Descending device and underwater submersible system

Abstract

The utility model relates to a lowering device and an underwater submersible system. The lowering device comprises a supporting unit, a lifting unit, a driving unit, a locking unit, a rope unit and a mounting unit. The underwater diving device has the advantages that the rope unit and the underwater diving device can be automatically dismounted and mounted through the cooperative use of the mounting unit and the mounting device, the risk that a rope and a guide wire are wound due to the fact that the rope and the underwater diving device are not dismounted is avoided, and meanwhile water surface operation is reduced; through cooperative use of the lifting unit, the driving unit and the magnetic attraction device, the rope unit can be limited when the mounting unit is assembled to the mounting device, so that the stability during assembly is improved; the locking unit can be used for locking the rope unit, so that a rigid hoisting range is formed after locking, and the recovery and temporary hanging operation under severe working conditions is more stable and safer.

Description

Technical Field

[0001] The utility model relates to the technical field related to an underwater submersible lowering device, and in particular to a lowering device and an underwater submersible system. Background Art

[0002] Unmanned remotely operated vehicles (ROVs) are important equipment for unmanned diving. Due to the outstanding features of ROVs such as safety, economy, high efficiency and large operating depth, they have been used more and more widely in the world. Therefore, my country urgently needs to increase the research and development of ROVs, build a comprehensive ROV research and development base as soon as possible, form a series of operational ROV research and development capabilities within five years, provide high-performance ROV equipment for domestic related enterprises, and seize the domestic and foreign underwater engineering service market. Combined with the deep-sea gene sampling project, the sampling ROV used in the extreme environment of 3,000 meters is studied. The technologies that need to be further transformed and developed in this regard include: underwater low-density, corrosion-resistant, high-strength structural materials; deep-depth, low-density buoyancy materials; high-performance, high-reliability, standardized and serialized ROV thrusters; standardized underwater cables and sealing connectors; standardized electronic control modules; acoustic, electrical, magnetic and pressure sensors and multifunctional underwater manipulators, etc.

[0003] Currently, the ROV lowering process is to directly lift the ROV into the sea through a sling. During the process, if the rope and ROV are not removed, it is easy to cause the rope to be too long. During use, the rope is easy to be entangled with the ROV guide, thus affecting the ROV lowering and recovery. If the rope and ROV are removed, there will be a lot of surface operations and it will not be used.

[0004] Currently, no effective solution has been proposed for the problems in related technologies, such as the ropes being easily entangled with the ROV guide, affecting the lowering and recovery of the ROV, and facing a large number of surface operations. Utility Model Content

[0005] The purpose of the utility model is to provide a lowering device and an underwater submersible system to address the deficiencies in the prior art, so as to solve the problems in the related art that the rope is easily entangled with the ROV guide, affecting the lowering and recovery of the ROV, and facing a large number of surface operations.

[0006] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0007] In a first aspect, a lowering device is provided for lowering an unmanned remotely operated submersible, comprising:

[0008] A support unit, wherein the support unit is arranged on the ship deck and connected to the ship deck;

[0009] A lifting unit, the lifting unit is movably disposed at the bottom end of the supporting unit and is used for reciprocating along the vertical direction;

[0010] A driving unit, the driving unit being arranged at a side end of the supporting unit and being connected to the supporting unit and the lifting unit respectively, and being used for driving the lifting unit to reciprocate in a vertical direction;

[0011] A locking unit, wherein a driving end of the locking unit is disposed at the bottom end of the lifting unit, and a locking end of the locking unit passes through the lifting unit and is connected to the lifting unit;

[0012] A rope unit, wherein a first end of the rope unit is connected to an external winding device, and a second end of the rope unit passes through the supporting unit and the lifting unit in sequence, and abuts against the lifting unit and the locking end of the locking unit respectively, so as to be retracted and released under the action of the external winding device, and be restricted between the lifting unit and the locking unit under the action of the locking unit;

[0013] The installation unit is movably arranged below the lifting unit and is respectively connected to the rope unit and the unmanned remote-controlled submersible, and is used for driving the unmanned remote-controlled submersible to reciprocate in the vertical direction under the action of the rope unit.

[0014] In some embodiments, the support unit comprises:

[0015] A first supporting element, the first supporting element is obliquely disposed on the ship deck and connected to the ship deck;

[0016] a second supporting element, the second supporting element being disposed at a top end of the first supporting element and connected to the first supporting element;

[0017] a third supporting element, the third supporting element being arranged at the top end of the first supporting element, being symmetrically arranged with the second supporting element, and being respectively connected with the first supporting element and the driving unit;

[0018] a first sliding element, the first sliding element being arranged through the third supporting element and being slidably connected to the lifting unit;

[0019] A first guide element is disposed between the second support element and the third support element, and is connected to the second support element and the third support element respectively, and is in contact with the rope unit, and is used to guide the rope unit.

[0020] In some embodiments, the lifting unit includes:

[0021] A lifting element, the lifting element is movably disposed at the bottom end of the supporting unit, the bottom end of the lifting element is provided with the locking unit, and is used for reciprocating along the vertical direction;

[0022] a first through-slot element, the first through-slot element being arranged to penetrate the lifting element and being used for allowing the locking end of the locking unit and the rope unit to pass through the lifting element;

[0023] A second sliding element, which is disposed at a top end of the lifting element and is slidably connected to the support unit, and is used to drive the lifting element to reciprocate in a vertical direction;

[0024] A first rotating element is disposed through the second sliding element and is connected to the driving unit.

[0025] In some of the embodiments, the lifting unit further comprises:

[0026] At least one third sliding element, wherein the third sliding element is disposed through the second sliding element and is connected to the driving unit.

[0027] In some embodiments, the driving unit includes:

[0028] a fourth supporting element, the fourth supporting element being disposed at a side end of the supporting unit and connected to the supporting unit;

[0029] A second through-slot element, wherein the second through-slot element is disposed through the fourth supporting element;

[0030] A first driving element, wherein a driving end of the first driving element is disposed at a top end of the fourth supporting element, and an output end of the first driving element passes through the fourth supporting element via the second through-slot element;

[0031] The second rotating element is movably arranged below the fourth supporting element and is respectively connected to the driving end of the first driving element and the lifting unit, so as to drive the lifting unit to reciprocate in the vertical direction under the action of the first driving element.

[0032] In some of the embodiments, the driving unit further comprises:

[0033] At least one fourth sliding element is disposed at the bottom end of the fourth supporting element and is slidably connected to the lifting unit.

[0034] In some embodiments, the locking unit comprises:

[0035] a second driving element, the second driving element being disposed at the bottom end of the lifting unit and connected to the lifting unit;

[0036] A locking element is disposed through the lifting unit, abuts against the rope unit, and is connected to the second driving element, and is used for reciprocating in a horizontal direction under the action of the second driving element to restrict the rope unit between the lifting unit and the locking unit.

[0037] In some of the embodiments, the rope unit comprises:

[0038] A rope element, wherein the first end of the rope unit is connected to an external winding device, and the second end of the rope element passes through the supporting unit, the lifting unit and the mounting unit in sequence, and abuts against the locking ends of the lifting unit and the locking unit respectively, and is used to drive the mounting unit to reciprocate in the vertical direction under the action of the external winding device, and is used to be restricted between the lifting unit and the locking unit under the action of the locking unit.

[0039] In some of the embodiments, the mounting unit comprises:

[0040] A first shell element, which is movably disposed below the lifting unit and is respectively connected to the rope unit and the unmanned remote-controlled submersible;

[0041] A plurality of fifth sliding elements, wherein the plurality of fifth sliding elements are respectively disposed through the first shell element;

[0042] a third driving element, the third driving element being disposed inside the first shell element and connected to the first shell element;

[0043] A movable element, which is movably disposed inside the first shell element and below the third driving element and connected to the third driving element, and is used for reciprocating in a vertical direction under the action of the third driving element;

[0044] A plurality of sixth sliding elements, wherein the plurality of sixth sliding elements are respectively disposed on the sides of the movable element;

[0045] a plurality of seventh sliding elements, wherein the plurality of seventh sliding elements are respectively slidably disposed on the corresponding sixth sliding elements and are used for reciprocating along the sixth sliding elements;

[0046] A plurality of first mounting elements are respectively slidably disposed on the corresponding fifth sliding elements, and are respectively connected to the corresponding seventh sliding elements, and are respectively detachably connected to the unmanned remote-controlled submersible, for reciprocating movement along the fifth sliding element under the action of the seventh sliding element.

