Water surface fixed-point recovery device and method for underwater navigation body

Abstract

The invention discloses a water surface fixed-point recovery device for an underwater vehicle. The water surface fixed-point recovery device comprises a crane, a fixed-point lifting appliance, a guide rope winch, a guide rope, a traction assembly and a traction rope, the crane and the traction assembly are arranged on the broadside of a mother ship side by side, the crane comprises a crane body and a suspension arm, and the fixed-point lifting appliance is arranged at the end of the suspension arm in a liftable mode. The guide rope winch is fixedly arranged on the mother ship, one end of the guide rope is wound on the guide rope winch, and the other end of the guide rope penetrates through the fixed-point lifting appliance from top to bottom and is connected with a lifting point of the underwater navigation body; one end of the traction cable is connected with the traction assembly, and the other end is connected with one end part of the underwater navigation body; and the underwater navigation body is positioned under the fixed-point lifting appliance through the recovery of the guide cable and the traction cable. The posture of the underwater navigation body can be adjusted, the butt joint difficulty is reduced, the underwater navigation body can be matched with the locking device on the fixed-point lifting appliance, and safe and rapid lifting of the underwater navigation body is achieved.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater vehicle recovery and deployment, and in particular relates to a device and method for recovering an underwater vehicle at a fixed point on the water surface. Background Art

[0002] After the underwater vehicle completes its mission, fails or is damaged, it needs to be recovered at a fixed point. During fixed-point recovery, in order to prevent the underwater vehicle from colliding with the mother ship, a connection is generally established at a long distance. When using lifting wire ropes or lifting chemical fiber ropes to establish a long-distance direct connection, high requirements are placed on the environment, personnel and equipment. For example, when the sea is rough, the mother ship may shake severely, and it is also difficult for the underwater vehicle to remain stable after surfacing. This not only reduces the docking success rate, but also increases the safety risks of the staff and the underwater vehicle. It also requires the participation of multiple technicians, resulting in high manpower and material costs. Summary of the invention

[0003] In view of this, the present invention provides a device and method for fixed-point recovery of an underwater vehicle on the water surface, which can adjust the posture and recovery path of the underwater vehicle and tow the underwater vehicle so that the underwater vehicle can be recovered safely, quickly and reliably.

[0004] The present invention is achieved through the following technical solutions:

[0005] A fixed-point recovery device for an underwater vehicle on the water surface, comprising a crane, a fixed-point lifting device, a guide rope winch, a guide rope, a traction assembly and a traction rope;

[0006] The crane and the traction assembly are arranged side by side on the side of the mother ship, the crane comprises a crane body and a boom, and the fixed-point hoist is arranged at the end of the boom in a levitation manner;

[0007] The guide rope winch is fixedly arranged on the mother ship, one end of the guide rope is wound around the guide rope winch, and the other end passes through the fixed-point lifting device from top to bottom and is connected to the lifting point of the underwater navigation body;

[0008] One end of the traction rope is connected to the traction assembly, and the other end is connected to one end of the underwater navigation body;

[0009] By recovering the guide rope and the traction rope, the underwater navigation body is placed directly below the fixed-point lifting device.

[0010] Furthermore, the fixed-point recovery device also includes a guide rope pulley, which is arranged at the end of the boom, and the end of the guide rope connected to the underwater navigation body cooperates with the guide rope pulley and then passes through the fixed-point hoist.

[0011] Furthermore, the traction assembly includes a traction winch and a traction rod; one end of the traction winch and the traction rod is fixedly arranged on the side of the mother ship, and the other end of the traction rod is extended outward and suspended in the air, and a pulley is arranged at the suspended end; one end of the traction rope is wound around the traction winch, and the other end is connected to one end of the underwater navigation body along the length direction of the traction rod and after being guided by the pulley.

[0012] Furthermore, both the guide rope and the traction rope are floating ropes.

[0013] A method for recovering an underwater vehicle at a fixed point on the water surface is based on a device for recovering an underwater vehicle at a fixed point on the water surface, and the steps are as follows:

[0014] Step 1: Park the mother ship at a fixed point and keep a safe distance between the mother ship and the underwater navigation object;

[0015] Step 2: Connect the guide rope to the suspension point of the navigation body through a rope loop or a connector by a small boat, a drone or a pole, and connect the traction rope to one end of the underwater navigation body through a rope loop or a connector;

[0016] Step 3: Pull the underwater vehicle to the bottom of the fixed-point lifting device through the guide rope, and at the same time, adjust the posture of the underwater vehicle through the traction rope until the underwater vehicle is pulled to be opposite to the fixed-point lifting device in the upper and lower directions;

[0017] Step 4: Control the fixed-point lifting device to move vertically downward through the crane. After the fixed-point lifting device is locked and combined with the underwater vehicle, the lifting is controlled by the crane to realize the recovery of the underwater vehicle.

