Sea surface auxiliary laying and recovery device for unmanned ship

Abstract

The invention discloses a sea surface auxiliary laying and recovery device for an unmanned ship. The sea surface auxiliary laying and recovery device comprises a mother ship side mounting base, an unmanned ship side mounting base and a buffer damping swing arm assembly. The buffer damping swing arm assembly comprises a longitudinal damping mechanism and a transverse damping mechanism; the longitudinal damping mechanism is configured to be stretched when the unmanned ship is far away from the side board of the mother ship to generate damping force to slow down the far-away movement trend, and is compressed when the unmanned ship is close to the side board of the mother ship to generate damping force to slow down the close-to movement trend; the transverse damping mechanism is configured in the mode that when the unmanned ship moves forwards relative to the mother ship, the first side of the transverse damping mechanism is compressed, the second side of the transverse damping mechanism is stretched, damping force is generated to slow down the forward movement trend, and when the unmanned ship moves backwards relative to the mother ship, the first side of the transverse damping mechanism is stretched, the second side of the transverse damping mechanism is compressed, damping force is generated to slow down the backward movement trend. When the method is used for launching and recovery operation, the transverse and longitudinal displacement variation of the unmanned ship is greatly reduced, and the safety and success rate of launching and recovery are effectively improved.

Description

Technical Field

[0001] This invention relates to the field of unmanned surface vessel (USV) design technology, and in particular to a sea-based auxiliary deployment and recovery device for USVs. Background Technology

[0002] Currently, traditional unmanned surface vessel (USV) deployment at sea typically involves using a mother ship's onboard crane to lower the USV into the water. During this process, the USV is unrestrained. However, during ocean deployment, the mother ship is constantly swaying due to external environmental factors such as waves, which drastically reduces the safety of the USV deployment and affects the success rate of the operation. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a surface-assisted deployment and recovery device for unmanned surface vessels (USVs) to enable safe deployment and recovery of USVs in complex sea conditions.

[0004] The technical solution of this invention is: a surface-assisted deployment and recovery device for unmanned surface vessels, comprising: A mounting base is installed on the side of the mother ship for fixed connection to the mother ship deck; The unmanned surface vessel (USV) is mounted on a side base for secure connection to the USV frame. The buffer damping swing arm assembly has its upper end hinged to the side mounting base of the unmanned surface vessel and its lower end hinged to the side mounting base of the mother ship. The buffer damping swing arm assembly includes a longitudinal damping mechanism and a lateral damping mechanism. The longitudinal damping mechanism is configured such that when the unmanned surface vessel moves away from the side of the mother ship, it is stretched to generate a damping force to slow down the tendency to move away; and when the unmanned surface vessel moves closer to the side of the mother ship, it is compressed to generate a damping force to slow down the tendency to move closer. The lateral damping mechanism is configured such that when the unmanned surface vessel moves forward relative to the mother ship, the first side of the lateral damping mechanism is compressed and the second side is stretched, generating a damping force to slow down the forward movement trend; when the unmanned surface vessel moves backward relative to the mother ship, the first side of the lateral damping mechanism is stretched and the second side is compressed, generating a damping force to slow down the backward movement trend.

[0005] Furthermore, it also includes: the longitudinal damping mechanism is composed of two longitudinal damping rods, and the transverse damping mechanism is composed of two transverse damping rods and a transverse connecting arm; Two longitudinal damping rods are set in parallel, with their upper ends hinged to the mounting base on the side of the unmanned surface vessel via upper hinges, and their lower ends hinged to the mounting base on the side of the mother ship via lower hinges. The two ends of the transverse connecting arm are respectively hinged to the rods of two longitudinal damping rods; one end of the two transverse damping rods is hinged to the crossbeam between the lower hinges, and the other end is hinged to the hinge point between the transverse connecting arm and the longitudinal damping rod.

[0006] Furthermore, the longitudinal damping rod includes a damping cylinder, and an upper damping rod arm and a lower damping rod arm that are telescopically disposed within the damping cylinder; the damping cylinder is configured to extend and retract only along its axis and not rotate about its axis.

