Multifunctional platform for assembling, bearing and lifting large UUV (Unmanned Underwater Vehicle)

Abstract

The utility model belongs to the field of large UUVs, and provides a multifunctional platform for assembling, bearing and lifting a large UUV. By combining the assembling link and the hoisting link, the cost is controlled while the rigidity of the large UUV is guaranteed, and the utilization efficiency of the large UUV is higher; the saddle and the lifting lug plate are arranged, so that the influence of large bending moment on the platform is reduced; the two-degree-of-freedom movement is completed through the movable saddles, and the posture adjustment of the UUV at the axial position can be completed while the actual stress of each saddle is reasonably distributed; by means of a mechanical limiting mechanism, the phenomenon that the structure of the UUV is damaged due to dislocation of the flange end face and the saddle face is prevented; and the UUV can smoothly enter and exit along the axial direction through the clamping mechanism. Assembling and hoisting are fully combined, launching hoisting operation after primary assembling can be completed, operation such as hoisting to a workshop for maintenance after launching can also be completed, and the hoisting device has the advantages of being ingenious in conception, reliable in work and convenient to use.

Description

Technical Field

[0001] The utility model relates to the field of large UUVs, in particular to a multi-functional platform for assembling, carrying and hoisting large UUVs. Background Art

[0002] For large UUVs, due to their overly large size, they cannot be manufactured in one piece. Each cabin section needs to be manufactured independently and then leveled, assembled and installed on an assembly platform. Therefore, it is necessary to design an assembly platform to lift the above-mentioned cabin sections, and at the same time, it can be adjusted in height within a certain range to assist the assembly trolley to complete the overall assembly. In addition, since the flanges between the cabin sections are connected by bolts, directly transferring the UUV from the assembly platform to the hoisting platform by a crane will result in insufficient overall UUV stiffness and thus damage the structure. Therefore, it is necessary to design a multi-functional platform to complete the assembly of large UUVs and can act as a hoisting platform to complete the deployment and recovery of UUVs.

[0003] Traditional UUVs are no more than 10m, and most of them are made of carbon fiber structures inside, with much lighter weights compared to large UUVs. Also, due to their too small volume, there is no need to consider their own stiffness problems additionally. Therefore, for the assembly process of previous UUVs, it is only necessary to make the UUV support frame and the skin into a whole during the carbon fiber forming stage to complete the assembly, without considering the problem of segmented assembly. In the deployment and recovery stage, similarly, due to the good overall forming stiffness and short length, generally, an interface is set at the upper end of the UUV to dock with the lifting beam to complete the hoisting process of the UUV. However, since large UUVs are more than 40m in length and have a metal frame inside, the flanges between each cabin section need to be bolted together, and each section is heavier and has poorer stiffness. Therefore, the above methods for the assembly and hoisting processes do not meet the requirements of this large UUV, so it is necessary to design an additional multi-functional platform to complete the above processes.

[0004] Based on this, the key point of this design for applying for the utility model is to combine the assembly and hoisting processes of large UUVs, design a multi-functional platform. After solving the assembly problem of large UUVs, the UUV and the platform can be directly transported to the port together to complete a series of problems such as the assembly, hoisting, deployment and recovery of large UUVs. Summary of the Utility Model

[0005] The technical problem to be solved by the utility model is: to solve the problems of difficult transportation and insufficient self-stiffness during the onshore assembly and debugging of large UUVs, and then to the hoisting, deployment and recovery processes, and to design and provide a multi-functional platform for assembling, carrying and hoisting large UUVs. By combining the assembly and hoisting processes of large UUVs, after solving the assembly problem of large UUVs, the UUV and the platform can be directly transported to the port together to complete a series of problems such as the assembly, hoisting, deployment and recovery of large UUVs.