[0047] In a second aspect, an underwater submersible system is provided, comprising:

[0048] The lowering device as described in the first aspect;

[0049] Underwater diving equipment;

[0050] A mounting device, the mounting device is arranged at the top of the underwater diving device, the mounting device is divided into an upper chamber and a lower chamber, the upper chamber of the mounting device is detachably connected to the mounting unit of the lowering device, and is used to drive the underwater diving device to reciprocate in a vertical reverse direction under the action of the mounting unit;

[0051] A magnetic device, wherein the driving end of the magnetic device is arranged in the lower chamber of the installation device, and the magnetic end of the magnetic device is arranged in the upper chamber of the installation device, and is detachably connected to the installation unit of the lowering device, so as to limit the position of the installation unit.

[0052] In some of the embodiments, the underwater diving device comprises:

[0053] An underwater submersible element, the top end of which is connected to the mounting device, and is used for reciprocating along the vertical direction under the action of the mounting device.

[0054] In some of the embodiments, the mounting device comprises:

[0055] A second shell element, the second shell element is arranged at the top of the underwater diving device, the second shell element is divided into an upper chamber and a lower chamber, the upper chamber of the second shell element is provided with a magnetic end of the magnetic device, the lower chamber of the second shell element is provided with a driving end of the magnetic device, and is connected to the magnetic device, and is used to drive the underwater diving device to reciprocate vertically in the reverse direction under the action of the mounting unit;

[0056] a sealing element, the sealing element being disposed inside the second shell element and connected to the second shell element, and being used to divide the second shell element into an upper chamber and a lower chamber;

[0057] a third through-slot element, the third through-slot element being arranged to penetrate the sealing element and used for allowing the output end of the magnetic attraction device to pass through the sealing element;

[0058] a second mounting element, the second mounting element being disposed inside the upper chamber of the second shell element and being detachably connected to the mounting unit of the lowering device;

[0059] A second guiding element is disposed at the top end of the second shell element and communicated with the upper chamber of the second shell element for guiding the mounting unit.

[0060] In some embodiments, the magnetic attraction device includes:

[0061] a fourth driving element, the fourth driving element being disposed in the lower chamber of the mounting device and connected to the mounting device;

[0062] A magnetic attraction element, which is movably arranged in the upper chamber of the installation device, and is detachably connected to the installation unit of the lowering device, and is connected to the fourth driving element, and is used for reciprocating in the vertical direction under the action of the fourth driving element to limit the position of the installation unit.

[0063] The utility model adopts the above technical solution, and compared with the prior art, has the following technical effects:

[0064] The utility model provides a lowering device and an underwater submersible system. The coordinated use of an installation unit and an installation device can enable the rope unit and the underwater diving device to be automatically disassembled and installed, thereby avoiding the risk of the rope and the guide being entangled due to the rope and the underwater diving device not being dismantled, and reducing surface operations at the same time. The coordinated use of a lifting unit, a driving unit, and a magnetic suction device can limit the rope unit when the installation unit is assembled to the installation device, so as to improve the stability during assembly. The locking unit can be used to lock the rope unit, so that after locking, a rigid lifting range is formed, so that the recovery and temporary hanging operations under harsh working conditions can be more stable and safe. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 It is a schematic diagram of the three-dimensional structure of the lowering device according to an embodiment of the utility model;

[0066] Figure 2 is an exploded view of a lowering device according to an embodiment of the utility model;

[0067] Figure 3 is a schematic diagram of a three-dimensional structure of a support unit according to an embodiment of the utility model;

[0068] Figure 4 It is a three-dimensional structural schematic diagram of a lifting unit according to an embodiment of the utility model;

[0069] Figure 5is an exploded view of a drive unit according to an embodiment of the utility model;

[0070] Figure 6 is a schematic diagram of the three-dimensional structure of a locking unit according to an embodiment of the utility model;

[0071] Figure 7 is a schematic diagram of a three-dimensional structure of a portion of a rope unit according to an embodiment of the utility model;

[0072] Figure 8a is a schematic diagram of the internal structure of the installation unit according to an embodiment of the utility model;

[0073] Figure 8b is a schematic structural diagram of the interior of the installation unit in another state according to an embodiment of the utility model;

[0074] Figure 8c is an exploded view of the interior of a mounting unit according to an embodiment of the present utility model;

[0075] Fig. 9 It is a structural schematic diagram of an underwater submersible system according to an embodiment of the utility model;

[0076] Fig.10 According to the embodiment of the utility model Fig. 9 A is a schematic diagram of the partial interior enlargement in the middle;

[0077] Fig.11 It is a schematic diagram of the three-dimensional structure of an underwater diving device according to an embodiment of the utility model;

[0078] Fig.12 is an exploded view of the interior of the mounting device according to an embodiment of the utility model;

[0079] Fig.13 It is a schematic diagram of the three-dimensional structure of the magnetic attraction device according to an embodiment of the utility model;

[0080] The accompanying drawings are numerals 100, a lowering device;

[0081] 110, support unit; 111, first support element; 112, second support element; 113, third support element; 114, first sliding element; 115, first guide element;

[0082] 120, lifting unit; 121, lifting element; 122, first through-slot element; 123, second sliding element; 124, first rotating element; 125, third sliding element;

[0083] 130, driving unit; 131, fourth supporting element; 132, second through-slot element; 133, first driving element; 134, second rotating element; 135, fourth sliding element;

[0084] 140. Locking unit; 141. Second driving element; 142. Locking element;

[0085] 150. Rope unit; 151. Rope element;

[0086] 160, mounting unit; 161, first housing element; 162, fifth sliding element; 163, third driving element; 164, movable element; 165, sixth sliding element; 166, seventh sliding element; 167, first mounting element;

[0087] 200. Underwater diving equipment; 201. Underwater diving components;

[0088] 300, mounting device; 301, second shell element; 302, sealing element; 303, third through-groove element; 304, second mounting element; 305, second guide element;

[0089] 400, magnetic attraction device; 401, fourth driving element; 402, magnetic attraction element. DETAILED DESCRIPTION

[0090] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0091] It should be noted that, in the absence of conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

[0092] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments, but they are not intended to limit the present invention.

[0093] Example 1

[0094] This embodiment relates to a lowering device of the utility model.

[0095] like Figure 1 , Figure 2As shown, a lowering device 100 is used for lowering an unmanned remote-controlled submersible, comprising a support unit 110, a lifting unit 120, a driving unit 130, a locking unit 140, a rope unit 150 and an installation unit 160. The support unit 110 is arranged on the ship deck and connected to the ship deck; the lifting unit 120 is movably arranged at the bottom end of the support unit 110 for reciprocating in the vertical direction; the driving unit 130 is arranged at the side end of the support unit 110 and is respectively connected to the support unit 110 and the lifting unit 120 for driving the lifting unit 120 to reciprocate in the vertical direction; the driving end of the locking unit 140 is arranged at the bottom end of the lifting unit 120, and the locking end of the locking unit 140 passes through the lifting unit 120 and is connected to the lifting unit 120; the first end of the rope unit 150 Connected to the external winding device, the second end of the rope unit 150 passes through the supporting unit 110 and the lifting unit 120 in sequence, and respectively abuts against the locking ends of the lifting unit 120 and the locking unit 140, so as to be retracted and released under the action of the external winding device, and be restricted between the lifting unit 120 and the locking unit 140 under the action of the locking unit 140; the installation unit 160 is movably arranged under the lifting unit 120, and is respectively connected to the rope unit 150 and the unmanned remote-controlled submersible, so as to drive the unmanned remote-controlled submersible to reciprocate in the vertical direction under the action of the rope unit 150.

[0096] like Figure 3 As shown, the support unit 110 includes a first support element 111, a second support element 112, a third support element 113, a first sliding element 114 and a first guiding element 115. The first support element 111 is tiltedly arranged on the ship deck and connected to the ship deck; the second support element 112 is arranged at the top of the first support element 111 and connected to the first support element 111; the third support element 113 is arranged at the top of the first support element 111 and is symmetrically arranged with the second support element 112, and is respectively connected to the first support element 111 and the driving unit 130; the first sliding element 114 is arranged through the third support element 113 and is slidably connected to the lifting unit 120; the first guiding element 115 is arranged between the second support element 112 and the third support element 113, and is respectively connected to the second support element 112 and the third support element 113, and is in contact with the rope unit 150, and is used to guide the rope unit 150.

[0097] In some embodiments, the first supporting element 111 includes a first transverse plate, a first vertical plate, a second vertical plate and a second transverse plate. The first transverse plate is arranged on the ship deck and connected to the ship deck; the first vertical plate is arranged obliquely at the top of the first transverse plate and connected to the first transverse plate; the second vertical plate is arranged obliquely at the top of the first transverse plate and symmetrically arranged with the first vertical plate and connected to the first transverse plate; the second transverse plate is arranged at the top of the first vertical plate and the second vertical plate respectively, and the second supporting element 112 and the third supporting element 113 are arranged at the bottom of the second transverse plate respectively, and are connected to the first vertical plate, the second vertical plate, the second supporting element 112 and the third supporting element 113 respectively.

