Modularized laying and recycling device capable of being used for UUV main body or carrying different appendages

Abstract

The invention belongs to the technical field of UUV water surface laying and recovery, and particularly relates to a modular laying and recovery device capable of being used for a UUV main body or carrying different appendages, a bottom frame is installed on a deck of a mother ship, and a movable frame is in sliding connection with the bottom frame; the movable frame is connected with the bracket through a variable-amplitude oil cylinder and a bearing seat and drives the bracket to move on the bottom frame; when the bracket moves to the laying and recycling position, the bracket is driven by the variable-amplitude oil cylinder to ascend and descend; the two rows of pulleys are arranged in the middle of the bracket and serve as laying and recycling slideways; the hydraulic winch is arranged on the inner side of the bracket and connected with a traction rope, and a detacher is arranged on the front side of the hydraulic winch; the bow limiting trolley can move on a bow limiting trolley slideway arranged on the bracket; when the UUV is placed on the bracket, the bow end is attached to the bow limiting vehicle, and a traction rope on the hydraulic winch penetrates through a traction ring on the bow of the UUV and then is fixed to the detacher. A guide cover is arranged at the tail end of the bracket and serves as recycling guide. The device has the advantages of high safety coefficient, reliable connection, convenient operation, efficient operation and the like.

Description

Technical Field

[0001] The present invention belongs to the technical field of UUV surface deployment and recovery, and in particular is a modular deployment and recovery device that can be used for a UUV body itself or equipped with different appendages. Background Art

[0002] Since its birth, UUV (unmanned underwater vehicle) has been widely used in the fields of marine scientific investigation and marine resource exploration. However, due to the limited endurance of the energy carried by UUV itself and the development of underwater communication technology, it needs to be frequently salvaged back to the mother ship to replenish energy and transmit information. At present, most of the traditional manual deployment and recovery methods have the disadvantages of a single recovery type, multiple stages of personnel participation, low automation level and work efficiency. Therefore, it is urgent to develop a deployment and recovery device with multi-type recovery, high safety, less manpower and high degree of automation. Summary of the invention

[0003] In order to solve the above-mentioned problems existing in the traditional deployment and recovery of UUVs, the purpose of the present invention is to provide a modular deployment and recovery device that can be used for the UUV body itself or equipped with different appendages.

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

[0005] The present invention comprises a chassis, a mobile frame, a bracket, a hydraulic motor, a transmission mechanism, a hydraulic winch, a luffing cylinder, a bow limiter, a decoupling device and a towing rope, wherein the chassis is installed on the deck of a mother ship, the mobile frame is slidably connected to the chassis, the hydraulic motor is fixed on the mobile frame, the output end of the hydraulic motor is connected to the chassis through a transmission mechanism, and the mobile frame reciprocates relative to the chassis through the drive of the hydraulic motor; the bracket can be relatively rotatably installed on the mobile frame, one end of the bracket is respectively installed with a hydraulic winch and a luffing cylinder, the other end of the bracket is connected with a guide cover, and the bracket is relatively driven by the luffing cylinder In order to switch the mobile frame between a horizontal posture and an inclined posture, one end of the traction rope is wound on the hydraulic winch, and the other end of the traction rope is used to tow the UUV; one end of the bracket is also equipped with a dehooker for fixing the other end of the traction rope when deploying the UUV; a deployment and recovery slideway is provided on the bracket along the deployment and recovery direction, and the deployment and recovery slideway includes two rows of left and right pulleys, and a bow limiting vehicle slideway is installed on the bracket between the two rows of pulleys, and a bow limiting vehicle for limiting the movement of the bow of the UUV is slidably connected to the bow limiting vehicle slideway, and the bow limiting vehicle slides back and forth on the bow limiting vehicle slideway along the deployment and recovery direction.

[0006] Among them: the left and right sides of the deployment and recovery slide are respectively provided with multiple limiting mechanisms along the deployment and recovery direction, which are used for left and right limiting when deploying and recovering multi-body UUVs; the limiting mechanism includes an anti-collision wheel, an anti-collision wheel bracket and a mounting frame, the mounting frame is fixed on the bracket, and the mounting frame is provided with three anti-collision wheel brackets along the height direction toward the inner side of the deployment and recovery slide, each of the anti-collision wheel brackets is installed with an anti-collision wheel for contacting the multi-body UUV, the axial center line of the anti-collision wheel located in the middle is in the vertical direction, and the axial center lines of the upper and lower anti-collision wheels are inclined to the axial center of the anti-collision wheel located in the middle.

[0007] A plurality of anti-roll mechanisms are respectively arranged on the left and right sides of the deployment and recovery slide along the deployment and recovery direction to prevent the multi-body UUV from tilting during deployment and recovery. The anti-roll mechanism comprises rollers, a roller frame, a compression spring, a bottom plate A, an upper plate and a guide rod. The bottom plate A is fixedly connected to the bracket, and the upper plate is located above the bottom plate A. A plurality of guide rods are passed through the upper plate, and the lower end of each guide rod is respectively connected to the bottom plate A. A compression spring is sleeved on each guide rod between the upper plate and the bottom plate A, and the two ends of the compression spring are respectively in contact with the upper plate and the bottom plate A; a roller frame is installed on the upper plate, and a roller in contact with the multi-body UUV is installed on the roller frame.