[0007] Furthermore, the two ends of the transverse connecting arm are hinged to the lower arms of the two longitudinal damping rods.

[0008] Furthermore, the static length of the longitudinal damping rod is 3~10m, and the stroke of the damping cylinder is ±300~1000mm.

[0009] Furthermore, it also includes an unmanned surface vessel (USV) lifting frame and slings, with the USV lifting frame connected to the USV frame via symmetrically arranged slings.

[0010] Furthermore, the device has an inward-folding state and an outward-folding state; When in the inverted state, the outer side of the unmanned surface vessel frame is 800-1000mm away from the hull of the mother ship, so that the unmanned surface vessel can stay on the deck of the mother ship; When the unmanned vessel is tilted outwards, the bottom of the unmanned vessel frame is 4000-5000mm vertically from the deck surface of the mother ship to ensure adaptability to mother ships with a set hull height.

[0011] This invention also relates to a method for deploying and recovering unmanned surface vessels (USVs), using the aforementioned USV surface-assisted deployment and recovery device, comprising the following steps: The unmanned surface vessel (USV) is connected to the USV frame via slings and a USV lifting frame. The unmanned surface vessel (USV) lifting frame is lifted by the mother ship's crane, so that the USV and the USV's surface-assisted deployment and recovery device are changed from an inward-turned state to an outward-turned state and suspended outside the mother ship's side. During the deployment or recovery of the unmanned surface vessel (USV), the longitudinal damping mechanism and the transverse damping mechanism mitigate the attitude sway of the USV caused by the relative motion between the mother ship and the USV due to changes in sea conditions.

[0012] The present invention also relates to an unmanned surface vessel (USV) deployment and recovery system, comprising a mother ship, an USV, and a USV-assisted deployment and recovery device for the USV; the mother ship-side mounting base of the USV-assisted deployment and recovery device is fixedly connected to the deck of the mother ship, and the USV-side mounting base is fixedly connected to the USV frame of the USV.

[0013] The advantages of this invention compared to the prior art are: (1) The present invention provides damping force through damping cylinder, which greatly reduces the lateral and longitudinal displacement of the unmanned surface vessel when it is deployed and recovered by the mother ship, thereby improving the safety and success rate of the unmanned surface vessel mother ship hoisting, deployment and recovery.

[0014] (2) By selecting the corresponding frame specifications, the present invention can achieve adaptability to various unmanned boats and expand the scope of equipment availability. Attached Figure Description

[0015] Figure 1 This is an exploded view of the overall structure provided in an embodiment of the present invention; Figure 2 This is a general assembly drawing provided for an embodiment of the present invention; Figure 3 This is a schematic diagram of the deployment state of the unmanned surface vessel provided in an embodiment of the present invention; Figure 4 This is a schematic diagram of the unmanned surface vessel recovery status provided in an embodiment of the present invention. Detailed Implementation

[0016] To better understand the technical solution of the present invention, the specific embodiments of the present invention are described below.

[0017] See Figure 1 and Figure 2 As shown, the unmanned surface vessel (USV) surface-assisted deployment and recovery device includes an USV lifting frame 1, a lifting strap 2, a USV frame 3, a USV side mounting base 4, a mother ship side mounting base 10, and a buffer damping swing arm assembly. The buffer damping swing arm assembly includes: an upper hinge 5, a longitudinal damping rod 6, a transverse connecting arm 7, a transverse damping rod 8, and a lower hinge 9. The upper end of the buffer damping swing arm assembly is hinged to the USV side mounting base 4, and the lower end is hinged to the mother ship side mounting base 10. The longitudinal damping rod 6 includes an upper damping rod arm 61, a damping cylinder 62, and a lower damping rod arm 63. The damping cylinder 62 can only extend and retract along its axis and cannot rotate around its axis.

