Deep-sea UUV (Unmanned Underwater Vehicle) collecting and storing device and collecting and storing method thereof

Abstract

The invention relates to a deep-sea UUV (Unmanned Underwater Vehicle) retracting and storing device and a retracting method thereof, the deep-sea UUV retracting and storing device comprises a base and a slideway for a horizontal-pushing trolley roller, and a rack is fixed in the middle of the base and is matched with a horizontal-pushing trolley to realize relative movement of the horizontal-pushing trolley on the base; the horizontal pushing trolley drives the roll-over stand to realize horizontal pushing and withdrawing in the horizontal direction; the horizontal pushing trolley comprises idler wheels, a trolley shell and a speed reducer fixed to the trolley shell, and a gear of the speed reducer is meshed with the rack in the middle of the base. According to the invention, laying, recovery and storage of the deep sea UUV can be realized.

Description

Technical field:

[0001] The invention belongs to the technical field of deep-sea unmanned vehicle collection and deployment, and relates to a deep-sea UUV collection and deployment storage device and a collection and deployment method thereof. Background technology:

[0002] Deep-sea UUVs are widely used in the field of deep-sea resource survey. Currently, large deep-sea UUVs are usually recovered by lifting and autonomous docking.

[0003] The lifting-type deployment and recovery requires a crane to complete the deployment and recovery through manual cooperation with the unhooking hook. However, in high sea conditions, the mother ship platform and the vehicle are greatly affected by the waves and their postures change greatly. It is difficult to align the crane hook and the vehicle ring to complete the connection. Therefore, this method of deploying and recovering the vehicle is difficult and risky.

[0004] Autonomous docking requires maneuvering the vehicle to navigate to a designated recovery facility and then complete recovery. This method requires the vehicle to have strong positioning and tracking capabilities. However, in high sea conditions, the vehicle's attitude is affected by many external factors, resulting in a low recovery success rate using this method. Summary of the invention:

[0005] The technical problem to be solved by the present invention is to provide a deep-sea UUV storage device and a storage method thereof, so as to realize the deployment, recovery and storage of deep-sea UUV.

[0006] The technical solution of the present invention is to provide a deep-sea UUV storage device, comprising

[0007] The base is used for the slideway of the rollers of the push trolley. A rack is fixed in the middle of the base to cooperate with the push trolley to realize the relative movement of the push trolley on the base;

[0008] The push trolley drives the flip frame to push and retract horizontally; the push trolley includes rollers, a trolley housing, and a reducer fixed on the trolley housing, and the gear of the reducer is meshed with the rack in the middle of the base;

[0009] The flip frame is used as the storage part of the spacecraft. The flip frame includes a main flip frame and a swing frame. The main flip frame and the swing frame are connected by a joint bearing and an adjustable wire rope, so that the swing frame has a certain wave compensation ability.

[0010] The flipping cylinder realizes the flipping of the flipping frame around the fixed point through telescopic action, so that the aircraft can be transformed from the horizontal storage posture to the inclined water-entering posture, or the inclined water-entering posture can be returned to the horizontal storage state; the cable-collecting winch is used to recycle the traction rope at the head of the aircraft, so as to recycle the aircraft. The collecting winch is fixed on the main flipping frame.

[0011] Preferably, the base is welded by a base bracket, a guide rail, and a slideway, and the front end of the slideway adopts an arc to transition into an inclined surface.

[0012] As a preferred embodiment, the push trolley is welded by a longitudinal beam, transverse connecting ribs, and a reducer pad, and four rollers are installed on the longitudinal beam.

[0013] Preferably, the cable winch is composed of a hydraulic motor, a left support seat, a left support seat, a right support seat, a drum and an I-beam, and the left support seat and the right support seat provide rotational support for the drum and the hydraulic motor.

[0014] Preferably, the tilting oil cylinder is composed of a cylinder body and a piston rod, a boss is welded on the cylinder body, and second axial holes are provided on both sides of the boss.

