Deep-sea uuv storage and launching device and method

Abstract

The application relates to a deep-sea UUV storage device and a deep-sea UUV storage method, which comprises a base, a slide for a flat trolley roller, a rack fixed in the middle of the base and matched with the flat trolley to realize the relative movement of the flat trolley on the base, and a flat trolley which drives a turnover frame to realize horizontal pushing and retraction; the flat trolley comprises a roller, a trolley shell and a speed reducer fixed on the trolley shell, and the gear of the speed reducer is engaged with the rack in the middle of the base. The application can realize the deployment, recovery and storage of the deep-sea UUV.

Description

Technical fields:

[0001] This invention belongs to the field of deep-sea unmanned vehicle deployment and retrieval technology, and relates to a deep-sea UUV deployment and storage device and its deployment and retrieval method. Background technology:

[0002] Deep-sea UUVs have wide applications in the field of deep-sea resource exploration. Currently, large deep-sea UUVs are typically recovered using two methods: lifting and autonomous docking.

[0003] Lifting-type deployment and retrieval requires a crane to be manually deployed and retrieved. However, in high sea states, the attitude of the mother ship platform and the vehicle changes significantly due to the waves, making it difficult to align the crane hook and the vehicle's lifting ring for connection. Therefore, this method of deploying and retrieving the vehicle is difficult and risky.

[0004] Autonomous docking requires maneuvering the vehicle to a designated recovery facility before recovery can be completed. This method requires the vehicle to have strong positioning and tracking capabilities. However, in high sea states, the vehicle's attitude is affected by many external factors, resulting in a low success rate for this method of recovery. Summary of the Invention:

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

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

[0007] The base serves as a slide for the rollers of the flat-push trolley. A rack is fixed in the middle of the base, which works with the flat-push trolley to enable relative movement of the flat-push trolley on the base.

[0008] The horizontally pushing trolley drives the tilting frame to achieve horizontal pushing and retraction; the horizontally pushing trolley includes rollers, a trolley housing and a reducer fixed on the trolley housing, and the gear of the reducer meshes with the rack in the middle of the base;

[0009] The tilting frame, as the storage part of the aircraft, includes the main tilting frame and the swing frame. The main tilting frame and the swing frame are connected by spherical bearings and adjustable steel wire ropes, so that the swing frame has a certain wave compensation capability.

[0010] The tilting cylinder, through its telescopic movement, enables the tilting frame to tilt around a fixed point, thereby changing the vehicle from a horizontal storage attitude to an inclined entry attitude, or vice versa; the cable retrieval winch is used to retrieve the traction rope at the head of the vehicle, thereby recovering the vehicle, and the retrieval winch is fixed on the main tilting frame.

[0011] As a preferred option, the base is welded together from a base support, guide rail, and slide rail, with the front end of the slide rail transitioning into a slope using an arc.

[0012] As a preferred option, the flat-push trolley is welded together from longitudinal beams, transverse connecting ribs, and reducer pads, with four rollers installed on the longitudinal beams.

[0013] As a preferred embodiment, the cable winding winch consists of a hydraulic motor, a left support seat, left and right support seats, a drum, and an I-beam. The left and right support seats provide rotational support for the drum and the hydraulic motor.

[0014] Preferably, the tilting cylinder consists of a cylinder body and a piston rod, with a boss welded onto the cylinder body and second shaft holes on both sides of the boss.

[0015] Preferably, the main tilting frame includes a main longitudinal beam, handle, rope guide hole, tilting support, tripod, support plate, tilting frame wire rope, and small pin shaft; support rollers, hydraulic cylinder support, square steel, nylon strip, transverse I-beam and lifting lug, wherein the main longitudinal beam, handle, rope guide hole, tilting support, tripod, hydraulic cylinder support, square steel and transverse I-beam are welded into a whole;

[0016] The steel wire rope of the tilting frame is connected to the lifting lug and the tripod through the first pin, forming a diagonal cable structure to enhance the rigidity of the tilting frame. The support roller is fixed to the bottom of the transverse I-beam through the bracket. When the aircraft is in storage, the support roller is stressed to prevent the main tilting frame from being stressed for a long time.

[0017] The swing frame is equipped with a guidance storage rack for storing the aircraft. The guidance storage rack is made of several metal strips welded together. The support plate and the metal strips are welded into a whole. The support plate is fixed to the transverse I-beam with bolts, and the nylon strip is fixed to the corresponding metal strip below with set screws.

