Modularized deployment and recovery device for uuv body itself or with different appendages

Abstract

The application belongs to the technical field of UUV surface launching and recovery, and particularly relates to a modularized launching and recovery device which can be used for a UUV main body itself or a module carrying different appendages, wherein a chassis is installed on a deck of a mother ship, a moving frame is slidably connected with the chassis, the moving frame is connected with a bracket through a variable-amplitude oil cylinder and a bearing seat and drives the bracket to move on the chassis, the bracket is driven to ascend or descend through the variable-amplitude oil cylinder when the bracket moves to a launching and recovery position, two rows of pulleys are arranged in the middle of the bracket and serve as launching and recovery slides, a hydraulic winch is arranged on the inner side of the bracket and is connected with a traction rope, an unhooking device is arranged on the front side of the hydraulic winch, a bow limiting vehicle can move on a bow limiting vehicle slide arranged on the bracket, a bow end of the UUV is attached to the bow limiting vehicle when the UUV is placed on the bracket, the traction rope on the hydraulic winch is fixed on the unhooking device after passing through a traction ring on a bow part of the UUV, and a guide cover is arranged at the end of the bracket and serves as a recovery guide. The application has the advantages of high safety coefficient, reliable connection, convenient operation and high operation efficiency.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of UUV surface launching and recovery, and particularly relates to a modularized launching and recovery device which can be used for a UUV main body itself or a module carrying different appendages. BACKGROUND

[0002] Since the birth of UUV (Unmanned Underwater Vehicle), the UUV has been widely used in the fields of marine scientific investigation and marine resource exploration. However, due to the limited energy carrying endurance of the UUV itself and the development of underwater communication technology, the UUV needs to be frequently salvaged to the mother ship to replenish energy and transfer information. At present, the traditional manual launching and recovery mode has the defects of single recovery type, multiple personnel participation stages, low automation level and low work efficiency. Therefore, it is urgent to develop a launching and recovery device with multiple recovery types, high safety, few personnel and high automation. SUMMARY

[0003] In order to solve the above problems existing in the traditional launching and recovery of the UUV, the purpose of the present application is to provide a modularized launching and recovery device which can be used for a UUV main body itself or a module carrying different appendages.

[0004] The purpose of the present application is achieved by the following technical scheme:

[0005] The present application comprises a base frame, a moving frame, a bracket, a hydraulic motor, a transmission mechanism, a hydraulic winch, an amplitude-changing cylinder, a bow limiting vehicle, an unhooking device and a towing rope. The base frame is installed on the deck of the mother ship. The moving frame is in sliding connection with the base frame. The hydraulic motor is fixed on the moving frame. The output end of the hydraulic motor is connected with the base frame through the transmission mechanism. The moving frame reciprocally slides relative to the base frame through the driving of the hydraulic motor. The bracket is rotatably installed on the moving frame. One end of the bracket is respectively provided with the hydraulic winch and the amplitude-changing cylinder. The other end of the bracket is connected with a guide cover. The bracket is switched between the horizontal posture and the inclined posture relative to the moving frame through the driving of the amplitude-changing cylinder. One end of the towing rope is wound on the hydraulic winch. The other end of the towing rope is used for towing the UUV. One end of the bracket is further provided with the unhooking device for fixing the other end of the towing rope when the UUV is launched. A launching and recovery slide is arranged on the bracket along the launching and recovery direction. The launching and recovery slide comprises two rows of pulleys. A bow limiting vehicle slide is arranged on the bracket between the two rows of pulleys. A bow limiting vehicle for limiting the movement of the bow of the UUV is in sliding connection with the bow limiting vehicle slide. The bow limiting vehicle reciprocally slides on the bow limiting vehicle slide along the launching and recovery direction.

[0006] Wherein: the left and right sides of the laying and recovering slide along the laying and recovering direction are respectively provided with a plurality of limiting mechanisms for left and right limiting when laying and recovering the multi-body UUV; the limiting mechanism comprises an anti-collision wheel, an anti-collision wheel support and a mounting frame, the mounting frame is fixed on the bracket, the mounting frame is provided with three anti-collision wheel supports along the height direction towards the inner side of the laying and recovering slide, each anti-collision wheel support is provided with an anti-collision wheel for contacting the multi-body UUV, the axial center line of the anti-collision wheel in the middle is vertical, the axial center lines of the upper and lower anti-collision wheels are inclined to the axial center of the anti-collision wheel in the middle.