[0015] As a preferred embodiment, the main turning frame includes a main longitudinal beam, a handle, a rope guide hole, a turning support, a tripod, a support plate, a turning frame wire rope, a small pin shaft; a supporting roller, a cylinder support, a square steel, a nylon strip, a transverse I-beam and a lifting lug, wherein the main longitudinal beam, the handle, the rope guide hole, the turning support, the tripod, the cylinder support, the square steel and the transverse I-beam are welded into a whole;

[0016] The steel wire rope of the flip frame is connected to the lifting lug and the tripod through the first pin shaft to form an oblique lock structure to enhance the rigidity of the flip frame. The support roller is fixed to the bottom of the transverse I-beam through the bracket. When the vehicle is in the storage state, the support roller is stressed to prevent the main flip frame from being stressed for a long time.

[0017] A guide storage rack for storing the aircraft is provided on the swing frame. The guide storage rack is welded from several metal strips. The support plate and the metal strips are welded into a whole. The support plate is fixed to the transverse I-beam by bolts, and the nylon strips are fixed to the corresponding metal strips below by set screws.

[0018] Preferably, the swing frame also includes a buffer pad, an articulated bearing connection seat, a buffer rubber, a flip frame longitudinal beam, a flip frame longitudinal beam, a transverse I-shaped beam, an articulated bearing connection seat, and a lifting ear welded to form a swing frame body. The buffer pad and the buffer rubber are fixed to the flip frame longitudinal beam by set screws, so that the swing frame plays a buffering role when it contacts the main flip frame; the bracket supporting the roller is fixed to the bottom of the transverse I-shaped beam by bolts, and the supporting roller is subjected to force when the aircraft is in the storage state to prevent the swing frame from being subjected to force for a long time.

[0019] Preferably, the main flip frame and the joint bearing connecting seat are connected by a joint bearing, the joint bearing and the main flip frame are threadedly connected, the joint bearing and the joint bearing connecting seat are connected by a first pin shaft, and the swing frame and the main flip frame can move relative to each other.

[0020] Preferably, the swing-following frame is also connected with a guide port, and when the aircraft is recovered to the guide port, it is guided by the guide port to enter the guide storage rack of the swing-following frame.

[0021] The present invention also provides a method for storing and retrieving the deep-sea UUV storage device, wherein:

[0022] The deep-sea UUV release workflow is as follows:

[0023] Step 1: Place the aircraft on the flip rack of the storage device, and pass the rope through the back ring of the aircraft to fix the aircraft on the flip rack;

[0024] Step 2: Start the push trolley, which will push the flip frame out of the cabin;

[0025] Step 3: The turning cylinder extends, the turning frame changes from a horizontal state to an inclined water-entering state, and the tail of the aircraft enters the water;

[0026] Step 4: Untie one end of the rope, and the craft slides into the water by gravity;

[0027] Step 5: The turning cylinder is retracted, and the turning frame is restored from the tilted state into the water to the horizontal state;

[0028] Step 6: Push the trolley back and recycle the flip rack to the storage position;

[0029] The deep-sea UUV recovery workflow is as follows:

[0030] Step 1: Capture the UUV head traction rope and wind it around the cable winch drum;

[0031] Step 2: Start the cable winch to retract the traction rope and slowly retract the vehicle to the flip frame;

[0032] Step 3: The turning cylinder retracts, and the turning frame returns to a horizontal state from an inclined state;

[0033] Step 4: Push the trolley back and retract the flip frame into the cabin;

[0034] Step 5: Untie the UUV head traction rope and the recovery process is completed.