[0008] The left and right sides of the bracket along the deployment and recovery direction are respectively provided with hydraulic limiting mechanisms for clamping and fixing the multi-body UUV after recovery is completed. The hydraulic limiting mechanism includes a bracket, a telescopic cylinder, a rubber fender and a support B. The support B is fixed on the bracket, and the bottom of the bracket is hinged to the support B. One end of the telescopic cylinder is hinged to the support B, and the other end of the telescopic cylinder is hinged to the bracket; a rubber fender in contact with the multi-body UUV is installed on the inner side of the bracket.

[0009] The unhooking device includes an unhooking cylinder, a pin shaft sleeve, a pin shaft A, a sliding bearing, an unhooking bearing seat and a base plate B. The base plate B is fixed on a bracket. A support A and two unhooking bearing seats are respectively provided on the base plate B along the telescopic direction of the unhooking cylinder. A pin shaft sleeve is installed on an unhooking bearing seat close to the support A, and a sliding bearing is installed on the other unhooking bearing seat away from the support A. One end of the unhooking cylinder is hinged to the support A, and the other end of the unhooking cylinder is connected to the pin shaft A. The pin shaft A can be relatively movably inserted in the pin shaft sleeve, and can be extended from the pin shaft sleeve to the sliding bearing under the drive of the unhooking cylinder to fix or release the traction rope.

[0010] The bow limiting vehicle comprises a support frame A, a rubber cover and a composite bearing. A rubber cover adapted to the shape of the bow of the UUV is installed on the side of the support frame A facing the UUV, and the rubber cover is docked with the bow of the UUV during the recovery process; composite bearings are respectively provided on the left and right sides of the support frame A along the deployment and recovery direction, and the end face of the bow limiting vehicle slideway is U-shaped with the opening facing inward, and the composite bearing slides back and forth in the opening of the bow limiting vehicle slideway along the deployment and recovery direction; limit pins are respectively provided at the head and tail ends of the bow limiting vehicle slideway along the deployment and recovery direction to limit the bow limiting vehicle from sliding out of the bow limiting vehicle slideway.

[0011] The guide cover is hinged to the bracket via a pin shaft B, and is connected to the bracket via springs on both sides of the guide cover along the deployment and recovery direction, thereby achieving left and right swinging of the guide cover relative to the bracket.

[0012] A plurality of pulleys are arranged on each row of pulleys along the laying and recovery direction, and each row of pulleys is inclined inwards, that is, the two rows of pulleys are arranged in an inverted "eight" shape.

[0013] A bearing seat for rotationally connecting with a bracket is provided at one end of the mobile frame, a hydraulic station for oil supply is installed at the other end of the mobile frame, and fixed pins are provided on the left and right sides of the other end of the mobile frame along the deployment and recovery direction, and the mobile frame and the bracket are kept fixed by the fixed pins after being moved into place; the top of the variable-length oil cylinder is hinged to the bracket, and the bottom of the variable-length oil cylinder is hinged to the mobile frame; a support frame B is fixedly connected to the bottom between the hinge of the bracket and the bearing seat and the other end, and a support wheel for supporting function is installed at the bottom of the support frame B; an infrared camera for monitoring the deployment and recovery environment is installed at the top of the bracket.

[0014] An I-beam slide is installed on the base frame along the deployment and recovery direction, and limit modules for limiting the movement range of the mobile frame are provided at both ends of the I-beam slide along the deployment and recovery direction, and the mobile frame is slidably connected to the I-beam slide through an I-beam pulley; the transmission mechanism includes a gear and a rack, the gear is connected to the output end of the hydraulic motor, the rack is fixed to the I-beam slide, and the length direction of the rack is the same as the deployment and recovery direction, and the hydraulic motor drives the mobile frame to slide back and forth relative to the I-beam slide through the meshing of the gear and the rack; the base frame is a segmented splicing structure, and fixed angle pieces for fixing to the deck of the mother ship are respectively installed on the left and right sides of the base frame along the deployment and recovery direction.

[0015] The advantages and positive effects of the present invention are:

[0016] 1. The present invention utilizes a combination of multiple mechanisms to automatically implement most deployment and recovery operations. Only the step of hanging the towing rope to the towing ring at the bow of the UUV during recovery requires operator operation, and the remaining operations are all implemented by remote control, which is efficient, safe, time-saving and labor-saving.

[0017] 2. The present invention can realize deployment operations under level 4 sea conditions and recovery operations under level 5 sea conditions, and has strong adaptability to complex sea conditions.

[0018] 3. The present invention adopts modular design, can be conveniently arranged on the mother ship, and is easy to load and unload.

[0019] 4. The present invention is equipped with a guide cover, which improves the success rate and work efficiency of the UUV recovery by the deployment and recovery device.

[0020] 5. The present invention installs a limit mechanism and an anti-roll mechanism on both sides of the bracket. If the multi-body UUV tilts during the process of being towed to the bracket, it can be automatically straightened, thereby improving the recovery safety.