[0007] The left and right sides of the laying and recovering slide along the laying and recovering direction are respectively provided with a plurality of anti-rolling mechanisms for preventing the multi-body UUV from tilting when laying and recovering, the anti-rolling mechanism comprises a roller, a roller support, a compression spring, a bottom plate A, an upper plate and a guide rod, the bottom plate A is fixed on the bracket, the upper plate is above the bottom plate A, a plurality of guide rods are provided on the upper plate, the lower end of each guide rod is connected with 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 in abutment with the upper plate and the bottom plate A; the roller support is installed on the upper plate, and the roller support is provided with a roller for contacting the multi-body UUV.

[0008] The left and right sides of the bracket along the laying and recovering direction are respectively provided with hydraulic limiting mechanisms for clamping and fixing the multi-body UUV after recovery, the hydraulic limiting mechanism comprises a support, a telescopic oil cylinder, a rubber fender and a support B, the support B is fixed on the bracket, the bottom of the support is hinged to the support B, one end of the telescopic oil cylinder is hinged to the support B, and the other end of the telescopic oil cylinder is hinged to the support; the inner side of the support is provided with a rubber fender for contacting the multi-body UUV.

[0009] The unhooking device comprises an unhooking oil cylinder, a pin shaft sleeve, a pin shaft A, a sliding bearing, an unhooking bearing seat and a bottom plate B, the bottom plate B is fixed on the bracket, the bottom plate B is provided with a support A and two unhooking bearing seats along the telescopic direction of the unhooking oil cylinder, the pin shaft sleeve is installed on one of the unhooking bearing seats close to the support A, the sliding bearing is installed on the other unhooking bearing seat away from the support A, one end of the unhooking oil cylinder is hinged to the support A, the other end of the unhooking oil cylinder is connected with the pin shaft A, the pin shaft A is movably inserted into the pin shaft sleeve, and can be driven by the unhooking oil cylinder to extend from the pin shaft sleeve to the sliding bearing, for fixing or releasing the traction rope.

[0010] The bow limiting vehicle comprises a support frame A, a rubber cover and a composite bearing, the rubber cover which is adapted to the shape of the bow of the UUV is installed on one side of the support frame A facing the UUV, and the rubber cover is connected with the bow of the UUV during the recycling process; the composite bearings are respectively arranged on the left and right sides of the support frame A along the laying and recycling direction, the end surface of the bow limiting vehicle slide is in a U shape with an opening facing the inside, and the composite bearings slide back and forth in the opening of the bow limiting vehicle slide along the laying and recycling direction; the bow limiting vehicle slide is provided with a limiting pin at the head and tail ends along the laying and recycling direction, so as to limit the bow limiting vehicle from sliding out of the bow limiting vehicle slide.

[0011] The guide cover is hinged to the bracket through a pin shaft B, and is connected to the bracket through springs on the left and right sides of the guide cover along the laying and recycling direction, so as to realize the left and right swinging of the guide cover relative to the bracket.

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

[0013] One end of the moving frame is provided with a bearing seat for rotating connection with the bracket, the other end of the moving frame is provided with a hydraulic station for oil supply, and the left and right sides of the other end of the moving frame along the laying and recycling direction are provided with fixing pins, so that the moving frame and the bracket are fixed after being moved in place; the top of the amplitude cylinder is hinged to the bracket, and the bottom of the amplitude cylinder is hinged to the moving frame; the bottom between the hinged place of the bracket and the other end of the bearing seat is fixedly connected with a support frame B, and the bottom of the support frame B is provided with a supporting wheel for supporting; the top of the bracket is provided with an infrared camera for monitoring the laying and recycling environment.

[0014] The bottom frame is provided with an I-shaped steel slide along the laying and recycling direction, the I-shaped steel slide is provided with a limiting module for limiting the moving range of the moving frame at the head and tail ends along the laying and recycling direction, and the moving frame is slidably connected with the I-shaped steel slide through the I-shaped steel pulley; the transmission mechanism comprises a gear and a rack, the gear is connected with the output end of the hydraulic motor, the rack is fixedly connected on the I-shaped steel slide, the length direction of the rack is the same as the laying and recycling direction, and the hydraulic motor drives the moving frame to reciprocate relative to the I-shaped steel slide through the meshing of the gear and the rack; the bottom frame is a segmented splicing structure, and the left and right sides of the bottom frame along the laying and recycling direction are respectively provided with fixed corner pieces for being fixed on the deck of the mother ship.

[0015] The advantages and positive effects of the present application are as follows:

[0016] 1. The present application utilizes the combined action of multiple mechanisms to automatically implement most of the deployment and recovery operations, and only the step of hanging the towing rope to the UUV bow towing ring needs to be operated by the operator, and the rest of the operations are remotely controlled to achieve high efficiency, safety and time and labor saving.

[0017] 2. The present application can realize the deployment operation under four-level sea conditions and the recovery operation under five-level sea conditions, and has strong adaptability to complex sea conditions.