[0098] The size of the first vertical plate matches the size of the first horizontal plate. Generally, the length of the first vertical plate is equal to the width of the first horizontal plate, the width of the first vertical plate is smaller than the length of the first horizontal plate, and the height of the first vertical plate is greater than the height of the first horizontal plate.

[0099] The size of the second vertical plate matches the size of the first horizontal plate. Generally, the length of the second vertical plate is equal to the width of the first horizontal plate, the width of the second vertical plate is less than the length of the first horizontal plate, and the height of the second vertical plate is greater than the height of the first horizontal plate.

[0100] The size of the second riser matches the size of the first riser. Generally, the length of the second riser is equal to the length of the first riser, the width of the second riser is equal to the width of the first riser, and the height of the second riser is equal to the height of the first riser.

[0101] The size of the second transverse board matches the size of the first vertical board (second vertical board). Generally, the length of the second transverse board is greater than the width of the first vertical board (second vertical board), the width of the second transverse board is equal to the length of the first vertical board (second vertical board), and the height of the second transverse board is less than the height of the first vertical board (second vertical board).

[0102] The size of the second cross plate matches the size of the first cross plate. Generally, the length of the second cross plate is equal to the length of the first cross plate, the width of the second cross plate is equal to the width of the first cross plate, and the height of the second cross plate is equal to the height of the first cross plate.

[0103] In some of the embodiments, the first supporting element 111 is made of a steel structure.

[0104] The cross section of the second supporting element 112 is rectangular.

[0105] The size of the second support element 112 matches the size of the second cross plate. Generally, the length of the second support element 112 is not greater than the width of the second cross plate, the width of the second support element 112 is less than the length of the second cross plate, and the height of the second support element 112 is greater than the height of the second cross plate.

[0106] In some embodiments, the second supporting element 112 is fixedly connected to the first supporting element 111 , including but not limited to bolt connection.

[0107] In some of the embodiments, the second supporting element 112 is made of a steel structure.

[0108] In some embodiments, the second supporting element 112 is a first supporting plate.

[0109] The third supporting element 113 has a rectangular cross section.

[0110] The size of the third support element 113 matches the size of the second cross plate. Generally, the length of the third support element 113 is not greater than the width of the second cross plate, the width of the third support element 113 is less than the length of the second cross plate, and the height of the third support element 113 is greater than the height of the second cross plate.

[0111] The size of the third support element 113 matches the size of the second support element 112. Generally, the length of the third support element 113 is equal to the length of the second support element 112, the width of the third support element 113 is equal to the width of the second support element 112, and the height of the third support element 113 is equal to the height of the second support element 112.

[0112] In some embodiments, the third support element 113 is fixedly connected to the first support element 111 , including but not limited to bolt connection.

[0113] In some of the embodiments, the third supporting element 113 is made of steel structure.

[0114] In some of the embodiments, the third supporting element 113 is a second supporting plate.

[0115] The first sliding element 114 has a rectangular cross section.

[0116] The size of the first sliding element 114 matches the size of the third supporting element 113. Generally, the length of the first sliding element 114 is less than the length of the third supporting element 113, the width of the first sliding element 114 is equal to the width of the third supporting element 113, and the height of the first sliding element 114 is less than the height of the third supporting element 113.

[0117] In some embodiments, the first sliding element 114 is a first sliding groove.

[0118] The first guide element 115 and the second support element 112 and the third support element 113 may be rotatably connected or fixedly connected.

[0119] In some embodiments, the first guide element 115 includes a rotating shaft and a pulley. The rotating shaft is disposed between the second supporting element 112 and the third supporting element 113 and is rotatably connected to the second supporting element 112 and the third supporting element 113 respectively; the pulley is disposed in the middle of the rotating shaft and is in contact with the rope unit 150.

[0120] The size of the rotating shaft matches the size of the second supporting element 112 (third supporting element 113). Generally, the diameter of the rotating shaft is smaller than the length and height of the second supporting element 112 (third supporting element 113), and the axial size of the rotating shaft is larger than the width of the second supporting element 112 (third supporting element 113).

[0121] The size of the pulley matches the size of the second supporting element 112 (the third supporting element 113). Generally, the outer diameter of the pulley is smaller than the length and width of the second supporting element 112 (the third supporting element 113).

[0122] The size of the pulley matches the size of the rotating shaft. Generally, the inner diameter of the pulley is equal to the diameter of the rotating shaft, and the axial dimension of the pulley is smaller than the axial dimension of the rotating shaft.

[0123] In some embodiments, the first guide element 115 is connected to the second support element 112 and the third support element 113 in a non-separable rotational connection. For example, the first guide element 115 is connected to the second support element 112 and the third support element 113 via a bearing seat.

[0124] In some of the embodiments, the first guide element 115 is made of stainless steel.

[0125] like Figure 4 As shown, the lifting unit 120 includes a lifting element 121, a first through-groove element 122, a second sliding element 123 and a first rotating element 124. The lifting element 121 is movably arranged at the bottom end of the supporting unit 110, and a locking unit 140 is arranged at the bottom end of the lifting element 121 for reciprocating along the vertical direction; the first through-groove element 122 is arranged through the lifting element 121, and is used for the locking end of the locking unit 140 and the rope unit 150 to pass through the lifting element 121; the second sliding element 123 is arranged at the top end of the lifting element 121, and is slidably connected to the supporting unit 110, and is used to drive the lifting element 121 to reciprocate along the vertical direction; the first rotating element 124 is arranged through the second sliding element 123, and is connected to the driving unit 130.

[0126] Specifically, the lifting element 121 is movably disposed between the second supporting element 112 and the third supporting element 113 ; the second sliding element 123 is slidably connected to the first sliding element 114 .

[0127] The cross section of the lifting element 121 is L-shaped. Specifically, the lifting element 121 includes a third vertical plate and a third horizontal plate. The third vertical plate is movably disposed between the second supporting element 112 and the third supporting element 113, and is connected to the second sliding element 123; the third horizontal plate is movably disposed between the second supporting element 112 and the third supporting element 113, and the third horizontal plate is provided with a locking unit 140 and a first through-groove element 122, and is connected to the bottom end of the third vertical plate.

[0128] The size of the third vertical plate matches the size of the second support element 112 (third support element 113). Generally, the length of the third vertical plate is equal to the length of the second support element 112 (third support element 113), the width of the third vertical plate is equal to the width of the second support element 112 (third support element 113), and the height of the third vertical plate is less than the height of the second support element 112 (third support element 113).

[0129] The size of the third cross plate matches the size of the second support element 112 (third support element 113). Generally, the length of the third cross plate is greater than the width of the second support element 112 (third support element 113), the width of the third cross plate is equal to the length of the second support element 112 (third support element 113), and the height of the third cross plate is less than the height of the second support element 112 (third support element 113).

[0130] The size of the third transverse plate matches the size of the third vertical plate. Generally, the length of the third transverse plate is greater than the width of the third vertical plate, the width of the third transverse plate is equal to the length of the third vertical plate, and the height of the third transverse plate is less than the height of the third vertical plate.

[0131] In some of the embodiments, the lifting element 121 is made of a steel structure.

[0132] The cross section of the first through-groove element 122 is circular.

[0133] The size of the first through-groove element 122 matches the size of the third transverse plate. Generally, the radial size of the first through-groove element 122 is smaller than the length and width of the third transverse plate, and the axial size of the first through-groove element 122 is equal to the height of the third transverse plate.

[0134] In some of the embodiments, the first through-slot element 122 is a first through-slot.

[0135] The cross section of the second sliding element 123 is rectangular.

[0136] The size of the second sliding element 123 matches the size of the third vertical board. Generally, the length of the second sliding element 123 is greater than the width of the third vertical board, the width of the second sliding element 123 is less than the length of the third vertical board, and the height of the second sliding element 123 is less than the height of the third vertical board.

[0137] The size of the second sliding element 123 matches the size of the first sliding element 114. Generally, the length of the second sliding element 123 is greater than the width of the first sliding element 114, the width of the second sliding element 123 is equal to the length of the first sliding element 114, and the height of the second sliding element 123 is less than the height of the first sliding element 114.

[0138] In some embodiments, the second sliding element 123 is fixedly connected to the lifting element 121 , including but not limited to a bolt connection.

[0139] In some of the embodiments, the second sliding element 123 is made of steel structure.

[0140] In some embodiments, the second sliding element 123 is a first sliding block.

[0141] The cross section of the first rotating element 124 is circular.

[0142] The size of the first rotating element 124 matches the size of the second sliding element 123. Generally, the diameter of the first rotating element 124 is smaller than the length and width of the second sliding element 123, and the axial dimension of the first rotating element 124 is equal to the height of the second sliding element 123.

[0143] In some embodiments, the first rotating element 124 is a threaded hole.

[0144] Furthermore, the lifting unit 120 further includes at least one third sliding element 125 , wherein the third sliding element 125 is disposed through the second sliding element 123 and is connected to the driving unit 130 .

