Shipborne underwater target launching and recovering device and launching and recovering method thereof

Abstract

The application discloses a ship-mounted underwater target collecting and releasing device and a collecting and releasing method thereof. The ship-mounted underwater target collecting and releasing device comprises a guide rail mechanism, a clamping mechanism and a traction mechanism. The clamping mechanism is slidably connected with the guide rail mechanism. The clamping mechanism comprises a supporting frame and a plurality of clamping assemblies. The plurality of clamping assemblies are arranged at intervals on the supporting frame. The clamping assemblies and the supporting frame surround to form a clamping position. The clamping position is configured to clamp an underwater target. The traction end of the traction mechanism is connected with the clamping mechanism. The traction mechanism is configured to exert a pulling force on the clamping mechanism, so that the supporting frame is arranged horizontally. The application can reduce the sway deviation generated in the underwater target collecting and releasing process, avoid the hard impact of the underwater target with the ship body and the ship-mounted bearing platform during the spatial displacement process, ensure the operation performance and service life of the underwater target, reduce the personnel safety hidden danger caused by the violent impact, and improve the safety and engineering progress of the marine exploration operation.

Description

Technical Field

[0001] This application relates to the field of marine exploration equipment technology, and in particular to a shipborne underwater target deployment and retrieval device and its deployment and retrieval method. Background Technology

[0002] Due to the surge in demand for marine resource development, underwater targets are becoming increasingly larger, such as autonomous underwater robots and seabed static cone penetrometers. These underwater targets are usually transported to the work site by offshore engineering vessels, anchored and positioned, and then lowered to the designated seabed area by the ship's onboard launching and recovering mechanism to carry out seabed exploration operations. After the exploration task is completed, the underwater targets are lifted and recovered again by the ship's onboard launching and recovering mechanism and placed on the carrying platform of the offshore engineering vessel.

[0003] However, during offshore operations, the vessel is subject to irregular rolling, pitching, and heave movements caused by waves and currents. The underwater target will sway and shift during both the lowering and recovery phases. During the spatial displacement, the underwater target is prone to hard collisions with the ship's hull or onboard platform. Minor collisions will cause functional failures such as deformation and damage to the underwater target's shell, internal sensing components, and mechanical actuators. Severe collisions will directly endanger the personal safety of deck workers and affect operational safety and project progress. Summary of the Invention

[0004] This application aims to at least solve one of the aforementioned technical problems existing in the prior art. Therefore, the purpose of this application is to provide a shipborne underwater target deployment and retrieval device that can reduce swaying and displacement during the deployment and retrieval of underwater targets, prevent hard collisions between underwater targets and the ship's hull or shipborne support platform during spatial displacement, ensure the operational performance and service life of underwater targets, reduce personnel safety hazards caused by severe impacts, and improve the safety and progress of marine exploration operations.

[0005] This application also proposes a method for launching and recovering underwater targets based on the above-mentioned shipborne underwater target launching and recovering device.

[0006] The shipborne underwater target launching and recovering device according to a first aspect embodiment of this application includes: Guide rail mechanism; A clamping mechanism is slidably connected to the guide rail mechanism. The clamping mechanism includes a support frame and a plurality of clamping components. The plurality of clamping components are spaced apart on the support frame. The clamping components and the support frame surround a clamping position, which is configured to clamp an underwater target. A traction mechanism, the traction end of which is connected to the clamping mechanism, is configured to apply a pulling force to the clamping mechanism to make the support frame horizontally positioned.

[0007] The shipborne underwater target deployment and retrieval device according to the embodiments of this application has at least the following beneficial effects: a plurality of clamping components are spaced apart on the support frame, and the clamping components and the support frame form a clamping position. The clamping position can limit and clamp the underwater target. At the same time, the traction mechanism can apply a pulling force to the clamping mechanism to make the support frame horizontally set, so that the underwater target remains horizontally set during the movement of the support frame. This makes the underwater target maintain a stable attitude during the process of being lowered into the water and retrieved from the water, reduces the swaying and displacement of the underwater target during deployment and retrieval, avoids hard collisions between the underwater target and the ship hull and the shipborne support platform during spatial displacement, ensures the operational performance and service life of the underwater target, reduces the personnel safety hazards caused by violent collisions, and improves the safety and progress of marine exploration operations.

[0008] According to some embodiments of this application, the clamping assembly includes two clamping members and two first driving members, with the two clamping members symmetrically hinged to the support frame along the axial direction of the support frame; The fixed end of the first driving member is hinged to the corresponding support frame, and the driving end of the first driving member is hinged to the corresponding clamping member. The first driving member is configured to drive the corresponding clamping member to rotate so that the two clamping members move closer to or further away from each other.

[0009] According to some embodiments of this application, the clamping member is provided with a buffer member configured to abut against the underwater target.

[0010] According to some embodiments of this application, the support frame is provided with a plurality of positioning blocks, which are configured to limit the underwater target.

[0011] According to some embodiments of this application, the guide rail mechanism includes a fixed guide rail, a flip guide rail, and a second driving member. The fixed guide rail is hinged to the flip guide rail, the fixed end of the second driving member is hinged to the fixed guide rail, and the driving end of the second driving member is hinged to the flip guide rail. The second driving member is configured to drive the flip guide rail to rotate.

[0012] According to some embodiments of this application, the clamping mechanism further includes a movable member, the support frame includes a first end and a second end disposed opposite to each other, the movable member is hinged to the first end of the support frame, the movable member is configured to drive the support frame to slide along the guide rail mechanism, and the second end of the support frame is connected to the traction end of the traction mechanism.

[0013] According to some embodiments of this application, the guide rail mechanism is provided with a slide rail, and the moving member is provided with a first roller, the first roller being slidably connected to the slide rail.

