Retracting and releasing equipment and method for underwater device

Abstract

The invention relates to folding and unfolding equipment and method for an underwater device, the folding and unfolding equipment comprises a transfer device, a butt joint device and a control system, the transfer device is mounted on a water surface building, the butt joint device is mounted on the transfer device, and the transfer device can drive the butt joint device to move; the butt joint device comprises a butt joint base, a lifting frame, a lifting mechanism, a first locking mechanism and a second locking mechanism, the butt joint base is installed on the overturning door frame, the lifting frame is located on the lower side of the butt joint base, the lifting mechanism is installed on the butt joint base and comprises a lifting cable and a winding and unwinding assembly, the lifting cable is connected with the lifting frame, and the winding and unwinding assembly is located on the lower side of the lifting cable. The first locking mechanism is arranged between the butt-joint base and the lifting frame and used for locking or releasing connection between the butt-joint base and the lifting frame; the second locking mechanism is arranged between the lifting frame and the underwater device and is used for locking or releasing the connection between the lifting frame and the underwater device; the control system is in control connection with the transfer device and the butt joint device.

Description

Technical Field

[0001] The present invention relates to the technical field of water operation equipment, and in particular to a retracting and launching device and method for underwater devices. Background Art

[0002] The new concept of marine ranching based on modern large-scale aquaculture requires the establishment of a new model of large-scale deep-sea aquaculture using industrialized production. Among them, it is necessary to establish a fouling biological management service system to control the impact of deep-sea aquaculture on the ecology, thereby achieving green aquaculture.

[0003] Large-scale deep-sea aquaculture will accumulate a large amount of residual bait and farmed fish excrement on the seabed of the aquaculture area, which will lead to serious eutrophication of the seawater. Therefore, it is necessary to adopt proper methods to deal with these residual bait and farmed fish excrement, and using underwater robots to remove them is an effective method.

[0004] Underwater robots have the characteristics of complex systems, large mass, large load, and high cost. When operating in deep-sea aquaculture areas, it is necessary to release and recover underwater robots safely, reliably, and efficiently. Therefore, it is necessary to develop a device that can safely, reliably, and efficiently release and recover underwater robots. Summary of the invention

[0005] In view of the above-mentioned shortcomings of the prior art, the technical problem to be solved by the present invention is to provide a device and method for retracting and recovering an underwater device, which can safely, reliably and efficiently realize the release and recovery of an underwater robot.

[0006] To achieve the above-mentioned purpose, the present invention provides a retractable device for underwater devices, which is used to be installed on a surface structure, and includes a transfer device, a docking device and a control system. The transfer device is installed on the surface structure, and the docking device is installed on the transfer device. The transfer device can drive the docking device to move so that the docking device is located above the surface structure or above the water surface; the docking device includes a docking base, a lifting frame, a hanging mechanism, a first locking mechanism and a second locking mechanism. The docking base is installed on a flip door frame, and the lifting frame is located at the lower side of the docking base. The hanging mechanism is installed on the docking base, including a suspension cable and a retractable assembly for retracting and releasing the suspension cable. The suspension cable is connected to the lifting frame. The first locking mechanism is arranged between the docking base and the lifting frame, and is used to lock or release the connection between the docking base and the lifting frame; the second locking mechanism is arranged between the lifting frame and the underwater device, and is used to lock or release the connection between the lifting frame and the underwater device; the control system is control-connected to the transfer device, and the control system is control-connected to the first locking mechanism, the second locking mechanism and the hanging mechanism of the docking device.

[0007] Furthermore, the transfer device includes a mounting base fixedly mounted on the water surface structure, a flip gantry rotatably mounted on the mounting base, and a rotation drive mechanism for driving the flip gantry to rotate, and the docking base of the docking device can be rotatably mounted on the flip gantry; the rotation drive mechanism can drive the flip gantry to rotate until the docking device is located above the water surface structure or above the water surface.

[0008] Furthermore, the rotation drive mechanism of the transfer device includes a rotation power cylinder, both ends of which are hinged to the mounting base and the flip door frame respectively, and the piston rod of the rotation power cylinder drives the flip door frame to rotate when it moves telescopically.

[0009] Furthermore, it also includes a sway compensation mechanism, the docking base of the docking device is connected to the flip gantry through a rotating shaft, the sway compensation mechanism includes a compensation power cylinder, the compensation power cylinder is a hydraulic cylinder or a pneumatic cylinder, both ends of the compensation power cylinder are respectively hinged to the flip gantry and the docking base, when the docking base rotates relative to the flip gantry, the compensation power cylinder can apply a torque to the docking base that is opposite to the rotation direction of the docking base.

[0010] Furthermore, the docking base includes an upper base connected to the transfer device, a lower base arranged on the lower side of the upper base, and a rotating assembly connecting the upper base and the lower base, and the rotating assembly can drive the lower base to rotate relative to the upper base; the hanging mechanism is installed on the lower base, and the first locking mechanism is arranged between the lower base and the lifting frame.

[0011] Further, the first locking mechanism includes a first upper locking matching structure and a first locking drive structure installed on the docking base, and a first lower locking matching structure installed on the lifting frame, the first locking drive structure can drive the first upper locking matching structure to move, so that it is connected and locked with the first lower locking matching structure, or the locking connection is released, and the control system is control-connected to the first locking drive structure; the second locking mechanism includes a second upper locking matching structure and a second locking drive structure installed on the lifting frame, and a second lower locking matching structure installed on the underwater device, the second locking drive structure can drive the second upper locking matching structure to move, so that it is connected and locked with the second lower locking matching structure, or the locking connection is released, and the control system is control-connected to the second locking drive structure.