[0035] Compared with the prior art, the present invention has the following advantages:

[0036] The present invention uses a rotating frame to store aircraft, and a push trolley can push the flip frame out of the cabin. The flip cylinder is actuated to adjust the flip frame from a horizontal posture to an inclined water-entering posture, and the aircraft slides into the water by gravity and is finally released; during recovery, a traction rope is thrown out from the head of the aircraft, and a cable winch is used to drag the aircraft from the water into the tilted flip frame to achieve recovery; this recovery method is simple and reliable, and minimizes manual intervention during recovery. Description of the drawings:

[0037] Figure 1This is a front view of the UUV storage device of the present invention;

[0038] Figure 2 This is a top view of the UUV storage device of the present invention;

[0039] Figure 3 It is a schematic diagram of the base of the present invention;

[0040] Figure 4 This is a schematic diagram of the push trolley of the present invention;

[0041] Figure 5 It is a schematic diagram of the cable-taking winch of the present invention;

[0042] Figure 6 For the schematic diagram of the flip cylinder invented by you;

[0043] Figure 7 This is a schematic diagram of the main turning frame of the present invention;

[0044] Figure 8 This is a schematic diagram of the swing frame of the present invention;

[0045] Fig. 9 It is a schematic diagram of the connection part of the turning frame and the swing frame joint bearing of the present invention;

[0046] Fig.10 This is a schematic diagram of the connection between the turning frame and the swing frame of the present invention;

[0047] Fig.11 This is a schematic diagram of the connection between the tipping frame and the push trolley of the present invention;

[0048] Fig.12 This is a schematic diagram of the connection between the push trolley and the base of the present invention;

[0049] Fig.13 This is a schematic diagram of the push trolley of the present invention being pushed into place;

[0050] Fig.14 This is a schematic diagram of the turning cylinder of the present invention being put into place;

[0051] Fig.15 This is a schematic diagram of a vehicle recovery process 1 according to an embodiment of the present invention;

[0052] Fig.16 This is a schematic diagram of a spacecraft recovery process 2 according to an embodiment of the present invention;

[0053] Fig.17 Schematic diagram of aircraft recovery process 3 according to an embodiment of the present invention.

[0054] In the figure, 1. base; 2. push trolley; 3. cable-collecting winch; 4. tilting cylinder; 5. main tilting frame; 6. swing frame; 7. reducer; 8. vehicle; 9. joint bearing; 10. first pin; 11. guide port; 12. adjustable wire rope; 13. bolt; 14-second pin; 15-third pin; 16-fourth pin; 17. baffle; 18. screw; 19. motor; 20. rope.

[0055] 101. Base bracket; 102. Guide rail; 103. Slideway; 104. Rack.

[0056] 201. Longitudinal beam; 202. Transverse connecting ribs; 203. Roller; 204. Reducer pad.

[0057] 301, hydraulic motor; 302- left support seat; 303- reel; 304- right support seat; 305- I-beam.

[0058] 401. Cylinder body; 402. Piston rod.

[0059] 501. Main longitudinal beam; 502. Handle; 503. Rope guide hole; 504. Turning support; 505. Tripod; 506. Support plate; 507. Turning frame wire rope; 508. Small pin shaft; 509. Support roller; 510. Cylinder support; 511. Square steel; 513. Nylon strip; 514. Transverse I-beam; 515. Lifting ear.

[0060] 601. Buffer pad; 602. Spherical bearing connector; 603. Buffer rubber; 604. Turning frame longitudinal beam; 605. Metal strip.

[0061] A1, first axial hole; A2, second axial hole; B1, third axial hole; B2, fourth axial hole; C1, fifth axial hole; C2, sixth axial hole. Specific implementation method:

[0062] The present invention will be further described below with reference to the accompanying drawings:

[0063] This example discloses a deep-sea UUV storage device.

[0064] Reference Figure 1 and attached Figure 2 A deep-sea UUV storage device is mainly composed of a base 1, a push trolley 2, a cable-receiving winch 3, a turning cylinder 4, a main turning frame 5, a swing frame 6 and a reducer 7.

[0065] Reference Figure 3The base 1 is mainly welded by a base bracket 101, a guide rail 102, and a slideway 103, and a rack 104 is fixed to the base by bolts 13. The guide rail 102 provides guidance and support for the rolling of the rollers of the push trolley 2. The front end of the slideway 103 is formed into an inclined plane by an arc transition, which plays a supporting and guiding role for the supporting roller 509 of the main flip frame.

[0066] Reference Figure 4 The push trolley 2 is mainly welded into a whole by a longitudinal beam 201, a transverse connecting rib 202, and a reducer pad 204, and four rollers 203 are installed on the longitudinal beam 201.

