Multi-stroke lifting device and method for butt joint of underwater vehicle and mother ship

Abstract

The invention belongs to the technical field of ship devices, and particularly relates to a multi-stroke lifting device and method for butt joint of an underwater vehicle and a mother ship, and the multi-stroke lifting device is composed of a jacking oil cylinder, a connecting rod mechanism, a lifting base table, a butt joint assembly, a position correction assembly, a clamp assembly, a mechanical locking mechanism and other structures. The method comprises the steps that the jacking oil cylinder drives the connecting rod mechanism to drive the butt joint assembly to ascend and descend to different heights, and the underwater vehicle can be jacked up to bear the whole weight, so that the underwater vehicles of different models are in butt joint with the bottom of a mother ship. The jacking oil cylinder is connected with the connecting rod mechanism, and the butt joint assembly is driven to ascend and descend to the designated height and is in butt joint with underwater vehicles with different butt joint skirt lengths; the two output force modes can correspond to two types of underwater vehicles needing to be jacked up and not jacked up during butt joint, and the form that the jacking oil cylinder is connected with the connecting rod mechanism can obtain large jacking force when the output force of the oil cylinder is small.

Description

Technical Field

[0001] The present invention relates to the technical field of ship devices, and in particular to a multi-stroke lifting device and method for docking an underwater submersible with a mother ship, which is suitable for bottom docking of underwater submersibles of different models with a mother ship. Background Art

[0002] After the underwater submersible has been working under pressure, it needs to dock with the mother ship and transfer the personnel to the decompression chamber for decompression. The docking forms between the submersible and the mother ship can be divided into bottom docking and tail docking. During bottom docking, the docking skirt at the bottom of the submersible is connected to the docking device on the mother ship deck, and the personnel are transferred to the decompression chamber on the lower deck through the docking device.

[0003] The length of the bottom docking skirt of different underwater submersibles varies, and some models of underwater submersibles require a device that can lift the submersible and bear all the weight when docking at the bottom. The existing docking device is not suitable for the bottom docking of various submersibles and cannot bear all the weight. Therefore, how to achieve the bottom docking of different models of underwater submersibles with the mother ship has become an urgent problem to be solved.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0005] The purpose of the present invention is to solve the technical problems existing in the background technology. To this end, a multi-stroke lifting device and method for docking an underwater submersible with a mother ship are provided. The connecting rod mechanism can be driven by a lifting cylinder to drive the docking assembly to different heights, and the underwater submersible can be lifted up to bear all the weight to achieve bottom docking of underwater submersibles of different models with the mother ship.

[0006] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A multi-stroke lifting device for docking an underwater submersible with a mother ship, comprising a lifting cylinder, a connecting rod mechanism, a lifting base and a docking assembly;

[0008] The lifting base is hinged to a hinge point at one end of a connecting rod mechanism, a hinge point at the other end of the connecting rod mechanism is installed on the main deck, a hinge point in the middle of the connecting rod mechanism is hinged to one end of a lifting cylinder, and the other end of the lifting cylinder is hinged to the main deck;

[0009] The docking assembly is installed on a lifting base, and the docking assembly is used for docking between the underwater submersible and the mother ship.

[0010] The following is a technical solution further defined by the device of the present invention, wherein the docking assembly includes a docking tube, a docking installation opening is opened at the center position of the lifting base, the docking tube is fixedly connected to the docking installation opening, and the docking tube is used to dock with the mother ship and to be slidably connected with the mother ship.

[0011] The following is a technical solution further defined by the device in the present invention, wherein the docking assembly includes a position correction assembly, which is installed at the docking installation port, and the position correction assembly is used to connect with the bottom of the underwater submersible.

[0012] The following is a technical solution further defined by the device of the present invention: a clamp assembly is hinged on the lifting base, and the clamp assembly is used to lock the docking assembly with the bottom of the underwater submersible.

[0013] The following is a technical solution further defined in the device of the present invention, wherein the clamp assembly comprises a first half clamp and a second half clamp, one end of the first half clamp is hingedly set on a lifting base, and one end of the second half clamp is hingedly set on the lifting base, and the other end of the first half clamp and the other end of the second half clamp are used to lock the docking assembly with the bottom of the underwater submersible through a mechanical locking mechanism.

[0014] The following is a further technical solution of the device in the present invention: the connecting rod mechanism is provided with two groups, and the two groups of connecting rod mechanisms are symmetrically arranged on both sides of the bottom of the lifting base.

