A multi-stroke lifting device and method for underwater vehicle interfacing with a mother ship

Abstract

The present application belongs to the technical field of ship device, and particularly relates to a multi-stroke lifting device and method for docking underwater submersible and mother ship. The multi-stroke lifting device is composed of a jacking oil cylinder, a connecting rod mechanism, a lifting base, a docking assembly, a position correction assembly, a clamp assembly and a mechanical locking mechanism. The method comprises the following steps: driving the connecting rod mechanism by the jacking oil cylinder to drive the docking assembly to lift to different heights and lift the underwater submersible to bear the whole weight, so as to realize the docking of underwater submersibles of different types and the bottom of the mother ship. The jacking oil cylinder is connected with the connecting rod mechanism to drive the docking assembly to lift to a specified height and dock with underwater submersibles of different docking skirt lengths. Two output force modes can correspond to two types of underwater submersibles that need to be lifted and not lifted during docking, and the form of the jacking oil cylinder connected with the connecting rod mechanism can obtain larger lifting force when the output force of the oil cylinder is small.

Description

Technical Field

[0001] This invention relates to the field of ship equipment technology, and in particular to a multi-stroke lifting device and method for docking underwater submersibles with mother ships, applicable to bottom docking of different types of underwater submersibles with mother ships. Background Technology

[0002] After pressurized operations, the submersible needs to be docked with the mother ship to transfer personnel to the decompression chamber for decompression. The docking methods with the mother ship can be either bottom docking or stern docking. During bottom docking, the docking skirt on the bottom of the submersible connects to the docking device on the mother ship's deck, and personnel are transferred to the decompression chamber on the lower deck via the docking device.

[0003] Different underwater vehicles have varying docking skirt lengths, and some models require a device capable of lifting the vehicle and bearing its full weight during bottom docking. Existing docking devices are not suitable for bottom docking with various types of underwater vehicles and cannot withstand the full weight. Therefore, how to achieve bottom docking of different underwater vehicle models with the mother ship has become an urgent problem to be solved.

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

[0005] The purpose of this invention is to solve the technical problems existing in the background art. To this end, a multi-stroke lifting device and method for docking underwater vehicles with mother ships is provided. The device can drive the linkage mechanism through the lifting cylinder to lift the docking components to different heights and lift the underwater vehicle to bear the full weight, so as to realize the bottom docking of different types of underwater vehicles with mother ships.

[0006] To achieve the above objectives, 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 includes a lifting cylinder, a linkage mechanism, a lifting base, and a docking assembly;

[0008] The lifting platform is hinged to one end of the linkage mechanism, the other end of the linkage mechanism is mounted on the main deck, the middle hinge point of the linkage mechanism is hinged to one end of the lifting cylinder, and the other end of the lifting cylinder is hinged to the main deck.

[0009] The docking assembly is installed on the lifting platform and is used for docking between the underwater vehicle and the mother ship.

[0010] The following is a further technical solution for the device in this invention: the docking assembly includes a docking cylinder, and a docking installation port is provided at the center of the lifting base. The docking cylinder is fixedly connected to the docking installation port. The docking cylinder is used to dock with the mother ship and to slide with the mother ship.

[0011] The following is a further technical solution for the device in this invention: the docking assembly includes a position correction assembly, which is installed at the docking installation port and is used to dock with the bottom of the underwater submersible.

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

[0013] The following is a further technical solution for the device in this invention: the clamp assembly includes a first half clamp and a second half clamp. One end of the first half clamp is hinged to the lifting base, and one end of the second half clamp is hinged to the lifting base. The other ends of the first half clamp and the second half clamp are locked to the bottom of the underwater submersible by a mechanical locking mechanism.

[0014] The following is a further technical solution for the device in this invention: the linkage mechanism is provided in two sets, and the two sets of linkage mechanisms are symmetrically arranged on both sides of the bottom of the lifting platform.

[0015] The following is a further technical solution for the device in this invention: the linkage mechanism includes a first hinge rod, a second hinge rod, a third hinge rod, a fourth hinge rod, and a crossbar.

[0016] One end of the first hinge rod is hinged to the bottom of the lifting platform, the other end of the first hinge rod is hinged to one end of the second hinge rod, and the other end of the second hinge rod is hinged to the main deck.

[0017] The hinge structure formed by the first hinge rod and the second hinge rod is the same as the hinge structure formed by the third hinge rod and the fourth hinge rod.

[0018] A crossbar connects the hinge point between the first hinge rod and the second hinge rod to the hinge point between the third hinge rod and the fourth hinge rod.

