Automatic folding and unfolding device and folding and unfolding method for unmanned underwater vehicle

Abstract

The invention discloses an automatic folding and unfolding device and a folding and unfolding method for an underwater unmanned vehicle, and belongs to the technical field of underwater unmanned vehicles. The device comprises a winch, two first steel wire ropes are fixedly installed at the bottom end of the winch, a retracting and releasing mechanism is fixedly installed at the bottom ends of the first steel wire ropes, the unmanned underwater vehicle is placed in the retracting and releasing mechanism, the retracting and releasing mechanism comprises a positioning part and lifting devices, and the lifting devices are symmetrically and fixedly installed at the top ends of the two sides of the positioning part; the lifting device comprises an extending base plate, a front end support, a worm and a second gear, the extending base plate is fixedly installed at the bottom end of the front end support, the worm is rotationally installed at the side end, close to the extending base plate, of the front end support, the second gear is fixedly installed at the end, away from the front end support, of the worm, and a worm wheel is rotationally installed at the side end, close to the worm, of the extending base plate. Through the arrangement of the retracting and releasing mechanism, the purposes of stable and accurate hoisting and synchronous supporting during use are achieved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater unmanned vehicles, in particular to an automatic retracting and releasing device and a retracting and releasing method for underwater unmanned vehicles. Background Art

[0002] Underwater unmanned vehicles (UUVs), also known as unmanned underwater vehicles, unmanned submersibles and underwater unmanned combat platforms, can perform a variety of tasks by carrying sensors and different mission modules. They are carried to the operating waters by surface ships or aircraft or deployed directly from the shore. They are small, intelligent, have a large maneuvering range and good concealment. The retracting device is a component used to hoist and recover underwater unmanned vehicles, which can realize the safe deployment and recovery of underwater unmanned vehicles.

[0003] At present, the deployment and recovery technology has achieved unprecedented development, and various forms of deployment and recovery devices have appeared on the market, such as A-frame deployment and recovery system, stern tilted slide deployment and recovery system, rope throwing recovery, guided recovery system, hanging deployment and recovery system, etc. These deployment and recovery devices have different characteristics and structural forms. The A-frame deployment and recovery system is mainly used for the deployment of large frame-type underwater robots, and is not suitable for the deployment of underwater vehicles with rotating structures. The stern tilted slide deployment and recovery system is mainly used for the deployment and collection of underwater unmanned boats or underwater unmanned vehicles. This deployment and collection form requires manual assisted remote control operation to overcome the influence of wake, and the deployment and collection device needs to be precisely aligned with the slide, which is also not suitable for the deployment of underwater vehicles with rotating structures. In the rope-throwing recovery method, multiple people perform the recovery operation on the mother ship, which has low work efficiency and is difficult to operate around the clock; the guided recovery system needs to use acoustic, optical, visual and other guidance methods to locate the spatial position relationship between the underwater vehicle and the docking device. The operation difficulty and risk factor are high, the technology is not mature, and there is no mature recovery system case. The hanging deployment recovery system is currently the most widely used form of deployment and recovery of underwater unmanned vehicles and unmanned boats. This method is simple and easy to operate. Among them, the hook-type lifting recovery method is the most commonly used one, but it also has some disadvantages. For example, the use of hook-type lifting movement requires the hook to accurately dock with the hook on the unmanned vehicle. Therefore, when recovering the underwater unmanned vehicle, certain lifting experience is required. After the underwater unmanned vehicle is lifted, this recovery method needs to be placed on a designated support frame or workbench for data analysis, inspection or maintenance, which makes the existing underwater unmanned vehicle collection and release device unable to achieve stable and accurate lifting and synchronous support when in use. Therefore, it is necessary to improve it in view of the above problems. Summary of the invention

[0004] In view of the above-mentioned deficiencies in the prior art, the present invention provides an automatic retracting and releasing device and method for an underwater unmanned vehicle, which can achieve stable and accurate lifting and synchronous support of the underwater unmanned vehicle.