[0014] According to some embodiments of this application, the bottom of the support frame is provided with a second roller, which is slidably connected to the slide rail.

[0015] According to some embodiments of this application, the traction mechanism includes a support frame, a winch, and a traction cable. The support frame is provided with a pulley, which is located above the guide rail mechanism. The traction cable is wound around the winch, and one end of the traction cable passes around the pulley and is connected to the second end of the support frame.

[0016] According to some embodiments of this application, the second end of the support frame is provided with two connecting parts, and the two connecting parts are symmetrically arranged on both sides of the support frame along the axial direction of the support frame, and the traction cable is connected to the connecting parts.

[0017] According to some embodiments of this application, the support frame includes a main frame, the main frame includes a horizontal bar and two vertical bars, the two ends of the horizontal bar are respectively connected to the top of the corresponding vertical bar, and the pulley is disposed on the horizontal bar.

[0018] According to some embodiments of this application, the support frame further includes two bases, and the bottom of the vertical rod is hinged to the corresponding base; The traction mechanism further includes a third driving member, the driving end of which is hinged to the crossbar, and the third driving member is configured to drive the main frame to rotate.

[0019] The launching and recovering method according to the second aspect of this application, and the shipborne underwater target launching and recovering device based on the first aspect of this application, include the following steps: The underwater target is clamped in the clamping position of the clamping mechanism; The clamping mechanism is driven to slide along the guide rail mechanism outwards from the hull of the offshore vessel, and the traction mechanism applies a pulling force to the clamping mechanism to make the support frame horizontally positioned; The clamping mechanism slides along the guide rail mechanism to a preset position, and the clamping component releases the underwater target. Manipulate the underwater target to detach from the clamping mechanism.

[0020] The deployment and retrieval method according to the embodiments of this application has at least the following beneficial effects: the underwater target is clamped and fixed by the clamping mechanism, and the movement path of the clamping mechanism is constrained by the guide rail mechanism, so that the underwater target moves along a predetermined trajectory during deployment and retrieval. At the same time, the traction mechanism applies a pulling force to the clamping mechanism to ensure that the support frame is set horizontally, reduce the swaying and displacement generated during the deployment and retrieval of the underwater target, avoid the underwater target from having a hard impact with the ship hull and ship-borne support platform during spatial displacement, ensure the operational performance and service life of the underwater target, reduce the personnel safety hazards caused by violent impacts, and improve the safety and progress of marine exploration operations.

[0021] According to some embodiments of this application, the traction mechanism applies a pulling force to the clamping mechanism to make the support bracket horizontally positioned, including: The main control mechanism of the shipborne underwater target deployment and retrieval device controls the traction cable of the traction mechanism to maintain a constant tension, and the traction mechanism deploys and retrieves the traction cable as the support frame moves. When the second end of the support frame is located outside the hull of the offshore vessel, the main control mechanism calculates the length of the support frame extending outside the hull of the offshore vessel, and automatically calculates the required tension applied to the clamping mechanism and the length of the traction cable. Based on the required tension and the cable length, the traction mechanism is controlled to release or retract the traction cable to keep the support frame horizontal.

[0022] According to some embodiments of this application, the clamping mechanism slides along the guide rail mechanism to a preset position, including: When the first end of the support bracket slides to the flipping guide rail of the guide rail mechanism, the second driving member of the guide rail mechanism drives the flipping guide rail to rotate by a preset angle, and the traction mechanism applies the required pulling force to the clamping mechanism so that the support bracket is kept horizontal.

[0023] Additional aspects and advantages of this application will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of this application. Attached Figure Description

[0024] The present application will be further described below with reference to the accompanying drawings and embodiments, wherein: Figure 1 This is one of the structural schematic diagrams of the shipborne underwater target deployment and retrieval device according to an embodiment of this application; Figure 2 This is the second schematic diagram of the structure of the shipborne underwater target deployment and retrieval device according to an embodiment of this application; Figure 3 This is the third schematic diagram of the structure of the shipborne underwater target deployment and retrieval device according to an embodiment of this application; Figure 4 This is the fourth schematic diagram of the structure of the shipborne underwater target deployment and retrieval device according to an embodiment of this application; Figure 5 This is the fifth schematic diagram of the structure of the shipborne underwater target deployment and retrieval device according to an embodiment of this application; Figure 6 This is the sixth schematic diagram of the structure of the shipborne underwater target deployment and retrieval device according to an embodiment of this application; Figure 7 This is the seventh schematic diagram of the structure of the shipborne underwater target deployment and retrieval device according to an embodiment of this application; Figure 8 This is the eighth schematic diagram of the structure of the shipborne underwater target deployment and retrieval device according to an embodiment of this application; Figure 9 This is the ninth structural schematic diagram of the shipborne underwater target deployment and retrieval device according to an embodiment of this application; Figure 10 This is a schematic diagram of the clamping mechanism in an embodiment of this application; Figure 11 for Figure 10 Enlarged view of section A; Figure 12 This is a schematic diagram of the guide rail mechanism according to an embodiment of this application; Figure 13 for Figure 12 Enlarged view of section B; Figure 14 This is a partial structural schematic diagram of the traction mechanism in an embodiment of this application.

[0025] Reference numerals: 100, guide rail mechanism; 110, fixed guide rail; 120, flip guide rail; 130, second driving component; 140, slide rail; 200. Clamping mechanism; 210. Support frame; 211. Connecting part; 220. Clamping assembly; 221. Clamping component; 222. First driving component; 223. Buffer component; 224. Positioning block; 2241. Positioning groove; 2242. Inclined surface; 225. Moving component; 300. Traction mechanism; 310. Support frame; 311. Main frame; 3111. Horizontal bar; 3112. Vertical bar; 312. Base; 320. Winch; 330. Traction cable; 340. Pulley; 350. Third drive component; 351. Connector; 352. First support hydraulic cylinder; 353. Second support hydraulic cylinder; 400. Pumping station; 500. Offshore engineering vessels; 600. Underwater targets; 700. Main control organization. Detailed Implementation

[0026] The embodiments of this application are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain this application, and should not be construed as limiting this application.

