other end of the auxiliary rope is connected with the lifting point. According to the device, single-person hooking and double-point hoisting recovery can be achieved under the high sea working condition, additional operation caused by inaccurate positioning and incapability of simultaneous hooking of double points is reduced, the working efficiency is improved, and the operation risk is reduced.

Description

Technical Field

[0001] The invention belongs to the technical field of underwater vehicle recovery, and in particular relates to a single-point hook and double-point hanging type recovery device for an underwater vehicle and its application. Background Art

[0002] With the acceleration of industrialization, natural resources on land are gradually decreasing, which has led humans to explore marine resources. As a powerful assistant for humans to go deep into the ocean and explore unknown areas, underwater vehicles have ushered in rapid development and widespread application of technology in recent years.

[0003] Underwater vehicle technology has made significant progress, but its support technology in practical applications still faces many challenges, which seriously restricts the operating efficiency of underwater vehicles. Among them, the recovery technology of the vehicle is a part of the support technology. Therefore, the development of a safe, reliable, simple, efficient and low-cost recovery device has become an important issue that needs to be solved in the current field of marine vehicle support.

[0004] At present, the offshore recovery technology for underwater vehicles is generally recovered through the mother ship platform, mainly including the lifting type, slide type and dock type recovery methods. The latter two recovery methods have high requirements on the structure and size of the mother ship, and the recovery cost is high. In addition, the operation of these two recovery methods is relatively complicated, and higher requirements are placed on the accuracy and stability of the control system. The lifting recovery device has a wide range of applications and is applicable to most underwater vehicles. However, the existing lifting recovery device has poor positioning guidance and high difficulty in manual hook operation during the recovery process. In addition, during the lifting process, the underwater vehicle is affected by the single pendulum effect and the spin effect. The vehicle itself is in a constant shaking motion, and it is easy for the vehicle to fall off and collide with the hull. The existing lifting recovery device does not compensate for the shaking effect of the vehicle well. Therefore, for the recovery tasks of various types of vehicles under complex sea conditions, there is an urgent need for a recovery device that has a wide range of applicability, is easy to operate, safe and reliable, and has a low cost to meet the needs of efficient operations in different scenarios. Summary of the invention

[0005] The purpose of the present invention is to provide a single-point hook and double-point lifting and recovery device for underwater vehicles and its application, which solves the problems existing in the prior art of difficulty in manual double-point hooking at the same time, high difficulty in double-point lifting and recovery operation, and large shaking effect of the vehicle.

[0006] The purpose of the present invention is achieved through the following technical solutions:

[0007] A single-point hook and double-point suspension-type recovery device for an underwater vehicle comprises a hook assembly, a hook assembly, a rope limit assembly and a suspension point;

[0008] The upper end of the hook assembly is connected to the mother ship's lifting device;

[0009] The hook assembly is located below the hook assembly, and includes a lifting ring and a lifting ring locker; the lifting ring and the hook assembly cooperate with each other to complete the hook; the lower end of the lifting ring is installed in the installation hole of the lifting ring locker, and the sides of the two lifting rings are in contact with each other; the lifting ring locker is fixedly connected to the rope limit assembly;

[0010] The rope limiting assembly includes a rope limiting plate, a lifting ring connecting rope, an auxiliary rope and an auxiliary rope locking device; the rope limiting plate is fixedly connected to the support force point of the underwater vehicle; one end of the lifting ring connecting rope is connected to the lifting ring in a loop, and the other end is connected to the lifting point; one end of the auxiliary rope is connected to the auxiliary rope locking device installed on the rope limiting plate in a loop, and the other end is connected to the lifting point.

[0011] Furthermore, the hook assembly includes a lifting beam, a lifting rope and a hook; the upper end of the lifting beam is connected to the lifting device of the mother ship through a shackle, and both ends of the lower end of the lifting beam are connected to the lifting rope through a shackle, and the other end of each lifting rope is connected to the hook in a loop; the lower end of each hook is hooked to a lifting ring.

[0012] Furthermore, the two suspension ropes are of the same length.

[0013] Furthermore, the hook includes a new straight hook, a new straight hook permanent magnet, a hook handle and a hook handle permanent magnet; the new straight hook permanent magnet is fixedly installed on the side of the new straight hook; the surface of the hook head of the new straight hook is a spherical structure; the hook handle is fixedly installed on the back of the new straight hook; the new straight hook, the new straight hook permanent magnet, the hook handle and the hook handle permanent magnet are all two.