[0145] The cross section of the third sliding element 125 is circular, oval, etc.

[0146] The size of the third sliding element 125 matches the size of the second sliding element 123. Generally, the radial size of the third sliding element 125 is smaller than the length and width of the second sliding element 123, and the axial size of the third sliding element 125 is equal to the height of the second sliding element 123.

[0147] In some embodiments, there are multiple third sliding elements 125 , and the multiple third sliding elements 125 are distributed along the width direction of the second sliding element 123 .

[0148] In some embodiments, a plurality of third sliding elements 125 are symmetrically disposed on both sides of the first rotating element 124 , that is, at least one third sliding element 125 is disposed on each side of the first rotating element 124 .

[0149] In some embodiments, a third sliding element 125 is disposed on one side of the second sliding element 123 , and a third sliding element 125 is disposed on the other side of the second sliding element 123 .

[0150] In some embodiments, the third sliding element 125 is a second sliding groove.

[0151] like Figure 5 As shown, the driving unit 130 includes a fourth supporting element 131, a second through-slot element 132, a first driving element 133 and a second rotating element 134. The fourth supporting element 131 is arranged at the side end of the supporting unit 110 and connected to the supporting unit 110; the second through-slot element 132 is arranged to penetrate the fourth supporting element 131; the driving end of the first driving element 133 is arranged at the top of the fourth supporting element 131, and the output end of the first driving element 133 passes through the fourth supporting element 131 through the second through-slot element 132; the second rotating element 134 is movably arranged below the fourth supporting element 131, and is respectively connected to the driving end of the first driving element 133 and the lifting unit 120, and is used to drive the lifting unit 120 to reciprocate in the vertical direction under the action of the first driving element 133.

[0152] Specifically, the fourth supporting element 131 is disposed at a side end of the third supporting element 113 and connected to the third supporting element 113 ; the second rotating element 134 is rotatably connected to the first rotating element 124 .

[0153] The cross section of the fourth supporting element 131 is rectangular.

[0154] The size of the fourth support element 131 matches the size of the third support element 113. Generally, the length of the fourth support element 131 is not greater than the length of the third support element 113, the width of the fourth support element 131 is greater than the width of the third support element 113, and the height of the fourth support element 131 is less than the height of the third support element 113.

[0155] In some embodiments, the fourth supporting element 131 is fixedly connected to the third supporting element 113 , including but not limited to welding.

[0156] In some of the embodiments, the fourth supporting element 131 is made of steel structure.

[0157] In some of the embodiments, the fourth supporting element 131 is a third supporting plate.

[0158] The cross section of the second through-groove element 132 is circular.

[0159] The size of the second through-groove element 132 matches the size of the fourth support element 131. Generally, the radial size of the second through-groove element 132 is smaller than the length and width of the fourth support element 131, and the axial size of the second through-groove element 132 is equal to the height of the fourth support element 131.

[0160] In some of the embodiments, the second through-slot element 132 is a second through-slot.

[0161] In some embodiments, the first driving element 133 is fixedly connected to the fourth supporting element 131 , including but not limited to a bolt connection.

[0162] In some embodiments, the first driving element 133 is a servo motor.

[0163] The bottom end of the second rotating element 134 is flush with the bottom end of the third supporting element 113 .

[0164] The cross section of the second rotating element 134 is circular.

[0165] The size of the second rotating element 134 matches the size of the fourth supporting element 131. Generally, the diameter of the second rotating element 134 is smaller than the length and width of the fourth supporting element 131, and the axial dimension of the second rotating element 134 is larger than the height of the fourth supporting element 131.

[0166] The size of the second rotating element 134 matches the size of the first rotating element 124. Generally, the diameter of the second rotating element 134 is equal to the diameter of the first rotating element 124, and the axial dimension of the second rotating element 134 is greater than the axial dimension of the first rotating element 124.

[0167] In some embodiments, the second rotating element 134 is a screw.

[0168] Furthermore, the driving unit 130 further includes at least one fourth sliding element 135 . The fourth sliding element 135 is disposed at the bottom end of the fourth supporting element 131 and is slidably connected to the lifting unit 120 .

[0169] Specifically, the fourth sliding element 135 is slidably connected to the third sliding element 125 .

[0170] The bottom end of the fourth sliding element 135 is flush with the bottom end of the third supporting element 113 , so as to prevent the second sliding element 123 from being separated from the fourth sliding element 135 .

[0171] The cross section of the fourth sliding element 135 is circular, oval, etc.

[0172] The size of the fourth sliding element 135 matches the size of the fourth supporting element 131. Generally, the radial size of the fourth sliding element 135 is smaller than the length and width of the fourth supporting element 131, and the axial size of the fourth sliding element 135 is larger than the height of the fourth supporting element 131.

[0173] The size of the fourth sliding element 135 matches the size of the third sliding element 125. Generally, the radial size of the fourth sliding element 135 is equal to the radial size of the third sliding element 125, and the axial size of the fourth sliding element 135 is greater than the axial size of the third sliding element 125.

[0174] The size of the fourth sliding element 135 matches the size of the second rotating element 134. Generally, the axial size of the fourth sliding element 135 is equal to the axial size of the second rotating element 134.

[0175] The number of the fourth sliding elements 135 matches the number of the third sliding elements 125. Generally, the number of the fourth sliding elements 135 is equal to the number of the third sliding elements 125.

[0176] In some embodiments, there are a plurality of fourth sliding elements 135 , which are spaced apart along the length direction of the fourth supporting element 131 .

[0177] In some embodiments, a plurality of fourth sliding elements 135 are symmetrically disposed on both sides of the fourth supporting element 131. That is, at least one fourth sliding element 135 is disposed on each side of the fourth supporting element 131.

[0178] In some of the embodiments, a fourth sliding element 135 is disposed on one side of the fourth supporting element 131 , and a fourth sliding element 135 is disposed on the other side of the fourth supporting element 131 .

[0179] In some embodiments, the fourth sliding element 135 is a sliding rod.

[0180] Furthermore, the driving unit 130 further includes a limiting element, wherein the limiting element is disposed at the bottom end of the second rotating element 134 , is rotatably connected to the second rotating element 134 , and is connected to the supporting unit 110 , and is used to limit the lifting unit 120 .

[0181] Specifically, the limiting element is connected to the bottom end of the third supporting element 113 and is used to limit the second sliding element 123 .

[0182] In some of the embodiments, the limiting element is connected to the bottom end of the fourth sliding element 135 .

[0183] The number of the limiting elements matches the number of the fourth sliding elements 135. Generally, the number of the fourth sliding elements 135 is not less than the number of the limiting elements, that is, a plurality of fourth sliding elements 135 are respectively connected to a limiting element, or a plurality of fourth sliding elements 135 are respectively provided with a corresponding limiting element.

[0184] The size of the limiting element matches the size of the fourth sliding element 135. Generally, the radial size (such as length, width, diameter) of the limiting element is greater than the radial size of the fourth sliding element 135.

[0185] In some of the embodiments, the limiting element includes but is not limited to a limiting plate.

[0186] like Figure 6 As shown, the locking unit 140 includes a second driving element 141 and a locking element 142. The second driving element 141 is disposed at the bottom end of the lifting unit 120 and connected to the lifting unit 120; the locking element 142 is disposed through the lifting unit 120, abuts against the rope unit 150, and is connected to the second driving element 141, and is used to reciprocate in the horizontal direction under the action of the second driving element 141 to restrict the rope unit 150 between the lifting unit 120 and the locking unit 140.

[0187] Specifically, the second driving element 141 is disposed at the bottom end of the lifting element 121 and connected to the lifting element 121 ; the locking element 142 passes through the lifting element 121 via the first through-slot element 122 .

[0188] More specifically, the second driving element 141 is disposed at the top end of the third transverse plate and connected to the third transverse plate; the locking element 142 passes through the third transverse plate via the first through-slot element 122 .

[0189] In some of the embodiments, the second driving element 141 is fixedly connected to the lifting element 121 , including but not limited to a bolt connection.

[0190] In some of the embodiments, the second driving element 141 is a cylinder.

[0191] The locking element 142 is in an arc structure and is used to adapt to the rope unit 150 .

[0192] The size of the locking element 142 matches the size of the first through-groove element 122. Generally, the radial size of the outer edge surface of the locking element 142 is smaller than the radial size of the first through-groove element 122, and the axial size of the locking element 142 is larger than the axial size of the first through-groove element 122.

[0193] In some embodiments, the locking element 142 is fixedly connected to the second driving element 141 , including but not limited to a bolt connection.

[0194] In some embodiments, the locking element 142 is made of stainless steel.

[0195] In some of these embodiments, the locking element 142 is a locking plate.