[0006] The technical solution of the present utility model is as follows:

[0007] A multi-functional platform for assembling, carrying and lifting a large UUV, comprising a support moving saddle 1, a clamping mechanism 2, a guard plate 3, a lifting ear plate 4, a base platform 5 and a mechanical limit mechanism 6; a plurality of support moving saddles 1 are arranged in sequence on the base platform 5, and the position of each support moving saddle 1 corresponds to between the flange of each cabin section of the UUV. Vertical plates are provided at the corresponding positions of the support moving saddles 1 on both sides of the base platform 5, and the vertical plates are provided with grooves; lifting guide rails 9 are arranged outside both ends of the support moving saddle 1 and are movably connected to the grooves of the vertical plates of the base platform 5; a lifting lead screw is arranged below the support moving saddle 1 for changing the height of the support moving saddle 1; lifting ear plates 4 are arranged on both sides of the base platform 5, and the lifting ear plates 4 and the support moving saddle 1 are located on the same cross-section of the base platform 5; a mechanical limit mechanism 6 is arranged at one end of the base platform 5, and the lifting ear plate 4 is removed at the corresponding position of the support moving saddle 1 at one end of the base platform 5; guard plates 3 are installed on both sides of the base platform 5, and the clamping mechanism 2 is installed at the top of the guard plate 3; each support moving saddle 1 comprises a saddle movable member 7, a buffer roller 8 and a mechanical transmission mechanism 10; the support moving saddle 1 is a square frame, and a number of adjacent buffer rollers 8 are arranged therein. Two saddle movable members 7 are respectively slidably connected to both sides of the square frame and are connected to the mechanical transmission mechanism 10; the mechanical transmission mechanism 10 is a worm and gear mechanism. After twisting the worm wheel, the saddle movable member 7 is driven to move, changing the distance between the two saddle movable members 7, and the worm and gear are self-locking; the bottom end of the saddle movable member 7 is higher than the top of the buffer roller 8.

[0008] A method for using a multi-functional platform for assembling, carrying and lifting a large UUV, comprising the following steps

[0009] Step 1: Remove the clamping mechanism 2, the guard plate 3, the shackle and the mechanical limit mechanism 6;

[0010] Step 2: The assembly trolley places the cabin section on the support moving saddle 1; when there is a deviation of more than 10 mm during the centering process, the assembly trolley intervenes again for adjustment; when the deviation is less than 10 mm, it is adjusted by the support moving saddle 1;

[0011] The adjustment of the support moving saddle 1 is specifically as follows: when there is a height deviation, the lifting of the support moving saddle 1 is completed through the cooperation of the lifting lead screw below the support moving saddle 1 and the lifting guide rail 9 on the support moving saddle; when there is a left-right deviation, torque is input through the mechanical transmission mechanism 10 of the support moving saddle 1 to drive the saddle movable member 7 to adjust, thereby driving the movement of the cabin section;

[0012] Step 3: After the support moving saddle 1 is adjusted, install the disassembled structure in position. At the same time, the clamping mechanism 2 adjusts its distance from the side of the UUV through the corresponding handle to prevent the UUV from shifting during the lifting process.

[0013] Step 4: After completing the above steps, connect the wire rope to the shackles of the multi-functional platform and the lifting beam, and adjust the weight balance through the pre-tightening force of the wire rope. During the lifting process, the overhead crane lifts the UUV and the multi-functional platform together through the upper lifting beam and transports them to the dock. When the multi-functional platform reaches the designated position, the platform is lowered into the water. Under the action of the buoyancy of the water, the UUV gradually separates from the support moving saddle 1, and the stern of the UUV is towed by a tugboat. At this time, through the cooperation of the clamping mechanism 2 and the tugboat, it is slowly towed away from the multi-functional platform.

[0014] Step 5: When the UUV sails into the multi-functional platform, tow the bow of the UUV and pull it into the multi-functional platform. At this time, by adjusting the handle on the clamping mechanism 2, the reduction mechanism with a large transmission ratio inside is driven, thereby changing the moving distance of the clamping mechanism 2 to ensure that the UUV passes through the center line of the multi-functional platform. After the UUV reaches a certain position, the mechanical limit mechanism 6 on the multi-functional platform collides with the mechanical limit on the UUV to position the length direction of the UUV. When the UUV axially deviates, adjust the mechanical transmission mechanism 10 of the support moving saddle to adjust the axial direction of the UUV so that it can be seated on the support moving saddle 1.

