An underwater vehicle carrying launching and recovering device and underwater vehicle launching and recovering method

Abstract

The application discloses an underwater vehicle carrying, releasing and collecting device and an underwater vehicle releasing and collecting method, and belongs to the technical field of underwater vehicle control. When collecting, the mechanical hand at the head of the underwater vehicle holds the catching rod, the first door-shaped frame swings clockwise to the lifting platform to correct the posture of the underwater vehicle holding the catching rod, and the underwater vehicle in the guide cabin is transported to the storage cabin through the conveying device in the lifting platform and the storage cabin, stored in the storage cabin, and locked by the locking device in the storage cabin. After the storage cabin is full of underwater vehicles, the subsequent underwater vehicles are placed on the lifting platform and locked by the locking device in the lifting platform. When releasing, the underwater vehicle in the lifting platform is unlocked and then drives away from the lifting platform, and then the underwater vehicle stored in the storage cabin is transported to the lifting platform through the conveying device in the storage cabin and the lifting platform, and then drives away from the lifting platform.

Description

TECHNICAL FIELD

[0001] The present application belongs to the technical field of underwater vehicle control, and particularly relates to an underwater vehicle carrying and releasing device and an underwater vehicle deploying and recovering method. BACKGROUND

[0002] Currently, underwater vehicles (including autonomous underwater vehicles AUV) are rapidly developing, and their application fields are continuously expanding. Underwater vehicles gradually develop towards cluster underwater operation. Under the background of large-scale application of underwater vehicles in the future, the deploying and recovering technology will face severe challenges. Compared with the deploying process of underwater vehicles, the recovering process is more complex and difficult. At present, the deploying and recovering of underwater vehicles are mostly carried out on manned ships on the water surface, unmanned ships on the water surface, submarines and large vehicles. At present, there is no related technology and report about the underwater vehicle carrying and releasing device autonomously deploying and recovering multiple underwater vehicles. SUMMARY

[0003] Therefore, the present application provides an underwater vehicle carrying and releasing device and an underwater vehicle deploying and recovering method. Through the joint action of the lifting platform, the door-shaped correction rod mechanism, the lifting mechanism, the capturing rod and the underwater vehicle to be recovered or deployed, the underwater vehicle carrying and releasing device can autonomously deploy and recover multiple underwater vehicles.

[0004] The underwater vehicle carrying and releasing device provided by the present application adopts the following technical scheme:

[0005] The underwater vehicle carrying and releasing device comprises a guide cabin section and a storage cabin.

[0006] The lifting platform is arranged on the guide cabin section in a liftable manner. The left end of the lifting platform is provided with the door-shaped correction rod mechanism, the lifting mechanism and the capturing rod arranged on the top of the lifting mechanism. The capturing rod is located in the first door-shaped frame in the door-shaped correction rod mechanism. The lifting mechanism can drive the capturing rod to move up and down.

[0007] The right end of the lifting platform is in communication with the storage cabin.

[0008] During the recovering process, the mechanical hand at the head of the underwater vehicle grabs the capturing rod. The first door-shaped frame swings clockwise into the lifting platform to correct the posture of the underwater vehicle that grabs the capturing rod. The lifting mechanism is lowered by a set height to place the underwater vehicle on the lifting platform. The underwater vehicle in the guide cabin is transported to the storage cabin by the conveying device in the lifting platform and the storage cabin, and is locked by the locking device in the storage cabin. After the storage cabin is full of underwater vehicles, the subsequent recovered underwater vehicles are placed on the lifting platform and locked by the locking device in the lifting platform.

[0009] When deploying, the underwater vehicle in the lifting platform is first unlocked and then self-driven away from the lifting platform, and then the underwater vehicle stored in the storage cabin is transported to the lifting platform through the storage cabin and the conveying device in the lifting platform, and then self-driven away from the lifting platform.

[0010] Further, the control device arranged in the guide cabin section and the position sensor arranged in the storage cabin are further included.

[0011] The position sensor is used to monitor the position of the underwater vehicle in the underwater vehicle carrying and deploying device, and feed back the monitoring signal to the control device, and the control device controls the action of the door-shaped correction rod mechanism, the lifting mechanism, the lifting platform and the conveying device in the storage cabin according to the feedback signal.

[0012] Further, the conveying device in the lifting platform includes a driving wheel arranged in the inner wall of the lifting platform and a driving source driving the driving wheel to rotate.

[0013] The driving wheel rotates under the driving of the driving source, and then exerts friction force on the side wall of the underwater vehicle in the lifting platform, so as to convey the underwater vehicle in the lifting platform to the storage cabin.

[0014] Further, the driving wheel in the lifting platform is also used as the locking device in the lifting platform.

[0015] The driving wheel generates displacement under the driving of the driving device to laterally clamp the underwater vehicle placed in the lifting platform, achieving the locking effect.

[0016] The driving wheel generates displacement in the opposite direction under the driving of the driving device, achieving the unlocking effect.

[0017] Further, the lifting platform is further provided with a deflectable resting device at a set height.

[0018] The plurality of deflectable resting devices at the same set height are deflected by a set angle, so that the lifting platform can place at least two layers of underwater vehicles, and the underwater vehicles placed on the bottom layer of the lifting platform are directly supported through the bottom of the lifting platform, and the underwater vehicles placed on other layers are supported through the deflectable resting devices.

[0019] When deploying, the underwater vehicle supported on the deflectable resting device is self-driven away from the lifting platform, and the deflectable resting device can be deflected by a set angle in the opposite direction to leave the underwater vehicles placed in the lower layer of the guide cabin and the lifting platform to deploy away from the passing space of the lifting platform.

