A waterborne submersible vehicle capture device and method of operation thereof

Abstract

The present application relates to a kind of water download manned submersible capture device and its working method, water download manned submersible capture device includes scissor lift, support base, arc-shaped support structure and locking hoop structure, the support base is fixedly installed at the top of scissor lift, the inner and outer surfaces of the arc-shaped support structure are arc surface, the outer surface of the arc-shaped support structure is slidably connected to the upper portion of support base, the inner surface of the arc-shaped support structure is used to place water download manned submersible, the locking hoop structure is rotatably connected to arc-shaped support structure, locking hoop structure is substantially swung under the action of driving structure, for locking or releasing water download manned submersible. By setting gear mechanism, the arc-shaped support structure is slidably connected to support base, the arc-shaped support structure can be rolled around its axis, water download manned submersible capture device has the freedom of roll, thereby solve the problem of water download manned submersible landing attitude not in the middle.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of underwater special devices, in particular to a water downloading manned submersible capturing device and a working method thereof. BACKGROUND

[0002] At present, the water downloading manned submersible is generally laid and recovered by a water surface ship hoist, due to large sea surface wind and waves, hooking and cabling recovery operations are not easy to deploy, the recovery time is long, and the operation efficiency is low.

[0003] In view of the above problems, the existing technology designs a recovery capturing device for capturing the water downloading manned submersible, and a corresponding docking locking mechanism is also arranged on the water downloading manned submersible to cooperate with the recovery capturing device. On the one hand, the recovery capturing device is generally fixed outside the underwater operation platform, which has a negative impact on the sailing speed of the underwater operation platform; on the other hand, the docking locking mechanism arranged outside the water downloading manned submersible increases the complexity of the structure of the water downloading manned submersible.

[0004] In addition, the current recovery capturing device cannot adjust its own angle when capturing the water downloading manned submersible, and the water downloading manned submersible will have the problem of incorrect posture when falling into position.

[0005] Therefore, it is urgent to design a water downloading manned submersible capturing device and a working method thereof to solve the above problems of the prior art. SUMMARY

[0006] Therefore, the present application provides a water downloading manned submersible capturing device and a working method thereof, which aims to make the capturing device be carried in the interior of the underwater operation platform and have a certain degree of freedom through structural design, so as to realize safe and efficient recovery of the water downloading manned submersible.

[0007] In order to achieve the above purpose, the present application adopts the following technical scheme:

[0008] A water downloading manned submersible capturing device, comprising a scissor lift, a support base, an arc-shaped supporting structure and a locking clamp structure, the support base is fixedly installed on the top of the scissor lift, the inner and outer surfaces of the arc-shaped supporting structure are arc surfaces, the outer surface of the arc-shaped supporting structure is slidingly connected to the upper part of the support base, the inner surface of the arc-shaped supporting structure is used for placing the water downloading manned submersible, the locking clamp structure is provided with four, two by two symmetrically arranged at the four corners of the arc-shaped supporting structure, the locking clamp structure is rotatably connected to the arc-shaped supporting structure, and the locking clamp structure swings greatly under the action of a driving structure and is used for locking or releasing the water downloading manned submersible.

[0009] Furthermore, the arc-shaped support structure is slidably connected to the upper part of the support base via a gear mechanism. The gear mechanism includes a driving gear and a supporting gear ring, which mesh with each other. The supporting gear ring is an arc-shaped structure with the same arc length as the arc-shaped support structure and is fixedly positioned at the center of the outer surface of the arc-shaped support structure along the arc length direction. There are two driving gears, symmetrically installed on the support base. Two hydraulic motors are also installed on the support base to drive the two driving gears to rotate, thereby causing the arc-shaped support structure to roll around its axis.

[0010] Furthermore, the outer surface of the arc-shaped support structure is symmetrically provided with several support wheels along the support tooth ring, and the support base is symmetrically provided with two arc-shaped grooves along the support tooth ring. The support wheels slide and roll in the arc-shaped grooves, and the arc-shaped grooves are used to limit the maximum sliding range of the support wheels.