[0012] Furthermore, the first locking mechanism also includes a first alignment and positioning detector, which is triggered and sends a signal when the first upper locking mating structure and the first lower locking mating structure are in a relatively aligning state; the second locking mechanism also includes a second alignment and positioning detector, which is triggered and sends a signal when the second upper locking mating structure and the second lower locking mating structure are in a relatively aligning state; the first alignment and positioning detector and the second alignment and positioning detector are both communicatively connected to the control system.

[0013] Furthermore, the underwater device is connected to a transmission hose, one end of which is used to extend out of the water surface, and the docking device also includes a hose following mechanism installed on the lifting frame, the hose following mechanism includes a guide ring and an opening and closing drive assembly, the guide ring is sleeved on the transmission hose, the guide ring has a closed state that can be sleeved on the transmission hose, and an open state that can be removed from the transmission hose, and the opening and closing drive assembly can drive the guide ring to switch between a closed state and an open state.

[0014] Furthermore, the docking device also includes a detection device arranged on the lifting frame, and the detection device includes a visual camera, and the visual camera is used to photograph the position of the underwater device relative to the lifting frame; the visual camera is communicatively connected to the control system.

[0015] The present invention also provides a method for retracting and deploying an underwater device, which is performed using the above-mentioned retracting and deploying device, and comprises:

[0016] A. The lowering of the underwater device includes the following steps:

[0017] A1. The underwater device is placed on the surface structure, and the control system controls the transfer device to move to the top of the underwater device; the first locking mechanism of the docking device is controlled to move to release the connection between the lifting frame and the docking base, and then the lifting mechanism lowers the lifting frame to the upper side of the underwater device through the lifting cable; then the second locking mechanism is activated to connect the underwater device with the lifting frame;

[0018] A2. The lifting mechanism lifts the lowering frame to the lower side of the docking base through the lifting cable, and the first locking mechanism connects the lifting frame to the docking base;

[0019] A3. The transfer device moves to drive the docking device and the underwater device, so that the underwater device moves to the water surface outside the surface structure;

[0020] A4. The first locking mechanism releases the connection between the lifting frame and the docking base, and the lifting mechanism lowers the lifting frame through the lifting cable, so that the underwater device sinks into the water and is located at a specified depth. The second locking mechanism releases the connection between the underwater device and the lifting frame;

[0021] A5. The lifting mechanism lifts the lowering frame to the lower side of the docking base through the lifting cable; then the first locking mechanism connects the lifting frame to the docking base;

[0022] B. Retrieving the underwater device includes the following steps:

[0023] B1. The docking device is located on the water surface outside the surface structure. The first locking mechanism releases the connection between the lifting frame and the docking base. The lifting frame is lowered into the water by the lifting cable. The lifting frame is close to the underwater device located on the bottom of the water. The second locking mechanism connects the underwater device to the lifting frame.

[0024] B2. The lifting mechanism lifts the lowering frame to the lower side of the docking base through the lifting cable, and the first locking mechanism connects the lifting frame to the docking base. At this time, the underwater device is located on the water surface;

[0025] B3. The transfer device drives the docking device to transfer the underwater device to the surface structure;

[0026] B4. The first locking mechanism releases the connection between the lifting frame and the docking base, and the lifting mechanism lowers the lifting frame through the lifting cable to place the underwater device on the surface structure, and then the second locking mechanism releases the connection between the underwater device and the lifting frame.

[0027] As described above, the retractable device and method according to the present invention have the following beneficial effects:

[0028] 1. By setting up a transfer device and a docking device, the release and recovery of the underwater device can be achieved safely, reliably and efficiently, ensuring the stability during the movement and collection process, especially the underwater device can remain stable when transferred between the surface structure and the water surface, thereby ensuring the safety of the underwater device.

[0029] 2. For underwater robots used for dredging with transmission hoses, the transfer device can recover the underwater robot by setting a hose following mechanism. The lifting frame is guided by the hose following mechanism and the transmission hose for initial positioning, so that the lifting frame can reach the specified position to achieve docking with the underwater robot. At the same time, a detection device can be set to use visual detection to determine whether the docking is good.

[0030] 3. The transfer device is provided with a first locking mechanism and a second locking mechanism, so that the docking and release between the lifting frame and the underwater robot, as well as the docking and release between the lifting frame and the docking base can be conveniently and quickly realized, stably and reliably, thereby facilitating the operation of the lifting and lowering process when the underwater device is folded and released, and reducing manual operation.

[0031] 4. Through the sway compensation mechanism, it is ensured that when the underwater device is being retracted and deployed at sea, the inertial effect of wind and waves acting on the surface structures on the underwater device can be eliminated, thereby reducing the sway problem.

[0032] 5. The operation of the entire retractable equipment has a high level of automation. The automation of release and recovery is achieved through the control system. It has the characteristics of real-time status display, convenient operation and reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] Figure 1 It is a structural schematic diagram of the retractable device of the present invention.

[0034] Figure 2 It is a structural schematic diagram of the retractable device of the present invention.

[0035] Figure 3 It is a working schematic diagram of the retractable device of the present invention.

[0036] Figure 4 It is a schematic diagram of the working process of lowering the underwater device of the retractable device of the present invention.