[0021] 6. The present invention installs a limit module on the moving route of the bracket to prevent the bracket from moving beyond the stroke.

[0022] 7. The present invention has a support frame installed at the bottom of the bracket to provide support when the bracket moves along the I-beam slideway.

[0023] 8. The present invention can deploy and recover different types of UUVs. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 for Figure 1 A partial enlarged view of the middle A;

[0026] Figure 3 This is a schematic diagram of the overall structure of the present invention for placing a single UUV;

[0027] Figure 4 This is a schematic diagram of the overall structure of placing multiple UUVs in the present invention;

[0028] Figure 5 It is a structural schematic diagram of the connection between the bracket, the movable frame and the I-beam slideway of the present invention;

[0029] Figure 6 It is a structural schematic diagram of the connection between the I-beam slideway and the movable frame of the present invention;

[0030] Figure 7 It is a structural schematic diagram of the arrangement positions of the bow limiter, the unhooking device and the hydraulic winch on the bracket of the present invention;

[0031] Figure 8It is a structural schematic diagram of the connection between the base frame and the I-beam slideway of the present invention;

[0032] Fig. 9 It is a structural schematic diagram of the connection of each segmented chassis of the present invention;

[0033] Fig.10 It is a structural schematic diagram of the bow limiting vehicle of the present invention;

[0034] Fig.11 It is a structural schematic diagram of the limiting mechanism of the present invention;

[0035] Fig.12 It is a schematic structural diagram of the anti-roll mechanism of the present invention in a compressed state;

[0036] Fig.13 It is a structural schematic diagram of the anti-roll mechanism of the present invention in an uncompressed state;

[0037] Fig.14 It is a structural schematic diagram of the unhooking device of the present invention when the pin shaft is not extended;

[0038] Fig.15 It is a structural schematic diagram of the unhooking device of the present invention in a state where the pin shaft is extended;

[0039] Fig.16 It is a structural schematic diagram of the hydraulic limiting mechanism of the present invention;

[0040] Among them: 1 is the base frame, 2 is the mobile frame, 3 is the bracket, 4 is the I-beam slideway, 5 is the I-beam pulley, 6 is the hydraulic motor, 7 is the gear, 8 is the rack, 9 is the hydraulic winch, 10 is the variable-length oil cylinder, 11 is the hinge, 12 is the bow limiter, 1201 is the support frame A, 1202 is the rubber cover, 1203 is the composite bearing, 1204 is the bow limiter slideway, 1205 is the limit pin, 13 is the limit mechanism, 13 is the anti-collision wheel, 1302 is the anti-collision wheel bracket, 1303 is the mounting frame, 14 is the anti-roll mechanism, 1401 is the roller, 1402 is the roller frame, 1403 is the compression spring, 1404 is the bottom plate A, 1405 is the upper Layer, 15 is a pulley, 16 is a decoupling device, 1601 is a decoupling cylinder, 1602 is a pin sleeve, 1603 is a pin A, 1604 is a sliding bearing, 1605 is a decoupling bearing seat, 1606 is a base plate B, 1607 is a support A, 17 is a limit module, 18 is a bearing seat, 19 is a support frame B, 20 is a fixed angle piece, 21 is a guide cover, 22 is a hydraulic station, 23 is a traction rope, 24 is an infrared camera, 25 is a fixed pin, 26 is a support wheel, 27 is a hydraulic limit mechanism, 2701 is a bracket, 2702 is a telescopic cylinder, 2703 is a rubber fender, 2704 is a support B, 28 is a spring, and 29 is a pin B. DETAILED DESCRIPTION

[0041] The present invention will be further described below in conjunction with the accompanying drawings.

[0042] like Figures 1 to 3 As shown, the present invention includes a base frame 1, a mobile frame 2, a bracket 3, a hydraulic motor 6, a transmission mechanism, a hydraulic winch 9, a luffing cylinder 10, a bow limiter 12, a decoupling device 16 and a traction rope 23, wherein the base frame 1 is installed on the deck of the mother ship, the mobile frame 2 is slidably connected to the base frame 1, the hydraulic motor 6 is fixed to the mobile frame 2 through a fixing member, the output end of the hydraulic motor 6 is connected to the base frame 1 through a transmission mechanism, and the mobile frame 2 reciprocates relative to the base frame 1 through the drive of the hydraulic motor 6; the bracket 3 can be relatively rotatably installed on the mobile frame 2, one end of the bracket 3 is respectively installed with a hydraulic winch 9 and a luffing cylinder 10, the other end of the bracket 3 is connected with a guide cover 21, and the bracket 3 is driven by the luffing cylinder 10 relative to the base frame 1. The mobile frame 2 switches between a horizontal posture and an inclined posture, one end of the traction rope 23 is wound around the hydraulic winch 9, and the other end of the traction rope 23 is used to tow the UUV; one end of the bracket 3 is also equipped with a dehooker 16 for fixing the other end of the traction rope 23 when deploying the UUV; a deployment and recovery slideway is provided on the bracket 3 along the deployment and recovery direction to facilitate the deployment and recovery of the UUV, and the deployment and recovery slideway includes two rows of pulleys 15 on the left and right, and a bow limiting vehicle slideway 1204 is installed on the bracket 3 between the two rows of pulleys 15, and a bow limiting vehicle 12 for limiting the movement of the bow of the UUV is slidably connected to the bow limiting vehicle slideway 1204, and the bow limiting vehicle 12 slides back and forth on the bow limiting vehicle slideway 1204 along the deployment and recovery direction.