[0011] Furthermore, each locking clamp structure corresponds to a driving mechanism, which is installed on the outer surface of the arc-shaped support structure;

[0012] The drive mechanism includes a crank-rocker mechanism and an underwater high-pressure cylinder. The cylinder body of the underwater high-pressure cylinder is connected to the arc-shaped support structure by a pin and can rotate along the pin. The piston rod head of the underwater high-pressure cylinder is rotatably connected to the crank-rocker mechanism.

[0013] Furthermore, the crank-rocker mechanism includes a crank and a connecting rod. One end of the crank is connected to the outer surface of the arc-shaped support structure via a pin, and the other end of the crank is connected to one end of the connecting rod via a pin. The other end of the connecting rod is connected to one end of the locking clamp structure via a pin. The locking clamp structure is connected to the outer surface of the arc-shaped support structure via a pin near the connecting rod.

[0014] Furthermore, the piston rod head of the underwater high-pressure cylinder is connected to the crankshaft via a pin. The underwater high-pressure cylinder drives the crankshaft to rotate, which in turn drives the connecting rod to move, thereby driving the locking clamp structure to swing.

[0015] Furthermore, the scissor lift is driven by two hydraulic cylinders to achieve the vertical movement of the underwater manned submersible capture device.

[0016] The present invention also provides a working method based on the above-mentioned underwater manned submersible capture device, the working method being as follows:

[0017] 1) The underwater work platform carries the underwater manned submersible capture device to the designated recovery location, and the underwater manned submersible arrives near the underwater work platform according to the instructions;

[0018] 2) The underwater work platform opens the front and rear covers of the guide fairing, and the scissor lift rises from inside the underwater work platform. After reaching the capture height, the underwater high-pressure oil cylinder drives the crank rocker mechanism, thereby unfolding the four locking clamp structures.

[0019] 3) Under the navigator's control, the underwater manned submersible slowly sails to above the underwater manned submersible capture device, and then descends to the capture height and hovers.

[0020] 4) Control the four locking clamp structures to move synchronously, and the underwater high-pressure oil cylinder drives the crank rocker mechanism again, so that the four locking clamp structures slowly clamp the underwater manned submersible;

[0021] 5) Control the two hydraulic motors to drive the gear mechanism so that the arc-shaped support structure carries the underwater manned submersible to rotate along its axis to the centering angle, ensuring that the underwater manned submersible is aligned with the underwater work platform;

[0022] 6) Control the scissor lift to descend, lower the underwater manned submersible into position and store it inside the mother ship's fairing, close the front and rear fairing covers, and then the underwater work platform carries the underwater manned submersible back to port.

[0023] Compared with the prior art, the beneficial effects of the present invention are:

[0024] (1) By adopting a scissor lift structure, the underwater manned submersible capture device can move up and down. On the one hand, it can be used to adjust the capture height. On the other hand, the underwater manned submersible capture device is fixedly installed inside the underwater work platform. When the scissor lift is in the compressed state, the underwater manned submersible capture device is lowered into the underwater work platform's fairing, which solves the problem of the underwater manned submersible capture device being fixed outside the mother ship, allowing it to maintain its shape when not docked. When docked, the underwater manned submersible capture device can be raised through the scissor lift. After capture and locking, it can be lowered through the scissor lift to carry the underwater manned submersible down into the fairing, achieving the concealed return of the underwater manned submersible while effectively reducing the negative impact on the speed of the underwater work platform.

[0025] (2) By setting up a liftable scissor lift structure and a locking clamp structure that can swing significantly, the difficulty of initial connection between the underwater manned submersible and the underwater work platform is reduced; by setting up a gear mechanism to make the arc-shaped support structure slide and connect with the support base, the arc-shaped support structure can roll around its axis, and the underwater manned submersible capture device has the freedom of roll, thus solving the problem of misalignment when the underwater manned submersible is positioned; by setting up a locking clamp structure to clamp the underwater manned submersible and achieve capture locking, the external docking locking mechanism on the underwater manned submersible is avoided. On the one hand, the complexity of the underwater manned submersible structure is reduced, and on the other hand, the applicability of the underwater manned submersible capture device is improved, which can be used to capture different types of underwater manned submersibles.