[0015] The beneficial effects of the present utility model: By combining the assembly and lifting links, while ensuring the self-rigidity of the large UUV, the cost is also controlled, making its utilization efficiency higher; by reasonably arranging the saddle and the lifting ear plate, the influence of large bending moment on the platform is reduced; through the movable saddle, double-degree-of-freedom movement is completed, and while the actual force on each saddle can be reasonably distributed, the attitude adjustment of the UUV in the axial position is completed; through the mechanical limit mechanism, it is prevented that the flange end face and the saddle surface are misaligned, thereby damaging the self-structure of the UUV; through the clamping mechanism, it is ensured that the UUV can smoothly enter and exit along its axial direction. The present utility model fully combines the assembly and lifting, and can not only complete the launching and lifting operation after the initial assembly, but also complete the maintenance and other operations of lifting to the workshop after launching. The present utility model has the characteristics of ingenious conception, reliable operation, convenient use, and multiple uses. Description of the Drawings

[0016] Figure 1 It is a schematic structural diagram of a multi-functional platform for assembling and carrying and lifting a large UUV;

[0017] Figure 2 It is a front view schematic diagram of a multi-functional platform for assembling and carrying and lifting a large UUV;

[0018] Figure 3Schematic diagram of the supporting moving saddle

[0019] In the figure: 1 - supporting moving saddle, 2 - clamping mechanism, 3 - guard plate, 4 - lifting ear plate, 5 - foundation platform, 6 - mechanical limit mechanism, 7 - saddle movable member, 8 - buffer roller, 9 - lifting guide rail, 10 - mechanical transmission mechanism Specific implementation mode

[0020] All the mechanisms on the multi-functional platform are located on the foundation platform 5. The various flange surfaces of the large UUV are supported by the supporting moving saddle 1 on the foundation platform 5 to reduce the deformation of the metal frame of the large UUV. The foundation platform 5 is connected to the special lifting beam of the large UUV through the lifting ear and steel wire rope. In order to ensure the uniform force of the steel wire rope at the lifting ear, the lifting ears of the lifting beam need to be on the same vertical line as the lifting ears of the foundation platform 5 to prevent unnecessary bending moment in the axial direction from affecting the overall stiffness of the UUV and the multi-functional platform. During the lifting and transfer process of the large UUV, each lifting ear is also on the same cross-section as the supporting moving saddle 1, ensuring that the gravity (at the saddle support surface) and the tension (at the lifting ear) received by the foundation platform 5 do not generate a moment arm, thus eliminating the influence of the bending moment on the foundation platform

[0021] The multi-functional platform designed in the embodiment of the present utility model is composed of: 8 supporting moving saddles 1 including lifting lead screws, 7 groups of 14 lifting ear plates 4 and corresponding shackles, 6 groups of 12 clamping mechanisms 2, 2 mechanical limit mechanisms 6 (including two parts installed on the UUV and on the multi-functional platform), foundation platform 5 and guard plate 3, etc

[0022] In the assembly process, all mechanisms not related to the assembly are disassembled, and only the mobile support saddle 1 and the basic platform 5 are retained. Tracks are laid in the space between the mobile support saddles 1 for the assembly trolley to travel between the mobile support saddles 1. Each of the above-mentioned mobile support saddles 1 is located between the cabin flanges and is used to bear the weight of each cabin. In the initial stage of assembly, the assembly trolley will complete the transportation and posture adjustment of each cabin at a position higher than the mobile support saddle 1. After the initial adjustment of the two cabins that need to be screwed together is completed, the assembly trolley lowers the two adjusted cabin sections through the lifting hydraulic rod until the mobile support saddle 1 fully bears the weight of the cabin. The hydraulic rod of the assembly trolley continues to descend to a certain height, the trolley is separated from the cabin, and is moved out of the basic platform 5 through the motor of the wheel. At this point, the assembly trolley completes this assembly. At the same time, in order to prevent the cabin from being deflected on the saddle and affecting the screw connection process between the cabins, the mobile support saddle 1 can not only complete the centering of the bolt holes in the vertical direction by the lifting screw, but also drive the cabin to move slightly by adjusting the sliding amount of the saddle movable component 7 on the guide rail to ensure the completion of the saddle clamping or centering function. Similarly, when the cabins are adjusted and assembled, all cabins will be located on the mobile support saddle 1. In order to prevent the manufacturing and assembly errors from affecting the final force of each saddle, in addition to adjusting the height of the saddle by the screw after each cabin installation, the mobile support saddle 1 needs to be moved in the height direction by the lifting screw after the final assembly to ensure that the force of each mobile support saddle 1 meets the pressure value during the simulation calculation. For the convenience of observation, stress strain gauges can be used to observe the stress so that the actual force of the saddle is basically the same as the theoretical force.