[0020] Further, the bottom of the lifting platform is also provided with passive rollers, which are used to make the bottom of the underwater vehicle on the bottom layer of the lifting platform in rolling contact with the bottom of the lifting platform when the underwater vehicle is transported to or from the storage cabin.

[0021] Further, the lifting mechanism comprises a lifting hydraulic cylinder, a secondary slide rail and a buffer protection device.

[0022] The bottom of the secondary slide rail is vertically fixed on the lifting platform.

[0023] The lifting hydraulic cylinder is fixed on the lifting platform, and the piston rod of the lifting hydraulic cylinder is in a vertical state.

[0024] The buffer protection device is installed on the top of the secondary slide rail, and the catching rod is installed on the buffer protection device.

[0025] When the piston rod of the lifting hydraulic cylinder is elongated, the secondary slide rail can be pushed to drive the catching rod to move upward.

[0026] Further, the door-shaped correction rod mechanism further comprises a correction rod hydraulic cylinder and a second door-shaped frame.

[0027] One end of the correction rod hydraulic cylinder is hinged to the lifting platform, the piston rod of the correction rod hydraulic cylinder is fixed to the top rod of the second door-shaped frame, and the two second door-shaped frame side rods are fixed to the bottom of the two first door-shaped frame side rods and are hinged to the lifting platform.

[0028] When the piston rod of the correction rod hydraulic cylinder is elongated, the first door-shaped frame is pushed to rotate clockwise by the second door-shaped frame, and when the piston rod of the correction rod hydraulic cylinder is retracted, the first door-shaped frame is made to rotate counterclockwise by the second door-shaped frame.

[0029] Further, the lifting platform is slidably installed on the guide cabin section through the sliding cooperation of guide rails and sliding blocks, and the lifting platform is driven by a hydraulic cylinder when lifting.

[0030] The underwater vehicle deployment and recovery method provided by the application adopts the following technical scheme: deployment process:

[0031] Step 1: After reaching the designated deployment area, the cabin door side sliding opening mechanism on the guide cabin section drives the cabin door to open.

[0032] Step two: the piston rod of the lifting hydraulic cylinder is extended to lift the capture rod to a set height, and the piston rod of the correction rod hydraulic cylinder is retracted to drive the first door frame to rotate counterclockwise to the vertical state, so as to not affect the deployment of the underwater vehicle; the lifting platform rises along the guide rail to align the bottom of the lifting platform with the No. 3 storage cabin, and after the carrier is released from clamping, the No. 5 carrier supported on the deflectable resting device autonomously departs, and then the deflectable resting device is deflected by a set angle to leave a passage, and then the No. 4 carrier on the bottom of the lifting platform is released from locking and autonomously departs from the lifting platform;

[0033] Step three: after the No. 4 carrier is deployed, the bottom of the lifting platform is aligned with the No. 3 storage cabin, and after the No. 3 carrier is released from clamping and locking, the conveying device in the lifting platform cooperates with the conveying device at the bottom of the lifting platform to convey the No. 3 carrier to the bottom of the guide cabin, and then the No. 3 carrier autonomously departs from the lifting platform;

[0034] Step four: after the No. 3 carrier is deployed, the lifting platform descends along the guide rail to align the bottom of the lifting platform with the No. 2 storage cabin, and then the No. 2 carrier is conveyed to the bottom of the lifting platform by the conveying device in the storage cabin cooperating with the conveying device at the bottom of the lifting platform, and then the lifting platform rises along the guide rail to align the bottom of the lifting platform with the No. 3 storage cabin, and then the No. 2 carrier autonomously departs from the lifting platform;

[0035] Step five: after the No. 2 carrier is deployed, the lifting platform descends along the guide rail to align the bottom of the lifting platform with the No. 1 storage cabin, and then the No. 1 carrier is conveyed to the bottom of the lifting platform by the conveying device in the storage cabin cooperating with the conveying device at the bottom of the lifting platform, and then the lifting platform rises along the guide rail to align the bottom of the lifting platform with the No. 3 storage cabin, and then the No. 1 carrier autonomously departs from the lifting platform;

[0036] Recovery process:

[0037] Step one: after arriving at the designated recovery area, the hatch door opening and closing mechanism drives the hatch door to slide sideways to open;

[0038] Step two: the piston rod of the lifting hydraulic cylinder is extended to lift the capture rod to a set height, and the piston rod of the correction rod hydraulic cylinder is retracted to make the first door frame rotate counterclockwise to the vertical state;

[0039] Step three: after the lifting platform rises along the guide rail to align the bottom of the lifting platform with the No. 3 storage cabin, the deflectable resting device is deflected to the retracted state to leave a passage for the carrier to enter the passage space on the bottom of the lifting platform;

[0040] Step four: the 1, 2, 3 carriers are recovered in turn, the carrier relies on its own power to approach the capture rod from the back of the underwater vehicle-mounted launch and recovery device above, sends information to the control device of the underwater vehicle-mounted launch and recovery device after the mechanical hand of the carrier head grabs the capture rod, the control device controls the first door-shaped frame to gradually swing clockwise from the vertical state position to the direction of the carrier tail, thereby correcting the length direction of the carrier to be consistent with the length direction of the lifting platform, then the piston rod of the lifting hydraulic cylinder is shortened, the carrier is lowered to the bottom of the lifting platform and locked by the locking device in the lifting platform, then the lifting platform moves along the guide rail to align the bottom of the lifting platform with the corresponding cabin of the storage cabin, then the lifting platform releases the locking of the carrier, and the lifting platform bottom conveying device cooperates with the conveying device in the storage cabin to convey the carrier at the bottom of the lifting platform to the corresponding cabin of the storage cabin and lock it;