[0005] The technical solution adopted by the present invention to solve its technical problem is:

[0006] An automatic retracting and releasing device for an underwater unmanned vehicle comprises a winch, two first steel ropes are fixedly installed at the bottom end of the winch, a retracting and releasing mechanism is fixedly installed at the bottom end of the first steel rope, an underwater unmanned vehicle is placed inside the retracting and releasing mechanism, the retracting and releasing mechanism comprises a positioning component and a lifting device, the positioning component is used to limit the position of the underwater unmanned vehicle when docking with the underwater unmanned vehicle, the lifting device is symmetrically fixedly installed on the top ends of both sides of the positioning component, the lifting device comprises an extension base plate, a front end bracket, a worm gear and a second gear, the extension base plate is fixedly installed at the bottom end of the front end bracket, the worm gear is rotatably installed on the side end of the front end bracket close to the extension base plate, and the second gear is fixedly installed on the side end of the worm gear away from the front end bracket The top end of the second support plate is rotatably mounted on the second support plate, and a roller is equidistantly mounted on the top of the second support plate. A second pad is fixedly mounted on the side end of the rear support close to the second support plate, and a second spring is fixedly mounted between the second pad and the second support plate.

[0007] Specifically, the positioning component includes an alignment device and a supporting device. The alignment device is fixedly installed at the four corners of the bottom end of the supporting device. The alignment device is used to limit the position of the underwater unmanned vehicle during docking.

[0008] Specifically, the alignment device includes a connecting vertical frame, a guide vertical rod, a first gear and a supporting frame, the supporting frame is fixedly mounted on the bottom end of the connecting vertical frame, the guide vertical rod is symmetrically fixedly mounted inside the connecting vertical frame, the first gear is rotatably mounted on the top of the side end of the connecting vertical frame close to the guide vertical rod, the side end of the supporting frame away from the connecting vertical frame is fixedly mounted with a first pad, the side end of the supporting frame close to the first pad is rotatably mounted with a first supporting plate, and a first spring is fixedly mounted between the first supporting plate and the first pad;

[0009] When the first support plate passes by the underwater unmanned vehicle, the elasticity of the first spring drives the first support plate to move downward until it fits the top of the first pad.

[0010] Specifically, the supporting device includes a connecting base plate, a driving motor, a supporting collar and a connecting shaft, wherein the connecting shaft is fixedly mounted at the bottom center of the driving motor, the driving motor is fixedly mounted at the bottom center of the connecting base plate, the supporting collar is fixedly mounted at the bottom end of the connecting base plate, a rotating disk is fixedly mounted at the bottom end of the connecting shaft, a top plate is fixedly mounted at the bottom end of the connecting shaft, a cylinder is symmetrically fixedly mounted at the bottom end of the top plate, an arc bracket is fixedly mounted at the bottom end of the cylinder, and racks are fixedly mounted on both sides of the bottom of the arc bracket;

[0011] When the rack moves upward to align with the first gear, it can drive the first gear and the second gear to rotate simultaneously.

[0012] Specifically, the bottom end of the first steel wire rope is connected to the top of the connecting base plate, the connecting vertical frame is fixedly installed on the four corners of the top plate, the sliding sleeve is slidably sleeved on the guide vertical rod, the rotating disk is rotatably installed inside the supporting ring, and the extended base plate is fixedly installed on the side end of the connecting vertical frame close to the first gear.

[0013] Specifically, the worm is meshed with the worm wheel, the second gear is meshed with the first gear, and the side end of the rack away from the arc bracket is aligned with the outer ring of the first gear close to the first support plate.

[0014] Specifically, a plastic gasket is fixedly installed on the top of the inner wall of the arc bracket, the transmission ratio of the second gear to the first gear is 10:1, and the first support plate is rotatably installed on the support bracket at one end close to the support bracket.

[0015] Specifically, one end of the second support plate close to the connecting wing plate is rotatably mounted on the top of the rear end bracket, the side end of the support bracket close to the first pad is inclined at 45°, and the first pad and the second pad are both inclined at 45°.

[0016] Specifically, the top plate includes a camera and an extending top rod, the extending top rod is fixedly mounted at both ends, and the camera is fixedly mounted on the top end of the extending top rod away from the top plate.