[0027] In the description of this application, it should be understood that the orientation descriptions, such as up, down, front, back, left, right, etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0028] In the description of this application, "several" means one or more, "multiple" means two or more, "greater than," "less than," and "exceeding" are understood to exclude the stated number, while "above," "below," and "within" are understood to include the stated number. The use of "first" and "second" in the description is merely for distinguishing technical features and should not be construed as indicating or implying relative importance, or implicitly indicating the number of indicated technical features, or implicitly indicating the order of the indicated technical features.

[0029] In the description of this application, unless otherwise expressly defined, terms such as "setup," "installation," and "connection" should be interpreted broadly, and those skilled in the art can reasonably determine the specific meaning of the above terms in this application in conjunction with the specific content of the technical solution.

[0030] In the description of this application, the terms "one embodiment," "some embodiments," "illustrative embodiment," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0031] Reference Figure 1 , Figure 3 , Figure 10 and Figure 11The first aspect of this application provides a shipborne underwater target deployment and retrieval device, including a guide rail mechanism 100, a clamping mechanism 200, and a traction mechanism 300. The clamping mechanism 200 is slidably connected to the guide rail mechanism 100. The clamping mechanism 200 includes a support frame 210 and a plurality of clamping components 220. The plurality of clamping components 220 are spaced apart on the support frame 210, and the clamping components 220 and the support frame 210 surround to form a clamping position, which is configured to clamp an underwater target 600. The traction end of the traction mechanism 300 is connected to the clamping mechanism 200, and the traction mechanism 300 is configured to apply a pulling force to the clamping mechanism 200 so that the support frame 210 is horizontally positioned.

[0032] Specifically, several clamping components 220 are spaced apart on the support frame 210, forming a clamping position with the support frame 210. The clamping position can limit and clamp the underwater target 600. At the same time, the traction mechanism 300 can apply a pulling force to the clamping mechanism 200 to keep the support frame 210 horizontal. This keeps the underwater target 600 horizontal during the movement of the support frame 210, thus keeping the underwater target 600 stable during the underwater deployment and retrieval process. This reduces the swaying and displacement of the underwater target 600 during deployment and retrieval, and avoids hard collisions between the underwater target 600 and the ship's hull or ship-borne support platform during spatial displacement. This ensures the operational performance and service life of the underwater target 600, reduces personnel safety hazards caused by violent collisions, and improves the safety and progress of marine exploration operations.

[0033] Reference Figure 1 , Figure 3 , Figure 10 and Figure 11In some embodiments, the clamping assembly 220 includes two clamping members 221 and two first driving members 222. Along the axial direction of the support frame 210, the two clamping members 221 are symmetrically hinged to the support frame 210. The fixed end of the first driving member 222 is hinged to the corresponding support frame 210, and the driving end of the first driving member 222 is hinged to the corresponding clamping member 221. The first driving member 222 is configured to drive the corresponding clamping member 221 to rotate, so that the two clamping members 221 move closer to or further away from each other. Specifically, the telescopic driving action of the first driving member 222 drives the corresponding clamping member 221 to rotate around the hinge point, realizing the movement of the two clamping members 221 moving closer to each other or further away from each other. This allows for adaptive adjustment of the clamping distance based on the external dimensions of the underwater target 600, adapting to the clamping and fixing requirements of underwater targets 600 of different specifications. Furthermore, along the moving direction of the clamping assembly 220, the two clamping members 221 are symmetrically hinged to the support frame 210, ensuring that the clamping actions of the two clamping members 221 are synchronized. This allows the clamping force of the clamping members 221 on the underwater target 600 to be evenly distributed on both sides of the underwater target 600, improving the clamping tightness of the underwater target 600 and preventing attitude deflection or sliding deviation due to uneven force during the deployment and retraction of the underwater target 600. In addition, the first driving member 222 can be set as a hydraulic cylinder. Of course, in actual design, the structure of the first driving member 222 can be designed according to actual needs.

[0034] Reference Figure 1 , Figure 3 , Figure 10 and Figure 11 In some embodiments, the clamping member 221 is provided with a buffer member 223, which is configured to abut against the underwater target 600. Specifically, the buffer member 223 is made of rubber. During the clamping and fixing of the underwater target 600 by the clamping assembly 220, the elastic buffering and flexible fitting characteristics of the rubber material itself can absorb the rigid extrusion force generated at the moment of clamping and locking, avoiding shell extrusion wear, local dents or pressure damage to the internal precision sensing structure caused by direct contact between the rigid clamping structure and the underwater target 600. At the same time, when the hull sways slightly due to wind and waves on the sea surface and the underwater target 600 vibrates slightly, it can buffer and offset the high-frequency friction and impact vibration between the underwater target 600 and the clamping member 221, reduce the structural wear and vibration impact of the underwater target 600 during operation, and improve the tightness of the clamping contact position of the underwater target 600.

[0035] Reference Figure 1 , Figure 3 , Figure 10 and Figure 11In some embodiments, the support frame 210 is provided with multiple positioning blocks 224, which are configured to limit the underwater target 600. Specifically, the positioning blocks 224 are provided with positioning grooves 2241, and at least a portion of the underwater target 600 is disposed within the positioning grooves 2241. This allows for limiting and constraining the bottom and circumferential positions of the underwater target 600 during the clamping and fixing operation. Together with the clamping assembly 220, this forms a vertical and circumferential limiting structure, thereby restricting horizontal movement, radial deflection, and vertical swaying of the underwater target 600 on the surface of the support frame 210. Furthermore, the positioning grooves 2241 enable rapid alignment and placement of the underwater target 600, reducing the difficulty of detector placement and alignment, and improving assembly efficiency. Additionally, the multiple positioning blocks 224 can distribute the load-bearing pressure on the underwater target 600, ensuring the stability of its placement.