[0026] Other features and advantages of the invention will be set forth in the following description, and will be apparent in part from the description, or may be learned by practicing the invention. The objects and other advantages of the invention can be realized and obtained by means of the structures pointed out in the description and the drawings. Attached Figure Description

[0027] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0028] Figure 1 A three-dimensional structural schematic diagram of the underwater manned submersible capture device according to an embodiment of the present invention is shown;

[0029] Figure 2 A left view of the underwater manned submersible capture device according to an embodiment of the present invention is shown;

[0030] Figure 3 A schematic diagram of the locking clamp structure in the unfolded state according to an embodiment of the present invention is shown;

[0031] Figure 4 A schematic diagram of the locking clamp structure in a clamped state according to an embodiment of the present invention is shown.

[0032] In the diagram: 1. Scissor lift; 2. Support base; 3. Arc-shaped support structure; 4. Locking clamp structure; 5. Support wheel; 6. Crank rocker mechanism; 7. Underwater high-pressure cylinder; 8. Support gear ring; 9. Drive gear; 10. Hydraulic motor. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0034] This invention provides an underwater manned submersible capture device, as shown in the attached figure. Figures 1-4 As shown, the system includes a scissor lift 1, a support base 2, an arc-shaped support structure 3, and a locking clamp structure 4. The support base 2 is fixedly installed on the top of the scissor lift 1. The inner and outer surfaces of the arc-shaped support structure 3 are both arc surfaces. The outer surface of the arc-shaped support structure 3 is slidably connected to the upper part of the support base 2. The inner surface of the arc-shaped support structure 3 is used to place the underwater manned submersible. There are four locking clamp structures 4, which are symmetrically arranged in pairs at the four corners of the arc-shaped support structure 3. The locking clamp structures 4 are connected to the arc-shaped support structure 3 by pins. The locking clamp structures 4 swing significantly under the action of the drive structure to lock or release the underwater manned submersible.

[0035] The scissor lift 1 is driven by two hydraulic cylinders to lift and lower, enabling the underwater manned submersible capture device to move up and down. The scissor lift 1 serves as the installation foundation for the underwater manned submersible capture device, featuring a robust structure, large load capacity, and smooth lifting.

[0036] The arc-shaped support structure 3 is slidably connected to the upper part of the support base 2 via a gear mechanism. The gear mechanism includes a driving gear 9 and a supporting gear ring 8. The driving gear 9 and the supporting gear ring 8 mesh. The supporting gear ring 8 is an arc-shaped structure with the same arc length as the arc-shaped support structure 3. It is fixedly located at the center of the outer surface of the arc-shaped support structure 3 along the arc length direction. There are two driving gears 9, which are symmetrically installed on the support base 2. Two hydraulic motors 10 are also installed on the support base 2, which drive the two driving gears 9 to rotate, thereby causing the arc-shaped support structure 3 to roll around its axis.

[0037] The outer surface of the arc-shaped support structure 3 is symmetrically provided with several support wheels 5 along the support gear ring 8. The support base 2 is symmetrically provided with two arc-shaped grooves along the support gear ring 8. The support wheels 5 slide and roll within the arc-shaped grooves. The arc-shaped grooves are used to limit the maximum sliding range of the support wheels 5, thereby limiting the maximum roll angle of the arc-shaped support structure 3 and preventing the gear mechanism from failing to mesh due to excessive roll. That is, the support wheels 5 are important parts that limit the relative position between the arc-shaped support structure 3 and the support base 2, and can prevent the drive gear 9 and the support gear ring 8 from disengaging from the meshing area due to excessive rotation of the arc-shaped support structure 3.

[0038] Each locking clamp structure 4 corresponds to a driving mechanism, which is installed on the outer surface of the arc-shaped support structure 3.

[0039] The drive mechanism includes a crank-rocker mechanism 6 and an underwater high-pressure cylinder 7. The cylinder body of the underwater high-pressure cylinder 7 is connected to the arc-shaped support structure 3 by a pin and can rotate along the pin. The piston rod head of the underwater high-pressure cylinder 7 is rotatably connected to the crank-rocker mechanism 6.