[0017] A method for automatically retracting and deploying an underwater unmanned vehicle comprises the following steps:

[0018] S1. First, install the winch on the lifting device on the ship, so that the lifting device can drive the winch and the retracting mechanism to move as a whole to align with the underwater unmanned vehicle, and then start the winch to release the first wire rope, so that the retracting mechanism as a whole can move downward to contact the underwater unmanned vehicle;

[0019] S2, after that, when the first support plate and the second support plate are in contact with the surface of the underwater unmanned vehicle at the same time, the first support plate and the second support plate are allowed to pass through the underwater unmanned vehicle through the elasticity of the first spring and the second spring, and then, when the first support plate and the second support plate pass through the underwater unmanned vehicle, the first support plate and the second support plate will be placed in a horizontal state again, and then, the winch can be started, and the first steel wire rope can pull the connecting base plate to move upward, so that the top ends of the first support plate and the second support plate will contact the bottom end of the underwater unmanned vehicle, so that the underwater unmanned vehicle can be supported to move out of the water surface;

[0020] S3. Finally, start the cylinder to drive the arc bracket to move downward, so that the arc bracket can press the underwater unmanned vehicle to be restricted on the four first support plates to prevent the underwater unmanned vehicle from falling when it is lifted. When the underwater unmanned vehicle is lifted onto the ship, the support tripod can contact the ground, and then start the cylinder to drive the arc bracket to move upward until the rack passes through the first gear, driving the reel to pull the second wire rope, so that the second support plate can be displaced upward, so that the second support plate can lift the underwater unmanned vehicle upward, and through the underwater unmanned vehicle contacting the roller, it is convenient for the user to flip the underwater unmanned vehicle for inspection or maintenance to complete the work.

[0021] The beneficial effects of the present invention include:

[0022] (1) When the supporting tripod of the present invention contacts the underwater unmanned vehicle, the supporting tripod can automatically fit with the outer periphery of the underwater unmanned vehicle, so that the first supporting plate can stably pass through the surface of the underwater unmanned vehicle. Then, when the first supporting plate passes the bottom end of the underwater unmanned vehicle, the cylinder will drive the arc bracket to move downward, so that the underwater unmanned vehicle can be restricted on the top of the first supporting plate to prevent the underwater unmanned vehicle from falling during lifting. Moreover, when the driving motor is started, the top plate can be driven to rotate as a whole, so that the supporting tripod can be accurately aligned with the underwater unmanned vehicle, and the underwater unmanned vehicle can be stably and accurately lifted.

[0023] (2) When the rack is driven by the cylinder to move upward to the extreme position, the second gear can be driven to rotate, so that the winding wheel can be moved upward by pulling the connecting wing plate through the second wire rope, so that the second support plate can contact the bottom end of the underwater unmanned vehicle, so that the second support plate can lift the underwater unmanned vehicle upward, and the underwater unmanned vehicle can be rotated on the roller by contacting the underwater unmanned vehicle through the roller, so that the user can inspect or repair the underwater unmanned vehicle and complete the work of synchronously supporting the underwater unmanned vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The present invention is further described below in conjunction with the accompanying drawings and embodiments.

[0025] Figure 1 It is a schematic diagram of the three-dimensional structure of the main body of the present invention from the front perspective.

[0026] Figure 2 It is a schematic diagram of the three-dimensional structure of the main body in the present invention from the bottom perspective.

[0027] Figure 3 It is a schematic diagram of the three-dimensional structure of the retractable mechanism in the present invention from a front perspective.

[0028] Figure 4 It is a schematic diagram of the three-dimensional structure of the positioning component in the present invention from a front perspective.

[0029] Figure 5 It is a schematic diagram of the three-dimensional structure of the alignment device in the present invention from a front perspective.

[0030] Figure 6 It is a partial cutaway schematic diagram of the supporting device in the present invention.

[0031] Figure 7 It is a schematic diagram of the three-dimensional structure of the lifting device in the present invention from the front perspective.

[0032] Figure 8 It is a schematic diagram of the three-dimensional structure from the front perspective of the second embodiment of the top plate of the present invention.

[0033] In the figure: 1-retracting and releasing mechanism, 2-first steel wire rope, 3-winding machine, 4-underwater unmanned vehicle, 5-positioning component, 6-lifting device, 7-positioning device, 8-supporting device, 9-first supporting plate, 10-first spring, 11-first pad, 12-supporting footrest, 13-guide vertical rod, 14-first gear, 15-connecting vertical frame, 16-connecting machine shaft, 17-supporting ring, 18-rack, 19-arc bracket, 20-air Cylinder, 21-top plate, 22-rotating disk, 23-driving motor, 24-connecting base plate, 25-rear end bracket, 26-connecting wing plate, 27-second steel wire rope, 28-winding wheel, 29-second gear, 30-worm, 31-worm wheel, 32-extension base plate, 33-front end bracket, 34-sliding sleeve plate, 35-roller, 36-second support plate, 37-second spring, 38-second pad, 39-camera, 40-extension top rod. DETAILED DESCRIPTION

[0034] The present invention is further described below in conjunction with the accompanying drawings.