[0037] Description of Figure Numbers

[0038] 1 Underwater device

[0039] 11 Transfer hose

[0040] 2 Surface structures

[0041] 3 Transfer device

[0042] 31 Flip door frame

[0043] 32 Mounting Base

[0044] 33 Rotating cylinder

[0045] 34 hinge shaft

[0046] 4 Docking device

[0047] 41 Docking Base

[0048] 411 Upper part of base

[0049] 412 Lower part of base

[0050] 413 Rotary Components

[0051] 42 Lifting Frame

[0052] 43 Lifting mechanism

[0053] 431 Cable

[0054] 432 Lifting winch

[0055] 433 Guide Pulley

[0056] 44 First locking mechanism

[0057] 441 First Lock

[0058] 442 First Lock Pin

[0059] 443 first locking drive structure

[0060] 45 Second locking mechanism

[0061] 451 Second Lock

[0062] 452 Second locking pin

[0063] 453 Second locking drive structure

[0064] 46 Power supply mechanism

[0065] 461 Cable

[0066] 47 Hose follower mechanism

[0067] 471 Guide ring

[0068] 48 Rotation axis

[0069] 49 Detection device

[0070] 5. Shake compensation mechanism

[0071] 51 Compensation cylinder

[0072] 6 Water console

[0073] 7 Powerplant

[0074] 71 Hydraulic power station

[0075] 72 Hydraulic lines DETAILED DESCRIPTION

[0076] The following is a description of the implementation of the present invention by means of specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification.

[0077] It should be noted that the structures, proportions, sizes, etc. drawn in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention, so they have no substantial technical significance. Any modification of the structure, change of the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the effects and purposes that can be achieved by the present invention. At the same time, the terms such as "upper", "lower", "left", "right", "middle" and so on quoted in this specification are only for the convenience of description, and are not used to limit the scope of the implementation of the present invention. The change or adjustment of their relative relationship should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0078] See also Figures 1 to 4 The present invention provides a retractable device for underwater devices, which is used to be installed on a water surface structure 2 to retract and deploy the underwater device 1, wherein the water surface structure 2 can be a shore, offshore platform, ship, etc. The retractable device includes a transfer device 3, a docking device 4 and a control system. The transfer device 3 is installed on the water surface structure 2, and the docking device 4 is installed on the transfer device 3. The transfer device 3 can drive the docking device 4 to move so that the docking device 4 is located above the water surface structure 2 or above the water surface; the docking device 4 includes a docking base 41, a lifting frame 42, a hanging mechanism 43, a first locking mechanism 44 and a second locking mechanism 45. The docking base 41 is installed on the flip door frame 31, the lifting frame 42 is located on the lower side of the docking base 41, and the hanging mechanism 43 is installed on the docking base 41, including a suspension cable 431 and a retractable assembly that can retract the suspension cable 431. The suspension cable 431 is connected to the lifting frame 42, and the first locking mechanism 44 is arranged between the docking base 41 and the lifting frame 42, and is used for locking or releasing the connection between the docking base 41 and the lifting frame 42; the second locking mechanism 45 is arranged between the lifting frame 42 and the underwater device 1, and is used for locking or releasing the connection between the lifting frame 42 and the underwater device 1; the control system is connected to the transfer device 3 to control the action of the transfer device 3, and the control system is connected to the first locking mechanism 44, the second locking mechanism 45 and the hanging mechanism 43 of the docking device 4, that is, the locking, connecting and unlocking actions of the first locking mechanism 44 and the second locking mechanism 45 are all controlled by the control system, and the lifting and lowering actions of the hanging mechanism 43 are also controlled by the control system.

[0079] The method for retracting and deploying the underwater device 1 using the retracting and deploying device of the present invention comprises:

[0080] A. Lowering of underwater device 1, see Figure 4 The process shown includes the following steps:

[0081] A1. The underwater device 1 is placed on the surface structure 2, and the control system controls the transfer device 3 to move, driving the docking device 4 to move above the underwater device 1; the first locking mechanism 44 of the docking device 4 is controlled to move, releasing the connection between the lifting frame 42 and the docking base 41, and then the lifting mechanism 43 lowers the lifting frame 42 to the upper side of the underwater device 1 through the lifting cable 431; then the second locking mechanism 45 is activated to connect the underwater device 1 with the lifting frame 42.

[0082] A2. The hoisting mechanism 43 lifts the lowering frame 42 to the lower side of the docking base 41 through the hoisting cable 431, and the first locking mechanism 44 connects the lifting frame 42 and the docking base 41. At this time, the underwater device 1 leaves the surface structure 2 to a certain height.

[0083] A3. The transfer device 3 is actuated to drive the docking device 4 and the underwater device 1, so that the underwater device 1 is moved to the water surface outside the surface structure 2. During the movement of the docking device 4 and the underwater device 1, since the underwater device 1 is well connected to the lifting frame 42, and the lifting frame 42 is well connected to the docking base 41, the shaking problem of the underwater device 1 can be effectively reduced, thereby avoiding collision of the underwater device 1 during the shaking process.

[0084] A4. The first locking mechanism 44 releases the connection between the lifting frame 42 and the docking base 41. The lifting frame 42 is lowered by the hoisting mechanism 43 through the hoisting cable 431, so that the underwater device 1 sinks into the water and is located at a specified depth, for example, it can be placed on the bottom of the water. The second locking mechanism 45 releases the connection between the underwater device 1 and the lifting frame 42.

[0085] A5. The hoisting mechanism 43 lifts the lowering frame 42 to the lower side of the docking base 41 through the hoisting cable 431; then the first locking mechanism 44 connects the lifting frame 42 with the docking base 41, and the retracting device is reset.