[0067] Reference Figure 5 The cable winch 3 is mainly composed of a hydraulic motor 301, a left support seat 302, a right support seat 304, a drum 303 and an I-beam 305. The left support seat 302 and the right support seat 304 mainly play a role of rotational support for the drum 303 and the hydraulic motor 301.

[0068] Reference Figure 6 The turning oil cylinder 4 is mainly composed of a cylinder body 401 and a piston rod 402. A boss is welded on the cylinder body 401, and second axial holes A2 are provided on both sides of the boss.

[0069] The main turning frame 5 includes a main longitudinal beam 501, a handle 502, a rope guide hole 503, a turning support 504, a tripod 505, a support plate 506, a turning frame wire rope 507, a small pin 508, a supporting roller 509, a cylinder support 510, a square steel 511, a nylon strip 513, a transverse I-shaped beam 514 and a lifting lug 515, wherein the main longitudinal beam 501, the handle 502, the rope guide hole 503, the turning support 504, the tripod 505, the cylinder support 510, the square steel 511 and the transverse I-shaped beam 514 are welded into a whole. The turning frame wire rope 507 is connected to the lifting lug 515 and the tripod 505 in a fixed manner by a small pin 508, forming a diagonal lock structure to enhance the rigidity of the turning frame. The support roller 509 bracket is fixed to the bottom of the transverse I-beam 514 by bolts. When the aircraft is in the storage state, the support roller 509 is stressed to prevent the main flip frame from being stressed for a long time.

[0070] Reference Figure 8 The swing frame 6 is mainly welded by the longitudinal beam 604, the transverse I-beam 514, the joint bearing connection seat 602, and the lifting lug 515. The buffer pad 601 and the buffer rubber 603 are fixed on the longitudinal beam 604 by the set screws, so that the swing frame 6 plays a buffering role when it contacts the main flip frame 5. The support roller 509 bracket is fixed to the bottom of the transverse I-beam 514 by bolts. When the aircraft 8 is in the storage state, the support roller 509 is stressed to prevent the swing frame 6 from being stressed for a long time.

[0071] A guide storage rack for storing the aircraft 8 is provided on the swing frame 6. The guide storage rack is welded together by a number of metal strips 605. The support plate 506 and the metal strip 605 are welded into a whole. The support plate 506 is fixed to the transverse I-beam 514 by bolts 13, and the nylon strip 513 is fixed to the corresponding metal strip 605 below by set screws.

[0072] Reference Fig. 9 The main turning frame 5 and the joint bearing connection seat 602 of the swing frame 6 are connected by a joint bearing 9, the joint bearing 9 and the main turning frame 5 are connected by a thread, and the joint bearing 9 and the joint bearing connection seat 602 of the swing frame 6 are connected by a first pin 10. At this time, the swing frame 6 and the main turning frame 5 can move relative to each other.

[0073] Reference Fig.10 The swing frame 6 is also connected with a guide port 11, which is fixed to the swing frame 6 with bolts 13. When the aircraft 8 is recovered to the guide port 11, it is guided by the guide port 11 to enter the guide storage rack of the swing frame 6 to avoid the aircraft 8 from getting stuck when entering. In addition to the joint bearing 9 connected to the swing frame 6, the main flip frame 5 is connected to the swing frame 6 with two length-adjustable steel wire ropes 12, so that there is a certain relative movement between the two. When the aircraft contacts the guide port 11, the buffer pad 601 and the buffer rubber 603 play a buffering role.