[0035] Example 1

[0036] like Figure 1 , Figure 2 , Figure 3 and Figure 7As shown, an automatic retracting and releasing device and retracting and releasing method for an underwater unmanned vehicle of the present invention comprises a winch 3, two first steel wire ropes 2 are fixedly installed at the bottom end of the winch 3, a retracting and releasing mechanism 1 is fixedly installed at the bottom end of the first steel wire rope 2, an underwater unmanned vehicle 4 is placed inside the retracting and releasing mechanism 1, the retracting and releasing mechanism 1 comprises a positioning component 5 and a lifting device 6, the lifting device 6 is symmetrically fixedly installed at the top ends of both sides of the positioning component 5, the lifting device 6 comprises an extension base plate 32, a front end bracket 33, a worm 30 and a second gear 29, the extension base plate 32 is fixedly installed at the bottom end of the front end bracket 33, the worm 30 is rotatably installed on the side end of the front end bracket 33 close to the extension base plate 32, the second gear 29 is fixedly installed at one end of the worm 30 away from the front end bracket 33, the extension base plate 32 is close to the worm 30, and the extension base plate 32 is close to the worm 30. A worm gear 31 is rotatably mounted on the side end of 30, a winding wheel 28 is fixedly mounted on the side end of the worm gear 31 away from the extension base plate 32, a second steel wire rope 27 is fixedly mounted on the winding wheel 28, a connecting wing plate 26 is fixedly mounted on the bottom end of the second steel wire rope 27, a sliding sleeve plate 34 is fixedly mounted on the side end of the connecting wing plate 26 away from the second steel wire rope 27, a rear end bracket 25 is fixedly mounted on the bottom end of the connecting wing plate 26 away from the second steel wire rope 27, a second support plate 36 is rotatably mounted on the top of the side end of the rear end bracket 25 away from the connecting wing plate 26, a roller 35 is rotatably mounted on the top end of the second support plate 36, a second pad 38 is fixedly mounted on the side end of the rear end bracket 25 close to the second support plate 36, and a second spring 37 is fixedly mounted between the second pad 38 and the second support plate 36.

[0037] like Figure 4 The positioning component 5 includes a positioning device 7 and a supporting device 8. The positioning device 7 is fixedly installed at the four corners of the bottom end of the supporting device 8 to support the supporting device 8 to work.

[0038] like Figure 5 The alignment device 7 includes a connecting vertical frame 15, a guide vertical rod 13, a first gear 14 and a supporting frame 12. The supporting frame 12 is fixedly mounted at the bottom end of the connecting vertical frame 15. The guide vertical rod 13 is symmetrically fixedly mounted inside the connecting vertical frame 15. The first gear 14 is rotatably mounted on the top of the side end of the connecting vertical frame 15 close to the guide vertical rod 13. The side end of the supporting frame 12 away from the connecting vertical frame 15 is fixedly mounted with a first pad 11. The top of the side end of the supporting frame 12 close to the first pad 11 is rotatably mounted with a first supporting plate 9. A first spring 10 is fixedly mounted between the first supporting plate 9 and the first pad 11. Through the setting of the supporting frame 12, the underwater unmanned vehicle 4 can be supported to be placed on the deck;

[0039] When the first support plate 9 passes by the underwater unmanned vehicle 4 , the first support plate 9 is driven by the elasticity of the first spring 10 to move downward until it fits against the top of the first pad 11 .

[0040] like Figure 6The supporting device 8 includes a connecting base plate 24, a driving motor 23, a supporting collar 17 and a connecting shaft 16. The connecting shaft 16 is fixedly mounted at the bottom center of the driving motor 23. The driving motor 23 is fixedly mounted at the bottom center of the connecting base plate 24. The supporting collar 17 is fixedly mounted at the bottom end of the connecting base plate 24. A rotating disk 22 is fixedly mounted at the bottom end of the connecting shaft 16. A top plate 21 is fixedly mounted at the bottom end of the connecting shaft 16. A cylinder 20 is symmetrically fixedly mounted at the bottom end of the top plate 21. An arc bracket 19 is fixedly mounted at the bottom end of the cylinder 20. Racks 18 are fixedly mounted on both sides of the bottom of the arc bracket 19. The rotating disk 22 is rotatably mounted inside the supporting collar 17, so that the top plate 21 can be supported for rotation and adjustment.