[0043] like Figures 1 to 3 and Figure 6 , Figure 8 , Fig. 9 As shown, the chassis 1 of this embodiment adopts a segmented splicing structure design. Except for a section with the same length as the bracket 3, the rest are two meters long, which is convenient for assembly on the deck of the mother ship of different lengths, and is convenient for transportation and installation. The chassis 1 is welded with fixed angle pieces 20 on the left and right sides along the deployment and recovery direction. The position of the fixed angle pieces 20 is determined according to the position of the mother ship deck foot. The chassis 1 is fixed to the corresponding foot on the mother ship deck through the fixed angle pieces 20.

[0044] In the present embodiment, an I-beam slide 4 is installed on the base frame 1 along the deployment and recovery direction. The lower part of the I-beam slide 4 is fixed to the base frame 1 by bolts. The I-beam slide 4 is provided with limit modules 17 at both ends along the deployment and recovery direction to limit the movement range of the mobile frame 2. The limit modules 17 of the present embodiment are prior art and will not be described in detail here.

[0045] The bottom of the movable frame 2 on the left and right sides along the laying and recovery direction of this embodiment is respectively connected with I-beam pulleys 5 by bolts. The movable frame 2 is slidingly connected with the I-beam slideway 4 through the I-beam pulley 5, and the I-beam slideway 4 and the I-beam pulley 5 form a sliding platform.

[0046] The transmission mechanism of this embodiment includes a gear 7 and a rack 8. The gear 7 is keyed to the output shaft of the hydraulic motor 6. The rack 8 is fixed to the I-beam slide 4. The length direction of the rack 8 is the same as the deployment and recovery direction and the length direction of the I-beam slide 4. The hydraulic motor 6 drives the movable frame 2 to slide back and forth relative to the I-beam slide 4 through the engagement of the gear 7 and the rack 8.

[0047] like Figures 1 to 3 and Figure 5 , Figure 7 As shown, one end of the mobile frame 2 of this embodiment is provided with two bearing seats 18 for rotationally connecting with the bracket 3, and the other end of the mobile frame 2 is installed with a hydraulic station 22 for oil supply. The other end of the mobile frame 2 is provided with fixed pins 25 on both sides along the deployment and recovery direction, and a plurality of pin holes are punched on the I-beam slideway 4 along the deployment and recovery direction. After the mobile frame 2 and the bracket 3 are moved into place, the fixed pins 25 are inserted into the pin holes at different positions and fixed in the designated position. The mobile frame 2 of this embodiment is connected with the upper bracket 3 through the variable amplitude cylinder 10, the hinge 11 and the bearing seat 18. When the mobile frame 2 drives the bracket 3 to move to the deployment and recovery position, the bracket 3 is tilted by the drive of the variable amplitude cylinder 10. There are two variable amplitude cylinders 10 in this embodiment, which are arranged on the left and right sides of one end of the bracket 3. The top of each variable amplitude cylinder 10 is respectively hinged to the bracket 3 through the hinge 11, and the bottom of each variable amplitude cylinder 10 is respectively hinged to the mobile frame 2 through the hinge 11. The bottom between the hinge of the bracket 3 and the bearing seat 18 and the other end is fixedly connected with a support frame B19 by bolts, and the bottom of the support frame B19 is installed with a support wheel 26, which fits tightly with the upper part of the I-beam slideway 4 to play a supporting role. In this embodiment, an infrared camera 24 is installed on the top of one end of the bracket 3 to monitor the deployment and recovery environment.

[0048] like Figures 1 to 3 and Figure 7 , Fig.14 , Fig.15As shown, the unhooking device 16 of this embodiment is installed inside one end of the bracket 3 and is located in front of the hydraulic winch 9 in the laying and recovery direction. The unhooking device 16 includes an unhooking cylinder 1601, a pin shaft sleeve 1602, a pin shaft A1603, a sliding bearing 1604, an unhooking bearing seat 1605 and a bottom plate B1606. The bottom plate B1606 is fixed on the bracket 3. A support A and two unhooking bearing seats 1605 are respectively provided on the bottom plate B1606 along the telescopic direction of the unhooking cylinder 1601. A pin shaft is installed on a unhooking bearing seat 1605 close to the support A1607. Sleeve 1602, a sliding bearing 1604 is installed on another uncoupling bearing seat 1605 away from the support A1607, one end of the uncoupling cylinder 1601 is hinged to the support A1607, and the other end of the uncoupling cylinder 1601 is connected to the pin A1603, the pin A1603 can be relatively movably inserted in the pin sleeve 1602, and can be extended from the pin sleeve 1602 to the sliding bearing 1604 under the drive of the uncoupling cylinder 1601, which is used to fix or release the hook at the end of the traction rope 23, so as to facilitate the uncoupling of the traction rope 23 when deploying the UUV. The hydraulic winch 9 of this embodiment is arranged on the inner side of one end of the bracket 3, one end of the traction rope 23 is wound on the hydraulic winch 9, and a hook is connected to the other end of the traction rope 23; when deploying, the traction rope 23 passes through the traction ring of the bow of the UUV, and the hook at the other end of the traction rope 23 is fixed on the pin A of the unhooking device 16, which is used for automatic unhooking during deployment; when recovering, the traction rope 23 is used to connect the traction ring of the bow of the UUV.