[0018] Beneficial effects:

[0019] (1) The present invention provides a device for recovering an underwater vehicle on the water surface at a fixed point, wherein a guide cable passes through a fixed-point sling from top to bottom and is connected to a sling point of the underwater vehicle, so that when the underwater vehicle is pulled by the guide cable and the fixed-point sling is close to the water surface, the sling point of the underwater vehicle can be located directly below the fixed-point sling, and then a traction device can be used to adjust the posture of the underwater vehicle, thereby reducing the difficulty of docking and enabling the underwater vehicle to cooperate with the locking device on the fixed-point sling to achieve safe and quick lifting of the underwater vehicle.

[0020] (2) The fixed-point recovery device of the present invention further comprises a guide rope pulley, which guides the guide rope through the guide rope pulley to reduce the friction between the guide rope and the fixed-point lifting device, thereby improving the guiding efficiency.

[0021] (3) The other end of the traction rod of the present invention is extended outwardly and suspended in the air. The extended traction rod is used to keep the navigation body and the mother ship at a safe distance to prevent the navigation body from colliding with the mother ship.

[0022] (4) The guide rope and the traction rope of the present invention are both lightweight floating ropes, which makes it easy for workers to connect the ropes to the underwater navigation body at a location far away from the mother ship, thereby improving the connection efficiency.

[0023] (5) The method for recovering an underwater vehicle on the water surface at a fixed point provided by the present invention can use guide cables and traction cables to position the vehicle to a retracting and launching device at a relatively long distance and control the vehicle to be docked and lifted at a relatively close and safe distance from the mother ship, which is safe, fast and reliable.

[0024] In summary, the present invention adds fixed-point hoists, guide rope pulleys, guide rope winches, traction rods, traction ropes, traction winches and other equipment on the basis of existing equipment, which makes minor changes to the original equipment and has higher safety, reliability and convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 It is a side view of the fixed-point recovery device for underwater vehicle surface of the present invention;

[0026] Figure 2 It is a top view of the fixed-point recovery device for underwater vehicle surface of the present invention;

[0027] Figure 3 is a diagram of the underwater vehicle recovery process of the present invention, wherein: Figure 3 (1) is a schematic diagram of the underwater vehicle moving away from the mother ship. Figure 3 (2) is a schematic diagram of the underwater vehicle approaching the mother ship. Figure 3 (3) is a schematic diagram of the underwater vehicle located directly below the fixed-point lifting device. Figure 3 (4) Schematic diagram of lifting the underwater vehicle;

[0028] Among them, 1-underwater navigation body, 2-guide rope, 3-fixed-point lifting device, 4-guide rope pulley, 5-crane, 6-guide rope winch, 7-traction rod, 8-traction rope. DETAILED DESCRIPTION

[0029] The present invention is described in detail below with reference to the accompanying drawings and embodiments.

[0030] Embodiment 1:

[0031] This embodiment provides a fixed-point recovery device for an underwater vehicle on the surface. Figure 1 and 2 , including a crane 5, a fixed-point sling 3, a guide rope winch 6, a guide rope 2, a traction assembly and a traction rope 8;

[0032] The crane 5 and the traction assembly are arranged side by side on the side of the mother ship. The crane 5 includes a crane body and a boom. The fixed-point lifting device 3 is arranged at the end of the boom in a movably movable manner.

[0033] The guide rope winch 6 is fixedly arranged on the mother ship, one end of the guide rope 2 is wound around the guide rope winch 6, and the other end passes through the fixed-point lifting device 3 from top to bottom and is connected to the lifting point of the underwater navigation body 1;

[0034] One end of the traction rope 8 is connected to the traction assembly, and the other end is connected to one end of the underwater vehicle 1;

[0035] By recovering the guide rope 2 and the traction rope 8 , the underwater vehicle 1 is located directly below the fixed-point lifting device 3 .

[0036] The present embodiment provides a fixed-point recovery device for an underwater vehicle on the water surface, wherein a guide rope 2 passes through a fixed-point sling 3 from top to bottom and is connected to a sling point of the underwater vehicle 1, so that when the guide rope 2 is used to pull the underwater vehicle 1 and the fixed-point sling 3 is close to the water surface, the sling point of the underwater vehicle 1 can be located directly below the fixed-point sling 3, and then a traction assembly can be used to adjust the posture of the underwater vehicle 1, thereby reducing the difficulty of docking, allowing the underwater vehicle 1 to cooperate with the locking device on the fixed-point sling 3 to achieve safe and quick lifting of the underwater vehicle 1.

[0037] A fixed-point recovery device for an underwater vehicle on the water surface also includes a guide rope pulley 4, which is arranged at the end of the boom. The end of the guide rope 2 connected to the underwater vehicle 1 cooperates with the guide rope pulley 4 and then passes through the fixed-point hoist 3. The guide rope pulley 4 guides the guide rope 2, reduces the friction between the guide rope 2 and the fixed-point hoist 3, and thus improves the guiding efficiency.