[0041] Step four: the 1, 2, 3 carriers are recovered in turn, the carrier relies on its own power to approach the capture rod from the back of the underwater vehicle-mounted launch and recovery device above, sends information to the control device of the underwater vehicle-mounted launch and recovery device after the mechanical hand of the carrier head grabs the capture rod, the control device controls the first door-shaped frame to gradually swing clockwise from the vertical state position to the direction of the carrier tail, thereby correcting the length direction of the carrier to be consistent with the length direction of the lifting platform, then the piston rod of the lifting hydraulic cylinder is shortened, the carrier is lowered to the bottom of the lifting platform and locked by the locking device in the lifting platform, then the lifting platform moves along the guide rail to align the bottom of the lifting platform with the corresponding cabin of the storage cabin, then the lifting platform releases the locking of the carrier, and the lifting platform bottom conveying device cooperates with the conveying device in the storage cabin to convey the carrier at the bottom of the lifting platform to the corresponding cabin of the storage cabin and lock it;

[0042] Step four: the 1, 2, 3 carriers are recovered in turn, the carrier relies on its own power to approach the capture rod from the back of the underwater vehicle-mounted launch and recovery device above, sends information to the control device of the underwater vehicle-mounted launch and recovery device after the mechanical hand of the carrier head grabs the capture rod, the control device controls the first door-shaped frame to gradually swing clockwise from the vertical state position to the direction of the carrier tail, thereby correcting the length direction of the carrier to be consistent with the length direction of the lifting platform, then the piston rod of the lifting hydraulic cylinder is shortened, the carrier is lowered to the bottom of the lifting platform and locked by the locking device in the lifting platform, then the lifting platform moves along the guide rail to align the bottom of the lifting platform with the corresponding cabin of the storage cabin, then the lifting platform releases the locking of the carrier, and the lifting platform bottom conveying device cooperates with the conveying device in the storage cabin to convey the carrier at the bottom of the lifting platform to the corresponding cabin of the storage cabin and lock it;

[0043] Beneficial effects:

[0044] 1. The underwater vehicle-mounted launch and recovery device realizes the autonomous deployment and recovery of multiple small underwater vehicles through the joint action of the lifting platform, the door-shaped correction rod mechanism, the lifting mechanism, the capture rod mechanism and the underwater vehicle.

[0045] 2. The driving wheel in the lifting platform is also used as a locking device in the lifting platform. The driving wheel can be horizontally displaced under the drive of the driving device to clamp the underwater vehicle placed in the lifting platform laterally, so as to achieve the locking effect. The driving wheel is displaced in the opposite direction under the drive of the driving device, so as to achieve the unlocking effect. The structure is simple and reliable.

[0046] 3. The hatch opening and closing mechanism has a short opening time and high efficiency. The hatch doors on both sides slide along the outside of the underwater vehicle carrying and releasing device to open. The hatch doors have little influence on the shape and mass center / floating center position of the underwater vehicle carrying and releasing device, so that the original fluid linear type of the underwater vehicle carrying and releasing device is maintained.

[0047] 4. The swing of the door-shaped correction rod mechanism and the lifting movement of the lifting platform are both driven by hydraulic pressure. The transportation of the carrier between the lifting platform and the storage cabin relies on the rotation of the driving wheel driven by the motor as the transportation power. The hydraulic drive and the motor drive both have large carrying capacity, and are suitable for underwater launching and recovery, and can also be suitable for loading on land.

[0048] 5. The side rollers, back rollers and correction auxiliary wheels are in direct contact with the underwater vehicle. The rolling pressure application mode will not damage the surface of the underwater vehicle and has high efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0049] Figure 1 A vertical arrangement schematic diagram of the underwater vehicle carrying and releasing device provided by the present application (only the guide cabin section and the storage cabin are shown);

[0050] Figure 2 A state schematic diagram of the carrier carrying and storing in the lifting platform and the storage cabin provided by the present application;

[0051] Figure 3 A schematic diagram of the door-shaped correction rod mechanism and the lifting mechanism provided by the present application;

[0052] Figure 4 A Figure 3 A state schematic diagram of the first door-shaped frame under the clockwise swing of a certain angle;

[0053] Figure 5 A schematic diagram of the lifting platform structure on the guide cabin section provided by the present application;

[0054] Figure 6 A state schematic diagram of the hatch opening and closing mechanism when the hatch is opened (the guide cabin section in the cylinder is not shown);

[0055] Wherein, 1-guiding cabin section; 2-door-shaped correction rod mechanism; 3-control device; 4-guide rail; 5-deflectable resting device; 6-cabin door opening and closing mechanism; 7-position sensor; 8-storage cabin; 9-driving wheel; 10-passive roller; 11-lifting hydraulic cylinder; 12-secondary slide rail; 13-buffering protection device; 14-correction rod hydraulic cylinder; 15-second door-shaped frame top rod; 16-second door-shaped frame side rod; 17-first door-shaped frame side rod; 18-fixing member; 19-first door-shaped frame top rod; 20-correction auxiliary roller; 21-capture rod. DETAILED DESCRIPTION

[0056] The application will be described in detail below with reference to the drawings and examples.

[0057] Example One

[0058] Reference Figure 1 - Figure 6 An underwater vehicle carrying and releasing device, comprising a guiding cabin section 1 and a storage cabin 8.

[0059] The guiding cabin section 1 can be a middle frame structure connecting the head and tail of the underwater vehicle carrying and releasing device; a lifting platform is provided on the guiding cabin section 1 in a liftable manner, the left end of the lifting platform is provided with a door-shaped correction rod mechanism 2, a lifting mechanism and a capture rod 21 arranged on the top of the lifting mechanism; the capture rod 21 is located in the first door-shaped frame in the door-shaped correction rod mechanism 2; the lifting mechanism can drive the capture rod 21 to move up and down.