[0049] like Figures 1 to 3 and Figure 7 , Fig.10 As shown, the bow limiting vehicle 12 of this embodiment is installed in the middle part of one end of the bracket 3, and the bow limiting vehicle 12 includes a support frame A1201, a rubber cover 1202 and a composite bearing 1203. The support frame A1201 is provided with a rubber cover 1202 (the rubber cover 1202 of this embodiment is in a circular ring shape) that matches the shape of the bow of the UUV on the side facing the UUV, and the rubber cover 1202 is docked with the bow of the UUV during the recovery process; composite bearings 1203 are respectively provided on the left and right sides of the support frame A1201 along the deployment and recovery direction, and the bow limiting vehicle slide 1204 is bolted to the bracket 3 through the bottom fixing parts, and the end face of the bow limiting vehicle slide 1204 is U-shaped with the opening facing inward, and the composite bearing 1203 slides back and forth in the opening of the bow limiting vehicle slide 1204 along the deployment and recovery direction. Limiting pins 1205 are respectively provided at the leading and trailing ends of the bow limiting vehicle slideway 1204 along the deployment and recovery direction to prevent the bow limiting vehicle 12 from sliding out of the bow limiting vehicle slideway 1204 .

[0050] like Figure 1 , Figure 2As shown, the guide hood 21 of the present embodiment is hinged to the bracket 3 via a pin shaft B29, and is connected to the bracket 3 via springs 28 on both sides of the guide hood 21 along the deployment and recovery direction, thereby achieving left and right swinging of the guide hood 21 relative to the bracket 3; the guide hood 21 docks with the UUV via passive swinging for recovery guidance.

[0051] like Figures 1 to 3 and Figure 7 As shown, in this embodiment, the bottom of each row of pulleys 15 is fixed to the bracket 3 by bolts, and multiple pulleys are provided on each row of pulleys 15 along the deployment and recovery direction. Each row of pulleys 15 is inclined inward and buckled inward to form a set angle, that is, the two rows of pulleys 15 are arranged in an inverted "eight" shape.

[0052] The above structure can be used to deploy and recover a single UUV, and the present invention can also be used to deploy and recover multiple UUVs.

[0053] like Figure 1 , Figure 2 , Figure 4 and Fig.11 As shown, in this embodiment, a plurality of limiting mechanisms 13 are respectively provided on the left and right sides of the deployment and recovery slide along the deployment and recovery direction. The number of limiting mechanisms 13 on the left and right sides is the same and corresponds to each other, and is used for left and right limiting when deploying and recovering multi-body UUVs. The limiting mechanism 13 includes an anti-collision wheel 1301, an anti-collision wheel bracket 1302 and a mounting frame 1303. The mounting frame 1303 is fixed on the bracket 3. The mounting frame 1303 is provided with three anti-collision wheel brackets 1302 along the height direction toward the inner side of the deployment and recovery slide. Each anti-collision wheel bracket 1302 is installed with an anti-collision wheel 1301 for contacting with the multi-body UUV. The axial center line of the anti-collision wheel 1301 located in the middle is in the vertical direction, and the axial center lines of the upper and lower anti-collision wheels 1301 are inclined to the axial center of the anti-collision wheel 1301 located in the middle. The anti-collision wheel 1301 in the middle can limit the UUV on the outside, and the upper and lower anti-collision wheels 1301 can limit the UUV at the top and bottom respectively.

[0054] like Figure 1 , Figure 2 , Figure 4 , Fig.12 and Fig.13As shown, in this embodiment, a plurality of anti-roll mechanisms 14 are respectively provided on the left and right sides of the deployment and recovery slideway along the deployment and recovery direction to prevent the multi-body UUV from tilting during deployment and recovery. The anti-roll mechanism 14 is located between the row of pulleys 15 and the limiting mechanism 13. The anti-roll mechanism 14 includes a roller 1401, a roller frame 1402, a compression spring 1403, a bottom plate A1404, an upper plate 1405 and a guide rod 1406. The bottom plate A1404 is fixedly connected to the bracket 3, and the upper plate 1405 is located above the bottom plate A1404. A plurality of light holes are opened on the upper plate 1405, and a guide rod 1406 is penetrated in each light hole. The lower end of each guide rod 1406 is respectively connected to the bottom plate A1404. 1404 is connected, and each guide rod 1406 between the upper plate 1405 and the bottom plate A1404 is sleeved with a compression spring 1403, and the two ends of the compression spring 1403 are respectively in contact with the upper plate 1405 and the bottom plate A1404, so that the upper plate 1405 is in a floating state; a roller frame 1402 is installed on the upper plate 1405, and a roller 1401 in contact with the multi-body UUV is installed on the roller frame 1402. When the multi-body UUV is tilted during recovery, the anti-roll mechanism 14 will be subjected to a certain pressure from the multi-body UUV, and each compression spring 1403 in the anti-roll mechanism 14 will make a reaction force compensation, which plays a role of automatic straightening.