[0018] 3. The present application adopts modular design, which can be conveniently arranged on the mother ship and easily loaded and unloaded.

[0019] 4. The present application is installed with a guide cover, which improves the success rate and working efficiency of the deployment and recovery device in recovering UUV.

[0020] 5. The present application is installed with a limiting mechanism and a roll prevention mechanism on both sides of the bracket, so that the tilted UUV can be automatically righted during the process of being towed to the bracket, thereby improving the safety of recovery.

[0021] 6. The present application is installed with a limiting module on the moving route of the bracket to prevent the bracket from moving beyond the stroke.

[0022] 7. The present application is installed with a support frame at the bottom of the bracket, which plays a supporting role during the movement along the I-beam slide.

[0023] 8. The present application can deploy and recover different types of UUV. DETAILED DESCRIPTION

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

[0025] Figure 2 is Figure 1 is a local enlarged view of A in FIG. 1;

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

[0027] Figure 4 is a schematic diagram of the overall structure of the present application for placing multiple UUVs;

[0028] Figure 5 is a schematic diagram of the structure of the connection between the bracket, the moving frame and the I-beam slide of the present application;

[0029] Figure 6 is a schematic diagram of the structure of the connection between the I-beam slide and the moving frame of the present application;

[0030] Figure 7 is a schematic diagram of the structure of the arrangement position of the bow limiting vehicle, the unhooking device and the hydraulic jockey on the bracket of the present application;

[0031] Figure 8Structure diagram of the chassis connected with the I-shaped slide rail of the application;

[0032] Figure 9 Structure diagram of the chassis connected with the I-shaped slide rail of the application;

[0033] Figure 10 Structure diagram of the bow limiting vehicle of the application;

[0034] Figure 11 Structure diagram of the limiting mechanism of the application;

[0035] Figure 12 Structure diagram of the anti-rolling mechanism in the compressed state of the application;

[0036] Figure 13 Structure diagram of the anti-rolling mechanism in the uncompressed state of the application;

[0037] Figure 14 Structure diagram of the unhooking device pin shaft in the non-extended state of the application;

[0038] Figure 15 Structure diagram of the unhooking device pin shaft in the extended state of the application;

[0039] Figure 16 Structure diagram of the hydraulic limiting mechanism of the application;

[0040] 1 is the chassis, 2 is the moving frame, 3 is the bracket, 4 is the I-shaped slide rail, 5 is the I-shaped pulley, 6 is the hydraulic motor, 7 is the gear, 8 is the rack, 9 is the hydraulic winch, 10 is the amplitude cylinder, 11 is the hinged piece, 12 is the bow limiting vehicle, 1201 is the support frame A, 1202 is the rubber cover, 1203 is the composite bearing, 1204 is the bow limiting vehicle slide rail, 1205 is the limiting bolt, 13 is the limiting mechanism, 13 is the anti-collision wheel, 1302 is the anti-collision wheel support, 1303 is the mounting frame, 14 is the anti-rolling 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 plate, 15 is the row pulley, 16 is the unhooking device, 1601 is the unhooking cylinder, 1602 is the pin shaft sleeve, 1603 is the pin shaft A, 1604 is the sliding bearing, 1605 is the unhooking bearing seat, 1606 is the bottom plate B, 1607 is the support A, 17 is the limiting module, 18 is the bearing seat, 19 is the support frame B, 20 is the fixed angle piece, 21 is the guide cover, 22 is the hydraulic station, 23 is the traction rope, 24 is the infrared camera, 25 is the fixed bolt, 26 is the support wheel, 27 is the hydraulic limiting mechanism, 2701 is the support, 2702 is the telescopic cylinder, 2703 is the rubber fender, 2704 is the support B, 28 is the spring, and 29 is the pin shaft B. DETAILED DESCRIPTION

[0041] The application will be further described in detail below with reference to the accompanying drawings.

[0042] As Figures 1-3 shown, the application comprises a base frame 1, a moving frame 2, a bracket 3, a hydraulic motor 6, a transmission mechanism, a hydraulic winch 9, an amplitude cylinder 10, a bow limiter 12, an unhooker 16 and a tow rope 23, wherein the base frame 1 is installed on the deck of a mother ship, the moving frame 2 is in sliding connection with the base frame 1, the hydraulic motor 6 is fixedly connected to the moving frame 2 through a fixing member, the output end of the hydraulic motor 6 is connected to the base frame 1 through the transmission mechanism, and the moving frame 2 reciprocally slides relative to the base frame 1 under the drive of the hydraulic motor 6; the bracket 3 is rotatably installed on the moving frame 2, one end of the bracket 3 is respectively provided with the hydraulic winch 9 and the amplitude cylinder 10, the other end of the bracket 3 is connected with a guide cover 21, the bracket 3 switches between a horizontal posture and an inclined posture relative to the moving frame 2 under the drive of the amplitude cylinder 10, one end of the tow rope 23 is wound on the hydraulic winch 9, and the other end of the tow rope 23 is used for towing a UUV; one end of the bracket 3 is further provided with the unhooker 16 for fixing the other end of the tow rope 23 when the UUV is deployed; a deployment and recovery slide is arranged on the bracket 3 along the deployment and recovery direction, which facilitates the deployment and recovery of the UUV, and the deployment and recovery slide comprises two rows of pulleys 15, a bow limiter slide 1204 is arranged on the bracket 3 between the two rows of pulleys 15, and the bow limiter slide 1204 is in sliding connection with the bow limiter 12 for limiting the movement of the bow of the UUV, and the bow limiter 12 reciprocally slides on the bow limiter slide 1204 along the deployment and recovery direction.