[0015] The following is a technical solution further defined in the device of the present invention, wherein the connecting rod mechanism comprises a first hinged rod, a second hinged rod, a third hinged rod, a fourth hinged rod and a cross rod;

[0016] One end of the first hinged rod is hinged to the bottom of the lifting base, the other end of the first hinged rod is hinged to one end of the second hinged rod, and the other end of the second hinged rod is hingedly mounted on the main deck;

[0017] The hinge structure composed of the first hinge rod and the second hinge rod is the same as the hinge structure composed of the third hinge rod and the fourth hinge rod;

[0018] A cross bar is connected between the hinge point between the first hinge rod and the second hinge rod and the hinge point between the third hinge rod and the fourth hinge rod;

[0019] One end of the jacking oil cylinder is hingedly arranged on the cross bar, and the other end of the jacking oil cylinder is hingedly arranged on the main deck.

[0020] The following is a technical solution further defined by the device of the present invention, wherein four lifting cylinders are provided, and the working conditions of the four lifting cylinders remain consistent, wherein two of the lifting cylinders are connected to a set of connecting rod mechanisms.

[0021] A method for docking an underwater submersible with a mother ship based on the above-mentioned multi-stroke lifting device comprises the following steps:

[0022] Step S1: The underwater submersible stops on the cradle on the main deck of the mother ship, and the model of the underwater submersible is detected and identified;

[0023] Step S2: based on different models of underwater submersibles, pressing corresponding limit switches;

[0024] Step S3: the lifting cylinder operates to drive the docking assembly on the lifting platform to lift from the starting position. Based on the pressed limit switch, the lifting height of the docking assembly corresponds to the length of the docking skirt at the bottom of the underwater submersible.

[0025] Step S4: After reaching the docking position, based on the position correction assembly, the docking skirt at the bottom of the underwater submersible is docked with the docking tube of the docking assembly;

[0026] Step S5: The clamp assembly clamps the connection between the docking skirt and the docking tube, and locks the clamp assembly through a mechanical locking mechanism;

[0027] Step S6: After the docking is completed, the pressure is maintained and the personnel are transferred from the underwater submersible to the decompression chamber under the main deck of the mother ship through the docking tube;

[0028] Step S7: After the personnel transfer is completed, the pressure is released, and then the mechanical locking mechanism and the clamp assembly are loosened, and the jacking cylinder is retracted, so that the docking skirt at the bottom of the underwater submersible is separated from the docking assembly.

[0029] The following is a technical solution further defined by the method of the present invention. When the jacking cylinder is in operation, the connecting rod mechanism drives the docking assembly on the lifting base to rise from the starting position to the docking position and dock with the docking skirt at the bottom of the underwater submersible. The output force coordinated between the jacking cylinder and the connecting rod mechanism has two output force modes:

[0030] The first method: lift up the underwater submersible and keep it in the pressurized transfer position;

[0031] The second method is to drive the docking assembly to rise so that the docking assembly only docks with the underwater submersible to avoid over-lifting the underwater submersible.

[0032] Compared with the prior art, the present invention has the following technical effects:

[0033] The present invention solves the problem that existing equipment cannot dock with the bottom of various models of underwater submersibles; the present invention connects the connecting rod mechanism through the jacking cylinder to drive the docking assembly to rise and fall to a specified height, so as to dock with underwater submersibles with different docking skirt lengths; the two output force modes can correspond to two types of underwater submersibles that need to be jacked up and those that do not need to be jacked up during docking, and the form of the jacking cylinder connected to the connecting rod mechanism can obtain a larger jacking force when the cylinder output force is smaller.

[0034] The present invention is further described below in conjunction with the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0036] Figure 1 It is a schematic front view of the device structure of the present invention;

[0037] Figure 2 It is a schematic top view of the device structure of the present invention;

[0038] Figure 3 It is a schematic side view of the device structure of the present invention;

[0039] Figure 4 yes Figure 3 Schematic diagram of the structural section of AA;

[0040] Figure 5 It is a schematic diagram of the output force of the connecting rod mechanism in the present invention.

[0041] Figure numerals: 1. Lifting cylinder; 2. Connecting rod mechanism; 201. First articulated rod; 202. Second articulated rod; 203. Third articulated rod; 204. Fourth articulated rod; 205. Cross bar; 3. Lifting base; 4. Main deck; 5. Docking tube; 6. Position correction assembly; 7. Clamp assembly; 8. Mechanical locking mechanism. DETAILED DESCRIPTION

[0042] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present invention, so the present invention is not limited by the specific embodiments disclosed below.