[0023] In the hoisting process, all the mechanisms of the present utility model are installed on the foundation platform 5. Among them, the hoisting ear plate 4 is connected to the shackle on the lifting beam through a steel wire rope; the clamping mechanism 2 can adjust the distance between the rubber plate of the clamping mechanism and the UUV through the handle, so as to prevent the problem of lateral displacement of the UUV during the deployment and recovery process due to factors such as sea waves and wind directions, ensure that the UUV can smoothly enter and exit from the entrance and exit of the multi-functional platform, and prevent rubbing against the multi-functional platform; the guard plate 3 connects each clamping mechanism 2 to prevent the clamping mechanism 2 from shaking due to excessive height. During the deployment process of the hoisting process, the multi-functional platform will be completely immersed in water, and the UUV will be separated from the multi-functional platform. The UUV will be towed out by a tugboat in a powerless state. At this time, the clamping mechanism 2 plays a role in preventing the UUV from restricting axial deviation and buffering. Thus, the deployment process of the UUV is completed. During the recovery process of the hoisting process, it is also towed in by a tugboat in a powerless state of the UUV. In order to prevent errors in the cooperation between the flange of the UUV and the moving support saddle 1, mechanical limit mechanisms are installed on the multi-functional platform and the UUV respectively. When the mechanical limit mechanism installed on the UUV contacts the limit mechanism installed on the multi-functional platform, it means that the flange surface of the UUV and the saddle surface are on the same cross-section. At the same time, through the underwater operation of professional personnel, the clamping mechanism on the multi-functional platform and the saddle movable member 7 on the saddle are adjusted to ensure that the attitude of the UUV in the axial direction does not deviate. After visual inspection shows no deviation, the professional personnel leave the platform. Then, the hoisting personnel slowly lift the multi-functional platform through the upper lifting beam, and the UUV will gradually contact the moving support saddle 1 under the action of gravity until the moving support saddle 1 completely bears the weight of the UUV. Thus, the recovery process of the UUV is completed.

[0024] When the UUV is in the assembly stage, the clamping mechanism 2, the guard plate 3, the shackle and the mechanical limit mechanism 6 all need to be removed to meet the passage space of the assembly trolley. The assembly trolley has a total of six degrees of freedom and can lift the cabin section individually or in multiple combinations to complete the alignment between adjacent cabin sections. After adjusting to the appropriate position, the assembly trolley places the cabin section on the moving support saddle 1, and then the trolley exits the basic platform 5. When there is a large deviation during the alignment process, the assembly trolley can be adjusted again; when the error is small, it can be self-adjusted through the support moving saddle 1: that is, when there is a slight deviation in height, the lifting lead screw under the support moving saddle 1 and the lifting guide rail on the support moving saddle 1 cooperate to complete the lifting of the support moving saddle 1; when there is a slight deviation left and right, the mechanical transmission mechanism 10 of the support moving saddle 1 can input torque to drive the saddle movable member 7 to adjust, thereby driving the movement of the cabin section. The buffer roller in the middle of the support moving saddle 1 can not only prevent the trolley from generating a large impact when transferring the cabin section with the support moving saddle 1, but also avoid the impact force of direct contact between the UUV and the saddle during the recovery stage of lifting. When the overall assembly of the UUV is completed, the support moving saddle 1 can also adjust its height according to the values of the stress and strain gauges to ensure that each support moving saddle 1 is stressed, avoiding partial cabin sections from being suspended and affecting the straightness and stiffness of the UUV's appearance. After the support moving saddle 1 is adjusted, the disassembled structure is positioned and installed. At the same time, the clamping mechanism 2 adjusts its distance from the side of the UUV through the corresponding handle to prevent the UUV from having a large deviation during lifting. After the above steps are completed, the steel wire rope is connected to the shackles of the multi-functional platform and the lifting beam, and the weight balance is adjusted through the pre-tightening force of the steel wire rope. At this time, the UUV is ready for lifting.