[0043] As Figures 1-3 and Figure 6 , Figure 8 , Figure 9 shown, the base frame 1 of the embodiment adopts a sectional splicing structure design, and except for one section with the same length as the bracket 3, the rest are two-meter sections, which facilitates the assembly on the deck of a mother ship with different lengths, and facilitates transportation and installation. Fixed angle members 20 are welded on the left and right sides of the base frame 1 along the deployment and recovery direction, the positions of the fixed angle members 20 are determined according to the position of the keel of the deck of the mother ship, and the base frame 1 is fixed to the corresponding keel on the deck of the mother ship through the fixed angle members 20.

[0044] The I-shaped steel slide 4 is arranged on the base frame 1 along the deployment and recovery direction, the lower part of the I-shaped steel slide 4 is fixed to the base frame 1 through bolts, and the first and last ends of the I-shaped steel slide 4 along the deployment and recovery direction are both provided with limiting modules 17 for limiting the movement range of the moving frame 2; the limiting module 17 of the embodiment is a prior art, which will not be described here.

[0045] The I-shaped steel pulleys 5 are respectively connected to the bottom of the moving frame 2 on the left and right sides along the deployment and recovery direction through bolts, the moving frame 2 is in sliding connection with the I-shaped steel slide 4 through the I-shaped steel pulleys 5, and the I-shaped steel slide 4 and the I-shaped steel pulleys 5 form a sliding platform.

[0046] The transmission mechanism of the embodiment comprises a gear 7 and a rack 8, the gear 7 is keyed connected with the output shaft of the hydraulic motor 6, the rack 8 is fixedly connected on the I-beam slide 4, the length direction of the rack 8 is the same as the laying and recovering direction and the length direction of the I-beam slide 4, the hydraulic motor 6 drives the moving frame 2 to reciprocate on the I-beam slide 4 through the meshing of the gear 7 and the rack 8.

[0047] As shown in Figures 1-3 and Figure 5 , Figure 7 , one end of the moving frame 2 of the embodiment is provided with two bearing seats 18 for rotating connection with the bracket 3, the other end of the moving frame 2 is provided with a hydraulic station 22 for oil supply, the other end of the moving frame 2 is provided with a fixed bolt 25 on the left and right sides along the laying and recovering direction, a plurality of bolt holes are punched on the I-beam slide 4 along the laying and recovering direction, and the moving frame 2 and the bracket 3 are fixed at the specified position by inserting the fixed bolt 25 into the bolt hole after moving to the position. The moving frame 2 of the embodiment is connected with the bracket 3 through the luffing cylinder 10, the hinge 11 and the bearing seat 18, when the bracket 3 is moved to the laying and recovering position by the moving frame 2, the bracket 3 is tilted by the driving of the luffing cylinder 10. The luffing cylinder 10 of the embodiment is two, arranged on the left and right sides of one end of the bracket 3, the top of each luffing cylinder 10 is hinged with the bracket 3 through the hinge 11, and the bottom of each luffing cylinder 10 is hinged with the moving frame 2 through the hinge 11. The bottom between the hinge of the bracket 3 and the other end of the bearing seat 18 is bolted with a support frame B19, the bottom of the support frame B19 is provided with a support wheel 26, the support wheel 26 is closely attached to the upper part of the I-beam slide 4, and plays a supporting role. The top of one end of the bracket 3 of the embodiment is provided with an infrared camera 24, which is used for monitoring the laying and recovering environment.