[0014] Furthermore, the two lifting ring lockers are fixedly installed at the center position of the upper surface of the rope limiting plate, including a locking device housing, a spring, a steel ball, an adjusting nut, a rubber ring and a pressure cover; the outer circumference of the locking device housing is evenly provided with spring, steel ball and adjusting nut mounting holes, and each mounting hole is sequentially installed with a steel ball, a spring and an adjusting nut from the inside to the outside, and the adjusting nut is connected to the locking device housing by threads, thereby realizing the locking of the lifting ring and the adjustment of the locking force; the rubber ring is installed in the groove of the locking device housing; the pressure cover is installed on the locking device housing by bolt connection.

[0015] Furthermore, the rope limiting plate is made of polyformaldehyde material with extremely low water absorption; one side is provided with a special-shaped limiting groove for the lifting ring connecting rope; one side is provided with an auxiliary rope limiting groove, in which an auxiliary rope elastic limiting buckle and an auxiliary crossbeam are fixedly installed.

[0016] Furthermore, the upper end of the lifting point is a mushroom head structure, and a limiting ring groove is opened on the upper end of the mushroom head, which cooperates with the deployment device to complete lifting and deployment; the side of the lifting point is a double-ear plate structure, which cooperates with the hook assembly, the hook assembly and the rope limiting assembly to enable the recovery device to complete lifting and recovery; the lifting point is connected with the slide of the underwater vehicle.

[0017] An application of a single-point hook and double-point suspension recovery device for an underwater vehicle, wherein the hook assembly, the rope limit assembly and the suspension point are arranged on the underwater vehicle and operate together with the underwater vehicle;

[0018] First, the hook assembly is arranged on the mother ship and lowered under the control of the mother ship;

[0019] When the underwater vehicle completes the operation task and needs to recover the hook assembly, the underwater vehicle moves to the vicinity of the mother ship, and the lifting device arranged on the mother ship starts to lower the hook assembly. The underwater operator grabs the hook handle with one hand and grabs the auxiliary beam with the other hand, thereby ensuring that both hands have force support points. At the same time, the lifting rings cannot rotate due to the contact between the sides, which has good hooking conditions. The hooking action is completed under the mutual guidance of the spherical structure on the new straight hook and the lifting ring. The new straight hook is equipped with a buckle to prevent the lifting ring from falling out after hooking, and has good self-locking ability. There is a rubber ring on the outer periphery of the lifting ring locker to reduce the impact force during the hooking process;

[0020] When the hook is completed, the underwater operator presses and turns the auxiliary rope releaser to release the auxiliary rope and pulls out the auxiliary rope in the elastic limit buckle to the mother ship. Then the lifting device on the mother ship starts to lift the hook assembly. Under the gravity of the underwater vehicle, the lifting ring gradually detaches from the lifting ring locker, the new straight hook permanent magnet and the hook handle permanent magnet gradually separate, and the lifting ring connecting rope is pulled out of the special-shaped limit groove. At this time, a trapezoidal lifting shape is formed between the recovery device and the underwater vehicle, and at the same time, it is adjusted by the dragging of the auxiliary rope of the mother ship.

[0021] The beneficial effects of the present invention are:

[0022] The present invention adopts a method of connecting double straight hooks adsorbed by permanent magnets with double lifting rings, which can effectively solve the problems of unstable single-point recovery, asynchronous double-point recovery hooks, poor positioning and guidance, and high difficulty in manual hook operation of traditional recovery devices. A single person can achieve double-hook hanging and double-point lifting recovery. In addition, the new straight hook greatly reduces the overall size and weight compared with the traditional lifting hook, avoiding the adverse effect of the overall size and weight of the lifting ring on the navigation of the underwater vehicle due to the excessive size and weight of the lifting ring.

[0023] The present invention adopts a double-point lifting form, and a non-isosceles trapezoidal structure is formed between the lifting beam, the lifting rope and the underwater vehicle lifting point after lifting, which can ensure that the center of the lifting beam is located directly above the center of gravity of the underwater vehicle after lifting. At the same time, under the auxiliary traction and guidance of the auxiliary rope, the recovery device has higher stability, which effectively solves the shaking effect of the underwater vehicle during the lifting process, and ensures that the recovery process is carried out efficiently and safely under complex sea conditions. At the same time, it is suitable for the recovery of most marine vehicles and has a lower recovery cost compared with other recovery forms. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the three-dimensional structure of the device of the present invention when it is not hoisted;

[0025] Figure 2 It is a schematic diagram of the three-dimensional structure of the device of the present invention after being hoisted;

[0026] Figure 3 It is a partial enlarged three-dimensional structural schematic diagram of the device A of the present invention;

[0027] Figure 4 It is a schematic diagram of the three-dimensional structure of the hanging point of the device of the present invention;

[0028] Figure 5 It is a three-dimensional structural schematic diagram of the hook of the device of the present invention;

[0029] Figure 6 It is a three-dimensional structural schematic diagram of the hook assembly of the device of the present invention.