[0036] Reference Figure 1 , Figure 3 , Figure 10 and Figure 11 In some embodiments, along the moving direction of the clamping assembly 220, the opposite side walls of the positioning groove 2241 are set as inclined surfaces 2242. The inclined surfaces 2242 slope from the top of the positioning block 224 towards the bottom. When the underwater target 600 is placed into the positioning groove 2241, the inclined surfaces 2242 form a guide and closing structure. If there is a small alignment deviation during the lowering and placement of the underwater target 600, the inclined surfaces 2242 can generate a lateral guiding force on the underwater target 600, automatically guiding the underwater target 600 to slide into the central area of ​​the positioning groove 2241 to complete the alignment. This reduces the number of manual steps to adjust the placement of the detector and lowers the difficulty of aligning and placing the underwater target 600 in a swaying marine environment.

[0037] Reference Figure 2 , Figure 3 , Figure 6 , Figures 9 to 13In some embodiments, the guide rail mechanism 100 includes a fixed guide rail 110, a flipping guide rail 120, and a second driving member 130. The fixed guide rail 110 is hinged to the flipping guide rail 120, the fixed end of the second driving member 130 is hinged to the fixed guide rail 110, and the driving end of the second driving member 130 is hinged to the flipping guide rail 120. The second driving member 130 is configured to drive the flipping guide rail 120 to rotate. Specifically, the fixed guide rail 110 is disposed on the main deck of the offshore vessel 500, and the fixed guide rail 110 is hinged to the flipping guide rail 120. The flipping guide rail 120 is located on the outer side of the offshore vessel 500. When the underwater target 600 is not deployed, the flipping guide rail 120 is arranged parallel to the fixed guide rail 110, so that the clamping mechanism 200 can clamp the underwater target 600 and complete the translational transport along the fixed guide rail 110 in the deck area. When the clamping mechanism 200 moves one end close to the fixed guide rail 110 to the fixed guide rail 110 and the flipping guide rail 120, the flipping guide rail 120 is driven to rotate. After the rail 120 is engaged, the second drive component 130 drives the tilting guide rail 120 to rotate 90° around its hinge point with the fixed guide rail 110, providing a deployment path for the clamping mechanism 200 to deploy the underwater target 600 to the deep-sea area outside the ship. Simultaneously, as the clamping mechanism 200 moves along the tilting guide rail 120, the traction mechanism 300 applies tension to the clamping mechanism 200 to maintain the horizontal deployment of the support frame 210, facilitating the deployment of the underwater target 600 to the preset deployment point on the outer side of the offshore vessel 500. Furthermore, the second drive component 130 can be configured as a hydraulic cylinder; however, in actual design, the structure of the second drive component 130 can be designed according to specific needs.

[0038] In other embodiments, the second driving member 130 may be configured to drive the flipping guide rail 120 to rotate 60°, 70°, 80°, etc. around the hinge point between it and the fixed guide rail 110. In actual design, the angle at which the second driving member 130 drives the flipping guide rail 120 to rotate around the hinge point between it and the fixed guide rail 110 can be designed according to actual needs.

[0039] It should be noted that the Offshore Engineering Vessel 500 is designed as an offshore work vessel with dynamic positioning capabilities.

[0040] Reference Figure 2 , Figure 3 , Figures 9 to 13In some embodiments, the clamping mechanism 200 further includes a movable member 225. The support frame 210 includes a first end and a second end disposed opposite to each other. The movable member 225 is hinged to the first end of the support frame 210. The movable member 225 is configured to drive the support frame 210 to slide along the guide rail mechanism 100. The second end of the support frame 210 is connected to the traction end of the traction mechanism 300. Specifically, the movement of the support frame 210 along the guide rail mechanism 100 is achieved by the movable member 225. The second end of the support frame 210 away from the movable member 225 is connected to the traction end of the traction mechanism 300. The traction mechanism 300 can apply a pulling force to the second end of the support frame 210 to ensure that the support frame 210 remains horizontal during movement. In addition, the movable part 225 is hinged to the first end of the support 210, which can adapt to the spatial attitude change after the rotation of the flip guide rail 120. This ensures that the support 210 can smoothly move in both the fixed guide rail 110 and the flip guide rail 120 while holding the underwater target 600. This prevents the support 210 from overturning or tilting during movement, constrains the movement trajectory of the underwater target 600, and reduces the probability of the detector colliding with the ship's structure.

[0041] Reference Figure 2 , Figure 3 , Figures 9 to 13 In some embodiments, the guide rail mechanism 100 is provided with a slide rail 140, and the moving member 225 is provided with a first roller, which is slidably connected to the slide rail 140. Specifically, by replacing traditional sliding friction with rolling friction between the first roller and the slide rail 140, the movement resistance during the movement of the moving member 225 along the guide rail mechanism 100, carrying the support frame 210 and the underwater target 600, can be reduced, improving the overall stability of the clamping mechanism 200's movement and preventing jamming or jerking during the movement. At the same time, the sliding cooperation between the first roller and the slide rail 140 can limit the movement trajectory of the moving member 225, restricting the horizontal and vertical offset and swaying of the clamping mechanism 200. Together with the tension constraint of the traction mechanism 300, this ensures the horizontal attitude of the support frame 210, thereby ensuring the smooth operation of the underwater target 600 during the movement and transportation process, and avoiding attitude deviation and structural collision problems of the underwater target 600 caused by jamming and swaying.