[0196] like Figure 7 As shown, the rope unit 150 includes a rope element 151. The first end of the rope unit 150 is connected to the external winding device, and the second end of the rope element 151 passes through the support unit 110, the lifting unit 120 and the installation unit 160 in sequence, and abuts against the locking ends of the lifting unit 120 and the locking unit 140 respectively, so as to drive the installation unit 160 to reciprocate in the vertical direction under the action of the external winding device and to be restricted between the lifting unit 120 and the locking unit 140 under the action of the locking unit 140.

[0197] Specifically, the second end of the rope element 151 passes through the first guide element 115 and the first through-slot element 122 in sequence, and abuts against the first through-slot element 122 and the locking element 142 respectively.

[0198] The cross section of the rope element 151 is circular.

[0199] The size of the rope element 151 matches the size of the first guide element 115. Generally, the radial size of the rope element 151 is smaller than the axial size of the first guide element 115.

[0200] The size of the rope element 151 matches the size of the first through-groove element 122. Generally, the radial size of the rope element 151 is smaller than the radial size of the first through-groove element 122, and the axial size of the rope element 151 is larger than the axial size of the first through-groove element 122.

[0201] The size of the rope element 151 matches the size of the locking element 142. Generally, the radial size of the rope element 151 is smaller than the radial size of the inner edge surface of the locking element 142, and the axial size of the rope element 151 is larger than the axial size of the locking element 142.

[0202] In some of the embodiments, the rope element 151 is made of steel wire.

[0203] In some of the embodiments, the rope element 151 is a steel rope.

[0204] like Figure 8a , Figure 8b , Figure 8cAs shown, the installation unit 160 includes a first shell element 161, a plurality of fifth sliding elements 162, a third driving element 163, a movable element 164, a plurality of sixth sliding elements 165, a plurality of seventh sliding elements 166 and a plurality of first installation elements 167. The first shell element 161 is movably disposed below the lifting unit 120 and is respectively connected to the rope unit 150 and the unmanned remotely operated submersible; the plurality of fifth sliding elements 162 are respectively disposed through the first shell element 161; the third driving element 163 is disposed inside the first shell element 161 and is connected to the first shell element 161; the movable element 164 is movably disposed inside the first shell element 161 and is located below the third driving element 163 and is connected to the third driving element 163, and is used to move along the first shell element 161 under the action of the third driving element 163. Reciprocating motion in the vertical direction; a plurality of sixth sliding elements 165 are respectively arranged on the sides of the movable element 164; a plurality of seventh sliding elements 166 are respectively slidably arranged on the corresponding sixth sliding elements 165, for reciprocating motion along the sixth sliding elements 165; a plurality of first mounting elements 167 are respectively slidably arranged on the corresponding fifth sliding elements 162, and are respectively connected with the corresponding seventh sliding elements 166, and are respectively detachably connected with the unmanned remote-controlled submersible, for reciprocating motion along the fifth sliding element 162 under the action of the seventh sliding element 166.

[0205] Specifically, the first shell element 161 is movably disposed below the lifting element 121 and is connected to the second end of the rope element 151 .

[0206] More specifically, the first shell element 161 is movably disposed below the third transverse plate.

[0207] The first shell element 161 is a hollow structure with closed ends.

[0208] The size of the first shell element 161 matches the size of the rope element 151. Generally, the radial size of the outer edge surface of the first shell element 161 is larger than the radial size of the rope element 151, and the outer axial size of the first shell element 161 is smaller than the axial size of the rope element 151.

[0209] The size of the first shell element 161 matches the size of the first through-groove element 122. Generally, the radial dimension of the outer edge surface of the first shell element 161 is larger than the radial dimension of the first through-groove element 122.

[0210] In some of the embodiments, the first shell element 161 is fixedly connected to the rope element 151 , including but not limited to bolt connection.

[0211] In some of the embodiments, the first shell element 161 is made of iron to facilitate magnetic attraction with a magnet.

[0212] In some of the embodiments, the first shell element 161 is a first shell.

[0213] The cross section of the fifth sliding element 162 is in an arc shape.

[0214] The size of the fifth sliding element 162 matches the size of the first shell element 161. Generally, the radial size (such as the outer edge surface and the inner edge surface) of the fifth sliding element 162 is equal to the radial size (such as the outer edge surface and the inner edge surface) of the first shell element 161, and the axial size of the fifth sliding element 162 is smaller than the inner axial size of the first shell element 161.

[0215] In some embodiments, there are multiple fifth sliding elements 162 , which are spaced apart along the circumference of the first shell element 161 .

[0216] In some embodiments, the number of the fifth sliding elements 162 is four.

[0217] In some embodiments, the fifth sliding element 162 is a third sliding groove.

[0218] In some of the embodiments, the third driving element 163 is fixedly connected to the first shell element 161, including but not limited to bolt connection.

[0219] In some of the embodiments, the third driving element 163 is an electric cylinder.

[0220] The movable element 164 has a conical structure.

[0221] In some embodiments, the longitudinal section of the movable element 164 is an isosceles trapezoid. Specifically, the radial dimension of the movable element 164 decreases from its top end to its bottom end.

[0222] The size of the movable element 164 matches the size of the first shell element 161. Generally, the maximum radial size of the movable element 164 is equal to the radial size of the inner edge surface of the first shell element 161, and the axial size of the movable element 164 is smaller than the inner axial size of the first shell element 161.

[0223] In some of the embodiments, the movable element 164 is fixedly connected to the third driving element 163, including but not limited to a bolt connection.

[0224] In some of the embodiments, the movable element 164 is made of aluminum alloy.

[0225] In some of the embodiments, the movable element 164 is a movable block.

[0226] In some embodiments, the cross section of the sixth sliding element 165 is convex. Specifically, the sixth sliding element 165 includes a first sliding groove and a second sliding groove. The first sliding groove is disposed on the side of the movable element 164 and is slidably connected to the seventh sliding element 166; the second sliding groove is disposed inside the first sliding groove, communicates with the first sliding groove, and is slidably connected to the seventh sliding element 166.

[0227] The size of the first sliding groove matches the size of the movable element 164. Generally, the length and width of the first sliding groove are smaller than the minimum radial dimension of the movable element 164, and the height of the first sliding groove is smaller than the axial dimension of the movable element 164.

[0228] The size of the second sliding groove matches the size of the movable element 164. Generally, the length and width of the second sliding groove are smaller than the minimum radial dimension of the movable element 164, and the height of the second sliding groove is smaller than the axial dimension of the movable element 164.

[0229] The size of the second sliding groove matches the size of the first sliding groove. Generally, the length of the second sliding groove is greater than the length of the first sliding groove, the width of the second sliding groove is equal to the width of the first sliding groove, and the height of the second sliding groove is equal to the height of the first sliding groove.

[0230] The number of the sixth sliding elements 165 matches the number of the fifth sliding elements 162. Generally, the number of the sixth sliding elements 165 is equal to the number of the fifth sliding elements 162.

[0231] In some embodiments, there are multiple sixth sliding elements 165 , which are spaced apart along the circumference of the movable element 164 .

[0232] In some embodiments, the number of the sixth sliding elements 165 is four.

[0233] In some embodiments, the cross section of the seventh sliding element 166 is convex. Specifically, the seventh sliding element 166 includes a first sliding block and a second sliding block. The first end of the first sliding block is provided with a first mounting element 167 and is slidably connected to the first sliding groove; the second sliding block is connected to the second end of the first sliding block and is slidably connected to the second sliding groove.

[0234] The size of the first sliding block matches the size of the first sliding slot. Generally, the length of the first sliding block is equal to the length of the first sliding slot, the width of the first sliding block is greater than the width of the first sliding slot, and the height of the first sliding block is less than the height of the first sliding slot.

[0235] The size of the second sliding block matches the size of the second sliding slot. Generally, the length of the second sliding block is equal to the length of the second sliding slot, the width of the second sliding block is equal to the width of the second sliding slot, and the height of the second sliding block is less than the height of the second sliding slot.

[0236] The size of the second sliding block matches the size of the first sliding block. Generally, the length of the second sliding block is greater than the length of the first sliding block, the width of the second sliding block is less than the width of the first sliding block, and the height of the second sliding block is equal to the height of the first sliding block.

[0237] The number of the seventh sliding elements 166 matches the number of the sixth sliding elements 165. Generally, the number of the seventh sliding elements 166 is equal to the number of the sixth sliding elements 165.

[0238] In some embodiments, the seventh sliding element 166 is made of aluminum alloy.

[0239] The first installation element 167 is a structure with one end being arc-shaped and the other end being rectangular, and the arc shape is used to adapt to the outer edge surface of the first shell element 161 .

[0240] The size of the first mounting element 167 matches the size of the fifth sliding element 162. Generally, the length of the first mounting element 167 is equal to the radial dimension of the fifth sliding element 162, the width of the first mounting element 167 is greater than the distance between the radial dimension of the outer edge surface of the fifth sliding element 162 and the radial dimension of the inner edge surface of the fifth sliding element 162, and the height of the first mounting element 167 is equal to the axial dimension of the fifth sliding element 162.