[0086] B. The underwater device 1 recovery operation includes the following steps:

[0087] B1. The docking device 4 is located on the water surface outside the water surface structure 2. The first locking mechanism 44 releases the connection between the lifting frame 42 and the docking base 41. The lifting frame 42 is lowered into the water through the lifting cable 431. The lifting frame 42 is close to the underwater device 1 located on the bottom of the water. When the two reach a suitable matching position, the second locking mechanism 45 connects the underwater device 1 with the lifting frame 42.

[0088] B2. The hoisting mechanism 43 lifts the lowering frame 42 to the lower side of the docking base 41 through the hoisting cable 431, and the first locking mechanism 44 connects the lifting frame 42 and the docking base 41. At this time, the underwater device 1 is located on the water surface.

[0089] B3. The transfer device 3 drives the docking device 4 to transfer the underwater device 1 to the surface structure 2.

[0090] B4. The first locking mechanism 44 releases the connection between the lifting frame 42 and the docking base 41, and the hoisting mechanism 43 lowers the lifting frame 42 through the hoisting cable 431 to place the underwater device 1 on the surface structure 2, and then the second locking mechanism 45 releases the connection between the underwater device 1 and the lifting frame 42; then the hoisting mechanism 43 can drive the lifting frame 42 to return to its original position and rise, and the first locking mechanism 44 connects the lifting frame 42 to the docking base 41.

[0091] The retractable and deploying equipment of the present invention can safely, reliably and efficiently realize the release and recovery of the underwater device 1. The underwater device 1 can remain stable when being transferred between the surface structure 2 and the water surface, and is not prone to shaking during the lowering and ascending process, thereby ensuring the safety of the underwater device 1.

[0092] See also Figures 1 to 4 The present invention is further described below with a specific embodiment:

[0093] In this embodiment, see Figure 1 , Figure 2 and Figure 3 As a preferred design, the transfer device 3 includes a mounting base 32 fixedly mounted on the water surface structure 2, a flip gantry 31 rotatably mounted on the mounting base 32, and a rotation drive mechanism driving the flip gantry 31 to rotate. The docking base 41 of the docking device 4 can be rotatably mounted on the flip gantry 31, and the rotation drive mechanism can drive the flip gantry 31 to rotate until the docking device 4 is located above the water surface structure 2 or above the water surface. The lower side of the flip gantry 31 is mounted on the mounting base 32 through a horizontally arranged hinge shaft 34, and the flip gantry 31 can flip and swing on the vertical plane around the hinge shaft 34. Since the flip gantry 31 drives the docking device 4 by rotating, the docking base 41 of the docking device 4 can rotate relative to the flip gantry 31. Therefore, during the rotation of the flip gantry 31, the docking device 4 always remains in a drooping state due to gravity.

[0094] In this embodiment, see Figure 1 , Figure 2 and Figure 3Further, the rotation drive mechanism of the transfer device 3 preferably adopts a rotary power cylinder 33, which can be a hydraulic cylinder, or a gas cylinder or an electric cylinder. The two ends of the rotary power cylinder 33 are respectively hinged to the mounting base 32 and the flip gantry 31. Specifically, the cylinder body of the rotary power cylinder 33 is hinged to the mounting base 32 through a hinge shaft 34, and its piston rod is hinged to the flip gantry 31 through a hinge shaft 34. Of course, it can also be reversed, the cylinder body is hinged to the flip gantry 31 and the piston rod is hinged to the mounting base 32. The rotary power cylinder 33, the mounting base 32 and the flip gantry 31 form a triangular frame structure, and when the piston rod of the rotary power cylinder 33 moves telescopically, the flip gantry 31 is driven to rotate. In addition, the rotation drive mechanism can also adopt other suitable structures. In other embodiments, the transfer device 3 can also adopt other suitable structures, which can drive the docking device 4 to move in other forms of motion trajectories. For example, the docking device 4 can be driven to move horizontally (in the form of tracks and sliders) to transfer the docking device 4 between the water surface and the water surface structure 2.

[0095] In this embodiment, see Figure 1 , Figure 2 and Figure 3Since the docking base 41 of the docking device 4 can be rotatably installed on the flip gantry 31, when the retracting and launching equipment is set on a ship, that is, when the water surface structure 2 is a ship, the ship will shake under the action of wind and waves, and the docking base 41 of the docking device 4 will sway and shake relative to the flip gantry 31 due to inertia. As a preferred design, it also includes a shaking compensation mechanism 5, which is used to eliminate the shaking of the docking device 4 caused by the shaking of the ship, wherein the docking base 41 of the docking device 4 is connected to the flip gantry 31 through a rotating shaft 48, and the rotating shaft 48 is parallel to the rotation axis of the flip gantry 31 and is horizontal in a normal state. The docking base 41 has only one degree of rotation freedom, and the shaking compensation mechanism 5 includes a compensation power cylinder 51, which is a hydraulic cylinder or a pneumatic cylinder. The two ends of the compensation power cylinder 51 are respectively hinged to the flip gantry 31 and the docking base 41. When the docking base 41 rotates relative to the flip gantry 31, the compensation power cylinder 51 moves toward the docking base 41. A torque is applied in the opposite direction to the rotation direction of the docking base 41. Specifically, the compensation power cylinder 51 can actively apply the torque to the docking base 41. A detection system for detecting the direction of the ship's shaking is generally provided on the ship. The ship's shaking condition at a certain time can be judged by the detection system, thereby judging the direction of rotation of the docking device 4 due to inertia. Then the control system actively controls the movement of the shaking compensation mechanism 5 to make the piston rod of the compensation power cylinder 51 move actively, and apply a torque in the opposite direction or in the same direction as the rotation direction of the docking base 41 to the docking base 41. The magnitude of the torque can be flexibly adjusted according to the actual movement conditions. The compensating power cylinder 51 can apply torque to the docking base 41 in a passive manner. The hydraulic oil or compressed gas in the chambers on both sides of the piston of the compensating power cylinder 51 is connected to the power source. When the docking base 41 rotates relative to the flip door frame 31, pressure or tension is applied to the piston rod of the compensating power cylinder 51, thereby changing the pressure in the chambers on both sides of the pistons. At this time, the function of the compensating power cylinder 51 is similar to a spring and damping structure, thereby passively or actively applying torque to the docking base 41. When the flip gantry 31 rotates to drive the docking base 41 to transfer between above the water surface and above the surface structure 2, the compensating power cylinder 51 can reduce the shaking of the docking base 41 caused by the flip gantry 31 rotating too fast or the uneven rotation speed. When the docking base 41 is docked above the water surface to lift and lower the underwater device 1, the compensating power cylinder 51 works to reduce the shaking of the docking base 41 caused by the shaking of the surface structure 2 and the flip gantry 31 caused by wind and waves, thereby improving the stability of the docking base 41 and the underwater device 1 connected thereto.