[0040] The crank-rocker mechanism 6 includes a crank and a connecting rod. One end of the crank is connected to the outer surface of the arc-shaped support structure 3 by a pin, and the other end of the crank is connected to one end of the connecting rod by a pin. The other end of the connecting rod is connected to one end of the locking clamp structure 4 by a pin. The locking clamp structure 4 is connected to the outer surface of the arc-shaped support structure 3 by a pin near the connecting rod.

[0041] The piston rod head of the underwater high-pressure cylinder 7 is connected to the crank via a pin. The underwater high-pressure cylinder 7 drives the crank to rotate, which in turn drives the connecting rod to move, thereby driving the locking clamp structure 4 to swing.

[0042] The underwater high-pressure cylinder 7 is a typical hydraulic actuator with pressure resistance and corrosion resistance. It can convert hydraulic energy into mechanical energy and perform linear reciprocating motion or oscillating motion.

[0043] This invention also proposes a working method based on the above-mentioned underwater manned submersible capture device, the working method being as follows:

[0044] 1) The underwater work platform carries the underwater manned submersible capture device to the designated recovery location, and the underwater manned submersible arrives near the underwater work platform according to the instructions;

[0045] 2) The underwater work platform opens the front and rear covers of the guide fairing, and the scissor lift 1 rises from inside the underwater work platform. After reaching the capture height, the underwater high-pressure oil cylinder 7 drives the crank rocker mechanism 6, thereby unfolding all four locking clamp structures 4.

[0046] 3) Under the navigator's control, the underwater manned submersible slowly sails to above the underwater manned submersible capture device, and then descends to the capture height and hovers.

[0047] 4) Control the four locking clamp structures 4 to move synchronously, and the underwater high-pressure oil cylinder 7 drives the crank rocker mechanism 6 again, so that the four locking clamp structures 4 slowly clamp the underwater manned submersible.

[0048] 5) Control the two hydraulic motors 10 to drive the gear mechanism so that the arc-shaped support structure 3 carries the underwater manned submersible to rotate along its axis to the centering angle, ensuring that the underwater manned submersible is aligned with the underwater work platform;

[0049] 6) Control the scissor lift 1 to descend, lower the underwater manned submersible into position and store it inside the mother ship's fairing, close the front and rear fairing covers, and then the underwater work platform carries the underwater manned submersible back to port.

[0050] The reverse of the above working method is the underwater manned submersible release process.

[0051] By employing a scissor lift structure, the underwater manned submersible (MWD) capture device can move vertically. This allows for adjusting the capture height and also enables the MWD capture device to be fixedly installed within the underwater work platform. When the scissor lift is in a compressed state, the MWD capture device is lowered into the platform's fairing, resolving the issue of the capture device being fixed externally to the mother ship and allowing it to maintain its shape during non-docked navigation. During docking, the MWD capture device can be raised via the scissor lift, and after capture and locking, it can be lowered via the scissor lift to bring the MWD down into the fairing. This allows for a stealthy return of the MWD while effectively minimizing the negative impact on the underwater work platform's speed.

[0052] By incorporating a liftable scissor lift structure and a locking clamp structure capable of significant swing, the initial connection between the underwater manned submersible and the underwater work platform is simplified. A gear mechanism allows the arc-shaped support structure to slide against the support base, enabling the arc-shaped support structure to roll around its axis. This provides the underwater manned submersible capture device with roll freedom, thus resolving the issue of misalignment during submersible landing. The locking clamp structure clamps the underwater manned submersible, achieving capture and locking, eliminating the need for an external docking and locking mechanism on the submersible. This reduces the complexity of the submersible structure and enhances the applicability of the capture device, making it suitable for capturing different types of underwater manned submersibles.

[0053] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device for capturing underwater manned submersibles, characterized in that, The system includes a scissor lift (1), a support base (2), an arc-shaped support structure (3), and a locking clamp structure (4). The support base (2) is fixedly installed on the top of the scissor lift (1). The inner and outer surfaces of the arc-shaped support structure (3) are both arc surfaces. The outer surface of the arc-shaped support structure (3) is slidably connected to the upper part of the support base (2). The inner surface of the arc-shaped support structure (3) is used to place the underwater manned submersible. There are four locking clamp structures (4), which are symmetrically arranged in pairs at the four corners of the arc-shaped support structure (3). The locking clamp structure (4) is rotatably connected to the arc-shaped support structure (3). The locking clamp structure (4) swings significantly under the action of the drive mechanism to lock or release the underwater manned submersible.