[0241] The size of the first mounting element 167 matches the size of the first sliding block. Generally, the length of the first mounting element 167 is greater than the length of the first sliding block, the width of the first mounting element 167 is greater than the width of the first sliding block, and the height of the first mounting element 167 is greater than the height of the first sliding block.

[0242] The number of the first mounting elements 167 matches the number of the seventh sliding elements 166. Generally, the number of the first mounting elements 167 is equal to the number of the seventh sliding elements 166. That is, each seventh sliding element 166 corresponds to a first mounting element 167.

[0243] In some embodiments, the first mounting element 167 and the seventh sliding element 166 are fixedly connected, including but not limited to being integrally formed.

[0244] In some of the embodiments, the first mounting element 167 is made of aluminum alloy.

[0245] In some of these embodiments, the first mounting element 167 is a mounting block.

[0246] The method of using the utility model is as follows:

[0247] (I) Installing ROV

[0248] Start the third driving element 163 to drive the movable element 164 to move downward along the axial direction of the first shell element 161;

[0249] The movable element 164 drives the first mounting element 167 to move correspondingly along the sixth sliding element 165 via the seventh sliding element 166 ;

[0250] During the process, the first installation element 167 is squeezed to move correspondingly along the fifth sliding element 162, so that the first installation element 167 moves out of the first shell element 161 and moves into the interior of the ROV, so that the installation unit 160 is installed on the ROV.

[0251] (II) Decentralization of operations

[0252] The external winding device drives the rope element 151 to move along the first guide element 115 and the first through-slot element 122 accordingly;

[0253] The rope element 151 drives the ROV to perform the lowering operation through the installation unit 160;

[0254] When the ROV enters the water, the third driving element 163 is started to drive the movable element 164 to move upward along the axial direction of the first shell element 161;

[0255] The movable element 164 drives the first mounting element 167 to move correspondingly along the sixth sliding element 165 via the seventh sliding element 166 ;

[0256] During the process, the first mounting element 167 moves correspondingly along the fifth sliding element 162, so that the first mounting element 167 moves out of the interior of the ROV and moves into the interior of the first shell element 161, so that the mounting unit 160 is separated from the ROV.

[0257] (III) Recovery Operation

[0258] After the ROV surfaces, the external reeling device is started to work, so that it drives the installation unit 160 to be gradually lowered through the rope element 151;

[0259] During the process, the first driving element 133 is started to work, so that it drives the second rotating element 134 to rotate along the circumferential direction of the first rotating element 124;

[0260] The second rotating element 134 drives the lifting element 121 to move downward along the height direction of the first sliding element 114 through the second sliding element 123;

[0261] After the installation unit 160 is lowered to the specified position, the external winding device stops working and starts working on the second driving element 141, so that it drives the locking element 142 to gradually approach the rope element 151 until the rope element 151 is tightly attached between the locking element 142 and the first through-slot element 122, and stops working on the second driving element 141, thereby limiting the position of the rope element 151 after being lowered.

[0262] Start the third driving element 163 to drive the movable element 164 to move downward along the axial direction of the first shell element 161;

[0263] The movable element 164 drives the first mounting element 167 to move correspondingly along the sixth sliding element 165 via the seventh sliding element 166 ;

[0264] During the process, the first mounting element 167 is squeezed to move correspondingly along the fifth sliding element 162, so that the first mounting element 167 is moved out of the interior of the first shell element 161 and moved to the interior of the ROV, so that the mounting unit 160 is mounted to the ROV;

[0265] The second driving element 141 is started to work, so that it drives the locking element 142 to gradually move away from the rope element 151;

[0266] The external winding device is started to drive the rope element 151 to move along the first guide element 115 and the first through-slot element 122 accordingly;

[0267] The rope element 151 drives the ROV to perform the recovery operation through the installation unit 160.

[0268] The advantages of the utility model are that the coordinated use of the installation unit and the installation device can enable the rope unit and the underwater diving device to be automatically disassembled and installed, thereby avoiding the risk of the rope and the guide being entangled due to the underwater diving device not being removed, and reducing surface operations at the same time; the coordinated use of the lifting unit, the driving unit, and the magnetic device can limit the rope unit when the installation unit is assembled to the installation device to improve the stability during assembly; the locking unit can be used to lock the rope unit, so that after locking, a rigid lifting range is formed, which can make the recovery and temporary hanging operations under harsh working conditions more stable and safer.

[0269] Example 2

[0270] This embodiment relates to an underwater submersible system of the utility model.

[0271] like Fig. 9 , Fig.10As shown, an underwater submersible system comprises a lowering device 100, an underwater diving device 200, a mounting device 300 and a magnetic device 400 as described in Example 1. The mounting device 300 is arranged at the top of the underwater diving device 200, and the mounting device 300 is divided into an upper chamber and a lower chamber. The upper chamber of the mounting device 300 is detachably connected to the mounting unit 160 of the lowering device 100, and is used to drive the underwater diving device 200 to reciprocate in the vertical reverse direction under the action of the mounting unit 160; the driving end of the magnetic device 400 is arranged in the lower chamber of the mounting device 300, and the magnetic end of the magnetic device 400 is arranged in the upper chamber of the mounting device 300, and is detachably connected to the mounting unit 160 of the lowering device 100, and is used to limit the position of the mounting unit 160.

[0272] like Fig.11 As shown, the underwater diving device 200 includes an underwater diving element 201. The top of the underwater diving element 201 is connected to the installation device 300, and is used for reciprocating along the vertical direction under the action of the installation device 300.

[0273] In some of the embodiments, the underwater submersible element 201 is an unmanned remotely operated vehicle.

[0274] like Fig.12 As shown, the installation device 300 includes a second shell element 301, a sealing element 302, a third through-groove element 303, a second installation element 304, and a second guide element 305. The second shell element 301 is arranged at the top of the underwater diving device 200, and the second shell element 301 is divided into an upper chamber and a lower chamber. The upper chamber of the second shell element 301 is provided with a magnetic end of the magnetic device 400, and the lower chamber of the second shell element 301 is provided with a driving end of the magnetic device 400, which is connected to the magnetic device 400 and is used to drive the underwater diving device 200 to reciprocate vertically in the reverse direction under the action of the installation unit 160; the sealing element 302 is arranged inside the second shell element 301 and connected to the second shell element 301. The first shell component 301 is connected with the second shell component 301, and is used to divide the second shell component 301 into an upper chamber and a lower chamber; the third through-groove component 303 is arranged through the sealing component 302, and is used for the output end of the magnetic attraction device 400 to pass through the sealing component 302; the second installation component 304 is arranged inside the upper chamber of the second shell component 301, and is detachably connected to the installation unit 160 of the lowering device 100; the second guide component 305 is arranged at the top end of the second shell component 301, and is connected to the upper chamber of the second shell component 301, and is used to guide the installation unit 160.

[0275] Specifically, the second shell element 301 is disposed at the top of the underwater diving element 201 and connected to the underwater diving element 201 ; the second mounting element 304 is detachably connected to the first mounting element 167 .

[0276] The second shell element 301 is a structure with a hollow top and a closed top.

[0277] The size of the second shell element 301 matches the size of the underwater submersible element 201. Generally, the radial size of the outer edge surface of the second shell element 301 is smaller than the radial size (such as length and width) of the underwater submersible element 201, and the outer axial size of the second shell element 301 is smaller than the axial size (such as height) of the underwater submersible element 201.

[0278] The size of the second shell element 301 matches the size of the first shell element 161. Generally, the radial dimension of the inner edge surface of the second shell element 301 is larger than the radial dimension of the outer edge surface of the first shell element 161, and the inner axial dimension of the second shell element 301 is larger than the outer axial dimension of the first shell element 161.

[0279] In some of the embodiments, the second shell element 301 is fixedly connected to the underwater submersible element 201, including but not limited to bolt connection.

[0280] In some of the embodiments, the second shell element 301 is made of aluminum alloy.

[0281] In some of the embodiments, the second shell element 301 is a second shell.

[0282] The sealing element 302 has a circular cross section.

[0283] The size of the sealing element 302 matches the size of the second shell element 301. Generally, the radial size of the sealing element 302 is equal to the radial size of the inner edge surface of the second shell element 301, and the axial size of the sealing element 302 is smaller than the axial size of the second shell element 301.

[0284] In some of the embodiments, the sealing element 302 is fixedly connected to the second shell element 301, including but not limited to bolt connection.

[0285] In some of the embodiments, the sealing element 302 is made of aluminum alloy.

[0286] In some of the embodiments, the sealing element 302 is a sealing plate.

[0287] The cross section of the third through-groove element 303 is circular.