[0038] The traction assembly includes a traction winch and a traction rod 7; one end of the traction winch and the traction rod 7 is fixedly arranged on the side of the mother ship, and the other end of the traction rod 7 is extended outward and suspended in the air, and a pulley is arranged at the suspended end; one end of the traction rope 8 is wound around the traction winch, and the other end is connected to one end of the underwater navigation body 1 along the length direction of the traction rod 7 and after being guided by the pulley. The extended traction rod 7 is used to keep the navigation body at a safe distance from the mother ship to prevent the navigation body from colliding with the mother ship.

[0039] In one embodiment, both the guide rope 2 and the traction rope 8 are floating ropes. The floating rope is lighter and more convenient for the staff to connect the rope to the underwater navigation body 1 at a position far away from the mother ship.

[0040] Embodiment 2:

[0041] A method for recovering an underwater vehicle at a fixed point on the surface of the water, based on a device for recovering an underwater vehicle at a fixed point on the surface of the water in Example 1, see Attachment Figure 3 , the method is as follows:

[0042] Step 1: Park the mother ship at a fixed point, and keep a safe distance between the mother ship and the underwater navigation object, and adjust the safe distance according to the wind, waves and current conditions;

[0043] Step 2: Connect the guide rope 2 to the suspension point of the underwater vehicle 1 through a rope loop or a connector by a small boat, a drone or a pole, and connect the traction rope 8 to one end of the underwater vehicle 1 through a rope loop or a connector; in a specific embodiment, the traction rope 8 is connected to the head of the underwater vehicle 1;

[0044] Step 3: Pull the underwater vehicle 1 to the vicinity below the fixed-point lifting device 3;

[0045] Step 4: Pull the underwater vehicle 1 to the bottom of the fixed-point lifting device 3 by the guide rope 2, and at the same time, adjust the posture of the underwater vehicle 1 by the traction rope 8 until the underwater vehicle 1 is pulled to be opposite to the fixed-point lifting device 3 in the vertical direction;

[0046] Specifically, the guide rope winch 6 turns on the constant tension mode to tighten the guide rope 2, while keeping the traction rope 8 timely tensioned to adjust the posture of the underwater navigation body 1.

[0047] Step 4: Control the fixed-point lifting device 3 to move vertically downward through the crane 5. After the fixed-point lifting device 3 is locked and combined with the underwater vehicle 1, the lifting is controlled by the crane 5 to realize the recovery of the underwater vehicle 1.

[0048] In summary, the above are only preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A fixed-point recovery device for an underwater vehicle on the water surface, characterized in that: It includes crane, fixed-point sling, guide rope winch, guide rope, traction assembly and traction rope; The crane and the traction assembly are arranged side by side on the side of the mother ship, the crane comprises a crane body and a boom, and the fixed-point hoist is arranged at the end of the boom in a levitation manner; The guide rope winch is fixedly arranged on the mother ship, one end of the guide rope is wound around the guide rope winch, and the other end passes through the fixed-point lifting device from top to bottom and is connected to the lifting point of the underwater navigation body; One end of the traction rope is connected to the traction assembly, and the other end is connected to one end of the underwater navigation body; By recovering the guide rope and the traction rope, the underwater navigation body is placed directly below the fixed-point lifting device.

2. The underwater vehicle surface fixed-point recovery device according to claim 1, characterized in that: The fixed-point recovery device also includes a guide rope pulley, which is arranged at the end of the boom. The end of the guide rope connected to the underwater navigation body cooperates with the guide rope pulley and then passes through the fixed-point hoist.

3. The underwater vehicle surface fixed-point recovery device according to claim 1, characterized in that: The traction assembly includes a traction winch and a traction rod; one end of the traction winch and the traction rod is fixedly arranged on the side of the mother ship, and the other end of the traction rod is extended outward and suspended in the air, and a pulley is arranged at the suspended end; one end of the traction rope is wound around the traction winch, and the other end is connected to one end of the underwater navigation body along the length direction of the traction rod and after being guided by the pulley.

4. A fixed-point recovery device for an underwater vehicle on the surface as claimed in any one of claims 1 to 3, characterized in that: Both the guide rope and the traction rope are floating ropes.

5. A method for recovering an underwater vehicle at a fixed point on the water surface, based on the device for recovering an underwater vehicle at a fixed point on the water surface as claimed in any one of claims 1 to 4, characterized in that: Here are the steps: Step 1: Park the mother ship at a fixed point and keep a safe distance between the mother ship and the underwater navigation object; Step 2: Connect the guide rope to the suspension point of the navigation body through a rope loop or a connector by a small boat, a drone or a pole, and connect the traction rope to one end of the underwater navigation body through a rope loop or a connector; Step 3: Pull the underwater vehicle to the bottom of the fixed-point lifting device through the guide rope, and at the same time, adjust the posture of the underwater vehicle through the traction rope until the underwater vehicle is pulled to be opposite to the fixed-point lifting device in the upper and lower directions; Step 4: Control the fixed-point lifting device to move vertically downward through the crane. After the fixed-point lifting device is locked and combined with the underwater vehicle, the lifting is controlled by the crane to realize the recovery of the underwater vehicle.

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