[0043] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0044] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0045] In the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present invention can be understood according to specific circumstances.

[0046] like Figure 1-5 As shown, a multi-stroke lifting device for docking an underwater submersible with a mother ship is provided. The connecting rod mechanism 2 is driven by a lifting cylinder 1 to drive the docking assembly to different heights, and the underwater submersible can be lifted up to bear all the weight to achieve bottom docking of underwater submersibles of different models with the mother ship.

[0047] like Figure 1-4 As shown, the multi-stroke lifting device is composed of a lifting cylinder 1, a connecting rod mechanism 2, a lifting base 3, a docking assembly, a position correction assembly 6, a clamp assembly 7 and a mechanical locking mechanism 8, and is then controlled by an electrical control cabinet, an operating box, a hydraulic pump station, etc.

[0048] The multi-stroke lifting device is installed on the main deck 4 of the mother ship. Four lifting cylinders 1 (two on each side) are symmetrically arranged on both sides of the bottom of the multi-stroke lifting device to drive the connecting rod mechanism 2, thereby driving the docking assembly to lift from the initial position. The initial position refers to Figure 1 .

[0049] like Figure 1-3As shown, the working states of the four lifting cylinders 1 remain consistent, wherein two of the lifting cylinders 1 are connected to a set of connecting rod mechanisms 2, two sets of connecting rod mechanisms 2 are provided, and the two sets of connecting rod mechanisms 2 are symmetrically arranged on both sides of the bottom of the lifting base 3. The connecting rod mechanism 2 includes a first hinged rod 201, a second hinged rod 202, a third hinged rod 203, a fourth hinged rod 204 and a cross bar 205; one end of the first hinged rod 201 is hinged to the bottom of the lifting base 3, the other end of the first hinged rod 201 is hinged to one end of the second hinged rod 202, and the other end of the second hinged rod 202 is hingedly installed on the main deck 4; the hinge structure composed of the first hinged rod 201 and the second hinged rod 202 is the same as the hinge structure composed of the third hinged rod 203 and the fourth hinged rod 204; a cross bar 205 is connected between the hinge point between the first hinged rod 201 and the second hinged rod 202 and the hinge point between the third hinged rod 203 and the fourth hinged rod 204; one end of the lifting cylinder 1 is hingedly arranged on the cross bar 205 through a bearing, and the other end of the lifting cylinder 1 is hinged to the main deck 4.

[0050] like Figure 4 As shown, the docking assembly is installed on the lifting base 3, and the docking assembly is used for docking between the underwater submersible and the mother ship. The docking assembly includes a position correction assembly 6 and a docking tube 5. A docking installation opening is opened at the center of the lifting base 3, and the docking tube 5 is fixedly connected to the docking installation opening. The docking tube 5 is used to dock with the mother ship and to be slidably connected with the mother ship. The position correction assembly 6 is installed at the docking installation opening, and the position correction assembly 6 is used to dock with the bottom of the underwater submersible.

[0051] like Figure 2 and 3 As shown, a clamp assembly 7 is hinged on the lifting base 3, and the clamp assembly 7 is used to lock the docking assembly with the bottom of the underwater submersible. The clamp assembly 7 includes a first half clamp and a second half clamp, one end of the first half clamp is hingedly set on the lifting base 3, and one end of the second half clamp is hingedly set on the lifting base 3. The other end of the first half clamp and the other end of the second half clamp lock the docking assembly with the bottom of the underwater submersible through a mechanical locking mechanism 8.

[0052] Thus, the lifting cylinder 1 works and drives the connecting rod mechanism 2, thereby driving the docking assembly to lift from the initial position. According to the length of the docking skirt at the bottom of different models of underwater submersibles, the multi-stroke lifting device can adjust the lifting height. After reaching the docking position, the docking assembly can be docked with the underwater submersible through the clamp assembly 7 and the mechanical locking device. After the docking is completed, the pressure is maintained, and then the personnel can be transferred from the underwater submersible to the decompression chamber under the deck through the docking tube 5. After the transfer is completed, the pressure is released and the docking assembly is disconnected.

[0053] Because the lifting distances of different types of underwater submersibles are different, different operation modes and limit switches at different positions are added to the electrical control for protection. Figure 4 , the actual situation is controlled by the limit switch.

[0054] Since some models of underwater submersibles need to be lifted up when docking, their weight is entirely borne by the lifting device. Therefore, the required lifting force is large, and they need to withstand the lateral force caused by the inertia force, and the internal force at the docking point is also large. For other models of submersibles, they can be placed on the deck or shelf when docking, and most of the weight and inertia force caused by motion acceleration are borne by the deck or shelf, so the required lifting force is small, and the internal force at the docking point is also small.