[0048] As shown in Figures 1-3 and Figure 7 , Figure 14 , Figure 15As shown, the unhooker 16 of the embodiment is installed inside one end of the bracket 3 at the front side of the deployment and recovery direction of the hydraulic winch 9, and comprises an unhooking oil cylinder 1601, a pin shaft sleeve 1602, a pin shaft A 1603, a sliding bearing 1604, an unhooking bearing seat 1605, and a bottom plate B 1606 fixed on the bracket 3. The bottom plate B 1606 is provided with a support A and two unhooking bearing seats 1605 along the extension direction of the unhooking oil cylinder 1601. The pin shaft sleeve 1602 is installed on one unhooking bearing seat 1605 close to the support A 1607, and the sliding bearing 1604 is installed on the other unhooking bearing seat 1605 away from the support A 1607. One end of the unhooking oil cylinder 1601 is hinged to the support A 1607, and the other end of the unhooking oil cylinder 1601 is connected to the pin shaft A 1603. The pin shaft A 1603 is movably inserted into the pin shaft sleeve 1602 and can be extended from the pin shaft sleeve 1602 into the sliding bearing 1604 under the drive of the unhooking oil cylinder 1601, so as to fix or release the hook at the end of the towing rope 23, facilitating the unhooking of the towing rope 23 during the deployment of the UUV. In the embodiment, the hydraulic winch 9 is arranged inside one end of the bracket 3, one end of the towing rope 23 is wound on the hydraulic winch 9, and a hook is connected to the other end of the towing rope 23. During deployment, the towing rope 23 passes through the towing ring at the bow of the UUV, and the hook at the other end of the towing rope 23 is fixed on the pin shaft A of the unhooker 16 for automatic unhooking during deployment. During recovery, the towing rope 23 is used to connect the towing ring at the bow of the UUV.

[0049] As shown in Figures 1-3 and Figure 7 , Figure 10 As shown, the bow limiting trolley 12 of the embodiment is installed in the middle of one end of the bracket 3, and comprises a support frame A 1201, a rubber cover 1202, and a composite bearing 1203. The side of the support frame A 1201 facing the UUV is provided with a rubber cover 1202 (the rubber cover 1202 of the embodiment is in the shape of a circular ring) matched with the shape of the bow of the UUV, and the rubber cover 1202 is in butt joint with the bow of the UUV during recovery. The left and right sides of the support frame A 1201 along the deployment and recovery direction are respectively provided with a composite bearing 1203. The bow limiting trolley slide 1204 is bolted to the bracket 3 through a bottom fixing piece, the end face of the bow limiting trolley slide 1204 is in the shape of a U with an opening facing the inside, and the composite bearing 1203 reciprocally slides in the opening of the bow limiting trolley slide 1204 along the deployment and recovery direction. Limiting pins 1205 are arranged at the head and tail of the bow limiting trolley slide 1204 along the deployment and recovery direction, so as to prevent the bow limiting trolley 12 from sliding out of the bow limiting trolley slide 1204.

[0050] As shown in Figure 1 , Figure 2As shown, the guide cover 21 of the embodiment is hinged to the bracket 3 through the pin shaft B29, and is connected to the bracket 3 through the spring 28 on the left and right sides of the guide cover 21 along the deployment and recovery direction, so as to realize the left and right swing of the guide cover 21 relative to the bracket 3; the guide cover 21 is used for docking the UUV through passive swing, and is used for guiding the recovery.

[0051] As shown in Figures 1-3 and Figure 7 , the bottom of each row of pulleys 15 of the embodiment is fixed to the bracket 3 through bolts, and a plurality of pulleys are arranged on each row of pulleys 15 along the deployment and recovery direction, and each row of pulleys 15 is inwardly inclined and inwardly buckled 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 for the deployment and recovery of single UUV, and the present application can also be used for the deployment and recovery of multiple UUVs.

[0053] As shown in Figure 1 , Figure 2 , Figure 4 and Figure 11 , the embodiment is provided with a plurality of limiting mechanisms 13 on the left and right sides of the deployment and recovery slide along the deployment and recovery direction, and the limiting mechanisms 13 on the left and right sides are the same in number and one-to-one correspondence, which are used for left and right limiting when the multiple UUVs are deployed and recovered. The limiting mechanism 13 comprises a bumper wheel 1301, a bumper wheel support 1302 and a mounting bracket 1303, the mounting bracket 1303 is fixed on the bracket 3, the mounting bracket 1303 is provided with three bumper wheel supports 1302 along the height direction towards the inner side of the deployment and recovery slide, and each bumper wheel support 1302 is provided with a bumper wheel 1301 for contacting the multiple UUVs, the axial center line of the middle bumper wheel 1301 is vertical, and the axial center lines of the upper and lower bumper wheels 1301 are inclined to the axial center of the middle bumper wheel 1301. The middle bumper wheel 1301 can limit the UUV on the outer side, and the upper and lower bumper wheels 1301 can limit the UUV on the upper side and the lower side, respectively.