[0288] The size of the third through-groove element 303 matches the size of the sealing element 302. Generally, the radial size of the third through-groove element 303 is smaller than the radial size of the sealing element 302, and the axial size of the third through-groove element 303 is equal to the axial size of the sealing element 302.

[0289] In some of the embodiments, the third through-slot element 303 is a third through-slot.

[0290] The cross section of the second mounting element 304 is circular.

[0291] The size of the second mounting element 304 matches the size of the second shell element 301. Generally, the radial size of the second mounting element 304 is larger than the radial size of the inner edge surface of the second shell element 301, the radial size of the second mounting element 304 is smaller than the radial size of the outer edge surface of the second shell element 301, and the axial size of the second mounting element 304 is smaller than the axial size of the second shell element 301.

[0292] The size of the second mounting element 304 matches the size of the first mounting element 167. Generally, the axial dimension of the second mounting element 304 is greater than the height of the first mounting element 167.

[0293] In some of the embodiments, the axial dimension of the second mounting element 304 is twice the height of the first mounting element 167 .

[0294] In some of the embodiments, the second mounting element 304 is a mounting slot.

[0295] The second guide element 305 is a hollow structure.

[0296] The longitudinal section of the second guide element 305 is an isosceles trapezoid. Specifically, the radial dimension of the second guide element 305 decreases from its top to its bottom. That is, the radial dimension of the second guide element 305 decreases from the end away from the second shell element 301 to the end close to the second shell element 301.

[0297] The size of the second guide element 305 matches the size of the second shell element 301. Generally, the radial size of the second guide element 305 (such as the radial size of the smallest outer edge surface and the radial size of the smallest inner edge surface) is equal to the radial size of the second shell element 301 (such as the radial size of the outer edge surface and the radial size of the inner edge surface), and the axial size of the second guide element 305 is smaller than the outer axial size of the second shell element 301.

[0298] The size of the second guide element 305 matches the size of the underwater submersible element 201. Generally, the radial size of the largest outer edge surface of the second guide element 305 is smaller than the radial size (such as length and width) of the underwater submersible element 201, and the axial size of the second guide element 305 is smaller than the axial size (such as height) of the underwater submersible element 201.

[0299] In some of the embodiments, the second guide element 305 is fixedly connected to the second shell element 301, including but not limited to integrally formed.

[0300] In some of the embodiments, the second guide element 305 is made of aluminum alloy.

[0301] In some of the embodiments, the second guide element 305 is a guide plate.

[0302] like Fig.13 As shown, the magnetic attraction device 400 includes a fourth driving element 401 and a magnetic attraction element 402. The fourth driving element 401 is disposed in the lower chamber of the installation device 300 and connected to the installation device 300; the magnetic attraction element 402 is movably disposed in the upper chamber of the installation device 300, and is detachably connected to the installation unit 160 of the lowering device 100, and is connected to the fourth driving element 401, and is used to reciprocate in the vertical direction under the action of the fourth driving element 401 to limit the position of the installation unit 160.

[0303] Specifically, the fourth driving element 401 is disposed in the lower chamber of the second shell element 301 and connected to the second shell element 301 ; the magnetic attraction element 402 is movably disposed in the upper chamber of the second shell element 301 and detachably connected to the first shell element 161 .

[0304] In some of the embodiments, the fourth driving element 401 is fixedly connected to the second shell element 301, including but not limited to bolt connection.

[0305] In some of the embodiments, the fourth driving element 401 is an electric cylinder.

[0306] The cross section of the magnetic element 402 is circular.

[0307] The size of the magnetic element 402 matches the size of the second shell element 301. Generally, the radial size of the magnetic element 402 is smaller than the radial size of the inner edge surface of the second shell element 301, and the axial size of the magnetic element 402 is smaller than the inner axial size of the second shell element 301.

[0308] The size of the magnetic element 402 matches the size of the sealing element 302. Generally, the radial size of the magnetic element 402 is smaller than the radial size of the sealing element 302.

[0309] The size of the magnetic element 402 matches the size of the third through-groove element 303. Generally, the radial size of the magnetic element 402 is greater than the radial size of the third through-groove element 303.

[0310] The size of the magnetic element 402 matches the size of the first shell element 161. Generally, the radial size of the magnetic element 402 is smaller than the radial size of the outer edge surface of the first shell element 161.

[0311] In some of the embodiments, the magnetic element 402 is fixedly connected to the fourth driving element 401 , including but not limited to bolt connection.

[0312] In some of the embodiments, the magnetic element 402 is made of a compound consisting of a ceramic material and iron oxide.

[0313] In some of the embodiments, the magnetic attraction element 402 is a magnet.

[0314] The method of using the utility model is as follows:

[0315] (I) Installation of underwater diving components 201

[0316] The first shell element 161 is placed in the upper cavity of the second shell element 301;

[0317] Start the third driving element 163 to drive the movable element 164 to move downward along the axial direction of the first shell element 161;

[0318] The movable element 164 drives the first mounting element 167 to move correspondingly along the sixth sliding element 165 via the seventh sliding element 166 ;

[0319] During the process, the first installation element 167 is squeezed to move correspondingly along the fifth sliding element 162 , so that the first installation element 167 moves out of the first shell element 161 and moves into the second installation element 304 , so that the first shell element 161 is installed into the second shell element 301 .

[0320] (II) Decentralization of operations

[0321] The external winding device drives the rope element 151 to move along the first guide element 115 and the first through-slot element 122 accordingly;

[0322] The rope element 151 drives the underwater diving element 201 to perform a lowering operation through the first shell element 161;

[0323] When the underwater diving element 201 enters the water, the third driving element 163 is started to drive the movable element 164 to move upward along the axial direction of the first shell element 161;

[0324] The movable element 164 drives the first mounting element 167 to move correspondingly along the sixth sliding element 165 via the seventh sliding element 166 ;

[0325] During the process, the first installation element 167 moves correspondingly along the fifth sliding element 162 , so that the first installation element 167 moves out of the second installation element 304 and moves into the first shell element 161 , so that the first shell element 161 is separated from the second shell element 301 .

[0326] (III) Recovery Operation

[0327] After the underwater diving element 201 surfaces, the external winding device is started to work, so that it drives the first shell element 161 to be gradually lowered through the rope element 151;

[0328] During the process, the first driving element 133 is started to work, so that it drives the second rotating element 134 to rotate along the circumferential direction of the first rotating element 124;

[0329] The second rotating element 134 drives the lifting element 121 to move downward along the height direction of the first sliding element 114 through the second sliding element 123;

[0330] The fourth driving element 401 is started to work, so that it drives the magnetic element 402 to gradually move vertically upward until it moves out of the interior of the second shell element 301;

[0331] As the first shell element 161 is gradually lowered, the bottom end of the first shell element 161 is magnetically connected to the magnetic element 402. After the connection, the first driving element 133 drives the magnetic element 402 to move downward, thereby assisting in driving the first shell element 161 to be lowered to the upper cavity of the second shell element 301.

[0332] After the first shell element 161 is lowered to the specified position, the external winding device stops working and the second driving element 141 is started to drive the locking element 142 to gradually approach the rope element 151 until the rope element 151 is tightly attached between the locking element 142 and the first through-slot element 122, and the second driving element 141 is stopped to limit the lowered rope element 151.

[0333] Start the third driving element 163 to drive the movable element 164 to move downward along the axial direction of the first shell element 161;

[0334] The movable element 164 drives the first mounting element 167 to move correspondingly along the sixth sliding element 165 via the seventh sliding element 166 ;

[0335] During the process, the first installation element 167 is squeezed to move correspondingly along the fifth sliding element 162, so that the first installation element 167 is moved out of the first shell element 161 and moved into the second installation element 304, so that the first shell element 161 is installed to the second shell element 301;

[0336] The second driving element 141 is started to work, so that it drives the locking element 142 to gradually move away from the rope element 151;

[0337] The external winding device is started to drive the rope element 151 to move along the first guide element 115 and the first through-slot element 122 accordingly;

[0338] The rope element 151 drives the underwater diving element 201 through the first shell element 161 to perform the recovery operation.

[0339] The above description is only a preferred embodiment of the present invention, and does not limit the implementation mode and protection scope of the present invention. For those skilled in the art, it should be aware that all solutions obtained by equivalent substitutions and obvious changes made using the description and illustrations of the present invention should be included in the protection scope of the present invention.