[0018] Preferably, the swing frame also includes a buffer pad, a joint bearing connecting seat, a buffer rubber, a tilting frame longitudinal beam, a transverse I-beam, a joint bearing connecting seat, and lifting lugs welded together to form the main body of the swing frame. The buffer pad and buffer rubber are fixed to the tilting frame longitudinal beam by set screws, so that the swing frame plays a buffering role when it comes into contact with the main tilting frame. The support roller bracket is fixed to the bottom of the transverse I-beam with bolts. When the aircraft is in storage state, the support roller is subjected to force to avoid the swing frame being subjected to force for a long time.

[0019] Preferably, the main tilting frame and the spherical bearing connecting seat are connected by a spherical bearing, the spherical bearing and the main tilting frame are connected by a thread, and the spherical bearing and the spherical bearing connecting seat are connected by a first pin, so that the swing frame and the main tilting frame can move relative to each other.

[0020] Preferably, the pendulum is also connected to a guide port. When the vehicle is recovered to the guide port, it is guided into the guide storage rack of the pendulum through the guide port.

[0021] The present invention also provides a method for deploying and storing a deep-sea UUV as described above, wherein,

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

[0023] Step 1: Place the vehicle on the flip-top of the storage and take-up device, and secure the vehicle to the flip-top by passing ropes through the hooks on the back of the vehicle;

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

[0025] Step 3: The tilting cylinder extends, the tilting frame changes from a horizontal position to an inclined water entry position, and the tail of the vehicle enters the water;

[0026] Step 4: Untie one end of the rope, and the vehicle will slide into the water by gravity;

[0027] Step 5: The tilting cylinder retracts, and the tilting frame returns from an inclined submersion state to a horizontal state;

[0028] Step 6: Push the trolley to retrieve the tilting frame to the storage location;

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

[0030] Step 1: Snap the UUV head traction rope and wind it onto the cable recovery winch drum;

[0031] Step 2: Start the cable retrieval winch to retrieve the traction rope and slowly retrieve the vehicle to the tilting frame;

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

[0033] Step 4: Retract the horizontal trolley and return the tilting frame to the cabin;

[0034] Step 5: Untie the UUV head traction rope; the retrieval process is complete.

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

[0036] This invention uses a rotating frame to store the vehicle. A horizontal trolley can push the rotating frame out of the cabin. The action of the rotating cylinder adjusts the rotating frame from a horizontal position to an inclined position for entering the water. The vehicle slides into the water by gravity and is released. During recovery, the vehicle's head throws out a tow rope, and a cable winch is used to pull the vehicle from the water into the tilted rotating frame to achieve recovery. This recovery method is simple and reliable, and minimizes manual intervention during recovery. Attached image description:

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

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

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

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

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

[0042] Figure 6 A schematic diagram of the tilting hydraulic cylinder that you invented;

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

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

[0045] Figure 9 This is a schematic diagram of the connection between the tilting frame and the swing frame joint bearing of the present invention;

[0046] Figure 10 This is a schematic diagram showing the connection between the flipping frame and the swing frame of the present invention;

[0047] Figure 11 This is a schematic diagram showing the connection between the tilting frame and the flat-push trolley of the present invention;

[0048] Figure 12 This is a schematic diagram showing the connection between the flat-push trolley and the base of the present invention;

[0049] Figure 13 This is a schematic diagram of the flat-push trolley being pushed into place according to the present invention;

[0050] Figure 14 This is a schematic diagram showing the tilting cylinder of the present invention in place;

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

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

[0053] Figure 17 This is a schematic diagram of the vehicle recovery process according to an embodiment of the present invention.

[0054] In the diagram, 1. Base; 2. Horizontal push trolley; 3. Cable winding winch; 4. Tilting cylinder; 5. Main tilting frame; 6. Follower 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. Slide rail; 104. Rack and pinion.

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

[0057] 301 - Hydraulic motor; 302 - Left support seat; 303 - Drum; 304 - Right support seat; 305 - I-beam.

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

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

[0060] 601. Buffer pad; 602. Joint bearing connecting seat; 603. Buffer rubber; 604. Tilting frame longitudinal beam; 605. Metal strip.