2. The underwater manned submersible capture device as described in claim 1, characterized in that, The arc-shaped support structure (3) is slidably connected to the upper part of the support base (2) through a gear mechanism. The gear mechanism includes a drive gear (9) and a support gear ring (8). The drive gear (9) and the support gear ring (8) mesh. The support gear ring (8) is an arc-shaped structure. The support gear ring (8) has the same arc length as the arc-shaped support structure (3) and is fixedly set at the center position of the outer surface of the arc-shaped support structure (3) along the arc length direction. There are two drive gears (9), which are symmetrically installed on the support base (2). Two hydraulic motors (10) are also installed on the support base (2) to drive the two drive gears (9) to rotate, thereby causing the arc-shaped support structure (3) to roll around its axis.

3. The underwater manned submersible capture device as described in claim 2, characterized in that, The outer surface of the arc-shaped support structure (3) is symmetrically provided with several support wheels (5) along the support tooth ring (8). The support base (2) is symmetrically provided with two arc-shaped grooves along the support tooth ring (8). The support wheels (5) slide and roll in the arc-shaped grooves. The arc-shaped grooves are used to limit the maximum sliding range of the support wheels (5).

4. The underwater manned submersible capture device as described in claim 2, characterized in that, Each locking clamp structure (4) corresponds to a driving mechanism, which is installed on the outer surface of the arc-shaped support structure (3); The drive mechanism includes a crank rocker mechanism (6) and an underwater high-pressure cylinder (7). The cylinder body of the underwater high-pressure cylinder (7) is connected to the arc-shaped support structure (3) by a pin and can rotate along the pin. The piston rod head of the underwater high-pressure cylinder (7) is rotatably connected to the crank rocker mechanism (6).

5. The underwater manned submersible capture device as described in claim 4, characterized in that, The crank rocker mechanism (6) includes a crank and a connecting rod. One end of the crank is connected to the outer surface of the arc-shaped support structure (3) by a pin. The other end of the crank is connected to one end of the connecting rod by a pin. The other end of the connecting rod is connected to one end of the locking clamp structure (4) by a pin. The locking clamp structure (4) is connected to the outer surface of the arc-shaped support structure (3) by a pin near the connecting rod.

6. The underwater manned submersible capture device as described in claim 5, characterized in that, The piston rod head of the underwater high-pressure cylinder (7) is connected to the crank via a pin. The underwater high-pressure cylinder (7) drives the crank to rotate, which in turn drives the connecting rod to move, thereby driving the locking clamp structure (4) to swing.

7. The underwater manned submersible capture device as described in claim 1, characterized in that, The scissor lift (1) is driven by two hydraulic cylinders to lift and move the underwater manned submersible capture device up and down.

8. A method for operating the underwater manned submersible capture device according to any one of claims 1-7, characterized in that, The specific working method is as follows: 1) The underwater work platform carries the underwater manned submersible capture device to the designated recovery location, and the underwater manned submersible arrives near the underwater work platform according to the instructions; 2) The underwater work platform opens the front and rear covers of the guide fairing, and the scissor lift (1) rises from inside the underwater work platform. After reaching the capture height, the underwater high-pressure oil cylinder (7) drives the crank rocker mechanism (6), thereby unfolding the four locking clamp structures (4). 3) Under the navigator's control, the underwater manned submersible slowly sails to above the underwater manned submersible capture device, and then descends to the capture height and hovers. 4) Control the four locking clamp structures (4) to move synchronously, and the underwater high-pressure oil cylinder (7) drives the crank rocker mechanism (6) again, so that the four locking clamp structures (4) slowly clamp the underwater manned submersible; 5) Control the two hydraulic motors (10) to drive the gear mechanism so that the arc-shaped support structure (3) carries the underwater submersible to rotate along its axis to the centering angle, ensuring that the underwater submersible is aligned with the underwater work platform; 6) Control the scissor lift (1) to descend, lower the underwater manned submersible into the underwater work platform's guide fairing for storage, close the front and rear covers of the guide fairing, and then the underwater work platform carries the underwater manned submersible back to port.

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