[0055] The connecting rod mechanism 2 is designed with two output force modes, one is to lift the underwater submersible and keep it in the pressure transfer position, and the other is to drive the docking assembly to lift so that the docking assembly only docks with the underwater submersible to avoid over-lifting the underwater submersible. Figure 5 As shown, r is the distance between the hinge points of the connecting rod mechanism 2, h is the height of the lifting hinge point, and L is the distance between the hinge points of the jacking cylinder 1. Rx is the horizontal reaction force of the connecting rod mechanism 2 on the lifting base 3, Fy is the load force of the jacking, and N is the internal force of the connecting rod mechanism 2. According to the installation position of the connecting rod mechanism 2 and the jacking cylinder 1, the geometric size relationship is determined according to the trigonometric function relationship. According to the mechanical relationship of the upper connecting rod (i.e., the first hinge rod 201) being subjected to force and the lower connecting rod (i.e., the second hinge rod 202) being subjected to torque balance, Rx and the cylinder force can be solved according to the size of Fy corresponding to different known h. The output characteristics of this mechanism are: at the position of descent, the vertical component of the output force of the jacking cylinder 1 and the connecting rod mechanism 2 is small, and the jacking force is not large; at the position of jacking, the load is mainly borne by the connecting rod mechanism 2, the output force of the jacking cylinder 1 can be small and the jacking force can be large.

[0056] In summary, based on the above-mentioned multi-stroke lifting device, a method for docking an underwater submersible with a mother ship is obtained, which specifically includes the following steps:

[0057] Step S1: The underwater submersible stops on the cradle of the main deck 4 of the mother ship, and the model of the underwater submersible is detected and identified.

[0058] Step S2: Based on different models of underwater submersibles, press the corresponding limit switch.

[0059] Step S3: The lifting cylinder 1 is in operation, driving the docking assembly on the lifting platform 3 to lift from the starting position. Based on the pressed limit switch, the lifting height of the docking assembly corresponds to the length of the docking skirt at the bottom of the underwater submersible. When the lifting cylinder 1 is in operation, the connecting rod mechanism 2 drives the docking assembly on the lifting platform 3 to lift from the starting position to the docking position, and docks with the docking skirt at the bottom of the underwater submersible. The output force coordinated between the lifting cylinder 1 and the connecting rod mechanism 2 has two output force modes: the first mode: lifting the underwater submersible and keeping it in the pressure transfer position; the second mode: driving the docking assembly to lift so that the docking assembly only docks with the underwater submersible, avoiding excessive lifting of the underwater submersible.

[0060] Step S4: After reaching the docking position, based on the position correction component 6, the docking skirt at the bottom of the underwater submersible is docked with the docking tube 5 of the docking component.

[0061] Step S5: the clamp assembly 7 clamps the connection between the docking skirt and the docking tube 5, and the clamp assembly 7 is locked by the mechanical locking mechanism 8.

[0062] Step S6: After the docking is completed, the pressure is maintained and the personnel are transferred from the underwater submersible to the decompression chamber under the main deck 4 of the mother ship through the docking tube 5.

[0063] Step S7: After the personnel transfer is completed, the pressure is released, and then the mechanical locking mechanism 8 and the clamp assembly 7 are loosened, and the jacking cylinder 1 is retracted, so that the docking skirt at the bottom of the underwater submersible is separated from the docking assembly.

[0064] The above is only a preferred embodiment of the present invention, and does not limit the present invention in any form. Any technician familiar with the art can make many possible changes and modifications to the technical solution of the present invention by using the above disclosed methods and technical contents without departing from the scope of the technical solution of the present invention, or modify it into an equivalent embodiment of equivalent changes. Therefore, all equivalent changes made according to the shape, structure and principle of the present invention without departing from the content of the technical solution of the present invention should be included in the protection scope of the present invention.

Claims

1. A multi-stroke lifting device for docking an underwater submersible with a mother ship, characterized in that: It includes a lifting cylinder, a connecting rod mechanism, a lifting base and a docking assembly; The lifting base is hinged to a hinge point at one end of a connecting rod mechanism, a hinge point at the other end of the connecting rod mechanism is installed on the main deck, a hinge point in the middle of the connecting rod mechanism is hinged to one end of a lifting cylinder, and the other end of the lifting cylinder is hinged to the main deck; The docking assembly is installed on a lifting base, and the docking assembly is used for docking between the underwater submersible and the mother ship.