[0030] In the figure: 1 hook assembly, 2 hook assembly, 3 rope limiting assembly, 4 lifting point, 11 lifting beam, 12 lifting rope, 13 hook, 21 lifting ring, 22 lifting ring locker, 31 rope limiting plate, 32 lifting ring connecting rope, 33 auxiliary rope, 34 auxiliary rope locker, 131 new straight hook, 132 new straight hook permanent magnet, 133 hook handle 134 hook handle permanent magnet, 221 locker housing, 222 spring, 223 steel ball, 224 adjusting nut, 225 rubber ring, 226 pressure cover, 311 auxiliary rope elastic limiting buckle, 312 auxiliary beam. DETAILED DESCRIPTION

[0031] The present invention is further described below in conjunction with the accompanying drawings.

[0032] A single-point hook and double-point suspension type recovery device for an underwater vehicle comprises a hook assembly 1, a hook assembly 2, a rope limit assembly 3 and a suspension point 4.

[0033] The hook assembly 1 includes a lifting beam 11, a lifting rope 12 and a lifting hook 13. The upper end of the lifting beam 11 is connected to the lifting device of the mother ship through a shackle, and a series of shackle mounting holes are provided at the lower end, which can adjust the shackle position and thus adjust the lifting angle of the lifting rope 12 to adjust the lifting center of gravity. The other end of the lifting rope 12 is connected to the hook 13 in a loop. The hook 13 consists of a new straight hook 131, a new straight hook permanent magnet 132, a hook handle 133 and a hook handle permanent magnet 134. A new straight hook permanent magnet 132 is installed on the side of the new straight hook 131, and the surface of the new straight hook permanent magnet 132 is coated to avoid rupture caused by excessive impact during the suction process. The back of the new straight hook 131 is connected to the hook handle 133 by a thread, and the end face of the hook handle is connected to the hook handle permanent magnet 134 by a thread. The setting of the permanent magnet can realize the close connection between the new straight hooks 131 before lifting and the rapid separation of the new straight hooks 131 during lifting.

[0034] The hook assembly 2 includes a lifting ring 21 and a lifting ring locker 22. The lower end of the lifting ring 21 has a trapezoidal ring groove, and the trapezoidal ring groove cooperates with the lifting ring locker 22 to achieve locking. The upper end of the lifting ring cooperates with the hook 13 to complete the hook. The lifting ring locker 22 is composed of a locker housing 221, a spring 222, a steel ball 223, an adjusting nut 224, a rubber ring 225 and a pressure cover 226. The lifting ring locker 22 is fixedly connected to the rope limit assembly 3 by bolts. Four evenly distributed outer circumferences of the locker housing 221 are provided. There are mounting holes for spring 222, steel ball 223 and adjusting nut 224. Steel ball 223, spring 222 and adjusting nut 224 are installed in each mounting hole from inside to outside. The adjusting nut 224 is connected to the lock housing 221 through a threaded connection, so that the locking ring and the locking force can be adjusted. The rubber ring 225 is installed in the groove of the lock housing 221 to reduce the impact force. The pressure cover 226 is installed on the lock housing 221 to limit the lock.

[0035] One end of the lifting point 4 is fixedly installed on the underwater vehicle, and the other end is fixedly connected to the rope on the rope limiting assembly 3 by bolts. The upper end of the lifting point 4 is a mushroom head structure, and the mushroom head has a limiting ring groove for connecting the deployment device, which cooperates with the deployment device to complete the lifting and deployment. The side is a double-ear plate structure, which is connected to the recovery device by bolts to complete the lifting and recovery of the underwater vehicle.