[0054] As shown in Figure 1 , Figure 2 , Figure 4 , Figure 12 and Figure 13As shown, the embodiment is provided with a plurality of anti-rolling mechanisms 14 on the left and right sides of the laying and recovering slide along the laying and recovering direction, which prevent the multi-body UUV from tilting when being laid and recovered. The anti-rolling mechanism 14 is located between the limiting mechanism 13 and the pulley 15. The anti-rolling 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 fixed to the bracket 3, and the upper plate 1405 is located above the bottom plate A 1404. A plurality of light holes are formed in the upper plate 1405, and a guide rod 1406 is arranged in each light hole. The lower end of each guide rod 1406 is connected with the bottom plate A 1404. A compression spring 1403 is sleeved on each guide rod 1406 between the upper plate 1405 and the bottom plate A 1404. The two ends of the compression spring 1403 are in abutment with the upper plate 1405 and the bottom plate A 1404, so that the upper plate 1405 is in a floating state. The roller frame 1402 is installed on the upper plate 1405, and the roller 1401 in contact with the multi-body UUV is installed on the roller frame 1402. When the multi-body UUV recovers and tilts, each compression spring 1403 in the anti-rolling mechanism 14 will compensate the reaction force after being subjected to a certain pressure of the multi-body UUV, thereby playing the role of automatic righting.

[0055] As shown in Figure 1 , Figure 4 and Figure 16 , the embodiment is provided with a hydraulic limiting mechanism 27 on each side of the bracket 3 along the laying and recovering direction for clamping and fixing the multi-body UUV after recovery. The hydraulic limiting mechanism 27 on each side is at least one, and the number of the hydraulic limiting mechanisms 27 on the two sides is the same and one-to-one corresponding. The hydraulic limiting mechanism 27 on each side of the embodiment is one, which is located between two adjacent limiting mechanisms 13. The hydraulic limiting mechanism 27 comprises a bracket 2701, a telescopic oil cylinder 2702, a rubber fender 2703 and a support B 2704. The support B 2704 is fixed to the bracket 3, the bottom of the bracket 2071 is hinged to the support B 2704, one end of the telescopic oil cylinder 2702 is hinged to the support B 2704, and the other end of the telescopic oil cylinder 2702 is hinged to the bracket 2071. The rubber fender 2703 in contact with the multi-body UUV is installed on the inner side of the bracket 2701.

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

[0057] The working principle of the application is as follows:

[0058] When the multi-body UUV needs to be laid and recovered, the operator drives the hydraulic motor 6 to rotate the gear 7, which drives the moving frame 2 to move along the I-beam slide 4 through the meshing transmission of the gear 7 and the rack 8 until the moving frame 2 touches the limiting module 17 at the tail of the I-beam slide 4, and the hydraulic motor 6 stops moving. The luffing oil cylinder 10 extends to push the bracket 3 to rise until the bracket 3 and the base frame 1 reach a set angle, at which 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, the bow limiting vehicle 12 moves to the specified position at the other end of the bracket 3 along the bow limiting vehicle slide 1204 by gravity, the hydraulic winch 9 pays out the rope, the operator passes the traction rope 23 through the guide cover 21 and hangs it to the UUV bow traction ring, the hydraulic winch 9 takes up the rope, and the UUV is dragged onto the laying and recovery slide composed of the two rows of pulleys 15 through the guidance of the guide cover 21, the UUV bow closely fits the rubber cover 1202 on the bow limiting vehicle 12 at the specified position at the other end of the bracket 3, and the UUV moves upward together with the bow limiting vehicle 12; if the UUV tilts, it can be automatically righted 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, the luffing oil cylinder 10 starts to contract to lower the bracket 3 to the horizontal state, and the luffing oil cylinder 10 stops; the hydraulic motor 6 again drives the gear 7 to rotate, the gear 7 and the rack 8 mesh to drive the moving frame 2 and the bracket 3 to move in the reverse direction until the moving frame 2 touches the limiting module 17 at the head of the I-beam slide 4, and the hydraulic motor 6 stops working, and the recovery is completed.