[0074] Reference Figure 4 , 6 , 7, 11, the third axial hole C1 of the main turning frame 5 is connected to the sixth axial hole C2 of the horizontal push trolley 2 through the fourth pin 16, the second axial hole A2 on the cylinder body 401 of the turning cylinder 4 is connected to the first axial hole A1 of the main turning frame 5 through the second pin 14, and the fourth axial hole B2 of the piston rod 402 of the turning cylinder 4 is connected to the third axial hole B1 of the horizontal push trolley 2 through the third pin 15. The extension and retraction of the piston rod 402 can make the main turning frame 5 rotate around the sixth axial hole C2 of the horizontal push trolley 2. In order to prevent the pin from falling, the baffle 17 is embedded in the gap of the third pin 15, and the baffle 17 is fixed by the screw 18, so as to ensure that the third pin 15 will not fall off. The cable winch 3 is fixed to the main turning frame 5 by screws, and the reducer 7 is fixed to the horizontal push trolley 2 by screws.

[0075] Reference Figure 1 and 12 The four rollers 203 of the push trolley 2 are installed in the guide rail 102, and the guide rail 102 plays a role of limiting support for the rollers 203 in the up and down directions. The reducer 7 provides power through the motor 19, and the output gear at the bottom of the reducer 7 is engaged with the rack 104, thereby driving the push trolley 2 to slide back and forth in the guide rail 102.

[0076] The deep-sea UUV release workflow is:

[0077] Step 1: Refer to the attached Figure 1 and Figure 2 , place the aircraft 8 on the flip frame of the storage device, and the rope 20 passes through the back ring of the aircraft 8 to fix the aircraft on the flip frame.

[0078] Step 2: Refer to the attached Fig.13 , start the push trolley 2, and the push trolley 2 pushes the turning frame out of the cabin.

[0079] Step 3: Refer to the attached Fig.14 , the flip cylinder 4 extends out, the flip frame changes from a horizontal state to an inclined water-entering state, and the tail of the aircraft 8 enters the water.

[0080] Step 4: Untie one end of the rope 20, and the aircraft 8 slides into the water by gravity.

[0081] Step 5: The turning cylinder 4 is retracted, and the turning frame is restored from the tilted state into the water to the horizontal state.

[0082] Step 6: Push the trolley 2 back and retract the flip frame to the storage position.

[0083] The deep-sea UUV recovery workflow is:

[0084] Step 1: Refer to the attached Fig.15 , capture the traction rope at the head of the aircraft and wind it around the drum 303 of the cable winch 3.

[0085] Step 2: Refer to the attached Fig.16 , 17 , start the cable winch 3 to recover the traction rope, and slowly recover the aircraft 8 to the flip frame.

[0086] Step 3: Refer to the attached Fig.13 , the turning cylinder 4 retracts, and the turning frame returns to a horizontal state from an inclined state.

[0087] Step 4: Refer to the attached Figure 1 , push the trolley 2 back and retract the tipping frame into the cabin.

[0088] Step 5: Untie the UUV head traction rope and the recovery process is completed.

[0089] The above is only an explanation of the preferred embodiments of the present invention, which should not be construed as a limitation on the claims. Any equivalent process changes made using the present invention specification are included in the patent protection scope of the present invention.

Claims

1. A deep-sea UUV storage device, characterized in that: include The base is used for the slideway of the rollers of the push trolley. A rack is fixed in the middle of the base to cooperate with the push trolley to realize the relative movement of the push trolley on the base; The push trolley drives the flip frame to push and retract horizontally; the push trolley includes rollers, a trolley housing, and a reducer fixed on the trolley housing, and the gear of the reducer is meshed with the rack in the middle of the base; The flip frame is used as the storage part of the spacecraft. The flip frame includes a main flip frame and a swing frame. The main flip frame and the swing frame are connected by a joint bearing and an adjustable wire rope, so that the swing frame has the ability to compensate for waves. The turning cylinder can turn the turning frame around the fixed point through telescopic action, so as to change the spacecraft from the horizontal storage state to the inclined water entry state, or return from the inclined water entry state to the horizontal storage state; The cable-collecting winch is used to recycle the traction rope at the head of the aircraft, thereby recovering the aircraft. The cable-collecting winch is fixed on the main flip frame.

2. The deep-sea UUV storage device according to claim 1, characterized in that: The base is welded by a base bracket, a guide rail and a slideway, and the front end of the slideway adopts an arc to transition into an inclined surface.