[0036] The rope limiting assembly 3 includes a rope limiting plate 31, a lifting ring connecting rope 32, an auxiliary rope 33 and an auxiliary rope locker 34. The rope limiting plate 31 is made of polyoxymethylene material, and has a special-shaped limiting groove for the lifting ring connecting rope 32 on one side, and a limiting groove for the auxiliary rope 33 on the other side. The limiting groove is fixed with an auxiliary rope elastic limiting buckle 311 and an auxiliary crossbeam 312. The auxiliary crossbeam 32 can provide hand support for the diver to assist the diver in completing the release and hooking actions of the auxiliary rope. The rope limiting plate 31 is fixedly connected to the underwater vehicle support force point by bolts, one end of the lifting ring connecting rope 32 is connected to the lifting ring 21 in a loop, and the other end is fixedly connected to the lifting point 4 by bolts, one end of the auxiliary rope 33 is connected to the auxiliary rope locker 34 in a loop, and the other end is fixedly connected to the lifting point 4 by bolts, and the auxiliary rope locker 34 is fixedly connected to the rope limiting plate 31.

[0037] The present application also provides an application method of a single-point hook and double-point hanging recovery device for an underwater vehicle, the working principle of which is:

[0038] The hook assembly 2, the rope limit assembly 3 and the hanging point 4 involved in the present invention are arranged on the underwater vehicle and work with the underwater vehicle; the hook assembly 1 involved is arranged on the mother ship and is controlled by the mother ship to be lowered. When the underwater vehicle completes the operation task and needs to be recovered, the underwater vehicle moves to the vicinity of the mother ship, and the lifting device arranged on the mother ship starts to lower the hook assembly 1. The underwater operator grabs the hook handle 133 with one hand and the auxiliary beam 312 with the other hand, thereby ensuring that both hands have force support points. At the same time, the lifting ring 21 cannot rotate due to the mutual contact between the sides, which has good hooking conditions. The hooking action is completed under the mutual guidance of the spherical structure on the new straight hook 131 and the lifting ring 21. The new straight hook is installed with a buckle to prevent the lifting ring from falling out after hooking, and has good self-locking ability. There is a rubber ring on the outer periphery of the lifting ring locker to reduce the impact force during the hooking process. After the hooking is completed, the underwater operator presses and rotates the auxiliary rope releaser to release the auxiliary rope 33 and pulls out the auxiliary rope 33 in the elastic limit buckle 311 to the mother ship. Then the lifting device on the mother ship starts to lift the hook assembly 1. Under the gravity of the underwater vehicle, the lifting ring gradually separates from the lifting ring locker, the new straight hook permanent magnet 132 and the hook handle permanent magnet 134 gradually separate, and the lifting ring connecting rope 32 is pulled out from the special-shaped limit groove. At this time, a trapezoidal lifting shape is formed between the recovery device and the underwater vehicle. At the same time, under the dragging adjustment of the auxiliary rope of the mother ship, the underwater vehicle has a good balance state, and finally the single-point hooking and double-point lifting and recovery of the underwater vehicle is completed stably and safely.

[0039] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A single-point hook and double-point hanging recovery device for underwater vehicles, characterized in that: It comprises a hook assembly (1), a hook assembly (2), a rope limiting assembly (3) and a hanging point (4); The upper end of the hook assembly (1) is connected to the mother ship's lifting device; The hook assembly (2) is located below the hook assembly (1), and comprises a lifting ring (21) and a lifting ring locker (22); the lifting ring (21) cooperates with the hook assembly (1) to complete the hooking; the lower end of the lifting ring (21) is installed in the installation hole of the lifting ring locker (22), and the sides of the two lifting rings (21) are in contact with each other; the lifting ring locker (22) is fixedly connected to the rope limiting assembly (3); The rope limiting assembly (3) comprises a rope limiting plate (31), a lifting ring connecting rope (32), an auxiliary rope (33) and an auxiliary rope locking device (34); the rope limiting plate (31) is fixedly connected to a supporting force point of the underwater vehicle; one end of the lifting ring connecting rope (32) is connected to the lifting ring (21) in a loop, and the other end is connected to the lifting point (4); one end of the auxiliary rope (33) is connected to the auxiliary rope locking device (34) installed on the rope limiting plate (31) in a loop, and the other end is connected to the lifting point (4).

2. The underwater vehicle single-point hook double-point hanging and releasing recovery device according to claim 1, characterized in that: The hook assembly (1) comprises a lifting beam (11), a lifting rope (12) and a lifting hook (13); the upper end of the lifting beam (11) is connected to a lifting device of a mother ship via a shackle, both ends of the lower end of the lifting beam (11) are connected to the lifting rope (12) via a shackle, and the other end of each lifting rope (12) is connected to the lifting hook (13) in a loop; the lower end of each lifting hook (13) is hooked to a lifting ring (21).