[0041] When the rack 18 moves upward to be aligned with the first gear 14 , it can drive the first gear 14 and the second gear 29 to rotate simultaneously.

[0042] The bottom end of the first steel wire rope 2 is connected to the top of the connecting base plate 24, the connecting vertical frame 15 is fixedly installed at the four corners of the top plate 21, the sliding sleeve 34 is slidably sleeved on the guide vertical rod 13, the rotating disk 22 is rotatably installed inside the supporting ring 17, the extension base plate 32 is fixedly installed on the side end of the connecting vertical frame 15 close to the first gear 14, the worm 30 is meshed with the worm wheel 31, the second gear 29 is meshed with the first gear 14, and the side end of the rack 18 away from the arc bracket 19 is meshed with the first gear 14 close to the first support The outer circles of the support plates 9 are aligned, a plastic gasket is fixedly installed on the top of the inner wall of the arc bracket 19, the transmission ratio of the second gear 29 to the first gear 14 is 10:1, the end of the first support plate 9 close to the support tripod 12 is rotatably installed on the support tripod 12, the end of the second support plate 36 close to the connecting wing plate 26 is rotatably installed on the top of the rear end bracket 25, the side end of the support tripod 12 close to the first pad 11 is inclined at 45°, and the first pad 11 and the second pad 38 are both inclined at 45°.

[0043] The working principle of embodiment 1 is:

[0044] During use, when the underwater unmanned vehicle 4 floats on the water surface and needs to be recovered, the hoisting equipment installed on the ship is used by the winch 3, so that the hoisting equipment can drive the winch 3 to move to vertical alignment with the underwater unmanned vehicle 4 on the water surface. At this time, the connecting shaft 16 is driven to rotate by turning on the driving motor 23 until the first support plate 9 rotates to vertical alignment with the underwater unmanned vehicle 4, and then the winch 3 is started to release the first steel wire rope 2, so that the retractable mechanism 1 can move downward as a whole. Subsequently, when the bottom end of the supporting tripod 12 is wider, it is convenient for the supporting tripod 12 to move to dock with the underwater unmanned vehicle 4. Subsequently, when the supporting tripod 12 continues to move downward, the bottom ends of the first support plate 9 and the second support plate 36 can be aligned with the top of the underwater unmanned vehicle 4 The first support plate 9 and the second support plate 36 are in contact with each other at the ends, and the first support plate 9 and the second support plate 36 can be rotated upwards through the blocking of the underwater unmanned vehicle 4, so that the second support plate 36 and the first support plate 9 can pass through the underwater unmanned vehicle 4. When the first support plate 9 and the second support plate 36 pass through the underwater unmanned vehicle 4, the elasticity of the first spring 10 and the second spring 37 will drive the first support plate 9 and the second support plate 36 to rotate downwards until they contact with the top ends of the first pad 11 and the second pad 38, so that the first support plate 9 and the second support plate 36 can be placed in a horizontal posture. Subsequently, the cylinder 20 can be started to drive the circular arc bracket 19 to move downwards until the circular arc bracket 19 squeezes the underwater unmanned vehicle 4 and the first support plate 9 to be fastened, so that the underwater unmanned vehicle 4 can be restricted to four first The top of the support plate 9 is used to prevent the underwater unmanned vehicle 4 from falling when the supporting tripod 12 is lifted. Subsequently, the winch 3 can be started to reel in the first steel wire rope 2, so that the retracting mechanism 1 can move upward as a whole until the underwater unmanned vehicle 4 moves to a height higher than the hull deck, and the lifting equipment is started to move the underwater unmanned vehicle 4 to the deck. Subsequently, the winch 3 is started again to release the first steel wire rope 2 until the supporting tripod 12 contacts the deck surface, so that the underwater unmanned vehicle 4 can land smoothly. Subsequently, the cylinder 20 can be started to drive the arc bracket 19 to move upward, thereby releasing the underwater unmanned vehicle 4, and when the arc bracket 19 moves upward to half of the stroke, the rack 18 contacts the first gear 14. Therefore, when the subsequent arc bracket 19 is reset, the rack 18 can drive the first gear 14 to rotate. When the first gear 14 rotates, the second gear 29 can be driven to rotate. When the second gear 29 rotates, the worm gear 31 and the winding wheel 28 can be driven to rotate simultaneously through the worm 30, so that the winding wheel 28 can pull the connecting wing plate 26 to move upward through the second steel wire rope 27, and the sliding sleeve plate 34 is slidably sleeved on the guide vertical rod 13, so that the connecting wing plate 26 can be ensured to move upward in a straight line. At the same time, when the connecting wing plate 26 moves upward, it can drive the second support plate 36 to be lifted upward at the same time, so that the second support plate 36 can support the underwater unmanned vehicle 4 to move upward, and the support of the second pad plate 38 can prevent the second support plate 36 from rotating downward.The worm 30 and the worm wheel 31 are in contact with each other, and the worm 30 and the worm wheel 31 are in contact with each other, so that ... The wire rope 27, the second support plate 36 and the underwater unmanned vehicle 4 will move downward again, so that the underwater unmanned vehicle 4 can be placed on the first support plate 9 again. Then, when the underwater unmanned vehicle 4 needs to perform underwater navigation again, the cylinder 20 can be turned on to drive the arc bracket 19 to continue to move downward until the underwater unmanned vehicle 4 is restricted on the top of the first support plate 9 again, completing the restriction of the underwater unmanned vehicle 4. Then, the lifting equipment can be started to separate the underwater unmanned vehicle 4 from the deck as a whole until the underwater unmanned vehicle 4 is perpendicular to the sea surface, and then the winch 3 is turned on to release the first wire rope 2 until the underwater unmanned vehicle 4 contacts the water surface again, and then the cylinder 20 is turned on to drive the arc bracket 19 to disengage from the underwater unmanned vehicle 4. At this time, the underwater unmanned vehicle 4 can be started to move out from between the first support plate 9 and the arc bracket 19, and the work of releasing the underwater unmanned vehicle 4 again can be completed.