[0061] A1, First shaft hole; A2, Second shaft hole; B1, Third shaft hole; B2, Fourth shaft hole; C1, Fifth shaft hole; C2, Sixth shaft hole. Detailed implementation method:

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

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

[0064] Reference Appendix Figure 1 and attached Figure 2 A deep-sea UUV deployment and storage device mainly consists of a base 1, a horizontal pushing trolley 2, a cable winding winch 3, a tilting cylinder 4, a main tilting frame 5, a swing frame 6, and a reducer 7.

[0065] Reference Appendix Figure 3The base 1 is mainly welded together from the base support 101, guide rail 102, and slide rail 103, with the rack 104 fixed to the base by bolts 13. The guide rail 102 provides guidance and support for the rolling of the rollers of the flat-push trolley 2. The front end of the slide rail 103 is rounded into a slope, which serves to support and guide the rollers 509 of the main tilting frame.

[0066] Reference Appendix Figure 4 The flat-push trolley 2 is mainly composed of longitudinal beams 201, transverse connecting ribs 202, and reducer pads 204 welded together as a whole, and four rollers 203 are installed on the longitudinal beams 201.

[0067] Reference Appendix Figure 5 The cable winding winch 3 mainly consists 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 provide rotational support for the drum 303 and the hydraulic motor 301.

[0068] Reference Appendix Figure 6 The tilting 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 there are second shaft holes A2 on both sides of the boss.

[0069] The main tilting frame 5 includes a main longitudinal beam 501, a handle 502, a rope guide hole 503, a tilting support 504, a tripod 505, a support plate 506, a tilting frame wire rope 507, and a small pin 508; supporting rollers 509, a hydraulic cylinder support 510, a square steel 511, a nylon strip 513, a transverse I-beam 514, and lifting lugs 515. The main longitudinal beam 501, handle 502, rope guide hole 503, tilting support 504, tripod 505, hydraulic cylinder support 510, square steel 511, and transverse I-beam 514 are welded into a single unit. The tilting frame wire rope 507 is fixed to the lifting lugs 515 and the tripod 505 using small pins 508, forming a diagonal cable-stayed structure to enhance the rigidity of the tilting frame. The support roller 509 bracket is bolted to the bottom of the transverse I-beam 514. When the aircraft is in storage, the support roller 509 is subjected to force to avoid the main tilting frame being subjected to force for a long time.

[0070] Reference Appendix Figure 8 The swing frame 6 is mainly composed of longitudinal beams 604, transverse I-beams 514, spherical bearing connecting seats 602, and lifting lugs 515, welded together. Buffer pads 601 and buffer rubber 603 are fixed to the longitudinal beams 604 with set screws, providing cushioning when the swing frame 6 contacts the main tilting frame 5. The support rollers 509 are bolted to the bottom of the transverse I-beams 514. When the aircraft 8 is in storage, the support rollers 509 are not subjected to stress, preventing the swing frame 6 from being subjected to prolonged stress.

[0071] The swing frame 6 is equipped with a guidance storage rack for storing the aircraft 8. The guidance storage rack is made of several metal strips 605 welded together. The support plate 506 and the metal strips 605 are welded together as a whole. The support plate 506 is fixed to the transverse I-beam 514 by bolts 13. The nylon strip 513 is fixed to the corresponding metal strip 605 below by set screws.

[0072] Reference Appendix Figure 9 The main tilting frame 5 and the swing frame 6 are connected by a spherical bearing 9 at their joint bearing connecting seats 602. The joint bearing 9 is threaded to the main tilting frame 5, and the joint bearing 9 is connected to the joint bearing connecting seat 602 of the swing frame 6 by a first pin 10. At this time, the swing frame 6 and the main tilting frame 5 can move relative to each other.

[0073] Reference Appendix Figure 10 The swing frame 6 is also connected to a guide port 11, which is fixed to the swing frame 6 with bolts 13. When the vehicle 8 is recovered to the guide port 11, it is guided by the guide port 11 into the guide storage rack of the swing frame 6 to avoid jamming when the vehicle 8 enters. In addition to being connected to the swing frame 6 by a spherical bearing 9, the main tilting frame 5 is connected to the swing frame 6 by two adjustable steel wire ropes 12, so that there is a certain relative movement between the two. When the vehicle comes into contact with the guide port 11, the buffer pad 601 and the buffer rubber 603 play a buffering role.