[0059] When the UUV needs to be laid, the other end of the traction rope 23 is fixed to the pin shaft A1603 of the unhooking device 16 through the UUV, at which time the pin shaft A1603 extends into the sliding bearing 1604 under the drive of the unhooking oil cylinder 1601. The hydraulic motor 6 drives the gear 7 to rotate, the gear 7 and the rack 8 mesh to drive the moving frame 2 to move along the I-beam slide 4 until the moving frame 2 touches the limiting module 17 at the tail of the I-beam slide 4, and the hydraulic motor 6 stops moving. The luffing oil cylinder 10 extends to push the bracket 3 to rise until the bracket 3 and the base frame 1 reach a set angle, at which time the guide cover 21 at the tail of the bracket 3 extends into the water, the hydraulic winch 9 pays out the rope, the bow limiting vehicle moves downward together with the UUV, the UUV slowly slides into the water, the unhooking oil cylinder 1601 in the unhooking device 16 contracts to pull out the pin shaft A1603 from the sliding bearing 1604, and the traction rope 23 is unhooked; the hydraulic winch 9 takes up the rope, the traction rope 23 is separated from the UUV bow traction ring, and the laying is completed. The luffing oil cylinder 10 starts to contract to lower the bracket 3 to the horizontal state, and the luffing oil cylinder 10 stops; the hydraulic motor 6 again drives the gear 7 to rotate, the gear 7 and the rack 8 mesh to drive the moving frame 2 and the bracket 3 to move in the reverse direction until the moving frame 2 touches the limiting module 17 at the head of the I-beam slide 4, and the hydraulic motor 6 stops working, and the laying and recovery device returns to the initial position.

[0060] The application is suitable for a large UUV with a towing ring at the bow, which is launched by a mother ship on the water surface to recover a suitable type of UUV main body or a multi-body with different appendages.

Claims

1. A modular deployment and recovery device that can be used on the UUV itself or equipped with different attachments, characterized in that: The system includes a base frame (1), a movable 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 decoy (16), and a traction rope (23). The base frame (1) is installed on the deck of the mother ship. The movable frame (2) is slidably connected to the base frame (1). The hydraulic motor (6) is fixed on the movable frame (2). The output end of the hydraulic motor (6) is connected to the base frame (1) through the transmission mechanism. The movable frame (2) slides back and forth relative to the base frame (1) under the drive of the hydraulic motor (6). The bracket (3) is rotatably mounted on the mobile frame (2). One end of the bracket (3) is equipped with a hydraulic winch (9) and a luffing cylinder (10). The other end of the bracket (3) is connected to a guide cover (21). The bracket (3) switches between a horizontal and an inclined posture relative to the mobile frame (2) by the drive of the luffing cylinder (10). 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 device for attaching a cloth. A release device (16) is fixed at the other end of the traction rope (23) when deploying the UUV; a deployment and retrieval slide is provided on the bracket (3) along the deployment and retrieval direction, the deployment and retrieval slide includes two rows of pulleys (15) on the left and right, a bow limiting car slide (1204) is installed on the bracket (3) between the two rows of pulleys (15), a bow limiting car (12) for limiting the movement of the bow of the UUV is slidably connected on the bow limiting car slide (1204), the bow limiting car (12) slides back and forth on the bow limiting car slide (1204) along the deployment and retrieval direction; The deployment and retrieval chute is provided with multiple anti-roll mechanisms (14) on both sides along the deployment and retrieval direction to prevent tilting during the deployment and retrieval of multi-body UUVs. The anti-roll mechanism (14) includes a roller (1401), a roller frame (1402), a compression spring (1403), a base plate A (1404), an upper plate (1405), and a guide rod (1406). The base plate A (1404) is fixed to the bracket (3), and the upper plate (1405) is located above the base plate A (1404). Multiple anti-roll mechanisms are provided on the upper plate (1405). Guide rods (1406), the lower end of each guide rod (1406) is connected to the base plate A (1404), and each guide rod (1406) between the upper plate (1405) and the base plate A (1404) is fitted with a compression spring (1403), the two ends of the compression spring (1403) abutting against the upper plate (1405) and the base plate A (1404) respectively; a roller frame (1402) is installed on the upper plate (1405), and a roller (1401) that contacts the multi-body UUV is installed on the roller frame (1402).

2. The modular deployment and recovery device according to claim 1, which can be used on the UUV itself or equipped with different attachments, is characterized in that: Multiple limiting mechanisms (13) are provided on the left and right sides of the deployment and recovery slide along the deployment and recovery direction, which are used to limit the left and right sides when deploying and recovering multi-body UUVs. The limiting mechanism (13) includes anti-collision wheel (1301), anti-collision wheel bracket (1302) and mounting frame (1303). The mounting frame (1303) is fixed on the bracket (3). The mounting frame (1303) has three anti-collision wheel brackets (1302) along the height direction facing the inner side of the deployment and recovery slide. Each anti-collision wheel bracket (1302) is equipped with an anti-collision wheel (1301) for contacting the multi-body UUV. The axial center line of the middle anti-collision wheel (1301) is vertical. The axial center lines of the upper and lower anti-collision wheels (1301) are inclined to the axial center of the middle anti-collision wheel (1301).

3. The modular deployment and recovery device according to claim 1, which can be used on the UUV itself or with different attachments, is characterized in that: The bracket (3) is provided with hydraulic limiting mechanisms (27) on the left and right sides along the deployment and recovery direction for clamping and fixing the multi-body UUV after recovery. The hydraulic limiting mechanism (27) includes 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 equipped with a rubber fender (2703) that contacts the multi-body UUV.