[0045] Example 2

[0046] On the basis of Example 1, Figure 8 As shown, the top plate 21 includes a camera 39 and an extending top rod 40 . The extending top rod 40 is fixedly mounted at both ends, and the camera 39 is fixedly mounted on the top end of the extending top rod 40 away from the top plate 21 .

[0047] When implementing this embodiment, the camera 39 is vertically aligned with the bottom center of the arc bracket 19, and the camera 39 is electrically connected to the display device on the ship, so that when the underwater unmanned vehicle 4 is hoisted, it is possible to observe through the camera 39 whether the arc bracket 19 is vertically aligned with the underwater unmanned vehicle 4, thereby greatly improving the accuracy of hoisting the underwater unmanned vehicle 4 and avoiding the phenomenon of misoperation.

[0048] Example 3

[0049] A method for automatically retracting and deploying an underwater unmanned vehicle comprises the following steps:

[0050] S1. First, the winch 3 is installed on the lifting device on the ship, so that the lifting device can drive the winch 3 and the retracting mechanism 1 to move as a whole to align with the underwater unmanned vehicle 4, and then the winch 3 is started to release the first steel wire rope 2, so that the retracting mechanism 1 can move downward as a whole to contact with the underwater unmanned vehicle 4;

[0051] S2, after that, when the first support plate 9 and the second support plate 36 are in contact with the surface of the underwater unmanned vehicle 4 at the same time, the first support plate 9 and the second support plate 36 are allowed to pass through the underwater unmanned vehicle 4 by the elasticity of the first spring 10 and the second spring 37, and then, when the first support plate 9 and the second support plate 36 pass through the underwater unmanned vehicle 4, the first support plate 9 and the second support plate 36 will be placed in a horizontal state again, and then, the winch 3 can be started, and the first steel wire rope 2 can pull the connecting base plate 24 to move upward, so that the top ends of the first support plate 9 and the second support plate 36 will contact with the bottom end of the underwater unmanned vehicle 4, so that the underwater unmanned vehicle 4 can be supported to move out of the water surface;

[0052] S3. Finally, start the cylinder 20 to drive the arc bracket 19 to move downward, so that the arc bracket 19 can press the underwater unmanned vehicle 4 to be restricted on the four first support plates 9 to prevent the underwater unmanned vehicle 4 from falling when it is lifted. When the underwater unmanned vehicle 4 is lifted onto the ship, the supporting tripod 12 can contact the ground, and then start the cylinder 20 to drive the arc bracket 19 to move upward until the rack 18 passes the first gear 14, driving the winding wheel 28 to pull the second wire rope 27, so that the second support plate 36 can be displaced upward, so that the second support plate 36 can lift the underwater unmanned vehicle 4 upward, and through the underwater unmanned vehicle 4 contacting the roller 35, it is convenient for the user to flip the underwater unmanned vehicle 4 for inspection or maintenance to complete the work.