[0055] like Figure 1 , Figure 4 and Fig.16 As shown, in this embodiment, hydraulic limiting mechanisms 27 for clamping and fixing the multi-body UUV are respectively arranged on the left and right sides of the bracket 3 along the deployment and recovery direction. There is at least one hydraulic limiting mechanism 27 on each side, and the number of hydraulic limiting mechanisms 27 on both sides is the same and one-to-one corresponding; in this embodiment, there is one hydraulic limiting mechanism 27 on each side, which is located between two adjacent limiting mechanisms 13. The hydraulic limiting mechanism 27 includes a bracket 2701, a telescopic cylinder 2702, a rubber fender 2703 and a support B2704. The support B2704 is fixed on the bracket 3, the bottom of the bracket 2071 is hinged to the support B2704, one end of the telescopic cylinder 2702 is hinged to the support B2704, and the other end of the telescopic cylinder 2702 is hinged to the bracket 2071; the inner side of the bracket 2701 is installed with a rubber fender 2703 in contact with the multi-body UUV.

[0056] The hydraulic station 22 of this embodiment supplies oil to the hydraulic motor 6 , the hydraulic winch 9 , the luffing cylinder 10 , the unhooking cylinder 1601 , and the telescopic cylinder 2702 .

[0057] The working principle of the present invention is:

[0058] Taking a multi-body UUV as an example, when it is necessary to deploy a recovery device to recover the multi-body UUV, the operator remotely controls the hydraulic motor 6 to drive the gear 7 to rotate, and the meshing transmission of the gear 7 and the rack 8 drives the mobile frame 2 to move along the I-beam slide 4 until the mobile frame 2 touches the limit module 17 at the tail of the I-beam slide 4, and the hydraulic motor 6 stops moving. The boom cylinder 10 extends out to push the bracket 3 up until the bracket 3 and the base frame 1 reach the set angle. At this time, the guide cover 21 at the tail of the bracket 3 (i.e., the other end of the bracket 3) extends into the water, and the bow limiting vehicle 12 moves to the specified position at the other end of the bracket 3 along the bow limiting vehicle slideway 1204 by its own weight. The hydraulic winch 9 releases the rope, and the operator passes the traction rope 23 through the guide cover 21 and hangs it on the traction ring of the bow of the UUV. The hydraulic winch 9 retracts the rope and guides the UUV to the deployment and recovery slideway composed of two rows of pulleys 15 under the guidance of the guide cover 21. The bow of the UUV is connected to the bow at the specified position at the other end of the bracket 3. The rubber cover 1202 on the limiting vehicle 12 fits tightly, and the UUV moves upward together with the bow limiting vehicle 12; if the UUV tilts, it can be automatically straightened by the limiting mechanism 13 and the anti-roll mechanism 14. After reaching the predetermined position of the bracket 3, the hydraulic winch 9 stops, and the boom cylinder 10 starts to shrink, lowering the bracket 3 to a horizontal state, and the boom cylinder 10 stops; the hydraulic motor 6 drives the gear 7 to rotate again, and the gear 7 engages with the rack 8 to drive the moving frame 2 and the bracket 3 to move in the opposite direction until it touches the limiting module 17 at the head of the I-beam slideway 4, and the hydraulic motor 6 stops working, and the recovery is completed.

[0059] When the UUV needs to be deployed, the other end of the traction rope 23 passes through the UUV and is fixed on the pin A1603 of the unhooking device 16. At this time, the pin A1603 is driven by the unhooking cylinder 1601 to extend into the sliding bearing 1604. The hydraulic motor 6 drives the gear 7 to rotate, and the gear 7 meshes with the rack 8 to drive the moving frame 2 to move along the I-beam slide 4 until the moving frame 2 touches the limit module 17 at the tail of the I-beam slide 4, and the hydraulic motor 6 stops moving. The boom cylinder 10 extends out, pushing the bracket 3 up until the bracket 3 and the base frame 1 reach the set angle. At this time, the guide cover 21 at the tail of the bracket 3 extends into the water, the hydraulic winch 9 releases the rope, and the bow limiter moves downward together with the UUV. The UUV slowly slides into the water, and the unhooking cylinder 1601 in the unhooking device 16 contracts, driving the pin A1603 to be pulled out from the sliding bearing 1604, and the traction rope 23 is unhooked; the hydraulic winch 9 retracts the rope, and the traction rope 23 is separated from the traction ring at the bow of the UUV, and the deployment is completed. The boom cylinder 10 begins to contract, lowering the bracket 3 to a horizontal state, and the boom cylinder 10 stops; the hydraulic motor 6 drives the gear 7 to rotate again, and the gear 7 and the rack 8 mesh and drive the mobile frame 2 and the bracket 3 to move in the opposite direction until they touch the limit module 17 at the head of the I-beam slideway 4, and the hydraulic motor 6 stops working, and the deployment and recovery device returns to the initial position.