[0074] Reference Appendix Figure 4 , 6 7.11. The fifth shaft hole C1 of the main tilting frame 5 is connected to the sixth shaft hole C2 of the flat-push trolley 2 via the fourth pin 16. The second shaft hole A2 on the cylinder body 401 of the tilting cylinder 4 is connected to the first shaft hole A1 of the main tilting frame 5 via the second pin 14. The fourth shaft hole B2 of the piston rod 402 of the tilting cylinder 4 is connected to the third shaft hole B1 of the flat-push trolley 2 via the third pin 15. The extension and retraction of the piston rod 402 can cause the main tilting frame 5 to rotate around the sixth shaft hole C2 of the flat-push trolley 2. To prevent the pin from falling off, a baffle 17 is inserted into the notch of the third pin 15, and the baffle 17 is fixed with screws 18, thereby ensuring that the third pin 15 will not fall off. The cable winding winch 3 is fixed to the main tilting frame 5 with screws, and the reducer 7 is fixed to the flat-push trolley 2 with screws.

[0075] Reference Appendix Figure 1 and 12 The four rollers 203 of the flat-push trolley 2 are installed in the guide rail 102. The guide rail 102 provides limiting support for the rollers 203 in the vertical direction. The reducer 7 provides power through the motor 19. The output gear at the bottom of the reducer 7 meshes with the rack 104, thereby driving the flat-push trolley 2 to slide back and forth in the guide rail 102.

[0076] The deep-sea UUV release process is as follows:

[0077] Step 1: Refer to the appendix Figure 1 and Figure 2 The vehicle 8 is placed on the flip frame of the storage and take-up device, and the rope 20 passes through the back ring of the vehicle 8 to secure the vehicle to the flip frame.

[0078] Step 2: Refer to the appendix Figure 13 Start the horizontal push trolley 2, which will push the tilting frame out of the cabin.

[0079] Step 3: Refer to the appendix Figure 14 The tilting cylinder 4 extends, the tilting frame changes from a horizontal state to an inclined water-entry state, and the tail of the vehicle 8 enters the water.

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

[0081] Step 5: The tilting cylinder 4 retracts, and the tilting frame returns from the tilted water-entry state to the horizontal state.

[0082] Step 6: Push the trolley 2 back to retrieve the tilting frame to the storage position.

[0083] The deep-sea UUV recovery process is as follows:

[0084] Step 1: Refer to the appendix Figure 15 It captures the tow rope at the nose of the aircraft and winds it onto the drum 303 of the cable-reeling winch 3.

[0085] Step 2: Refer to the appendix Figure 16 , 17 Start the cable recovery winch 3 to retrieve the traction rope and slowly recover the aircraft 8 to the tilting frame.

[0086] Step 3: Refer to the appendix Figure 13 The tilting cylinder 4 retracts, and the tilting frame returns from an inclined state to a horizontal state.

[0087] Step 4: Refer to the appendix Figure 1 The horizontal pusher trolley 2 retracts, and the tilting frame is returned to the cabin.

[0088] Step 5: Untie the UUV head traction rope; the retrieval process is complete.

[0089] The above description only illustrates preferred embodiments of the present invention and should not be construed as limiting the scope of the claims. Any equivalent procedural modifications made using this specification are included within the patent protection scope of this invention.