[0060] The right end of the lifting platform is in communication with the storage cabin 8; the storage cabin 8 can be used as a tail structure of the underwater vehicle carrying and releasing device, for storing underwater vehicles.

[0061] When recovering, the mechanical hand at the head of the underwater vehicle grabs the capture rod 21, the first door-shaped frame swings clockwise into the lifting platform to correct the posture of the underwater vehicle that grabs the capture rod 21, and the lifting mechanism is lowered by a set height to place the underwater vehicle in the lifting platform, and the underwater vehicle in the lifting platform is transported to the storage cabin 8 in the storage cabin 8 through the conveying device in the lifting platform and the storage cabin 8, and is locked by the locking device in the storage cabin 8; after the storage cabin 8 is full of underwater vehicles, the subsequent recovered underwater vehicles are placed on the lifting platform and locked by the locking device in the lifting platform.

[0062] When deploying, the underwater vehicle in the lifting platform is unlocked and then drives away from the lifting platform 1, and then the underwater vehicle stored in the storage cabin 8 is transported to the lifting platform 1 through the conveying device in the storage cabin 8 and the lifting platform, and then drives away from the lifting platform.

[0063] Thus, the underwater vehicle carrying and releasing device realizes autonomous deployment and recovery of multiple small underwater vehicles through the joint action of the door-shaped correction rod mechanism 2, the lifting mechanism, the capture rod 21 and the underwater vehicle. In the device of the embodiment, the large AUV underwater vehicle can be used as the underwater vehicle carrying and releasing device, and the small AUV underwater vehicle can be used as the object to be deployed and recovered (which can be called a carrier and can be carried by the underwater vehicle carrying and releasing device). Here, large and small are relative concepts. The large one can carry multiple underwater vehicles, and the carried underwater vehicles are called small underwater vehicles.

[0064] Specifically, the device further comprises a control device 3 arranged in the guide cabin section 1 and a position sensor 7 arranged in the storage cabin 8. The position sensor 7 is used to monitor the position of the underwater vehicle in the underwater vehicle carrying and releasing device and feed back the monitoring signal to the control device 3. The control device 3 controls the action of the door-shaped correction rod mechanism 2, the lifting mechanism, the lifting platform and the conveying device in the storage cabin 8 according to the feedback signal during recovery and deployment.

[0065] As an example, the conveying device in the lifting platform comprises a driving wheel 9 arranged in the inner side wall of the lifting platform and a driving source for driving the driving wheel 9 to rotate. During recovery, the driving wheel 9 rotates under the driving of the driving source, thereby exerting friction on the side wall of the underwater vehicle in the lifting platform, so as to convey the underwater vehicle in the lifting platform to the storage cabin 8. When a part of the underwater vehicle in the lifting platform enters the storage cabin 8, the conveying device in the storage cabin 8 can play a role in relay conveying. Similarly, during deployment, the conveying device in the storage cabin 8 conveys the underwater vehicle in the storage cabin 8 to the lifting platform, and the conveying device in the lifting platform plays a role in relay conveying, thereby ensuring reliable conveying. Specifically, the conveying device in the storage cabin 8 can be a roller conveying device.

[0066] In particular, in the embodiment, the driving wheel 9 in the lifting platform is also used as a locking device in the lifting platform. Specifically, the driving wheel 9 can be driven by the driving device to produce horizontal displacement and clamp the underwater vehicle placed in the lifting platform laterally, thereby achieving the locking effect. The driving wheel 9 is driven by the driving device to produce displacement in the opposite direction, thereby achieving the unlocking effect.

[0067] As an example, the preset height in the lifting platform is also provided with a deflectable resting device 5; a plurality of deflectable resting devices 5 at the same preset height are deflected by a preset angle to enable at least two layers of underwater vehicles to be placed in the lifting platform; the underwater vehicles placed in the bottom layer of the lifting platform are directly supported by the bottom of the lifting platform, and the underwater vehicles placed in other layers are supported by the deflectable resting devices 5 of the corresponding layers; when being deployed, the underwater vehicles supported by the deflectable resting devices 5 autonomously sail away from the lifting platform, and the deflectable resting devices 5 supporting the underwater vehicles can be deflected by a preset angle in the opposite direction to leave a space for the underwater vehicles placed in the lower layer of the lifting platform and in the storage cabin 8 to be deployed away from the lifting platform. Referring to Figure 2 , two layers of underwater vehicles (No. 5 and No. 4 carriers from top to bottom) are placed in the lifting platform, and three layers of underwater vehicles (No. 3, No. 2 and No. 1 carriers from top to bottom) are placed in the storage cabin 8.

[0068] As an example, the bottom of the lifting platform is also provided with a passive roller 10, which is used to enable the bottom of the underwater vehicle in the bottom layer of the lifting platform to be in rolling contact with the bottom of the lifting platform when the underwater vehicle is transported to the storage cabin 8 or the underwater vehicle in the storage cabin 8 is transported to the bottom layer of the lifting platform 1.

[0069] As an example, referring to Figure 3 and Figure 4 , the lifting mechanism includes a lifting hydraulic cylinder 11, a two-stage sliding rail 12 and a buffer protection device 13; the bottom of the two-stage sliding rail 12 is vertically fixed to the lifting platform; the lifting hydraulic cylinder 11 is fixed to the lifting platform, and the piston rod of the lifting hydraulic cylinder 11 is in a vertical state; the buffer protection device 13 is installed on the top of the two-stage sliding rail 12, and a catching rod 21 is installed on the buffer protection device 13; when the piston rod of the lifting hydraulic cylinder 11 is elongated, the two-stage sliding rail 12 can be pushed to drive the catching rod 21 to move upward, and then the catching rod 21 is raised. The buffer protection device 13 can avoid violent collision when the mechanical hand of the head of the underwater vehicle grabs the catching rod 21, and the reliability is improved.