2. A multi-stroke lifting device for docking an underwater submersible with a mother ship as claimed in claim 1, characterized in that: The docking assembly comprises a docking tube, a docking installation opening is provided at the center of the lifting base, the docking tube is fixedly connected to the docking installation opening, and the docking tube is used to dock with the mother ship and to be slidably connected with the mother ship.

3. A multi-stroke lifting device for docking an underwater submersible with a mother ship as claimed in claim 2, characterized in that: The docking assembly includes a position correction assembly, which is installed at the docking installation opening and is used to connect with the bottom of the underwater submersible.

4. A multi-stroke lifting device for docking an underwater submersible with a mother ship as claimed in claim 1, characterized in that: A clamp assembly is hinged on the lifting base, and the clamp assembly is used for locking between the docking assembly and the bottom of the underwater submersible.

5. A multi-stroke lifting device for docking an underwater submersible with a mother ship as claimed in claim 4, characterized in that: The clamp assembly includes a first half clamp and a second half clamp. One end of the first half clamp is hinged on the lifting base, and one end of the second half clamp is hinged on the lifting base. The other end of the first half clamp and the other end of the second half clamp lock the docking assembly with the bottom of the underwater submersible through a mechanical locking mechanism.

6. A multi-stroke lifting device for docking an underwater submersible with a mother ship as claimed in claim 1, characterized in that: The connecting rod mechanism is provided with two groups, and the two groups of connecting rod mechanisms are symmetrically arranged on both sides of the bottom of the lifting base.

7. A multi-stroke lifting device for docking an underwater submersible with a mother ship as claimed in claim 6, characterized in that: The connecting rod mechanism comprises a first hinge rod, a second hinge rod, a third hinge rod, a fourth hinge rod and a cross rod; One end of the first hinged rod is hinged to the bottom of the lifting base, the other end of the first hinged rod is hinged to one end of the second hinged rod, and the other end of the second hinged rod is hingedly mounted on the main deck; The hinge structure composed of the first hinge rod and the second hinge rod is the same as the hinge structure composed of the third hinge rod and the fourth hinge rod; A cross bar is connected between the hinge point between the first hinge rod and the second hinge rod and the hinge point between the third hinge rod and the fourth hinge rod; One end of the jacking oil cylinder is hingedly arranged on the cross bar, and the other end of the jacking oil cylinder is hingedly arranged on the main deck.

8. A multi-stroke lifting device for docking an underwater submersible with a mother ship as claimed in claim 7, characterized in that: There are four lifting cylinders, and the working conditions of the four lifting cylinders are kept consistent, wherein two of the lifting cylinders are connected to a set of connecting rod mechanisms.

9. A method for docking an underwater submersible with a mother ship using a multi-stroke lifting device according to any one of claims 1 to 8, characterized in that: The following steps are involved: Step S1: The underwater submersible stops on the cradle on the main deck of the mother ship, and the model of the underwater submersible is detected and identified; Step S2: based on different models of underwater submersibles, pressing corresponding limit switches; Step S3: the lifting cylinder operates to drive the docking assembly on the lifting platform to lift from the starting position. Based on the pressed limit switch, the lifting height of the docking assembly corresponds to the length of the docking skirt at the bottom of the underwater submersible. Step S4: After reaching the docking position, based on the position correction assembly, the docking skirt at the bottom of the underwater submersible is docked with the docking tube of the docking assembly; Step S5: The clamp assembly clamps the connection between the docking skirt and the docking tube, and locks the clamp assembly through a mechanical locking mechanism; Step S6: After the docking is completed, the pressure is maintained and the personnel are transferred from the underwater submersible to the decompression chamber under the main deck of the mother ship through the docking tube; Step S7: After the personnel transfer is completed, the pressure is released, and then the mechanical locking mechanism and the clamp assembly are loosened, and the jacking cylinder is retracted, so that the docking skirt at the bottom of the underwater submersible is separated from the docking assembly.

10. The method according to claim 9, characterized in that When the lifting cylinder is working, the connecting rod mechanism drives the docking assembly on the lifting base to rise from the starting position to the docking position, and docks with the docking skirt at the bottom of the underwater submersible. The output force coordinated between the lifting cylinder and the connecting rod mechanism has two output force modes: The first method: lift up the underwater submersible and keep it in the pressurized transfer position; The second method is to drive the docking assembly to rise so that the docking assembly only docks with the underwater submersible to avoid over-lifting the underwater submersible.

Images