[0096] In this embodiment, see Figure 1 , Figure 2 and Figure 3As a preferred design, the docking base 41 includes a base upper part 411 connected to the transfer device 3, a base lower part 412 arranged at the lower side of the base upper part 411, and a swivel assembly 413 connecting the base upper part 411 and the base lower part 412. The swivel assembly 413 can drive the base lower part 412 to rotate relative to the base upper part 411, and the swivel axis of the swivel assembly 413 is preferably along the vertical direction; the hanging mechanism 43 is installed on the base lower part 412, and the first locking mechanism 44 is arranged between the base lower part 412 and the lifting frame 42. The swivel assembly 413 can be manually or automatically operated. Preferably, the control system is connected to the swivel assembly 413 to control the swivel assembly 413 to work automatically. In this way, in the process of retracting and releasing the underwater device 1, the control system controls the rotation of the base lower part 412 by controlling the action of the swivel assembly 413 to change the direction of the lifting frame 42 and the underwater device 1, which is more convenient and flexible to use. The slewing assembly 413 may adopt an existing suitable structure, specifically including a slewing support and a slewing drive assembly, wherein the upper and lower ends of the slewing support are respectively connected to the upper part 411 of the base and the lower part 412 of the base, and the slewing drive assembly drives the slewing support to rotate to realize the slewing function, and the slewing drive assembly has a locking function, which can lock the relative angle between the upper part 411 of the base and the lower part 412 of the base. Further preferably, the slewing assembly 413 also includes a slewing angle detector, which can detect the slewing angle deviation between the lower part 412 of the base and the upper part 411 of the base, and the slewing angle detector is connected to the control system for communication and can transmit slewing data, and the control system is connected to the slewing drive assembly, and can control the action of the slewing drive assembly according to the angle signal data.

[0097] In this embodiment, see Figure 1 , Figure 2 and Figure 3As a preferred design, the first locking mechanism 44 includes a first upper locking matching structure and a first locking driving structure 443 installed on the docking base 41, and a first lower locking matching structure installed on the lifting frame 42. The first locking driving structure 443 can drive the first upper locking matching structure to move, so that it is connected and locked with the first lower locking matching structure, or release the locking connection. The control system is controlled and connected to the first locking driving structure 443; specifically, the first upper locking matching structure includes a first locking pin 442, and the first lower locking matching structure includes a first locking head 441. The first locking head 441 and the first locking pin 442 have a certain alignment range. When the lifting frame 42 rises to the relative position of the first locking head 441 and the first locking pin 442 is in the alignment range, the first locking head 441 enters into the range of the first locking pin 442, and the first locking driving structure 443 drives the first locking pin 442 to move and insert into the first locking head 441, thereby realizing connection locking. Furthermore, the first locking mechanism 44 also includes a first alignment positioning detector (not shown in the drawings), which is communicatively connected to the control system. When the first upper locking mating structure and the first lower locking mating structure are in a relatively aligning position, the first alignment positioning detector is triggered and sends a signal, that is, when the first lock head 441 enters into the range of the first locking pin 442, the first alignment positioning detector can be triggered, and a signal can be sent to the control system. The control system can determine, based on the signal, that the first locking drive structure 443 can be controlled to perform a connection locking action.

[0098] In this embodiment, see Figure 1 , Figure 2 and Figure 3As a preferred design, the second locking mechanism 45 adopts the same design structure as the first locking mechanism 44, specifically including a second upper locking matching structure and a second locking driving structure 453 installed on the lifting frame 42, and a second lower locking matching structure installed on the underwater device 1. The second locking driving structure 453 can drive the second upper locking matching structure to move, so that it is connected and locked with the second lower locking matching structure, or release the locking connection. The control system is controlled and connected to the second locking driving structure 453. Specifically, the second upper locking matching structure includes a second locking pin 452, and the second lower locking matching structure includes a second locking head 451. The second locking head 451 and the second locking pin 452 have a certain alignment range. When the underwater device 1 rises to the relative position of the second locking head 451 and the second locking pin 452 within the alignment range, the second locking head 451 enters the range of the second locking pin 452, and the second locking driving structure 453 drives the second locking pin 452 to move and insert it into the second locking head 451, thereby realizing connection locking. The second locking mechanism 45 also includes a second alignment detector (not shown in the figure). When the second upper locking matching structure and the second lower locking matching structure are in relative alignment, the second alignment detector is triggered and sends a signal; the first alignment detector and the second alignment detector are both connected to the control system for communication. The specific working principle of the second locking mechanism 45 is the same as that of the first locking mechanism 44, so it will not be described in detail.