[0019] One end of the lifting cylinder is hinged to the crossbar, and the other end of the lifting cylinder is hinged to the main deck.

[0020] The following is a further technical solution for the device in this invention: four lifting cylinders are provided, and the working state of the four lifting cylinders is consistent. Two of the lifting cylinders are connected to a linkage mechanism.

[0021] A method for docking an underwater submersible with a mother ship using the aforementioned multi-stroke lifting device includes the following steps:

[0022] Step S1: The underwater vehicle is moored on the boat rack on the main deck of the mother ship, and the model of the underwater vehicle is detected and identified;

[0023] Step S2: Press the corresponding limit switch based on the different models of the underwater vehicle;

[0024] Step S3: The lifting cylinder operates, driving the docking assembly on the lifting platform to rise 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 vehicle.

[0025] Step S4: After reaching the docking position, the docking skirt on the bottom of the underwater vehicle docks with the docking tube of the docking assembly based on the position correction component;

[0026] Step S5: The clamp assembly clamps the connection between the docking skirt and the docking cylinder, and the clamp assembly is locked by the mechanical locking mechanism;

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

[0028] Step S7: After the personnel transfer is completed, depressurize, then loosen the mechanical locking mechanism and clamp assembly, and retract the lifting cylinder, so that the docking skirt at the bottom of the underwater vehicle detaches from the docking assembly.

[0029] The following is a further technical solution of the method in this invention: when the lifting cylinder is working, the linkage mechanism drives the docking assembly on the lifting platform 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 between the lifting cylinder and the linkage mechanism has two output force modes:

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

[0031] The second method involves raising the docking assembly so that it docks only with the underwater vehicle, thus avoiding excessive lifting of the underwater vehicle.

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

[0033] This invention solves the problem that existing equipment cannot dock with the bottom of various types of underwater vehicles. This invention uses a lifting cylinder and connecting rod mechanism to drive the docking assembly to rise and fall to a specified height to dock with underwater vehicles with different docking skirt lengths. The two output force modes can correspond to two types of underwater vehicles that need to be lifted and those that do not during docking. Moreover, the form of the lifting cylinder and connecting rod mechanism can obtain a larger lifting force when the cylinder output force is small.

[0034] The present invention will be further described below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0035] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used 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 those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

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

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

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

[0039] Figure 4 yes Figure 3 Schematic diagram of the cross-section of the AA structure;

[0040] Figure 5 This is a schematic diagram of the output force of the linkage mechanism in this invention.

[0041] Reference numerals in the attached drawings: 1. Lifting cylinder; 2. Linkage mechanism; 201. First hinge rod; 202. Second hinge rod; 203. Third hinge rod; 204. Fourth hinge rod; 205. Crossbar; 3. Lifting platform; 4. Main deck; 5. Docking tube; 6. Position correction assembly; 7. Clamp assembly; 8. Mechanical locking mechanism. Detailed Implementation

[0042] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0043] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

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

[0045] In the embodiments of the present invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention according to the specific circumstances.

[0046] like Figure 1-5 As shown, a multi-stroke lifting device for docking underwater vehicles with a mother ship is provided. The device drives the linkage mechanism 2 through the lifting cylinder 1 to lift the docking assembly to different heights and can lift the underwater vehicle to bear the full weight, so as to realize the bottom docking of different types of underwater vehicles with the mother ship.

[0047] like Figure 1-4 As shown, the multi-stroke lifting device consists of a lifting cylinder 1, a linkage 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 its operation is controlled by an electrical control cabinet, an operation box, and a hydraulic pump station.

[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 linkage mechanism 2, thereby lifting the docking assembly from its initial position. The initial position is referenced to... Figure 1 .

[0049] like Figure 1-3As shown, the four lifting cylinders 1 operate in the same state. Two of the lifting cylinders 1 are connected to one set of linkage mechanism 2. There are two sets of linkage mechanism 2, which are symmetrically arranged on both sides of the bottom of the lifting platform 3. The linkage mechanism 2 includes a first hinge rod 201, a second hinge rod 202, a third hinge rod 203, a fourth hinge rod 204, and a crossbar 205. One end of the first hinge rod 201 is hinged to the bottom of the lifting platform 3, and the other end of the first hinge rod 201 is hinged to one end of the second hinge rod 202. The other end of the second hinge rod 202 is hinged to the main deck 4. The hinge structure formed by the first hinge rod 201 and the second hinge rod 202 is the same as the hinge structure formed by the third hinge rod 203 and the fourth hinge rod 204. A crossbar 205 connects the hinge point between the first hinge rod 201 and the second hinge rod 202 to the hinge point between the third hinge rod 203 and the fourth hinge rod 204. One end of the lifting cylinder 1 is hinged to the crossbar 205 via 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 platform 3 and is used for docking between the underwater vehicle and the mother ship. The docking assembly includes a position correction component 6 and a docking cylinder 5. A docking mounting port is provided at the center of the lifting platform 3. The docking cylinder 5 is fixedly connected to the docking mounting port and is used for docking with and slidingly connecting to the mother ship. The position correction component 6 is installed at the docking mounting port and is used for docking with the bottom of the underwater vehicle.