Claims

1. An automatic retractable device for an underwater unmanned vehicle, comprising a winch (3), two first steel wire ropes (2) being symmetrically arranged at the bottom end of the winch (3), a retractable mechanism (1) being arranged at the bottom end of the first steel wire rope (2), an underwater unmanned vehicle (4) being placed inside the retractable mechanism (1), characterized in that: The retracting and releasing mechanism (1) comprises a positioning component (5) and a lifting device (6), wherein the positioning component (5) is used to limit the position of the underwater unmanned vehicle (4) when docking with the underwater unmanned vehicle (4); the lifting device (6) is symmetrically arranged at the top ends of both sides of the positioning component (5), and the lifting device (6) comprises an extension base plate (32), a front end bracket (33), a worm gear (30) and a second gear (29), wherein the extension base plate (32) is arranged at the bottom end of the front end bracket (33), the worm gear (30) is rotatably mounted on the side end of the front end bracket (33) close to the extension base plate (32), the second gear (29) is arranged at one end of the worm gear (30) away from the front end bracket (33), and a worm gear (31) is rotatably mounted on the side end of the extension base plate (32) close to the worm gear (30), and the worm gear (31) is away from the extension base plate ( A winding wheel (28) is arranged at the side end of the winding wheel (28), a second steel wire rope (27) is arranged on the winding wheel (28), a connecting wing plate (26) is arranged at the bottom end of the second steel wire rope (27), a sliding sleeve plate (34) is arranged at the side end of the connecting wing plate (26) away from the second steel wire rope (27), a rear end bracket (25) is arranged at the bottom end of the connecting wing plate (26) away from the second steel wire rope (27), a second support plate (36) is rotatably mounted on the top of the side end of the rear end bracket (25) away from the connecting wing plate (26), a roller (35) is rotatably mounted on the top end of the second support plate (36) equidistantly, a second pad (38) is arranged at the side end of the rear end bracket (25) close to the second support plate (36), and a second spring (37) is arranged between the second pad (38) and the second support plate (36).

2. The automatic retracting and deploying device and method for underwater unmanned vehicle according to claim 1, characterized in that: The positioning component (5) comprises a positioning device (7) and a supporting device (8), wherein the positioning device (7) is arranged at four corners of the bottom end of the supporting device (8), and the positioning device (7) is used to limit the position of the underwater unmanned vehicle (4) during docking.

3. The automatic retracting and launching device for an underwater unmanned vehicle according to claim 2, characterized in that: The alignment device (7) comprises a connecting vertical frame (15), a guide vertical rod (13), a first gear (14) and a supporting frame (12); the supporting frame (12) is arranged at the bottom end of the connecting vertical frame (15); the guide vertical rod (13) is symmetrically arranged inside the connecting vertical frame (15); the first gear (14) is rotatably mounted on the top of the side end of the connecting vertical frame (15) close to the guide vertical rod (13); the side end of the supporting frame (12) away from the connecting vertical frame (15) is provided with a first pad (11); the top of the side end of the supporting frame (12) close to the first pad (11) is rotatably mounted with a first supporting plate (9); and a first spring (10) is arranged between the first supporting plate (9) and the first pad (11); When the first support plate (9) passes the underwater unmanned vehicle (4), the elasticity of the first spring (10) can drive the first support plate (9) to move downward until it fits against the top end of the first pad (11).

4. The automatic retracting and launching device for an underwater unmanned vehicle according to claim 3, characterized in that: The supporting device (8) comprises a connecting base plate (24), a driving motor (23), a supporting collar (17) and a connecting shaft (16); the connecting shaft (16) is arranged at the bottom center of the driving motor (23); the driving motor (23) is arranged at the bottom center of the connecting base plate (24); the supporting collar (17) is arranged at the bottom end of the connecting base plate (24); a rotating disk (22) is arranged at the bottom end of the connecting shaft (16); a top plate (21) is arranged at the bottom end of the connecting shaft (16); a cylinder (20) is symmetrically arranged at the bottom end of the top plate (21); a circular arc bracket (19) is arranged at the bottom end of the cylinder (20); racks (18) are arranged on both sides of the bottom of the circular arc bracket (19); When the rack (18) moves upward to coincide with the first gear (14), it can drive the first gear (14) and the second gear (29) to rotate simultaneously.