3. The deep-sea UUV storage device according to claim 1, characterized in that: The push trolley is welded by longitudinal beam, transverse connecting ribs and reducer pads, and 4 rollers are installed on the longitudinal beam.

4. The deep-sea UUV storage device according to claim 1, characterized in that: The cable winch is composed of a hydraulic motor, a left support seat, a left and right support seat, a drum and an I-beam. The left support seat and the right support seat provide rotational support for the drum and the hydraulic motor.

5. The deep-sea UUV storage device according to claim 1, characterized in that: The tilting oil cylinder is composed of a cylinder body and a piston rod. A boss is welded on the cylinder body, and second shaft holes are arranged on both sides of the boss.

6. The deep-sea UUV storage device according to claim 1, characterized in that: The main turning frame includes a main longitudinal beam, a handle, a rope guide hole, a turning support, a tripod, a support plate, a turning frame wire rope, a small pin shaft; a supporting roller, a cylinder support, a square steel, a nylon strip, a transverse I-beam and a lifting lug, wherein the main longitudinal beam, the handle, the rope guide hole, the turning support, the tripod, the cylinder support, the square steel and the transverse I-beam are welded into a whole; The steel wire rope of the flip frame is connected to the lifting lug and the tripod through the first pin shaft to form an oblique lock structure to enhance the rigidity of the flip frame. The support roller is fixed to the bottom of the transverse I-beam through the bracket. When the vehicle is in the storage state, the support roller is stressed to prevent the main flip frame from being stressed for a long time. A guide storage rack for storing the aircraft is provided on the swing, which is welded from several metal strips, the support plate and the metal strips are welded into a whole, the support plate is fixed to the transverse I-beam by bolts, and the nylon strips are fixed to the corresponding metal strips below by set screws.

7. The deep-sea UUV storage device according to claim 6, characterized in that: The swing frame also includes a buffer pad, a joint bearing connection seat, a buffer rubber, a flip frame longitudinal beam, a flip frame longitudinal beam, a transverse I-beam, a joint bearing connection seat, and a lifting ear welded to form the swing frame body. The buffer pad and the buffer rubber are fixed to the flip frame longitudinal beam by set screws, so that the swing frame plays a buffering role when it contacts the main flip frame; when the aircraft is in the storage state, the supporting roller is stressed to prevent the swing frame from being stressed for a long time.

8. The deep-sea UUV storage device according to claim 7, characterized in that: The main flip frame and the joint bearing connection seat are connected by a joint bearing, the joint bearing and the main flip frame are threadedly connected, the joint bearing and the joint bearing connection seat are connected by a first pin shaft, and the swing frame and the main flip frame can move relative to each other.

9. The deep-sea UUV storage device according to claim 8, characterized in that: The swing-following frame is also connected with a guide port. When the spacecraft is recovered to the guide port, it is guided by the guide port to enter the guide storage rack of the swing-following frame.

10. A method for storing and retrieving a deep-sea UUV according to claim 1-9, characterized in that: The deep-sea UUV release workflow is as follows: Step 1: Place the aircraft on the flip rack of the storage device, and pass the rope through the back ring of the aircraft to fix the aircraft on the flip rack; Step 2: Start the push trolley, which will push the flip frame out of the cabin; Step 3: The turning cylinder extends, the turning frame changes from a horizontal state to an inclined water-entering state, and the tail of the aircraft enters the water; Step 4: Untie one end of the rope, and the craft slides into the water by gravity; Step 5: The turning cylinder is retracted, and the turning frame is restored from the tilted state into the water to the horizontal state; Step 6: Push the trolley back and recycle the flip rack to the storage position; The deep-sea UUV recovery workflow is as follows: Step 1: Capture the UUV head traction rope and wind it around the cable winch drum; Step 2: Start the cable winch to retract the traction rope and slowly retract the vehicle to the flip frame; Step 3: The turning cylinder retracts, and the turning frame returns from the tilted state to the horizontal state; Step 4: Push the trolley back and retract the flip frame into the cabin; Step 5: Untie the UUV head traction rope and the recovery process is completed.

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