4. The modular deployment and recovery device according to claim 1, which can be used on the UUV itself or with different attachments, is characterized in that: The unhooking device (16) includes an unhooking cylinder (1601), a pin sleeve (1602), a pin A (1603), a sliding bearing (1604), an unhooking bearing seat (1605), and a base plate B (1606). The base plate B (1606) is fixed on the bracket (3). The base plate B (1606) is provided with a support A and two unhooking bearing seats (1605) along the extension and retraction direction of the unhooking cylinder (1601). A pin sleeve (1602) is installed on one of the unhooking bearing seats (1605) near the support A (1607), and a pin sleeve (1602) is installed on the other side. A sliding bearing (1604) is installed on another unhooking bearing seat (1605) of the support A (1607). One end of the unhooking cylinder (1601) is hinged to the support A (1607), and the other end of the unhooking cylinder (1601) is connected to the pin A (1603). The pin A (1603) can be relatively movably inserted into the pin sleeve (1602), and under the drive of the unhooking cylinder (1601), it can extend from the pin sleeve (1602) into the sliding bearing (1604) for fixing or releasing the traction rope (23).

5. The modular deployment and recovery device according to claim 1, which can be used on the UUV itself or equipped with different attachments, is characterized in that: The bow limiting vehicle (12) includes a support frame A (1201), a rubber cover (1202), and a composite bearing (1203). The support frame A (1201) is equipped with a rubber cover (1202) adapted to the shape of the bow of the UUV on the side facing the UUV. The rubber cover (1202) docks with the bow of the UUV during the recovery process. The support frame A (1201) is provided with composite bearings on the left and right sides along the deployment and recovery direction. The bearing (1203) has a U-shaped end face with the bow limiting car slide (1204) opening inward. The composite bearing (1203) slides back and forth in the deployment and recovery direction within the opening of the bow limiting car slide (1204). The bow limiting car slide (1204) is provided with limiting pins (1205) at both ends along the deployment and recovery direction to restrict the bow limiting car (12) from sliding out of the bow limiting car slide (1204).

6. The modular deployment and recovery device according to claim 1, which can be used on the UUV itself or equipped with different attachments, is characterized in that: The guide cover (21) is hinged to the bracket (3) via pin B (29). The guide cover (21) is connected to the bracket (3) on the left and right sides along the deployment and recovery direction via springs (28), thereby enabling the guide cover (21) to swing left and right relative to the bracket (3).

7. The modular deployment and recovery device according to claim 1, which can be used on the UUV itself or with different attachments, is characterized in that: Each row of pulleys (15) is provided with multiple pulleys along the laying and retrieval direction. Each row of pulleys (15) is inclined inward, that is, the two rows of pulleys (15) are arranged in an inverted "eight" shape.

8. The modular deployment and recovery device according to claim 1, which can be used on the UUV itself or with different attachments, is characterized in that: One end of the mobile frame (2) is provided with a bearing seat (18) for rotatably connecting with the bracket (3), and the other end of the mobile frame (2) is provided with a hydraulic station (22) for oil supply. The other end of the mobile frame (2) is provided with fixed pins (25) on both the left and right sides along the deployment and recovery direction. The mobile frame (2) and the bracket (3) are fixed after being moved into place by the fixed pins (25). The top of the luffing cylinder (10) is hinged to the bracket (3), and the bottom of the luffing cylinder (10) is hinged to the mobile frame (2). A support frame B (19) is fixedly connected to the bottom of the hinge between the bracket (3) and the bearing seat (18) and the other end. A support wheel (26) is installed at the bottom of the support frame B (19) to provide support. An infrared camera (24) for monitoring the deployment and recovery environment is installed on the top of the bracket (3).

9. The modular deployment and recovery device according to claim 1, which can be used on the UUV itself or with different attachments, is characterized in that: The base frame (1) is equipped with an I-beam slide rail (4) along the deployment and recovery direction. The I-beam slide rail (4) is equipped with a limiting module (17) at both ends along the deployment and recovery direction to limit the movement range of the moving frame (2). The moving frame (2) is slidably connected to the I-beam slide rail (4) through the I-beam pulley (5). The transmission mechanism includes 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 on the I-beam slide rail (4). The length direction of the rack (8) is the same as the deployment and recovery direction. The hydraulic motor (6) drives the moving frame (2) to slide back and forth relative to the I-beam slide rail (4) through the meshing of the gear (7) and the rack (8). The base frame (1) is a segmented splicing structure. The base frame (1) is equipped with fixing corner pieces (20) on the left and right sides along the deployment and recovery direction for fixing on the mother ship deck.

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