[0099] The first locking mechanism 44 and the second locking mechanism 45 can be hydraulically, electrically or pneumatically actuated. Figure 1 , Figure 2 and Figure 3In this embodiment, as a preferred design, the second locking mechanism 45 is electrically driven, and the docking device 4 further comprises a power supply mechanism 46 disposed on the docking base 41. The power supply mechanism 46 comprises a retractable cable 461, which is retracted and released by a constant tension winch. The lower end of the cable 461 is connected to the second locking drive structure 453 of the second locking mechanism 45, and is used to provide electric energy as power for the action of the second locking drive structure 453. The cable 461 can also be used to power other components that need to be electrically driven and are disposed on the lifting frame 42. In addition, when the second locking mechanism 45 is pneumatically driven, the power supply mechanism 46 comprises a retractable hose, and the lower end of the hose is connected to the second locking drive structure 453 of the second locking mechanism 45, and is used to provide compressed gas as power for the action of the second locking drive. When the hoisting mechanism 43 lifts or lowers the lifting frame 42, the winch of the power supply mechanism 46 synchronously retracts or releases the cable 461 or hose. In addition, in other embodiments, when the second locking mechanism 45 is electrically driven, a battery can be provided to power the second locking drive structure 453 while ensuring underwater sealing. Similarly, a battery can also be provided on the docking base 41 to power the first locking drive structure 443 of the first locking mechanism 44.

[0100] In other embodiments, the first locking mechanism 44 and the second locking mechanism 45 may adopt other existing suitable structures as long as they can realize the above-mentioned automatic connection locking and disconnection functions.

[0101] In this embodiment, see Figure 1 , Figure 2 and Figure 3 The retracting and unwinding components of the hoisting mechanism 43 include a hoisting winch 432, which is a constant tension winch. The hoisting cable 431 is stored on the hoisting winch 432. The hoisting mechanism 43 also includes a guide pulley 433 installed on the lifting frame 42. After one end of the rope passes through the guide pulley 433, it extends upward and is fixedly connected to the base lower part 412 of the docking base 41, so as to better lift the lifting frame 42. The hoisting mechanism 43 can be set to two or more to more smoothly retract and unwind the lifting frame 42. In other embodiments, the hoisting mechanism 43 can also adopt other suitable structures that can automatically retract and unwind the hoisting cable 431.

[0102] In this embodiment, see Figure 1 , Figure 2 and Figure 3The underwater device 1 is an underwater dredging robot. A transmission hose 11 is connected to the underwater device 1. One end of the transmission hose 11 is used to extend out of the water surface to transport the silt to the water surface. As a preferred design, the docking device 4 also includes a hose following mechanism 47 installed on the lifting frame 42. The hose following mechanism 47 includes a guide ring 471 and an opening and closing drive assembly. The opening and closing drive assembly is preferably connected to the cable 461 of the power supply mechanism 46, and is powered by the cable 461. The opening and closing drive assembly can also be powered by a sealed battery. The guide ring 471 is sleeved on the transmission hose 11. The guide ring 471 has a closed state in which it can be sleeved on the transmission hose 11, and an open state in which it can be removed from the transmission hose 11. The opening and closing drive component can drive the guide ring 471 to switch between the closed state and the open state. The guide ring 471 can adopt various existing design forms. For example, it can be composed of two semi-circular ring structures. By driving the two semi-circular rings to move and dock to form a circular ring structure, a closed guide ring 471 is obtained. When the two semi-circular rings are separated, they are in an open state, and at this time, they can be removed from the transmission hose 11. By setting the hose following mechanism 47, during the process of retracting and releasing the underwater device 1, especially in the step B1 of the above-mentioned retracting work of the underwater device 1, when the hoisting mechanism 43 lowers the lifting frame 42 through the hoisting cable 431, the hose following mechanism 47 can close the guide ring 471 and put it on the transmission hose 11 or open and remove it according to needs. When the guide ring 471 is put on the transmission hose 11, the guide ring 471 moves along the transmission hose 11. Through the cooperation of the two, the relative positions of the lifting frame 42 and the underwater device 1 in the horizontal direction can be guided. When the lifting frame 42 approaches the underwater device 1, the lifting frame 42 and the underwater device 1 are aligned, so that the second lock head 451 and the second lock pin 452 of the second locking mechanism 45 are in a relatively aligned range, so that the second locking mechanism 45 can smoothly connect the underwater device 1 with the lifting frame 42.

[0103] In this embodiment, see Figure 1 , Figure 2 and Figure 3As a preferred design, the docking device 4 also includes a detection device 49 arranged on the lifting frame 42, and the detection device 49 includes a visual camera, which is used to shoot the position of the underwater device 1 relative to the lifting frame 42, so as to determine whether the underwater device 1 is in a recyclable position. Specifically, the shooting range covers the second lock head 451 of the second locking mechanism 45; the visual camera is connected to the control system for communication, and transmits the shooting picture to the control system. The control system includes an above-water control console 6 arranged on the surface structure 2, and the above-water control console 6 has a display function for receiving and displaying signal data, as well as the generation of control instructions. The operator can judge the relative position of the underwater device 1 and the lifting frame 42, and the alignment of the second lock head 451 and the second lock pin 452 of the second locking mechanism 45 according to the picture shot by the visual camera, so as to determine whether the second locking mechanism 45 can perform the locking connection action, and send the corresponding control command. If the position of the underwater device 1 is not suitable, the position of the underwater device 1 can be fine-tuned to ensure that the second lock head 451 and the second lock pin 452 are aligned.