3. The underwater vehicle single-point hook double-point hanging and releasing recovery device according to claim 2, characterized in that: The two suspension ropes (12) have the same length.

4. The underwater vehicle single-point hook double-point hanging and releasing recovery device according to claim 2, characterized in that: The hook (13) comprises a novel straight hook (131), a novel straight hook permanent magnet (132), a hook handle (133) and a hook handle permanent magnet (134); the novel straight hook permanent magnet (132) is fixedly mounted on the side of the novel straight hook (131); the hook head surface of the novel straight hook (131) is a spherical structure; the hook handle (133) is fixedly mounted on the back of the novel straight hook (131); the novel straight hook (131), the novel straight hook permanent magnet (132), the hook handle (133) and the hook handle permanent magnet (134) are each two.

5. The underwater vehicle single-point hook double-point hanging and releasing recovery device according to claim 1, characterized in that: The two lifting ring lockers (22) are fixedly mounted at the center position of the upper surface of the rope limiting plate (31), and include a locker housing (221), a spring (222), a steel ball (223), an adjusting nut (224), a rubber ring (225) and a pressure cover (226); the outer circumference of the locker housing (221) is evenly provided with mounting holes for the spring (222), the steel ball (223) and the adjusting nut (224); each mounting hole is sequentially mounted with a steel ball (223), a spring (222) and an adjusting nut (224) from the inside to the outside; the adjusting nut (224) is connected to the locker housing (221) by threads, thereby achieving locking of the lifting ring and adjustment of the locking force; the rubber ring (225) is mounted in a groove of the locker housing (221); and the pressure cover (226) is mounted on the locker housing (221) by bolt connection.

6. The underwater vehicle single-point hook double-point hanging and releasing recovery device according to claim 1, characterized in that: The rope limiting plate (31) is made of polyoxymethylene material and has an extremely low water absorption rate; one side is provided with a special-shaped limiting groove for a lifting ring connecting rope (32); one side is provided with a limiting groove for an auxiliary rope (33), in which an auxiliary rope elastic limiting buckle (311) and an auxiliary crossbeam (312) are fixedly installed.

7. The underwater vehicle single-point hook double-point hanging and releasing recovery device according to claim 1, characterized in that: The upper end of the lifting point (4) is a mushroom head structure, and a limiting ring groove is formed on the upper end of the mushroom head, which cooperates with the deployment device to complete lifting and deployment; the side of the lifting point (4) is a double-ear plate structure, which cooperates with the hook assembly (1), the hook assembly (2) and the rope limiting assembly (3) to enable the recovery device to complete lifting and recovery; the lifting point (4) is connected to the slide slot of the underwater vehicle.

8. Application of a single-point hook and double-point hanging and releasing recovery device for underwater vehicles according to any one of claims 1 to 7, characterized in that: The hook assembly (2), the rope limiting assembly (3) and the suspension point (4) are arranged on the underwater vehicle and operate together with the underwater vehicle; Firstly, the hook assembly (1) is arranged on the mother ship and lowered under the control of the mother ship; When the underwater vehicle completes its operation and needs to recover the hook assembly (1), the underwater vehicle moves to the vicinity of the mother ship, and the lifting device arranged on the mother ship starts to lower the hook assembly (1). The underwater operator grabs the hook handle (133) with one hand and grabs the auxiliary beam (312) with the other hand, thereby ensuring that both hands have force support points. At the same time, the lifting ring (21) cannot rotate due to the mutual contact between the sides, which provides good hooking conditions. The hooking action is completed under the mutual guidance of the spherical structure on the new straight hook (131) and the lifting ring (21). The new straight hook (131) is installed with a buckle to prevent the lifting ring from falling out after hooking, and has good self-locking ability. There is a rubber ring on the outer periphery of the lifting ring locker to reduce the impact force during the hooking process. When the hook is hooked, the underwater operator presses and rotates the auxiliary rope releaser to release the auxiliary rope (33) and pulls out the auxiliary rope (33) in the elastic limit buckle (311) and pulls it to the mother ship. Then the lifting device on the mother ship starts to lift the hook assembly (1). Under the gravity of the underwater vehicle, the lifting ring gradually separates from the lifting ring locker, the new straight hook permanent magnet (132) and the hook handle permanent magnet (134) gradually separate, and the lifting ring connecting rope (32) is pulled out from the special-shaped limit groove. At this time, a trapezoidal lifting shape is formed between the recovery device and the underwater vehicle, and at the same time, it is adjusted by the towing of the auxiliary rope of the mother ship.

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