[0070] As an example, referring to Figure 3 and Figure 4 , the door-shaped correction rod mechanism 1 further includes a correction rod hydraulic cylinder 14 and a second door-shaped frame; one end of the correction rod hydraulic cylinder 14 is hinged to the lifting platform, the piston rod of the correction rod hydraulic cylinder 14 is fixed to the top rod 15 of the second door-shaped frame, and the two second door-shaped frame side rods 16 are respectively fixed to the bottom of the two first door-shaped frame side rods 17 and are hinged to the fixing member 18 of the lifting platform; when the piston rod of the correction rod hydraulic cylinder 14 is elongated, the first door-shaped frame is pushed to swing clockwise by the second door-shaped frame, and when the piston rod of the correction rod hydraulic cylinder 14 is retracted, the first door-shaped frame is driven to swing counterclockwise by the second door-shaped frame.

[0071] As an improvement, the first door-shaped frame top rod 19 is provided with a back roller; the first door-shaped frame top rod 19 is provided with a correction auxiliary roller 20 at the connection with the first door-shaped frame side rod; the first door-shaped frame side rod 17 is provided with a side roller; when the first door-shaped frame swings clockwise to the inside of the lifting platform to correct the attitude of the underwater vehicle, the side roller first contacts the side of the underwater vehicle to limit the lateral deflection of the underwater vehicle, and then the back roller and the correction auxiliary roller 20 contact the back of the underwater vehicle to limit the longitudinal deflection of the underwater vehicle. In this way, the side roller, the back roller and the correction auxiliary roller 20 directly contact the underwater vehicle, and the rolling pressure exertion does not damage the surface of the underwater vehicle and is efficient. The first door-shaped frame corrects the attitude of the underwater vehicle like holding the underwater vehicle with chopsticks, and then places the underwater vehicle into the lifting platform as the lifting mechanism moves downward.

[0072] As an example, the lifting platform is slidably mounted on the guide cabin section 1 through the sliding cooperation of the guide rail 4 and the sliding block, and the lifting platform is driven by the hydraulic cylinders arranged at the middle of the two sides of the guide cabin section 1 when lifting.

[0073] As an example, the guide cabin section 1 is further provided with a hatch opening and closing mechanism 6, which opens and closes the hatch when the underwater vehicle is deployed and recovered. Referring to Figure 5 and Figure 6 When the hatch is closed, the lifting platform is located in the cylinder formed by the hatch, and when the hatch is opened, the upper part of the cylinder is opened, and the lifting platform can move up and down relative to the guide cabin section 1 to realize the deployment and recovery of the underwater vehicle. The hatch opening and closing mechanism 6 has a short opening time and high efficiency, and the two side hatches slide open along the outside of the underwater vehicle carrying and releasing device, which has little effect on the shape and mass center / floating center position of the underwater vehicle carrying and releasing device, and maintains the original fluid line type of the underwater vehicle carrying and releasing device.

[0074] In this embodiment, the swinging of the door-shaped correction rod mechanism 2 and the lifting movement of the lifting platform are both driven by hydraulic pressure, and the transportation of the carrier (i.e. the underwater vehicle) between the lifting platform and the storage cabin 8 relies on the rotation of the motor-driven driving wheel 9 as the transportation power. Both hydraulic drive and motor drive have large carrying capacity, which is not only suitable for underwater deployment and recovery, but also suitable for loading on land.

[0075] Embodiment II:

[0076] The process of deploying and recovering the underwater vehicle by the underwater vehicle carrying and releasing device will be described in detail below with reference to the drawings. In this embodiment, Figure 2 The No. 1, No. 2 and No. 3 carriers are stored in the storage cabin 8, and the corresponding cabin positions are No. 1, No. 2 and No. 3 cabin positions.

[0077] Deployment process:

[0078] Step one: After arriving at the designated deployment area, the hatch switch mechanism 6 drives the hatch to slide open;

[0079] Step two: Figure 3 The middle lifting hydraulic cylinder 11 piston rod extends, raising the capture rod 21 to a set height, while the correction rod hydraulic cylinder 14 piston rod retracts, driving the first door-shaped frame to rotate counterclockwise to an upright state, without affecting the deployment of the underwater vehicle; After the lifting platform rises to the set height along the guide rail 4 (in this embodiment, the set height refers to the height at which the lifting platform bottom aligns with the storage compartment 3 No. 3 compartment), the carrier is released from clamping, Figure 2 The No. 5 carrier supported on the deflectable resting device 5 autonomously departs, then the deflectable resting device 5 deflects to a set angle to leave a passage, followed by the No. 4 carrier on the lifting platform bottom being unlocked and autonomously departing from the lifting platform;

[0080] Step three: After the No. 4 carrier is deployed, the lifting platform bottom is aligned with the No. 3 carrier compartment on the top layer of the storage compartment, after the No. 3 carrier is released from clamping and locking, the conveying device in the storage compartment 8 cooperates with the conveying device on the lifting platform bottom to convey the No. 3 carrier to the lifting platform bottom, and then the No. 3 carrier autonomously departs from the lifting platform;

[0081] Step four: After the No. 3 carrier is deployed, the lifting platform descends along the guide rail 4 to the bottom of the lifting platform, which is aligned with the No. 2 compartment of the storage compartment 8, after the No. 2 carrier is conveyed to the lifting platform bottom by the conveying device in the storage compartment 8 cooperating with the conveying device on the lifting platform bottom, the lifting platform rises to a set height along the guide rail 4 (the set height refers to the height at which the lifting platform bottom aligns with the No. 3 compartment of the storage compartment), and then the No. 2 carrier autonomously departs from the lifting platform;