[0051] like Figure 2 and 3 As shown, a clamp assembly 7 is hinged to the lifting platform 3. The clamp assembly 7 is used to lock the docking assembly to the bottom of the underwater vehicle. The clamp assembly 7 includes a first half clamp and a second half clamp. One end of the first half clamp is hinged to the lifting platform 3, and one end of the second half clamp is hinged to the lifting platform 3. The other ends of the first half clamp and the other ends of the second half clamp are locked to the bottom of the underwater vehicle by a mechanical locking mechanism 8.

[0052] Therefore, the lifting cylinder 1 operates, driving the linkage mechanism 2, which in turn lifts the docking assembly from its initial position. The multi-stroke lifting device can adjust the lifting height according to the length of the docking skirt on the bottom of different underwater submersible models. Once at the docking position, the docking assembly can be docked with the underwater submersible using the clamp assembly 7 and the mechanical locking device. After docking, pressure is maintained, and personnel can then transfer from the underwater submersible to the decompression chamber below deck via the docking cylinder 5. After the transfer, pressure is released, and the docking assembly is then detached.

[0053] Because different models of underwater submersibles have different lifting distances, different operating modes and limit switches at different positions are added to the electrical control system for protection. The maximum lifting position of the multi-stroke lifting device is referenced... Figure 4 In practice, limit switches are used for control.

[0054] Some underwater vehicles require being lifted during docking, with their entire weight borne by the lifting system. Therefore, a larger lift force is needed, along with the ability to withstand lateral forces caused by inertia, resulting in greater internal forces at the docking point. Other vehicle models, however, can be placed on a deck or support structure during docking, where the weight and inertial forces caused by acceleration are mostly borne by the deck or support structure. This requires less lift force, and the internal forces at the docking point are also less.

[0055] The linkage mechanism 2 is designed with two output force modes: one is to lift the underwater vehicle and hold it in a pressurized transfer position; the other is to drive the docking assembly to rise so that the docking assembly only docks with the underwater vehicle, avoiding excessive lifting of the underwater vehicle. Figure 5 As shown, r is the distance between the hinge points of linkage mechanism 2, h is the height of the lifting hinge points, and L is the distance between the hinge points of lifting cylinder 1. Rx is the horizontal reaction force of linkage mechanism 2 on lifting base 3, Fy is the lifting load force, and N is the internal force of linkage mechanism 2. Based on the installation positions of linkage mechanism 2 and lifting cylinder 1, the geometric dimensions are determined according to trigonometric relationships. According to the mechanical relationship of force balance between the upper connecting rod (i.e., the first hinge rod 201) and torque balance between the lower connecting rod (i.e., the second hinge rod 202), Rx and cylinder forces can be solved based on the known magnitudes of Fy corresponding to different h values. The output characteristics of this mechanism are: at the lowered position, the vertical component of the output force of lifting cylinder 1 and linkage mechanism 2 is small, and the lifting force is not large; at the lifted position, the load is mainly borne by linkage mechanism 2, and the output force of lifting cylinder 1 can be small while the lifting force can be large.

[0056] In summary, based on the aforementioned multi-stroke lifting device, the method for docking the underwater submersible with the mother ship specifically includes the following steps:

[0057] Step S1: The underwater vehicle is moored on the boat rack on the main deck 4 of the mother ship, and the model of the underwater vehicle is detected and identified.

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

[0059] Step S3: The lifting cylinder 1 operates, lifting the docking assembly on the lifting platform 3 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 vehicle. During the operation of the lifting cylinder 1, the linkage mechanism 2 lifts the docking assembly on the lifting platform 3 from the starting position to the docking position, and docks with the docking skirt at the bottom of the underwater vehicle. The output force between the lifting cylinder 1 and the linkage mechanism 2 has two modes: First, lifting the underwater vehicle and maintaining it in the pressurized transfer position; second, lifting the docking assembly so that it only docks with the underwater vehicle, avoiding over-lifting the underwater vehicle.