[0018] The mother ship side mounting base 10 is made of 20mm thick angle steel and is fixed to the mother ship deck 11 by welding to enhance the local structural strength of the mounting point. The upper shaft hole of the mother ship side mounting base 10 is hinged to the lower mounting hole of the lower hinge 9 by a pin. The upper mounting hole of the lower hinge 9 is hinged to the lower mounting hole of the longitudinal damping rod 6 by a pin. The left and right mounting holes of the transverse connecting arm 7 are respectively hinged to the mounting holes on the lower arm 63 of the damping rod by pins. The mounting holes at both ends of the two transverse damping rods 8 are respectively hinged to the mounting holes on the lower hinge 9 and the transverse connecting arm 7 by pins. The lower mounting hole of the upper hinge 5 is hinged to the upper mounting hole of the longitudinal damping rod 6 by a pin. The upper mounting hole of the upper hinge 5 is hinged to the shaft hole on the unmanned surface vessel side mounting base 4 by a pin. The unmanned surface vessel side mounting base 4 is fixed to the unmanned surface vessel frame 3 by welding. The sling 2 is connected to the unmanned surface vessel frame 3 and the unmanned surface vessel lifting frame 1 by shackles. The mother ship crane hooks the unmanned surface vessel lifting frame 1 to provide the driving force for lifting the unmanned surface vessel.

[0019] When the surface-assisted deployment and recovery mechanism is in operation, the relative position of the unmanned surface vessel (USV) to the USV changes due to sea conditions. When the USV moves away from the side of the USV, the longitudinal damping rod 6 is stretched, generating a damping force to slow down the tendency to move away. When the USV moves closer to the side of the USV, the longitudinal damping rod 6 is compressed, generating a damping force to slow down the tendency to move closer. When the USV moves forward relative to the side of the USV, the lateral damping rod 8 is compressed on one side and stretched on the other, generating a damping force to slow down the tendency to move forward. When the USV moves backward relative to the side of the USV, the lateral damping rod 8 is stretched on one side and compressed on the other, generating a damping force to slow down the tendency to move backward. Ultimately, this reduces the swaying of the USV during the deployment, recovery, and hoisting process.

[0020] The longitudinal damping rod has a static length of 4.2m, and the damping cylinder has a stroke of ±400mm. The damping cylinder can achieve a length adjustment range of 800mm, which can ensure the safety of hoisting over a wide range.

[0021] See Figure 3 As shown, when the unmanned surface vessel (USV) auxiliary deployment and recovery device is flipped inward, it can be placed on the deck of the mother ship. The outer side of the USV frame 3 is 800mm away from the side of the mother ship, which can provide a place for the USV to stay when the mother ship is sailing.

[0022] See Figure 4 As shown, when the unmanned surface vessel (USV) auxiliary deployment and recovery device is tilted outward, the bottom of the USV frame 3 is 4000mm vertically from the deck surface of the mother ship, which can achieve adaptability to mother ships with a certain hull height.

[0023] It is understood that this invention has been described through embodiments, and those skilled in the art will recognize that various changes or equivalent substitutions can be made to these features and embodiments without departing from the spirit and scope of this invention. Contents not described in detail in this specification are well-known to those skilled in the art.

Claims

1. A surface-assisted deployment and recovery device for unmanned surface vessels, characterized in that, include: A mounting base (10) is installed on the side of the mother ship for fixed connection to the mother ship deck (11). The unmanned surface vessel is mounted on a side base (4) for fixed connection to the unmanned surface vessel frame (3). The upper end of the buffer damping swing arm assembly is hinged to the side mounting base (4) of the unmanned vessel, and the lower end is hinged to the side mounting base (10) of the mother ship. The buffer damping swing arm assembly includes a longitudinal damping mechanism and a lateral damping mechanism. The longitudinal damping mechanism is configured such that when the unmanned surface vessel moves away from the side of the mother ship, it is stretched to generate a damping force to slow down the tendency to move away; and when the unmanned surface vessel moves closer to the side of the mother ship, it is compressed to generate a damping force to slow down the tendency to move closer. The lateral damping mechanism is configured such that when the unmanned surface vessel moves forward relative to the mother ship, the first side of the lateral damping mechanism is compressed and the second side is stretched, generating a damping force to slow down the forward movement trend; when the unmanned surface vessel moves backward relative to the mother ship, the first side of the lateral damping mechanism is stretched and the second side is compressed, generating a damping force to slow down the backward movement trend.