[0082] Step five: After the No. 2 carrier is deployed, the lifting platform descends along the guide rail 4 to the bottom of the lifting platform, which is aligned with the No. 1 compartment of the storage compartment 8, after the No. 1 carrier is conveyed to the lifting platform bottom by the conveying device in the storage compartment 8 cooperating with the conveying device on the lifting platform bottom, the lifting platform rises to a set height along the guide rail 4 (the set height refers to the height at which the lifting platform bottom aligns with the No. 3 compartment of the storage compartment 8), and then the No. 1 carrier autonomously departs from the lifting platform;

[0083] After the deployment of the carriers is completed, the lifting platform descends along the guide rail 4 to the bottom of the lifting platform, which is aligned with the No. 1 compartment of the storage compartment 8, the first door-shaped frame is turned to a horizontal state, the capture rod 21 is lowered to a set height by the lifting mechanism, the hatch switch mechanism 6 is opened, the hatch is closed, and the deployment process is completed.

[0084] Recovery process:

[0085] Step one: After arriving at the designated recovery area, the hatch switch mechanism 6 drives the hatch to slide open;

[0086] Step 2: The piston rod of the lifting hydraulic cylinder 11 extends to raise the capture rod 21 to the set height, and the piston rod of the correction rod hydraulic cylinder 14 shortens to make the first gate frame rotate counterclockwise to the upright position;

[0087] Step 3: After the lifting platform is driven by the hydraulic cylinder to rise along the guide rail 4 to the set height (in this embodiment, the set height refers to the height at which the bottom of the lifting platform is aligned with the No. 3 compartment of the storage compartment 8, so that the carrier can maintain a safe distance from the underwater vehicle carrying the release and take-off device when grabbing the capture rod 21), the deflectable resting device 5 can be deflected to the retracted state, making way for the carrier to enter the passage space at the bottom of the lifting platform.

[0088] Step Four: Refer to Figure 2 Carriers 1, 2, and 3 are retrieved sequentially. Each carrier, powered by its own strength, moves from above the back of the underwater vehicle's launch and recovery device towards the capture rod 21. The carrier's head-mounted robotic arm grasps the capture rod 21 and sends a message to the control device 3 of the underwater vehicle's launch and recovery device. The control device 3 then controls the hydraulic cylinder 14 of the correction rod to drive the first portal frame to gradually swing clockwise from its upright position towards the rear of the carrier, thereby correcting the carrier's length direction to align with the length direction of the lifting platform. Figure 5 (The X-axis direction is the length direction of the lifting platform). Then, the piston rod of the lifting hydraulic cylinder 11 shortens, causing the carrier to slowly sink (the carrier shuts off its power after grabbing the capture rod 21) to the bottom of the lifting platform and be locked by the locking device inside the lifting platform. Then, the lifting platform is driven by the two hydraulic cylinders in the middle of the lifting platform to move along the guide rail 4 until the bottom of the lifting platform is aligned with the corresponding compartment of the storage compartment 8. Then, the lifting platform releases the lock on the carrier. The conveying device at the bottom of the lifting platform cooperates with the conveying device inside the storage compartment 8 to transport the carrier at the bottom of the lifting platform to the corresponding compartment of the storage compartment 8 and lock it.

[0089] Step 5: Refer to Figure 2 The No. 4 carrier is recovered. The carrier uses its own power to approach the capture rod 21 from the back of the underwater vehicle carrying the retrieval device. After the carrier's head manipulator grabs the capture rod 21, it sends a message to the control device 3 of the underwater vehicle carrying the retrieval device. The control device 3 controls the correction rod hydraulic cylinder 14 to drive the first portal frame to swing clockwise from the vertical position towards the rear of the carrier, thereby correcting the length direction of the carrier to be consistent with the length direction of the lifting platform. Then the piston rod of the lifting hydraulic cylinder 11 shortens, causing the carrier to slowly sink (the power is turned off after the carrier grabs the capture rod 21) to the bottom of the lifting platform and be locked by the locking device inside the lifting platform.

[0090] Step Six: Refer to Figure 2, the 5th carrier is recovered, the deflectable resting device 5 is deflected to a set angle, the two layers of underwater vehicles can be placed in the lifting platform, the carrier relies on its own power to be carried from the underwater vehicle, the capture rod 21 is grabbed by the mechanical hand at the head of the carrier, and information is sent to the control device 3 of the underwater vehicle carrying and releasing device, the control device 3 controls the correction rod hydraulic cylinder 14 to drive the first door-shaped frame to gradually swing clockwise from the vertical state position to the tail direction of the carrier, so that the length direction of the carrier is corrected to be consistent with the length direction of the lifting platform, and then the piston rod of the lifting hydraulic cylinder 11 is shortened, the carrier is slowly sunk (the carrier is closed after the capture rod 21 is grabbed), and is supported on the deflectable resting device 5 and is locked by the locking device in the lifting platform.

[0091] In the process of recovering the 1st carrier in the above-mentioned step four, the lifting platform needs to be lowered along the guide rail 4 to align the bottom of the lifting platform with the 1st cabin position of the storage cabin 8, in the process of lowering the lifting platform, the lifting mechanism can lift the capture rod to a set height, and the first door-shaped frame can be counterclockwise rotated by 90° to be in a vertical state, so as to recover the subsequent 2nd carrier, and similarly, in the process of recovering the 2nd carrier, the lifting platform needs to be lowered along the guide rail 4 to align the bottom of the lifting platform with the 2nd cabin position of the storage cabin 8, in the process of lowering the lifting platform, the lifting mechanism can lift the capture rod 21 to a set height, and the first door-shaped frame can be counterclockwise rotated by 90° to be in a vertical state, so as to recover the subsequent 3rd carrier. Because the bottom of the lifting platform is aligned with the 3rd cabin position of the storage cabin 8 after the 3rd carrier is recovered, and the 4th and 5th carriers are also recovered at this height, after the 5th carrier is recovered in the above-mentioned step six, the following steps can be further performed:

[0092] Step seven: the lifting platform is moved along the guide rail 4 to align the bottom of the lifting platform 1 with the 1st cabin position of the storage cabin 8, and the cabin door is closed by the cabin door opening and closing mechanism 6, and the recovery process is completed.