[0060] Step S4: After reaching the docking position, based on the position correction component 6, the docking skirt at the bottom of the underwater vehicle docks with the docking cylinder 5 of the docking component.

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

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

[0063] Step S7: After the personnel transfer is completed, depressurize, then loosen the mechanical locking mechanism 8 and the clamp assembly 7, and retract the lifting cylinder 1, so that the docking skirt at the bottom of the underwater submersible detaches from the docking assembly.

[0064] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Any person skilled in the art can make many possible variations and modifications to the technical solution of the present invention, or modify it into equivalent embodiments, without departing from the scope of the present invention's technical solution. Therefore, all equivalent changes made based on the shape, structure, and principle of the present invention without departing from the scope of the present invention's technical solution should be covered within the protection scope of the present invention.

Claims

1. A method for docking an underwater submersible with a mother ship using a multi-stroke lifting device, characterized in that, The method includes a multi-stroke lifting device installed on the main deck of the mother ship, and comprises the following steps: Step S1: The underwater vehicle is moored on the boat rack on the main deck of the mother ship, and the model of the underwater vehicle is detected and identified; Step S2: Press the corresponding limit switch based on the different models of the underwater vehicle; Step S3: The lifting cylinder operates, driving the docking assembly on the lifting platform to rise 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 vehicle. When the lifting cylinder is in operation, the linkage mechanism drives the docking assembly on the lifting platform to rise from the starting position to the docking position and dock with the docking skirt at the bottom of the underwater vehicle. The output force between the lifting cylinder and the linkage mechanism has two output force modes: The first method: lift the underwater submersible and maintain it in the pressurized transfer position; The second method involves lifting the docking assembly so that it only docks with the underwater vehicle, thus avoiding excessive lifting of the underwater vehicle. Step S4: After reaching the docking position, the docking skirt on the bottom of the underwater vehicle docks with the docking tube of the docking assembly based on the position correction component; Step S5: The clamp assembly clamps the connection between the docking skirt and the docking cylinder, and the clamp assembly is locked by the mechanical locking mechanism; Step S6: After docking is completed, pressure is maintained, and personnel are transferred from the submersible to the decompression chamber below the main deck of the mother ship through the docking tube; Step S7: After the personnel transfer is completed, depressurize, then loosen the mechanical locking mechanism and clamp assembly, and retract the lifting cylinder, so that the docking skirt at the bottom of the underwater vehicle detaches from the docking assembly; The multi-stroke lifting device includes a lifting cylinder, a linkage mechanism, a lifting base, and a docking assembly; The lifting platform is hinged to one end of the linkage mechanism, the other end of the linkage mechanism is mounted on the main deck, the middle hinge point of the linkage mechanism is hinged to one end of the lifting cylinder, and the other end of the lifting cylinder is hinged to the main deck. The docking assembly is installed on the lifting platform and is used for docking between the underwater submersible and the mother ship. The docking assembly includes a docking cylinder, and a docking installation port is provided at the center of the lifting base. The docking cylinder is fixedly connected to the docking installation port. The docking cylinder is used to dock with the mother ship and to slide with the mother ship. The docking assembly includes a position correction component, which is installed at the docking installation port and is used to dock with the bottom of the underwater vehicle. The lifting platform is hinged with a clamp assembly, which is used to lock the docking assembly to the bottom of the underwater submersible. The clamp assembly includes a first half clamp and a second half clamp. One end of the first half clamp is hinged to the lifting base platform, and one end of the second half clamp is hinged to the lifting base platform. The other ends of the first half clamp and the other ends of the second half clamp are locked to the bottom of the underwater vehicle by a mechanical locking mechanism. The linkage mechanism is provided in two sets, and the two sets of linkage mechanisms are symmetrically arranged on both sides of the bottom of the lifting platform; The linkage mechanism includes a first hinge link, a second hinge link, a third hinge link, a fourth hinge link, and a crossbar; One end of the first hinge rod is hinged to the bottom of the lifting platform, the other end of the first hinge rod is hinged to one end of the second hinge rod, and the other end of the second hinge rod is hinged to the main deck. The hinge structure formed by the first hinge rod and the second hinge rod is the same as the hinge structure formed by the third hinge rod and the fourth hinge rod. A crossbar connects the hinge point between the first hinge rod and the second hinge rod to the hinge point between the third hinge rod and the fourth hinge rod; One end of the lifting cylinder is hinged to the crossbar, and the other end of the lifting cylinder is hinged to the main deck; The system is equipped with four lifting cylinders, all of which operate in the same manner. Two of the lifting cylinders are connected to a linkage mechanism.

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