2. The unmanned surface vessel (USV) surface-assisted deployment and recovery device according to claim 1, characterized in that, Also includes: The longitudinal damping mechanism consists of two longitudinal damping rods (6), and the transverse damping mechanism consists of two transverse damping rods (8) and a transverse connecting arm (7). Two longitudinal damping rods (6) are set in parallel. The upper ends are respectively hinged to the unmanned surface vessel side mounting base (4) by the upper hinge (5), and the lower ends are respectively hinged to the mother ship side mounting base (10) by the lower hinge (9). The two ends of the transverse connecting arm (7) are respectively hinged to the rods of the two longitudinal damping rods (6); one end of the two transverse damping rods (8) is hinged to the crossbeam between the lower hinges (9), and the other end is hinged to the hinge point between the transverse connecting arm (7) and the longitudinal damping rod (6).

3. The unmanned surface vessel (USV) surface-assisted deployment and recovery device according to claim 2, characterized in that: The longitudinal damping rod (6) includes a damping cylinder (62), and a damping rod upper arm (61) and a damping rod lower arm (63) telescopically disposed within the damping cylinder (62); the damping cylinder (62) is configured to extend and retract only along its axis and not rotate about its axis.

4. The unmanned surface vessel (USV) surface-assisted deployment and recovery device according to claim 3, characterized in that: The two ends of the transverse connecting arm (7) are hinged to the lower arms (63) of the two longitudinal damping rods (6).

5. The unmanned surface vessel (USV) surface-assisted deployment and recovery device according to claim 3, characterized in that: The static length of the longitudinal damping rod (6) is 3~10m, and the stroke of the damping cylinder (62) is ±300~1000mm.

6. The unmanned surface vessel (USV) surface-assisted deployment and recovery device according to claim 1, characterized in that: It also includes an unmanned surface vessel (USV) lifting frame (1) and slings (2), with the USV lifting frame (1) connected to the USV frame (3) by symmetrically arranged slings (2).

7. The unmanned surface vessel (USV) surface-assisted deployment and recovery device according to claim 1, characterized in that: The device has an inward flipping state and an outward flipping state; When in the inverted state, the outer side of the unmanned boat frame (3) is 800~1000mm away from the side of the mother ship, so that the unmanned boat can stay on the deck of the mother ship; When the unmanned boat frame (3) is in the outward tilted state, the bottom of the unmanned boat frame (3) is 4000~5000mm away from the deck surface of the mother ship in the vertical direction, so as to achieve the adaptability to the mother ship with the set hull height.

8. A method for deploying and recovering unmanned surface vessels, characterized in that: The method of using the unmanned surface vessel-assisted deployment and recovery device according to any one of claims 1 to 7 includes the following steps: The unmanned surface vessel (USV) is connected to the USV frame (3) via a sling (2) and an USV lifting frame (1). The unmanned surface vessel (USV) lifting frame (1) is lifted by the mother ship crane, so that the USV and the USV using the sea surface-assisted deployment and recovery device change from an inward-turned state to an outward-turned state and are suspended outside the side of the mother ship; During the deployment or recovery of the unmanned surface vessel (USV), the longitudinal damping mechanism and the transverse damping mechanism mitigate the attitude sway of the USV caused by the relative motion between the mother ship and the USV due to changes in sea conditions.

9. An unmanned surface vessel deployment and recovery system, characterized in that: It includes a mother ship, an unmanned surface vessel (USV), and a surface-assisted deployment and recovery device for USVs as described in any one of claims 1 to 7; the mother ship side mounting base (10) of the surface-assisted deployment and recovery device for USVs is fixedly connected to the deck (11) of the mother ship, and its USV side mounting base (4) is fixedly connected to the USV frame (3) of the USV.

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