[0093] In conclusion, the above is only a preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An underwater vehicle stowed launch and recovery apparatus, characterized by, The guide cabin section and the storage cabin are included; A lifting platform is arranged on the guide cabin section in a lifting manner, a door-shaped correction rod mechanism, a lifting mechanism and a capture rod arranged on the top of the lifting mechanism are arranged at the left end of the lifting platform, the capture rod is located in the first door-shaped frame in the door-shaped correction rod mechanism, and the lifting mechanism can drive the capture rod to move up and down; The right end of the lifting platform is communicated with the storage cabin; When the underwater vehicle is recovered, a mechanical arm at the head of the underwater vehicle holds the capture rod, the first door-shaped frame swings clockwise into the lifting platform to correct the posture of the underwater vehicle holding the capture rod, a back roller is arranged on the top rod of the first door-shaped frame, a correction auxiliary roller is arranged at the connection position between the top rod and the side rod of the first door-shaped frame, side rollers are arranged on the side rods of the first door-shaped frame, when the first door-shaped frame swings clockwise into the lifting platform to correct the posture of the underwater vehicle, the side rollers first contact the side of the underwater vehicle to limit the lateral deviation of the underwater vehicle, then the back roller and the correction auxiliary roller contact the back of the underwater vehicle to limit the longitudinal deviation of the underwater vehicle, the lifting mechanism is lowered by a set height to place the underwater vehicle in the lifting platform, the underwater vehicle in the guide cabin section is transported to the storage cabin through the conveying device in the lifting platform and the storage cabin, and the underwater vehicle is stored in the storage cabin and locked by the locking device in the storage cabin, after the underwater vehicle is fully stored in the storage cabin, the subsequent underwater vehicle recovered is placed on the lifting platform and locked by the locking device in the lifting platform; When the underwater vehicle is deployed, the underwater vehicle in the lifting platform is unlocked and then self-drives away from the lifting platform, then the underwater vehicle stored in the storage cabin is transported to the lifting platform through the conveying device in the storage cabin and the lifting platform, and then self-drives away from the lifting platform.

2. The underwater vehicle stowed launch and recovery system of claim 1, wherein, The control device arranged in the guide cabin section and the position sensor arranged in the storage cabin are further included; The position sensor is used for monitoring the position of the underwater vehicle in the underwater vehicle carrying and deploying device, and feeding back a monitoring signal to the control device, the control device controls the actions of the door-shaped correction rod mechanism, the lifting mechanism, the lifting platform and the conveying device in the storage cabin according to the feedback monitoring signal during recovery and deployment.

3. An underwater vehicle stowed launch and recovery apparatus according to claim 2, wherein, The conveying device in the lifting platform includes a driving wheel arranged on the inner wall of the lifting platform and a driving source driving the driving wheel to rotate; The driving wheel rotates under the driving of the driving source, and then friction is applied to the side wall of the underwater vehicle in the lifting platform, so that the underwater vehicle in the lifting platform is transported to the storage cabin.

4. The underwater vehicle stowed launch and recovery system of claim 3, wherein, The driving wheel in the lifting platform is also used as the locking device in the lifting platform; The driving wheel generates displacement under the driving of the driving device to laterally clamp the underwater vehicle placed in the lifting platform, so that the locking effect is achieved; The driving wheel generates displacement in the opposite direction under the driving of the driving device, so that the unlocking effect is achieved.

5. The underwater vehicle stowed launch and recovery system of claim 2, wherein, A deflectable resting device is arranged at a set height in the lifting platform; Multiple said deflectable resting devices at the same set height are deflected to a set angle, enabling at least two layers of underwater vehicles to be placed in said lifting platform, the underwater vehicles placed in the bottom layer of said lifting platform are directly supported by the bottom of said lifting platform, and the underwater vehicles placed in other layers are supported by said deflectable resting devices; When deploying, the underwater vehicles supported by said deflectable resting devices autonomously drive away from said lifting platform, and said deflectable resting devices are deflected to a set angle in the opposite direction to make room for the underwater vehicles placed in the lower layer of the guide cabin section and the lifting platform to deploy out of the traffic space of said lifting platform.

6. The underwater vehicle stowed launch and recovery system of claim 2, wherein, The bottom of said lifting platform is also provided with passive rollers, which are used when the underwater vehicles in the bottom layer of said lifting platform are transported to said storage cabin or the underwater vehicles in said storage cabin are transported to the bottom layer of said lifting platform, so that the bottom of the underwater vehicles is in rolling contact with the bottom of said lifting platform.

7. The underwater vehicle stowed launch and recovery system of claim 5, wherein, Said lifting mechanism includes a lifting hydraulic cylinder, a secondary slide rail, and a buffer protection device; The bottom of said secondary slide rail is vertically fixed to said lifting platform; Said lifting hydraulic cylinder is fixed to said lifting platform, and the piston rod of said lifting hydraulic cylinder is in a vertical state; Said buffer protection device is installed on the top of said secondary slide rail, and said capture rod is installed on said buffer protection device; When the piston rod of said lifting hydraulic cylinder is elongated, it can push said secondary slide rail to drive said capture rod to move upwards.