[0104] In this embodiment, see Figure 1 , Figure 2 and Figure 3 As a preferred design, it also includes a power device 7, which includes a hydraulic power station 71 and a hydraulic pipeline 72. The hydraulic power station 71 is installed on the water surface structure 1, and provides hydraulic power to the rotating power cylinder 33 of the transfer device 3 through the hydraulic pipeline 72, and can also provide hydraulic power to the compensation power cylinder 51. In other embodiments, when the rotation drive mechanism adopts other types of drive methods, the power device 7 can provide high-pressure gas, electricity, etc. as power.

[0105] As can be seen from the above, the retractable device and method of the present invention have the following beneficial effects:

[0106] 1. By setting up the transfer device 3 and the docking device 4, the release and recovery of the underwater device 1 can be achieved safely, reliably and efficiently, ensuring the stability during the movement and collection process, especially the underwater device 1 can remain stable when transferred between the surface structure 2 and the water surface, thereby ensuring the safety of the underwater device 1.

[0107] 2. For an underwater robot for dredging with a transmission hose 11, the transfer device 3 can recover the underwater robot by setting a hose following mechanism 47. The lifting frame 42 is guided and initially positioned with the transmission hose 11 through the hose following mechanism 47, so that the lifting frame 42 can reach a designated position to achieve docking with the underwater robot. At the same time, a detection device 49 can be set to use visual detection to determine whether the docking is successful.

[0108] 3. The transfer device 3 is provided with a first locking mechanism 44 and a second locking mechanism 45, so that the docking and release between the lifting frame 42 and the underwater robot, and the docking and release between the lifting frame 42 and the docking base 41 can be conveniently and quickly achieved, stably and reliably, thereby facilitating the operation of the lifting and lowering process when the underwater device 1 is folded and released, and reducing manual operation.

[0109] 4. The sway compensation mechanism 5 ensures that when the underwater device 1 is being retracted and deployed at sea, the inertial effect of wind and waves acting on the surface structures on the underwater device 1 can be eliminated, thereby reducing the sway problem.

[0110] 5. The operation of the entire retractable equipment has a high level of automation. The automation of release and recovery is achieved through the control system. It has the characteristics of real-time status display, convenient operation and reliability.

[0111] In summary, the present invention effectively overcomes various shortcomings in the prior art and has high industrial utilization value.

[0112] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A retractable device for underwater devices, used for installation on a surface structure (2), characterized in that: The invention comprises a transfer device (3), a docking device (4) and a control system, wherein the transfer device (3) is installed on a water surface structure (2), the docking device (4) is installed on the transfer device (3), and the transfer device (3) can drive the docking device (4) to move so that the docking device (4) is located above the water surface structure (2) or above the water surface; the docking device (4) comprises a docking base (41), a lifting frame (42), a hanging mechanism (43), a first locking mechanism (44) and a second locking mechanism (45), the docking base (41) is installed on a flip door frame (31), the lifting frame (42) is located on the lower side of the docking base (41), and the hanging mechanism (43) is installed on the docking base (41). A suspension cable (431) and a retractable assembly for the suspension cable (431), wherein the suspension cable (431) is connected to a lifting frame (42), wherein the first locking mechanism (44) is arranged between a docking base (41) and the lifting frame (42) and is used to lock or release the connection between the docking base (41) and the lifting frame (42); the second locking mechanism (45) is arranged between the lifting frame (42) and an underwater device (1) and is used to lock or release the connection between the lifting frame (42) and the underwater device (1); the control system is control-connected to a transfer device (3), and the control system is control-connected to the first locking mechanism (44), the second locking mechanism (45) and the suspension mechanism (43) of the docking device (4).

2. The retractable device for underwater devices according to claim 1, characterized in that: The transfer device (3) comprises a mounting base (32) fixedly mounted on the water surface structure (2), a flip door frame (31) rotatably mounted on the mounting base (32), and a rotation drive mechanism for driving the flip door frame (31) to rotate; the docking base (41) of the docking device (4) is rotatably mounted on the flip door frame (31); the rotation drive mechanism can drive the flip door frame (31) to rotate until the docking device (4) is located above the water surface structure (2) or above the water surface.

3. The retractable device for underwater devices according to claim 2, characterized in that: The rotation drive mechanism of the transfer device (3) comprises a rotation power cylinder (33), the two ends of which are respectively hinged to the mounting base (32) and the turnover door frame (31), and the piston rod of the rotation power cylinder (33) drives the turnover door frame (31) to rotate when it moves telescopically.

4. The retractable device for underwater devices according to claim 2, characterized in that: The invention also comprises a sway compensation mechanism (5), wherein the docking base (41) of the docking device (4) is connected to the flip door frame (31) via a rotating shaft (48), and the sway compensation mechanism (5) comprises a compensation power cylinder (51), wherein the compensation power cylinder (51) is a hydraulic cylinder or a pneumatic cylinder, and the two ends of the compensation power cylinder (51) are respectively hinged to the flip door frame (31) and the docking base (41), and when the docking base (41) rotates relative to the flip door frame (31), the compensation power cylinder (51) can apply a torque to the docking base (41) in the opposite direction of the rotation of the docking base (41).