5. The automatic retracting and launching device for an underwater unmanned vehicle according to claim 4, characterized in that: The bottom end of the first steel wire rope (2) is connected to the top end of the connecting base plate (24), the connecting vertical frame (15) is arranged at the four corners of the top plate (21), the sliding sleeve (34) is slidably sleeved on the guide vertical rod (13), the rotating disk (22) is rotatably installed inside the supporting ring (17), and the extending base plate (32) is arranged on the side end of the connecting vertical frame (15) close to the first gear (14).

6. The automatic retracting and deploying device and method for underwater unmanned vehicle according to claim 4, characterized in that: The worm (30) meshes with the worm wheel (31), the second gear (29) meshes with the first gear (14), and the side end of the rack (18) away from the arc bracket (19) is aligned with the outer ring of the first gear (14) close to the first support plate (9).

7. The automatic retracting and launching device for an underwater unmanned vehicle according to claim 4, characterized in that: The transmission ratio of the second gear (29) to the first gear (14) is 10:1, and one end of the first support plate (9) close to the support stand (12) is rotatably mounted on the support stand (12).

8. An automatic retracting and launching device for an underwater unmanned vehicle according to any one of claims 3 to 7, characterized in that: One end of the second support plate (36) close to the connecting wing plate (26) is rotatably mounted on the top of the rear end bracket (25); the side end of the support bracket (12) close to the first pad (11) is inclined at 45 degrees; and the first pad (11) and the second pad (38) are both inclined at 45 degrees.

9. An automatic retracting and launching device for an underwater unmanned vehicle according to any one of claims 4 to 7, characterized in that: The top plate (21) comprises a camera (39) and an extending top rod (40), wherein the extending top rod (40) is arranged on both ends of the top plate (21), and the camera (39) is arranged on the top end of the extending top rod (40) away from the top plate (21).

10. A method for automatically releasing and retracting an underwater unmanned vehicle, using an automatic releasing and retracting device for an underwater unmanned vehicle as claimed in any one of claims 1 to 9, characterized in that: The following steps are involved: S1, firstly install the winch (3) on the lifting device on the ship, and the lifting device drives the winch (3) and the retracting and releasing mechanism (1) to move as a whole until they are aligned with the underwater unmanned vehicle (4), and then start the winch (3), release the first steel wire rope (2), and the retracting and releasing mechanism (1) moves downward as a whole until it contacts the underwater unmanned vehicle (4); S2, when the first support plate (9) and the second support plate (36) are in contact with the surface of the underwater unmanned vehicle (4) at the same time, the first support plate (9) and the second support plate (36) are allowed to pass through the underwater unmanned vehicle (4) through the elasticity of the first spring (10) and the second spring (37), and then, when the first support plate (9) and the second support plate (36) pass through the underwater unmanned vehicle (4), the first support plate (9) and the second support plate (36) can be placed in a horizontal state again, and then, the winch (3) is started, and the first steel wire rope (2) can pull the connecting base plate (24) to move upward, so that the top ends of the first support plate (9) and the second support plate (36) can contact the bottom end of the underwater unmanned vehicle (4), supporting the underwater unmanned vehicle (4) to move out of the water surface; S3, the cylinder (20) is turned on to drive the circular arc bracket (19) to move downward, so that the circular arc bracket (19) can press and limit the underwater unmanned vehicle (4) on the four first support plates (9) to prevent the underwater unmanned vehicle (4) from falling when it is lifted. When the underwater unmanned vehicle (4) is lifted onto the ship, the support bracket (12) can contact the ground, and then the cylinder (20) is started to drive the circular arc bracket (19) to move upward until the rack (18) passes the first gear (14), driving the reel (28) to pull the second steel wire rope (27), so that the second support plate (36) moves upward, so that the second support plate (36) lifts the underwater unmanned vehicle (4) upward, and the underwater unmanned vehicle (4) contacts the roller (35), so that the user can turn over the underwater unmanned vehicle (4) for inspection or maintenance to complete the work.

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