8. An underwater vehicle stowed launch device according to claim 7, wherein, Said door-shaped correction rod mechanism also includes a correction rod hydraulic cylinder and a second door-shaped frame; One end of said correction rod hydraulic cylinder is hinged to said lifting platform, the piston rod of said correction rod hydraulic cylinder is fixed to the top rod of said second door-shaped frame, and two second door-shaped frame side rods are respectively fixed to the bottom of two first door-shaped frame side rods and hinged to said lifting platform; When the piston rod of said correction rod hydraulic cylinder is elongated, it pushes said first door-shaped frame to swing clockwise through said second door-shaped frame, and when the piston rod of said correction rod hydraulic cylinder is retracted, it makes said first door-shaped frame swing counterclockwise through said second door-shaped frame.

9. The underwater vehicle stowed launch and recovery system of any one of claims 1-8, wherein, Said lifting platform is slidably installed on said guide cabin section through the sliding cooperation of guide rails and sliding blocks, and said lifting platform is driven by a hydraulic cylinder when it is lifted.

10. A method of underwater vehicle launch and recovery, characterized by, An underwater vehicle carrying and deploying device according to claim 8; Deployment process: Step one: after arriving at the designated deployment area, the cabin door opening and closing mechanism on the guide cabin section drives the side sliding of the cabin door to open; Step two: the piston rod of the lifting hydraulic cylinder is elongated to raise the capture rod to a set height, and the piston rod of the correction rod hydraulic cylinder is retracted to drive the first door-shaped frame to rotate counterclockwise to a vertical state, so as not to affect the deployment of underwater vehicles; the lifting platform is lifted along the guide rails to the position where the bottom of the lifting platform is aligned with the No. 3 cabin position of the storage cabin, the clamping of the carrier is released, the No. 5 carrier supported by the deflectable resting device autonomously drives away, the deflectable resting device is deflected to a set angle to make room for the passage, and then the No. 4 carrier on the bottom of the lifting platform is unlocked and autonomously drives away from the lifting platform; Step three: After the placement of the fourth carrier, the lifting platform is lowered to the bottom of the storage cabin, and the third carrier is transported to the bottom of the guide cabin by the conveying device in the lifting platform and the conveying device at the bottom of the lifting platform. After the third carrier is released from the clamping lock, it drives off the lifting platform; Step four: After the placement of the third carrier, the lifting platform is lowered to the bottom of the storage cabin, and the second carrier is transported to the bottom of the lifting platform by the conveying device in the storage cabin and the conveying device at the bottom of the lifting platform. After the second carrier is released from the clamping lock, it drives off the lifting platform; Step five: After the placement of the second carrier, the lifting platform is lowered to the bottom of the storage cabin, and the first carrier is transported to the bottom of the lifting platform by the conveying device in the storage cabin and the conveying device at the bottom of the lifting platform. After the first carrier is released from the clamping lock, it drives off the lifting platform; Recovery process: Step one: After arriving at the designated recovery area, the cabin door opening and closing mechanism drives the side sliding of the cabin door to open; Step two: The piston rod of the lifting hydraulic cylinder is extended to raise the capture rod to a set height, and the piston rod of the correction rod hydraulic cylinder is shortened to make the first door-shaped frame rotate counterclockwise to the vertical state; Step three: After the lifting platform is raised to the bottom of the lifting platform and aligned with the third cabin position of the storage cabin, the deflectable resting device is deflected to the retracted state to allow the carrier to enter the passage space at the bottom of the lifting platform; Step four: The first, second, and third carriers are recovered in turn. The carrier relies on its own power to approach the capture rod from above the back of the underwater vehicle-mounted deployment device, and after the capture rod is grabbed by the mechanical hand at the head of the carrier, it sends information to the control device of the underwater vehicle-mounted deployment device. The control device controls the correction rod hydraulic cylinder to drive the first door-shaped frame to gradually swing clockwise from the vertical state position to the direction of the tail of the carrier, thereby correcting the length direction of the carrier to be consistent with the length direction of the lifting platform. Then the piston rod of the lifting hydraulic cylinder is shortened to sink the carrier to the bottom of the lifting platform and be locked by the locking device in the lifting platform. Then the lifting platform moves along the guide rail to align the bottom of the lifting platform with the corresponding cabin position of the storage cabin. Then the lifting platform releases the locking of the carrier, and the conveying device at the bottom of the lifting platform cooperates with the conveying device in the storage cabin to transport the carrier at the bottom of the lifting platform to the corresponding cabin position of the storage cabin and be locked; Step five: The fourth carrier is recovered. The carrier relies on its own power to approach the capture rod from above the back of the underwater vehicle-mounted deployment device, and after the capture rod is grabbed by the mechanical hand at the head of the carrier, it sends information to the control device of the underwater vehicle-mounted deployment device. The control device controls the correction rod hydraulic cylinder to drive the first door-shaped frame to gradually swing clockwise from the vertical state position to the direction of the tail of the carrier, thereby correcting the length direction of the carrier to be consistent with the length direction of the lifting platform. Then the piston rod of the lifting hydraulic cylinder is shortened to sink the carrier to the bottom of the lifting platform and be locked by the locking device in the lifting platform. Step six: the recovery of the No. 5 carrier, the deflectable resting device is deflected to a set angle to enable two layers of underwater vehicles to be placed in the lifting platform, the carrier relies on its own power to be carried from the back of the underwater vehicle carrying device above the lifting platform, the carrier head mechanical hand grabs the capture rod and sends information to the control device of the underwater vehicle carrying device, the control device controls the first door-shaped frame to gradually swing clockwise from the vertical state position to the tail direction of the carrier, thereby correcting the length direction of the carrier to be consistent with the length direction of the lifting platform, and then the piston rod of the lifting hydraulic cylinder is shortened to drive the carrier to sink and be supported on the deflectable resting device and locked by the locking device in the lifting platform.

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