Claims

1. A lowering device for lowering an unmanned remote-controlled submersible, characterized in that: include: A support unit (110), wherein the support unit (110) is arranged on a ship deck and connected to the ship deck; A lifting unit (120), the lifting unit (120) being movably disposed at the bottom end of the supporting unit (110) and configured to reciprocate in a vertical direction; a driving unit (130), the driving unit (130) being arranged at a side end of the supporting unit (110) and being respectively connected to the supporting unit (110) and the lifting unit (120), and being used for driving the lifting unit (120) to reciprocate in a vertical direction; A locking unit (140), wherein a driving end of the locking unit (140) is arranged at the bottom end of the lifting unit (120), and a locking end of the locking unit (140) is arranged through the lifting unit (120) and is connected to the lifting unit (120); A rope unit (150), wherein a first end of the rope unit (150) is connected to an external winding device, and a second end of the rope unit (150) passes through the support unit (110) and the lifting unit (120) in sequence, and abuts against the lifting unit (120) and the locking end of the locking unit (140) respectively, so as to be retracted and released under the action of the external winding device, and be restricted between the lifting unit (120) and the locking unit (140) under the action of the locking unit (140); The mounting unit (160) is movably arranged below the lifting unit (120) and is respectively connected to the rope unit (150) and the unmanned remote-controlled submersible, and is used to drive the unmanned remote-controlled submersible to reciprocate in a vertical direction under the action of the rope unit (150).

2. The lowering device according to claim 1, characterized in that: The support unit (110) comprises: A first supporting element (111), wherein the first supporting element (111) is obliquely arranged on the ship deck and connected to the ship deck; a second supporting element (112), the second supporting element (112) being arranged at a top end of the first supporting element (111) and connected to the first supporting element (111); a third supporting element (113), the third supporting element (113) being arranged at the top end of the first supporting element (111), being symmetrically arranged with the second supporting element (112), and being respectively connected with the first supporting element (111) and the driving unit (130); a first sliding element (114), the first sliding element (114) being disposed through the third supporting element (113) and being slidably connected to the lifting unit (120); A first guide element (115), wherein the first guide element (115) is disposed between the second support element (112) and the third support element (113), and is respectively connected to the second support element (112) and the third support element (113), and is in contact with the rope unit (150), and is used to guide the rope unit (150).

3. The lowering device according to claim 1, characterized in that: The lifting unit (120) comprises: A lifting element (121), the lifting element (121) being movably disposed at the bottom end of the supporting unit (110), the locking unit (140) being disposed at the bottom end of the lifting element (121) and being used for reciprocating movement in a vertical direction; a first through-slot element (122), the first through-slot element (122) being arranged to penetrate the lifting element (121) and used for allowing a locking end of the locking unit (140) and the rope unit (150) to pass through the lifting element (121); A second sliding element (123), the second sliding element (123) being disposed at a top end of the lifting element (121) and being slidably connected to the support unit (110), and being used to drive the lifting element (121) to reciprocate in a vertical direction; a first rotating element (124), wherein the first rotating element (124) is disposed through the second sliding element (123) and is connected to the driving unit (130); and / or The driving unit (130) comprises: a fourth supporting element (131), the fourth supporting element (131) being arranged at a side end of the supporting unit (110) and connected to the supporting unit (110); a second through-groove element (132), wherein the second through-groove element (132) is disposed through the fourth supporting element (131); A first driving element (133), wherein a driving end of the first driving element (133) is arranged at a top end of the fourth supporting element (131), and an output end of the first driving element (133) passes through the fourth supporting element (131) via the second through-slot element (132); A second rotating element (134), the second rotating element (134) is movably arranged below the fourth supporting element (131), and is respectively connected to the driving end of the first driving element (133) and the lifting unit (120), and is used for driving the lifting unit (120) to reciprocate in the vertical direction under the action of the first driving element (133).

4. The lowering device according to claim 3, characterized in that: The lifting unit (120) further includes: At least one third sliding element (125), wherein the third sliding element (125) is disposed through the second sliding element (123) and is connected to the driving unit (130).

5. The lowering device according to claim 3 or 4, characterized in that: The driving unit (130) further includes: At least one fourth sliding element (135), the fourth sliding element (135) being arranged at the bottom end of the fourth supporting element (131) and being slidably connected to the lifting unit (120).

6. The lowering device according to claim 1, characterized in that: The locking unit (140) comprises: A second driving element (141), the second driving element (141) being disposed at the bottom end of the lifting unit (120) and connected to the lifting unit (120); A locking element (142), wherein the locking element (142) passes through the lifting unit (120), abuts against the rope unit (150), and is connected to the second driving element (141), and is used for reciprocating in a horizontal direction under the action of the second driving element (141) to restrict the rope unit (150) between the lifting unit (120) and the locking unit (140).

7. The lowering device according to claim 1, characterized in that: The rope unit (150) comprises: A rope element (151), wherein the first end of the rope unit (150) is connected to an external winding device, and the second end of the rope element (151) passes through the support unit (110), the lifting unit (120) and the installation unit (160) in sequence, and is respectively abutted against the locking ends of the lifting unit (120) and the locking unit (140), so as to drive the installation unit (160) to reciprocate in the vertical direction under the action of the external winding device, and to be restricted between the lifting unit (120) and the locking unit (140) under the action of the locking unit (140).

8. The lowering device according to claim 1, characterized in that: The installation unit (160) comprises: A first shell element (161), the first shell element (161) is movably disposed below the lifting unit (120) and is respectively connected to the rope unit (150) and the unmanned remote-controlled submersible; A plurality of fifth sliding elements (162), wherein the plurality of fifth sliding elements (162) are respectively disposed through the first shell element (161); a third driving element (163), the third driving element (163) being disposed inside the first shell element (161) and connected to the first shell element (161); a movable element (164), the movable element (164) being movably disposed inside the first shell element (161), being located below the third driving element (163), and being connected to the third driving element (163), and being configured to reciprocate in a vertical direction under the action of the third driving element (163); A plurality of sixth sliding elements (165), wherein the plurality of sixth sliding elements (165) are respectively arranged on the side of the movable element (164); a plurality of seventh sliding elements (166), wherein the plurality of seventh sliding elements (166) are respectively slidably disposed on the corresponding sixth sliding elements (165) and are used for reciprocating along the sixth sliding elements (165); A plurality of first mounting elements (167), wherein the plurality of first mounting elements (167) are respectively slidably disposed on the corresponding fifth sliding elements (162), and are respectively connected to the corresponding seventh sliding elements (166), and are respectively detachably connected to the unmanned remotely operated submersible, and are used for reciprocating motion along the fifth sliding element (162) under the action of the seventh sliding element (166).

9. An underwater submersible system, characterized in that: include: The lowering device (100) according to any one of claims 1 to 8; Underwater diving equipment (200); A mounting device (300), the mounting device (300) being arranged at the top of the underwater diving device (200), the mounting device (300) being divided into an upper chamber and a lower chamber, the upper chamber of the mounting device (300) being detachably connected to the mounting unit (160) of the lowering device (100), and being used for driving the underwater diving device (200) to move back and forth in a vertical direction under the action of the mounting unit (160); A magnetic device (400), wherein the driving end of the magnetic device (400) is arranged in the lower chamber of the installation device (300), and the magnetic end of the magnetic device (400) is arranged in the upper chamber of the installation device (300), and is detachably connected to the installation unit (160) of the lowering device (100) to limit the position of the installation unit (160).

10. The underwater submersible system according to claim 9, characterized in that: The underwater diving device (200) comprises: An underwater submersible element (201), the top end of which is connected to the mounting device (300) and is configured to reciprocate in a vertical direction under the action of the mounting device (300); and / or The installation device (300) comprises: a second shell element (301), the second shell element (301) being arranged at the top end of the underwater diving device (200), the second shell element (301) being divided into an upper chamber and a lower chamber, the upper chamber of the second shell element (301) being provided with a magnetic end of the magnetic device (400), the lower chamber of the second shell element (301) being provided with a driving end of the magnetic device (400) and being connected to the magnetic device (400) and used for driving the underwater diving device (200) to move back and forth in a vertical direction under the action of the mounting unit (160); a sealing element (302), the sealing element (302) being arranged inside the second shell element (301) and connected to the second shell element (301), and being used to divide the second shell element (301) into an upper chamber and a lower chamber; a third through-slot element (303), the third through-slot element (303) being arranged to penetrate the sealing element (302) and used for allowing the output end of the magnetic attraction device (400) to pass through the sealing element (302); a second mounting element (304), the second mounting element (304) being arranged inside the upper chamber of the second shell element (301) and being detachably connected to the mounting unit (160) of the lowering device (100); a second guiding element (305), the second guiding element (305) being arranged at the top end of the second shell element (301) and being in communication with the upper chamber of the second shell element (301) and being used for guiding the mounting unit (160); and / or The magnetic attraction device (400) comprises: a fourth driving element (401), the fourth driving element (401) being disposed in the lower chamber of the mounting device (300) and connected to the mounting device (300); A magnetic attraction element (402), wherein the magnetic attraction element (402) is movably arranged in the upper chamber of the installation device (300), and is detachably connected to the installation unit (160) of the lowering device (100), and is connected to the fourth driving element (401), and is used for reciprocating in the vertical direction under the action of the fourth driving element (401) to limit the position of the installation unit (160).

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