[0025] During the lifting process, the overhead crane lifts the UUV and the multi-functional platform together through the upper lifting beam and transports them to the dock. When the multi-functional platform reaches the designated position, it is lowered into the water. Under the action of water buoyancy, the UUV will gradually separate from the support moving saddle 1. At this time, a tugboat is used to drag the stern of the UUV. At this time, through the cooperation of the clamping mechanism 2 and the tugboat, it is slowly towed away from the multi-functional platform. Similarly, when the UUV sails into the multi-functional platform, the bow of the UUV is dragged and pulled into the multi-functional platform. At this time, by adjusting the spacing of the clamping mechanism 2, it is ensured that the UUV passes through the center line of the multi-functional platform. After the UUV reaches a certain position, the mechanical limit on the multi-functional platform collides with the mechanical limit on the UUV to position the length direction of the UUV. At this time, the platform is slowly lifted. When the distance between the boat and the saddle gets closer and closer, stop lifting, and visually judge whether the UUV fits the saddle through professional underwater personnel. If the UUV axially deviates, the mechanical transmission mechanism of the support moving saddle can be adjusted to adjust the axial direction of the UUV so that it can be seated on the saddle, avoiding the problem of excessive local stress caused by non-conforming profiles. After the inspection is correct, continue to lift the multi-functional platform until it is completely out of the water. Subsequently, the UUV will be sent to the workshop to complete the process of overhaul, disassembly, and reassembly. In addition to the above embodiments, the present utility model can also have other implementation manners. All technical solutions formed by equivalent replacement or equivalent transformation fall within the protection scope required by the present utility model.

Claims

1. A multifunctional platform for assembling, carrying and lifting large UUVs, characterized in that: The multifunctional platform for assembling, carrying and lifting a large UUV comprises a supporting mobile saddle (1), a clamping mechanism (2), a guard plate (3), a lifting lug plate (4), a base platform (5) and a mechanical limiting mechanism (6); a plurality of supporting mobile saddles (1) are arranged in sequence on the base platform (5), the position of each supporting mobile saddle (1) corresponds to between the flanges of each cabin section of the UUV, vertical plates are arranged on both sides of the base platform (5) at positions corresponding to the positions of the supporting mobile saddles (1), and the vertical plates have grooves; lifting guide rails (9) are arranged outside the two ends of the supporting mobile saddle (1) and are movably connected to the grooves of the vertical plates of the base platform (5); a lifting screw is arranged below the supporting mobile saddle (1) for changing the height of the supporting mobile saddle (1); lifting lug plates (4) are arranged on both sides of the base platform (5), and the lifting lug plates (4) and the supporting mobile saddle (1) are located on the same cross-sectional plane of the base platform (5). The base platform (5) is provided with a mechanical limit mechanism (6) at one end, and the lifting ear plate (4) is removed at the corresponding position of the supporting movable saddle (1) at one end of the base platform (5); guard plates (3) are installed on both sides of the base platform (5), and a clamping mechanism (2) is installed on the top of the guard plates (3); each supporting movable saddle (1) includes a saddle movable component (7), a buffer roller (8) and a mechanical transmission mechanism (10); the supporting movable saddle (1) is a square frame, in which a plurality of adjacent buffer rollers (8) are arranged, and two saddle movable components (7) are respectively slidably connected to the two sides of the square frame, which are connected to the mechanical transmission mechanism (10); the mechanical transmission mechanism (10) is a worm gear mechanism, after the worm wheel is twisted, the saddle movable component (7) is driven to move, and the distance between the two saddle movable components (7) is changed, and the worm gear is self-locking; the bottom end of the saddle movable component (7) is higher than the top of the buffer roller (8).

Images