[0042] In some embodiments, the movable member 225 is equipped with a first hydraulic power component, which drives the movable member 225 to move along the slide rail 140 of the guide rail mechanism 100. Furthermore, the first hydraulic power component can be a hydraulic motor; of course, in actual design, the structure of the first hydraulic power component can be designed according to actual needs.

[0043] In some embodiments, the movable component 225 is also equipped with a displacement sensor. Specifically, the displacement sensor on the movable component 225 can collect the position data of the movable component 225 moving along the slide rail 140 in real time, thereby feeding back the real-time travel coordinates of the clamping mechanism 200. The operator can control the start and stop timing and travel distance of the traction trolley through the values ​​transmitted by the displacement sensor, realize the fixed-point delivery control of the clamping mechanism 200, and facilitate the matching of the rotation node of the flipping guide rail 120 with the preset position of the underwater target 600, avoiding positional deviations caused by manual visual judgment.

[0044] In some embodiments, a second roller is provided at the bottom of the support frame 210, and the second roller is slidably connected to the slide rail 140. Specifically, the second roller at the bottom of the support frame 210 cooperates with the first roller at the moving part 225. The second roller and the first roller move synchronously along the slide rail 140, which can constrain the overall movement trajectory of the support frame 210, distribute the load applied to the slide rail 140 when the support frame 210 carries the underwater target 600, and avoid deformation or jamming failure of a single second roller or first roller due to long-term pressure. In addition, the rolling contact between the second roller and the slide rail 140 can reduce the frictional resistance when the support frame 210 slides, ensuring that the clamping mechanism 200 can move smoothly during the switching passage phase between the fixed guide rail 110 and the flip guide rail 120.

[0045] Reference Figure 5 , Figure 6 , Figures 9 to 13 It should be noted that when the flipping guide rail 120 rotates 90° and its axis is set perpendicular to the axis of the fixed guide rail 110, the support frame 210 is set horizontally. At this time, the second roller does not contact the slide rail 140 of the flipping guide rail 120, and the first roller slides along the slide rail 140 of the flipping guide rail 120, which facilitates the placement of the underwater target 600 to the preset placement point on the outside of the offshore vessel 500.

[0046] Reference Figure 2 , Figure 3 , Figure 14In some embodiments, the traction mechanism 300 includes a support frame 310, a winch 320, and a traction cable 330. The support frame 310 is equipped with a pulley 340, which is located above the guide rail mechanism 100. The traction cable 330 is wound around the winch 320, and one end of the traction cable 330 passes around the pulley 340 and connects to the second end of the support frame 210. Specifically, the traction mechanism 300 uses the support frame 310 to erect the pulley 340 at a high position, so that the pulley 340 is suspended in the area above the guide rail mechanism 100. This, together with the traction cable 330 wound around the winch 320, forms a high-position guiding traction structure. After the traction cable 330 is reversed by the pulley 340, it is connected to the second end of the support frame 210. The tension of the traction cable 330 is adjusted and output through the winding and unwinding power of the winch 320. In addition, the pulley 340 ensures that the traction cable 330 always maintains a regular traction force direction, avoiding friction interference, entanglement and jamming between the traction cable 330 and surrounding structures such as the guide rail and clamping mechanism 200, and ensuring that traction force is applied to the end of the support frame 210.

[0047] Reference Figure 2 , Figure 3 , Figure 10 and Figure 11 In some embodiments, the second end of the support frame 210 is provided with two connecting parts 211. Along the axial direction of the support frame 210, the two connecting parts 211 are symmetrically arranged on both sides of the support frame 210. The traction cable 330 is connected to the connecting parts 211, which can evenly distribute the tension output by the traction mechanism 300 to the left and right sides of the end of the support frame 210, avoiding the unilateral load moment caused by single-point traction. In addition, the symmetrical arrangement of the two connecting parts 211 can disperse the local load at the connection position between the traction cable 330 and the support frame 210, reduce the risk of structural deformation caused by stress concentration at the end of the support frame 210, improve the structural durability of the connection position between the support frame 210 and the traction cable 330, and the even application of traction force to both sides of the support frame 210 can also simultaneously constrain the circumferential sway of the underwater target 600, ensuring that the underwater target 600 moves along the guide rail mechanism 100 with a regular trajectory, reducing the probability of hard collision between the detector and the hull and guide rail components. In addition, the traction cable 330 can also be connected to the portion between the middle and the second end of the support frame 210. In actual design, the connection position between the traction cable 330 and the support frame 210 can be designed according to actual needs. Furthermore, a single traction cable 330 can be used to pull the support frame 210, or multiple traction cables 330 can be used to pull the support frame 210 separately. In actual design, the number of traction cables 330 can be designed according to actual needs.

[0048] In some embodiments, the winch 320 is configured as a winch for winding and unwinding the traction cable 330, thereby providing tension to the clamping mechanism 200. Specifically, the winch 320 includes a second hydraulic power component and a drum. The drive end of the second hydraulic power component is connected to the drum, and the second hydraulic power component is configured to drive the drum to rotate, thereby winding or unwinding the traction cable 330, and thus providing traction tension to the clamping mechanism 200 to ensure the horizontal deployment of the underwater target 600. Furthermore, the second hydraulic power component can be configured as a hydraulic motor; of course, in actual design, the structure of the second hydraulic power component can be designed according to actual needs.

[0049] In some embodiments, the winch 320 also includes a cable length sensor, which can detect the length of the traction cable 330 in real time and provide real-time feedback on the release stroke data of the drum traction cable 330. This, together with the position information of the clamping mechanism 200 collected by the displacement sensor, forms a dual data monitoring system. This system can match the tension of the traction cable 330 with the movement position of the clamping mechanism 200, thereby achieving dynamic control of the traction force. This avoids slack swaying caused by excessive release of the traction cable 330 or overload stress caused by excessive winding, thus maintaining the horizontal posture of the support frame 210 and avoiding problems such as tilting of the support frame 210 and attitude deviation of the underwater target 600 caused by deviation in the cable length control of the traction cable 330.