Claims

1. A deep-sea UUV deployment and storage device, characterized in that: include The base serves as a slide for the rollers of the flat-push trolley. A rack is fixed in the middle of the base, which works with the flat-push trolley to enable relative movement of the flat-push trolley on the base. The horizontally pushing trolley drives the tilting frame to achieve horizontal pushing and retraction; the horizontally pushing trolley includes rollers, a trolley housing and a reducer fixed on the trolley housing, and the gear of the reducer meshes with the rack in the middle of the base; The tilting frame, as the storage part of the aircraft, includes a main tilting frame and a swing frame. The main tilting frame and the swing frame are connected by a joint bearing and an adjustable steel wire rope, so that the swing frame has wave compensation capability. The tilting cylinder, through its extension and retraction motion, enables the tilting frame to rotate around a fixed point, thereby allowing the aircraft to change from a horizontal storage attitude to an inclined water entry attitude, or from an inclined water entry attitude back to a horizontal storage state. The haul-in winch is used to retrieve the traction rope at the nose of the aircraft, thereby recovering the aircraft. The haul-in winch is fixed to the main tilting frame. The main tilting frame includes a main longitudinal beam, handle, rope guide hole, tilting support, tripod, support plate, tilting frame wire rope, small pin, support roller, hydraulic cylinder support, square steel, nylon strip, transverse I-beam and lifting lug. The main longitudinal beam, handle, rope guide hole, tilting support, tripod, hydraulic cylinder support, square steel and transverse I-beam are welded into a whole. The steel wire rope of the tilting frame is connected to the lifting lug and the tripod through the first pin, forming a diagonal cable structure to enhance the rigidity of the tilting frame. The support roller is fixed to the bottom of the transverse I-beam through the bracket. When the aircraft is in storage, the support roller is stressed to prevent the main tilting frame from being stressed for a long time. The swing frame is equipped with a guidance storage rack for storing the aircraft. The guidance storage rack is made of several metal strips welded together. The support plate and the metal strips are welded into a whole. The support plate is fixed to the transverse I-beam by bolts. The nylon strip is fixed to the corresponding metal strip below by set screws. The swing frame also includes a buffer pad, a joint bearing connecting seat, a buffer rubber, a tilting frame longitudinal beam, a transverse I-beam, a joint bearing connecting seat, and lifting lugs welded together to form the main body of the swing frame. The buffer pad and buffer rubber are fixed to the tilting frame longitudinal beam by set screws, so that the swing frame plays a buffering role when it comes into contact with the main tilting frame. When the aircraft is in storage, the supporting rollers bear the force to prevent the swing frame from being stressed for a long time. The main tilting frame and the spherical bearing connecting seat are connected by a spherical bearing. The spherical bearing is threaded to the main tilting frame. The spherical bearing is connected to the spherical bearing connecting seat through a first pin. The swing frame and the main tilting frame can move relative to each other. The main tilting frame has a first shaft hole on its cylinder support and a fifth shaft hole on its tilting support. The front and rear ends of the horizontal pushing trolley have a sixth shaft hole and a third shaft hole, respectively. The tilting cylinder consists of a cylinder body and a piston rod. The cylinder body has a second shaft hole and the piston rod has a fourth shaft hole. The fifth shaft hole of the main tilting frame is connected to the sixth shaft hole of the horizontal pushing trolley through a fourth pin. The second shaft hole on the cylinder body of the tilting cylinder is connected to the first shaft hole of the main tilting frame through a second pin. The fourth shaft hole of the piston rod of the tilting cylinder is connected to the third shaft hole of the horizontal pushing trolley through a third pin.

2. The deep-sea UUV deployment and storage device according to claim 1, characterized in that: The base is welded together from a base support, guide rail, and slide rail. The front end of the slide rail is rounded into a slope.

3. The deep-sea UUV deployment and storage device according to claim 1, characterized in that: The flat-push trolley is welded together from longitudinal beams, transverse connecting ribs, and reducer pads, with four rollers installed on the longitudinal beams.

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

5. The deep-sea UUV deployment and storage device according to claim 1, characterized in that: The cylinder block is welded with a boss, and a second shaft hole is provided on both sides of the boss.

6. The deep-sea UUV deployment and storage device according to claim 1, characterized in that: The pendulum is also connected to a guide port. When the vehicle is recovered to the guide port, it is guided into the guide storage rack of the pendulum through the guide port.

7. A method for deploying and storing a deep-sea UUV as described in claims 1-6, characterized in that: The deep-sea UUV release process is as follows: Step 1: Place the vehicle on the flip-top of the storage and take-up device, and secure the vehicle to the flip-top by passing ropes through the hooks on the back of the vehicle; Step 2: Start the horizontal trolley, which will push the tilting frame out of the cabin; Step 3: The tilting cylinder extends, the tilting frame changes from a horizontal position to an inclined water entry position, and the tail of the vehicle enters the water; Step 4: Untie one end of the rope, and the vehicle will slide into the water by gravity; Step 5: The tilting cylinder retracts, and the tilting frame returns from an inclined submersion state to a horizontal state; Step 6: Push the trolley to retrieve the tilting frame to the storage location; The deep-sea UUV recovery process is as follows: Step 1: Snap the UUV head traction rope and wind it onto the cable recovery winch drum; Step 2: Start the cable retrieval winch to retrieve the traction rope and slowly retrieve the vehicle to the tilting frame; Step 3: The tilting cylinder retracts, and the tilting frame returns from an inclined state to a horizontal state; Step 4: Retract the horizontal trolley and return the tilting frame to the cabin; Step 5: Untie the UUV head traction rope; the retrieval process is complete.

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