[0060] The invention is suitable for deploying and recovering a UUV main body of a suitable model or a medium or large UUV with multiple bodies carrying different appendages and a traction ring installed at the bow by a mother ship on the water surface.

Claims

1. A modular deployment and recovery device that can be used for the UUV body itself or carrying different appendages, characterized by: The invention comprises a base frame (1), a mobile frame (2), a bracket (3), a hydraulic motor (6), a transmission mechanism, a hydraulic winch (9), a luffing cylinder (10), a bow limiter (12), a decoupling device (16) and a traction rope (23), wherein the base frame (1) is installed on the deck of a mother ship, the mobile frame (2) is slidably connected to the base frame (1), the hydraulic motor (6) is fixed on the mobile frame (2), the output end of the hydraulic motor (6) is connected to the base frame (1) through the transmission mechanism, and the mobile frame (2) is driven by the hydraulic motor (6) to slide back and forth relative to the base frame (1); The bracket (3) is relatively rotatably mounted on the mobile frame (2); one end of the bracket (3) is respectively mounted with a hydraulic winch (9) and a boom cylinder (10); the other end of the bracket (3) is connected with a guide cover (21); the bracket (3) is driven by the boom cylinder (10) to switch between a horizontal posture and an inclined posture relative to the mobile frame (2); one end of the traction rope (23) is wound around the hydraulic winch (9); the other end of the traction rope (23) is used to tow the UUV; one end of the bracket (3) is also mounted with a guide cover (21) for When the UUV is released, a dehooker (16) is fixed at the other end of the traction rope (23); a release and recovery slideway is provided on the bracket (3) along the release and recovery direction, and the release and recovery slideway includes two rows of pulleys (15) on the left and right sides; a bow limiting vehicle slideway (1204) is installed on the bracket (3) between the two rows of pulleys (15); a bow limiting vehicle (12) for limiting the movement of the bow of the UUV is slidably connected to the bow limiting vehicle slideway (1204); the bow limiting vehicle (12) slides back and forth on the bow limiting vehicle slideway (1204) along the release and recovery direction.

2. The modular deployment and recovery device according to claim 1, which can be used for the UUV body itself or carrying different appendages, is characterized by: A plurality of limiting mechanisms (13) are respectively arranged on the left and right sides of the deployment and recovery slide along the deployment and recovery direction, and are used for left and right limiting when deploying and recovering a multi-body UUV; the limiting mechanism (13) comprises an anti-collision wheel (1301), an anti-collision wheel bracket (1302) and a mounting frame (1303); the mounting frame (1303) is fixed on the bracket (3); the mounting frame (1303) is provided with three anti-collision wheel brackets (1302) along the height direction toward the inner side of the deployment and recovery slide; each of the anti-collision wheel brackets (1302) is installed with an anti-collision wheel (1301) for contacting the multi-body UUV; the axial center line of the anti-collision wheel (1301) located in the middle is in the vertical direction, and the axial center lines of the upper and lower anti-collision wheels (1301) are inclined with respect to the axial center of the anti-collision wheel (1301) located in the middle.

3. The modular deployment and recovery device according to claim 1, which can be used for the UUV body itself or carrying different appendages, is characterized in that: A plurality of anti-roll mechanisms (14) are respectively arranged on the left and right sides of the deployment and recovery slideway along the deployment and recovery direction to prevent the multi-body UUV from tilting during deployment and recovery. The anti-roll mechanism (14) comprises a roller (1401), a roller frame (1402), a compression spring (1403), a bottom plate A (1404), an upper plate (1405) and a guide rod (1406). The bottom plate A (1404) is fixedly connected to the bracket (3). The upper plate (1405) is located above the bottom plate A (1404). The upper plate (1405) is provided with a plurality of Guide rods (1406), the lower ends of each guide rod (1406) are respectively connected to the bottom plate A (1404), and each guide rod (1406) between the upper plate (1405) and the bottom plate A (1404) is sleeved with a compression spring (1403), and the two ends of the compression spring (1403) are respectively abutted against the upper plate (1405) and the bottom plate A (1404); a roller frame (1402) is installed on the upper plate (1405), and a roller (1401) in contact with the multi-body UUV is installed on the roller frame (1402).

4. The modular deployment and recovery device according to claim 1, which can be used for the UUV body itself or carrying different appendages, is characterized by: The bracket (3) is provided with hydraulic limit mechanisms (27) on both sides along the deployment and recovery direction for clamping and fixing the multi-body UUV after recovery. The hydraulic limit mechanism (27) comprises a bracket (2701), a telescopic cylinder (2702), a rubber fender (2703) and a support B (2704). The support B (2704) is fixed on the bracket (3). The bottom of the bracket (2071) is hinged to the support B (2704). One end of the telescopic cylinder (2702) is hinged to the support B (2704), and the other end of the telescopic cylinder (2702) is hinged to the bracket (2071). The inner side of the bracket (2701) is provided with a rubber fender (2703) in contact with the multi-body UUV.