[0050] In some embodiments, the winch 320 also includes a tension sensor, and the traction cable 330 is a steel cable. The tension sensor can monitor the real-time tension value of the steel cable during operation, realizing dynamic acquisition and real-time feedback of the traction force. Combined with the high strength, high toughness, and tensile deformation resistance of the steel cable itself, it can maintain structural dimensional stability while bearing the weight of the underwater target 600 and the additional loads from sea waves, making it less prone to slack and stretching, thus ensuring the accuracy and reliability of traction power transmission. In addition, through the monitoring data of the tension sensor, the output power of the second hydraulic power component and the drum winding speed can be adjusted in real time to perform closed-loop adaptive adjustment of the steel cable tension. This promptly eliminates problems such as steel cable overload wear and structural fatigue caused by excessive tension, and steel cable slack and instability of the support frame 210 caused by insufficient tension, preventing the underwater target 600 from swaying and deviating.

[0051] Reference Figure 2 , Figure 3 , Figure 14In some embodiments, the support frame 310 includes a main frame 311, which includes a horizontal bar 3111 and two vertical bars 3112. The two ends of the horizontal bar 3111 are respectively connected to the top of the corresponding vertical bars 3112, and a pulley 340 is disposed on the horizontal bar 3111. Specifically, the two vertical bars 3112 provide vertical support to the two ends of the horizontal bar 3111, which can distribute the vertical load transmitted to the support frame 310 by the pulley 340, the traction cable 330 and the underwater target 600, and avoid bending deformation of the bars caused by single-point load bearing. In addition, the horizontal bar 3111 spans above the guide rail mechanism 100, which can provide a central high-level reversing point for the traction cable 330, so that the traction force of the traction cable 330 acting on the two connecting parts 211 on both sides of the support frame 210 remains symmetrical and balanced, and prevents the support frame 210 from tilting laterally due to unilateral tension deviation.

[0052] Reference Figure 2 , Figure 3 , Figure 14 In some embodiments, the support frame 310 further includes two bases 312, with the bottom of the vertical rod 3112 hinged to the corresponding base 312; the traction mechanism 300 further includes a third drive member 350, the drive end of which is hinged to the horizontal rod 3111. The third drive member 350 is configured to drive the main frame 311 to rotate, ensuring that the pulley 340 is in a higher position that does not interfere with the movement of the support frame 210 and the underwater target 600. Specifically, the third drive member 350 outputs power to drive the main frame 311 to complete the angular rotation adjustment around the hinge point of the base 312, thereby raising the pulley 340 to a sufficient height above the guide rail mechanism 100, ensuring that a clearance is reserved between the pulley 340 and the support frame 210 and the underwater target 600 below, preventing the support frame 310 components from scraping, colliding, or interfering with the underwater target 600 and the clamping mechanism 200.

[0053] Reference Figure 2 , Figure 3 , Figure 14In some embodiments, the third driving member 350 is configured in a one-to-one correspondence with the base 312. Each third driving member 350 includes a connector 351, a first supporting hydraulic cylinder 352, and a second supporting hydraulic cylinder 353. One end of the connector 351 is hinged to the vertical rod 3112 and the base 312, and the other end of the connector 351 is hinged to the driving end of the first supporting hydraulic cylinder 352. The fixed end of the first supporting hydraulic cylinder 352 is hinged to the base 312, the fixed end of the second supporting hydraulic cylinder 353 is hinged to the connector 351, and the driving end of the second supporting hydraulic cylinder 353 is hinged to the vertical rod 3112. Specifically, the first supporting hydraulic cylinder 352 outputs power to drive the connector 351 to swing around the hinge point of the base 312, and the second supporting hydraulic cylinder 353 simultaneously outputs thrust to pull the vertical rod 3112 to complete the angle deflection, thereby improving the structural support rigidity of the main frame 311 during the rotation adjustment process. In addition, the third drive unit 350 is symmetrically arranged and can output driving force to the vertical bars 3112 on both sides simultaneously to ensure that the horizontal bar 3111 and the pulley 340 do not tilt laterally during the lifting process. During operation, the pulley 340 can be adjusted to a height higher than the avoidance height between the support frame 210 and the underwater target 600, so as to avoid motion interference between the traction cable 330 and the clamping mechanism 200.

[0054] Reference Figure 3 , Figure 6 In some embodiments, the shipborne underwater target deployment and retrieval device further includes a main control mechanism 700, which is electrically connected to the guide rail mechanism 100, the clamping mechanism 200, and the traction mechanism 300, thereby enabling coordinated operation of the guide rail mechanism 100, the clamping mechanism 200, and the traction mechanism 300. This achieves the flipping of the tilting guide rail 120, the movement of the clamping mechanism 200, the opening and closing of the clamping mechanism 200, the deployment and retrieval of the traction cable 330, and the tension adjustment of the traction cable 330. Furthermore, the main control mechanism 700 can dynamically correct the operating parameters of each mechanism based on real-time operating data collected by displacement sensors, cable length sensors, and tension sensors, automatically matching the travel speed, the flipping angle of the tilting guide rail 120, and the tension of the traction cable 330 to ensure that the support frame 210 is in a horizontal and stable position, improving the automation level of the shipborne underwater target deployment and retrieval device.