5. The retractable device for underwater devices according to claim 1, characterized in that: The docking base (41) comprises an upper base portion (411) connected to the transfer device (3), a lower base portion (412) arranged at the lower side of the upper base portion (411), and a rotating assembly (413) connecting the upper base portion (411) and the lower base portion (412), wherein the rotating assembly (413) is capable of driving the lower base portion (412) to rotate relative to the upper base portion (411); the hanging mechanism (43) is installed on the lower base portion (412), and the first locking mechanism (44) is arranged between the lower base portion (412) and the lifting frame (42).

6. The retractable device for underwater devices according to claim 1, characterized in that: The first locking mechanism (44) comprises a first upper locking matching structure and a first locking driving structure (443) installed on the docking base (41), and a first lower locking matching structure installed on the lifting frame (42); the first locking driving structure (443) can drive the first upper locking matching structure to connect and lock with the first lower locking matching structure, or release the locking connection; the control system is connected to the first locking driving structure (443); the second locking mechanism (45) comprises a second upper locking matching structure and a second locking driving structure (453) installed on the lifting frame (42), and a second lower locking matching structure installed on the underwater device (1); the second locking driving structure (453) can drive the second upper locking matching structure to connect and lock with the second lower locking matching structure, or release the locking connection; the control system is connected to the second locking driving structure (453).

7. The retractable device for underwater devices according to claim 6, characterized in that: The first locking mechanism (44) also includes a first alignment and positioning detector, which is triggered and sends a signal when the first upper locking mating structure and the first lower locking mating structure are in a relatively punctual state; the second locking mechanism (45) also includes a second alignment and positioning detector, which is triggered and sends a signal when the second upper locking mating structure and the second lower locking mating structure are in a relatively punctual state; the first alignment and positioning detector and the second alignment and positioning detector are both communicatively connected to the control system.

8. The retractable device for underwater devices according to claim 1, characterized in that: The underwater device (1) is connected to a transmission hose (11), one end of which is used to extend out of the water surface. The docking device (4) also includes a hose following mechanism (47) installed on a lifting frame (42). The hose following mechanism (47) includes a guide ring (471) and an opening and closing drive component. The guide ring (471) is sleeved on the transmission hose (11). The guide ring (471) has a closed state that can be sleeved on the transmission hose (11) and an open state that can be removed from the transmission hose (11). The opening and closing drive component can drive the guide ring (471) to switch between the closed state and the open state.

9. The retractable device for underwater devices according to claim 1, characterized in that: The docking device (4) further comprises a detection device (49) arranged on the lifting frame (42), wherein the detection device (49) comprises a visual camera, and the visual camera is used to photograph the position of the underwater device (1) relative to the lifting frame (42); the visual camera is communicatively connected to the control system.

10. A method for retracting and deploying an underwater device, characterized in that: The method is carried out using the retractable device as claimed in any one of claims 1 to 9, including: A. The lowering of the underwater device (1) comprises the following steps: A1. The underwater device (1) is placed on the surface structure (2), and the control system controls the transfer device (3) to move, driving the docking device (4) to move above the underwater device (1); the first locking mechanism (44) of the docking device (4) is controlled to move, releasing the connection between the lifting frame (42) and the docking base (41), and then the lifting mechanism (43) lowers the lifting frame (42) to the upper side of the underwater device (1) through the lifting cable (431); then the second locking mechanism (45) is activated to connect the underwater device (1) with the lifting frame (42); A2, the lifting mechanism (43) lifts the lowering frame (42) to the lower side of the docking base (41) through the lifting cable (431), and the first locking mechanism (44) connects the lifting frame (42) and the docking base (41); A3, the transfer device (3) is activated, driving the docking device (4) and the underwater device (1), so that the underwater device (1) is moved to the water surface outside the surface structure (2); A4, the first locking mechanism (44) releases the connection between the lifting frame (42) and the docking base (41), the lifting mechanism (43) lowers the lifting frame (42) through the lifting cable (431), so that the underwater device (1) sinks into the water and is located at a specified depth, and the second locking mechanism (45) releases the connection between the underwater device (1) and the lifting frame (42); A5, the lifting mechanism (43) lifts the lowering frame (42) to the lower side of the docking base (41) through the lifting cable (431); then the first locking mechanism (44) connects the lifting frame (42) and the docking base (41); B. The underwater device (1) is retrieved, comprising the following steps: B1. The docking device (4) is located on the water surface outside the water surface structure (2), the first locking mechanism (44) releases the connection between the lifting frame (42) and the docking base (41), the lifting frame (42) is lowered into the water by the lifting cable (431), the lifting frame (42) is approached to the underwater device (1) located on the bottom of the water, and the second locking mechanism (45) connects the underwater device (1) and the lifting frame (42); B2, the hoisting mechanism (43) lifts the lowering frame (42) to the lower side of the docking base (41) through the hoisting cable (431), and the first locking mechanism (44) connects the lifting frame (42) and the docking base (41). At this time, the underwater device (1) is located on the water surface; B3, the transfer device (3) drives the docking device (4) to transfer the underwater device (1) to the surface structure (2); B4. The first locking mechanism (44) releases the connection between the lifting frame (42) and the docking base (41), and the lifting mechanism (43) lowers the lifting frame (42) through the lifting cable (431), placing the underwater device (1) on the surface structure (2), and then the second locking mechanism (45) releases the connection between the underwater device (1) and the lifting frame (42).

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