5. The modular deployment and recovery device according to claim 1, which can be used for the UUV body itself or carrying different appendages, is characterized in that: The decoupling device (16) comprises a decoupling cylinder (1601), a pin shaft sleeve (1602), a pin shaft A (1603), a sliding bearing (1604), a decoupling bearing seat (1605) and a bottom plate B (1606). The bottom plate B (1606) is fixed on the bracket (3). A support A and two decoupling bearing seats (1605) are respectively arranged on the bottom plate B (1606) along the telescopic direction of the decoupling cylinder (1601). A pin shaft sleeve (1602) is installed on a decoupling bearing seat (1605) close to the support A (1607), and a pin shaft sleeve (1602) is installed on a decoupling bearing seat (1605) away from the support A (1607). A sliding bearing (1604) is installed on the other unhooking bearing seat (1605) of the support A (1607); one end of the unhooking cylinder (1601) is hinged to the support A (1607); the other end of the unhooking cylinder (1601) is connected to the pin A (1603); the pin A (1603) is inserted into the pin sleeve (1602) so as to be relatively movably disposed, and can be extended from the pin sleeve (1602) to the sliding bearing (1604) under the drive of the unhooking cylinder (1601), so as to fix or release the traction rope (23).

6. The modular deployment and recovery device according to claim 1, which can be used for the UUV body itself or carrying different appendages, is characterized by: The bow limiting vehicle (12) comprises a support frame A (1201), a rubber cover (1202) and a composite bearing (1203); a rubber cover (1202) adapted to the shape of the bow of the UUV is installed on the side of the support frame A (1201) facing the UUV, and the rubber cover (1202) is docked with the bow of the UUV during the recovery process; the left and right sides of the support frame A (1201) along the deployment and recovery direction are respectively provided with composite bearings (1203); The composite bearing (1203) is a composite bearing (1203), the end surface of the bow limiting vehicle slideway (1204) is in a U-shape with an opening facing inward, and the composite bearing (1203) slides back and forth in the opening of the bow limiting vehicle slideway (1204) along the deployment and recovery direction; the bow limiting vehicle slideway (1204) is provided with limiting latches (1205) at both ends along the deployment and recovery direction, respectively, to limit the bow limiting vehicle (12) from sliding out of the bow limiting vehicle slideway (1204).

7. The modular deployment and recovery device according to claim 1, which can be used for the UUV body itself or carrying different appendages, is characterized by: The guide cover (21) is hinged to the bracket (3) via a pin shaft B (29), and is connected to the bracket (3) via springs (28) on the left and right sides of the guide cover (21) along the deployment and recovery direction, thereby achieving left and right swinging of the guide cover (21) relative to the bracket (3).

8. The modular deployment and recovery device according to claim 1, which can be used for the UUV body itself or carrying different appendages, is characterized by: A plurality of pulleys are arranged on each row of pulleys (15) along the laying and recovery direction, and each row of pulleys (15) is inclined inwards, that is, the two rows of pulleys (15) are arranged in an inverted "eight" shape.

9. The modular deployment and recovery device according to claim 1, which can be used for the UUV body itself or carrying different appendages, is characterized by: One end of the movable frame (2) is provided with a bearing seat (18) for rotationally connecting with the bracket (3), and the other end of the movable frame (2) is installed with a hydraulic station (22) for oil supply. The other end of the movable frame (2) is provided with fixed pins (25) on both sides along the deployment and recovery direction, and the movable frame (2) and the bracket (3) are kept fixed by the fixed pins (25) after being moved into place; the top of the variable-length oil cylinder (10) is hinged to the bracket (3), and the bottom of the variable-length oil cylinder (10) is hinged to the movable frame (2); a support frame B (19) is fixedly connected to the bottom between the hinge of the bracket (3) and the bearing seat (18) and the other end, and a support wheel (26) for supporting is installed at the bottom of the support frame B (19); an infrared camera (24) for monitoring the deployment and recovery environment is installed at the top of the bracket (3).

10. The modular deployment and recovery device according to claim 1, which can be used for the UUV body itself or carrying different appendages, is characterized by: An I-beam slideway (4) is installed on the base frame (1) along the deployment and recovery direction. The I-beam slideway (4) is provided with limit modules (17) at both ends along the deployment and recovery direction for limiting the movement range of the mobile frame (2). The mobile frame (2) is slidably connected to the I-beam slideway (4) through an I-beam pulley (5). The transmission mechanism comprises a gear (7) and a rack (8). The gear (7) is connected to the output end of the hydraulic motor (6). The rack (8) is fixed to the I-beam slideway (4). The length direction of the rack (8) is the same as the deployment and recovery direction. The hydraulic motor (6) drives the mobile frame (2) to slide back and forth relative to the I-beam slideway (4) through the meshing of the gear (7) and the rack (8). The base frame (1) is a segmented splicing structure. Fixed angle pieces (20) for fixing on the deck of a mother ship are respectively installed on the left and right sides of the base frame (1) along the deployment and recovery direction.

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