[0055] In some embodiments, the main control mechanism 700 includes a control system and a control panel, with the control panel electrically connected to the control system. The control panel, acting as a human-machine interface terminal, receives operation instructions input by the operator and transmits them to the control system. The control system parses and processes the instruction data through its built-in control logic and sends control signals to the guide rail mechanism 100, clamping mechanism 200, and traction mechanism 300, achieving centralized control and coordinated operation of each actuator. Furthermore, the operator can use the control panel to switch operation modes, set operating parameters, control start / stop operations, and monitor real-time operating conditions. The control system combines position, tension, and stroke data from various sensors to perform closed-loop calculations and control, precisely matching the action sequence and operating parameters of each mechanism, simplifying manual operation procedures under complex marine conditions.

[0056] Reference Figure 3 In some embodiments, the shipborne underwater target deployment and retrieval device further includes a pump station 400, which provides hydraulic energy to the device. Specifically, the pump station 400 supplies hydraulic energy to the hydraulic actuators, including the first drive component 222, the second drive component 130, the first hydraulic power component of the moving component 225, the second hydraulic power component of the winch component 320, and the third drive component 350. This centralized hydraulic oil supply system allows for unified control of system oil pressure and flow.

[0057] Reference Figures 1 to 14 The second aspect of this application's method for launching and recovering underwater targets, based on the first aspect of this application's shipborne underwater target launching and recovering device, includes the following steps: S100, clamp the underwater target 600 in the clamping position of the clamping mechanism 200.

[0058] In step S100, the clamping mechanism 200 is installed on the guide rail mechanism 100. At this time, the fixed guide rail 110 and the flipping guide rail 120 are arranged in parallel. The first driving member 222 drives the corresponding clamping member 221 to rotate around the hinge point, so that the two clamping members 221 move away from each other, thereby opening the clamping position. Then, the underwater target 600 is placed in the clamping position, and the first driving member 222 drives the corresponding clamping member 221 to rotate in the opposite direction around the hinge point, so that the two clamping members 221 move closer to each other, thereby closing the clamping position and clamping the underwater target 600 in the clamping position.

[0059] In step S100, after the underwater target 600 is clamped in the clamping position of the clamping mechanism 200, the third driving member 350 drives the main frame 311 to rotate, ensuring that the pulley 340 is in a higher position that does not interfere with the movement of the support frame 210 and the underwater target 600.

[0060] In step S100, after the underwater target 600 is clamped in the clamping position of the clamping mechanism 200, the weight of the underwater target 600 is manually input on the control panel of the main control mechanism 700, and the control system of the main control mechanism 700 automatically identifies the positions of the guide rail mechanism 100, the clamping mechanism 200 and the traction mechanism 300.

[0061] S200, the drive clamping mechanism 200 slides along the guide rail mechanism 100 toward the outer side of the offshore vessel 500, and the traction mechanism 300 applies a pulling force to the clamping mechanism 200 so that the support frame 210 is set horizontally.

[0062] In step S200, the main control mechanism 700 controls the traction cable 330 of the traction mechanism 300 to maintain a constant tension, and the traction mechanism 300 moves with the support frame 210 to release and retract the traction cable 330; when the second end of the support frame 210 is located outside the hull of the offshore vessel 500, the main control mechanism 700 calculates the length of the support frame 210 extending outside the hull of the offshore vessel 500, and automatically calculates the required tension applied to the clamping mechanism 200 and the release length of the traction cable 330; according to the required tension and release length, the main control mechanism 700 controls the traction mechanism 300 to release or retract the traction cable 330 so that the support frame 210 remains horizontal.

[0063] In step S200, the movable component 225 is equipped with a displacement sensor and an encoder. The displacement sensor can collect the position data of the movable component 225 moving along the slide rail 140 in real time and feed back the real-time travel coordinates of the clamping mechanism 200 to the main control mechanism 700. The main control mechanism 700 detects the moving distance of the movable component 225 and the real-time travel coordinates of the clamping mechanism 200 through the encoder, and calculates the length of the support frame 210 extending outside the hull of the offshore vessel 500.

[0064] In step S200, the cable length sensor detects the length of the traction cable 330 in real time and provides real-time feedback on the release stroke data of the drum traction cable 330. At the same time, the tension sensor can monitor the real-time tension value of the traction cable 330 during operation, realizing dynamic acquisition and real-time feedback of traction tension. The main control mechanism 700 controls the winch 320 to release or retract the traction cable 330 so that the support frame 210 remains horizontal.

[0065] S300, the clamping mechanism 200 slides along the guide rail mechanism 100 to the first preset position, and the clamping component 220 releases the underwater target 600.

[0066] In step S300, when the first end of the support frame 210 slides to the flipping guide rail 120 of the guide rail mechanism 100, the second driving member 130 of the guide rail mechanism 100 drives the flipping guide rail 120 to rotate by a preset angle, and the traction mechanism 300 applies the required pulling force to the clamping mechanism 200 so that the support frame 210 remains horizontal. Specifically, the second driving member 130 of the guide rail mechanism 100 drives the flipping guide rail 120 to rotate counterclockwise by 90°. At this time, the flipping guide rail 120 is perpendicular to the fixed guide rail 110, and the moving member 225 drives the clamping mechanism 200 to move downward along the flipping guide rail 120. The underwater target 600 enters the water, and the main control mechanism 700 automatically controls the winch member 320 to keep the support frame 210 horizontal.

[0067] In step S300, the first driving member 222 drives the corresponding clamping member 221 to rotate around the hinge point, so that the two clamping members 221 move away from each other, thereby opening the clamping position and causing the clamping assembly 220 to release the underwater target 600.

[0068] S400, control the underwater target 600 to disengage from the clamping mechanism 200, and the deployment of the underwater target 600 is completed.

[0069] After underwater target 600 has been detected, and it needs to be recovered, the following steps are included: S500: Manipulate the underwater target 600 to move to the clamping position of the clamping mechanism 200, and the clamping mechanism 200 clamps the underwater target 600.

[0070] In step S500, the first driving member 222 drives the corresponding clamping member 221 to rotate around the hinge point, so that the two clamping members 221 move closer to each other, thereby closing the clamping position and clamping the underwater target 600 in the clamping position.

[0071] S600, the clamping mechanism 200 slides along the guide rail mechanism 100 to the second preset position, completing the recovery of the underwater target 600.

[0072] In step S600, the traction mechanism 300 applies the required pulling force to the clamping mechanism 200 to keep the support frame 210 horizontal. The moving part 225 drives the support frame 210 to move upward along the flipping guide rail 120. When the first end of the support frame 210 moves to the hinge point between the flipping guide rail 120 and the fixed guide rail 110, the second driving part 130 drives the flipping guide rail 120 to rotate 90° clockwise. At this time, the flipping guide rail 120 and the fixed guide rail 110 are set parallel to each other. The moving part 225 drives the support frame 210 to move along the fixed guide rail 110 until its second end is located on the main deck, completing the recovery of the underwater target 600.

[0073] The deployment and retrieval method of this application embodiment uses a clamping mechanism 200 to clamp and fix the underwater target 600, and a guide rail mechanism 100 to constrain the movement path of the clamping mechanism 200, so that the underwater target 600 moves along a predetermined trajectory during deployment and retrieval. At the same time, the traction mechanism 300 applies a pulling force to the clamping mechanism 200 to ensure that the support frame 210 is set horizontally, reducing the swaying and displacement of the underwater target 600 during deployment and retrieval, avoiding hard collisions between the underwater target 600 and the ship hull and shipborne support platform during spatial displacement, ensuring the operational performance and service life of the underwater target 600, reducing personnel safety hazards caused by violent collisions, and improving the safety and progress of marine exploration operations.

[0074] The embodiments of this application have been described in detail above with reference to the accompanying drawings. However, this application is not limited to the above embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the spirit of this application. Furthermore, unless otherwise specified, the embodiments and features described in the embodiments of this application can be combined with each other.

Claims

1. A shipborne underwater target deployment and retrieval device, characterized in that, include: Guide rail mechanism; A clamping mechanism is slidably connected to a guide rail mechanism. The clamping mechanism includes a support frame and a plurality of clamping components, which are spaced apart on the support frame. The clamping components and the support frame enclose a clamping position, which is configured to clamp an underwater target. The guide rail mechanism includes a fixed guide rail, a flipping guide rail, and a second driving member. The fixed guide rail is hinged to the flipping guide rail. The fixed end of the second driving member is hinged to the fixed guide rail, and the driving end of the second driving member is hinged to the flipping guide rail. The second driving member is configured to drive the flipping guide rail to rotate. Each clamping component includes two clamping members and two first driving members. Along the axial direction of the support frame, the two clamping members are symmetrically hinged to the support frame. The fixed end of the first driving member is hinged to the corresponding support frame, and the driving end of the first driving member is hinged to the corresponding clamping member. The first driving member is configured to drive the corresponding clamping member to rotate, so that the two clamping members move closer to or further away from each other. A traction mechanism, the traction end of which is connected to the clamping mechanism, is configured to apply tension to the clamping mechanism to make the support frame horizontally positioned; the traction mechanism includes a support frame, a winch, and a traction cable; the support frame is provided with a pulley located above the guide rail mechanism; the traction cable is wound around the winch, and one end of the traction cable passes over the pulley and connects to a second end of the support frame; the support frame further includes a main frame, the main frame including a crossbar, and the pulley disposed on the crossbar; the traction mechanism includes a third driving member, the third driving member... The driving end of the moving member is hinged to the crossbar, and the third driving member is configured to drive the main frame to rotate; the clamping mechanism also includes a moving member, and the support frame includes a first end and a second end arranged opposite to each other. The moving member is hinged to the first end of the support frame, and the moving member is configured to drive the support frame to slide along the guide rail mechanism. The second end of the support frame is connected to the traction end of the traction mechanism; the second end of the support frame is provided with two connecting parts, and along the axial direction of the support frame, the two connecting parts are symmetrically arranged on both sides of the support frame, and the traction cable is connected to the connecting parts; The method for launching and recovering the shipborne underwater target includes the following steps: clamping the underwater target in the clamping position of the clamping mechanism; driving the clamping mechanism to slide along the guide rail mechanism toward the outer side of the offshore vessel, and the traction mechanism applying a pulling force to the clamping mechanism to make the support frame horizontally positioned; the main control mechanism of the shipborne underwater target launching and recovering device controls the traction cable of the traction mechanism to maintain a constant tension, and the traction mechanism moves with the support frame to launch and recover the traction cable; when the second end of the support frame is located outside the offshore vessel, the main control mechanism calculates the length of the support frame extending outside the offshore vessel and automatically calculates the required pulling force applied to the clamping mechanism and the release length of the traction cable; according to the required pulling force and the release length, controlling the traction mechanism to release or recover the traction cable to make the support frame horizontally positioned; the clamping mechanism slides along the guide rail mechanism to a preset position, and the clamping component releases the underwater target; the underwater target is manipulated to detach from the clamping mechanism.

2. The shipborne underwater target deployment and retrieval device according to claim 1, characterized in that, The main frame also includes two vertical bars, and the two ends of the horizontal bar are respectively connected to the top of the corresponding vertical bar.

3. The shipborne underwater target deployment and retrieval device according to claim 2, characterized in that, The support frame also includes two bases, and the bottom of the vertical rod is hinged to the corresponding base.

4. The shipborne underwater target deployment and retrieval device according to claim 1, characterized in that, The clamping mechanism slides along the guide rail mechanism to a preset position, including: When the first end of the support bracket slides to the flipping guide rail of the guide rail mechanism, the second driving member of the guide rail mechanism drives the flipping guide rail to rotate by a preset angle, and the traction mechanism applies the required pulling force to the clamping mechanism so that the support bracket is kept horizontal.

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