UAV launching device

Abstract

To efficiently throw in a vessel into water without trouble by preventing interaction with outside with no need for application of reinforcement, etc., to the vessel.SOLUTION: A vehicle throw-in device includes: a frame 2 extending along a bottom unit of a vessel 10 in the horizontal direction for mounting the vessel 10; a fixing unit 3 for detachably fixing the vessel 10 to the frame 2; at least a pair of pillars 4 extending upward from the frame 2 on both sides in the width direction of the vessel 10; and a top structure 5 supported by the pair of pillars 4 above the vessel 10 as well as having a floating body 50 floating on water. The frame 2 is composed to be detachable below the vessel 10.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present invention relates to a navigation body launching device. [Background technology]

[0002] 2. Description of the Related Art Conventionally, unmanned underwater vehicles (UUVs) and the like have been used for conducting exploration, investigation, surveying, photographing, and the like underwater. The following methods are known as methods for launching such an underwater vehicle into water. For example, there is a lifting method in which the underwater vehicle is connected to a hook at the end of a cable and lifted up (see, for example, Patent Document 1). There is also a cage method in which a cage-shaped platform containing the underwater vehicle is launched into water, and when it lands on the water, the underwater vehicle starts outward from the cage-shaped platform (see, for example, Patent Document 2). There is also a slide method in which a slide that slopes from a mother ship into the water is installed, and the underwater vehicle is launched into the water by sliding on the slide. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-118545 A [Patent Document 2] JP 2009-208511 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, conventional methods for deploying underwater vehicles have the following problems: That is, in the case of the lifting method described in Patent Document 1, the work of attaching and detaching the hooks is laborious and time-consuming, and there is a risk of the load swinging significantly due to the influence of high waves. Furthermore, in the case of the cage-type mounting system described in Patent Document 2, there was a risk of damaging the steering fins, sensors, etc. equipped on the vessel, so it was necessary to manage the position and departure heading of the vessel with high precision. Furthermore, in the case of a slide-type mounting, it was necessary to reinforce the entire outer hull of the vehicle so that it could withstand the load, and in this respect there was room for improvement.

[0005] The present invention has been made in consideration of the above-mentioned problems, and aims to provide a vessel launching device that can efficiently launch a vessel into water without the need for reinforcing the vessel, preventing interference with the outside, and without hassle. [Means for solving the problem]

[0006] In order to achieve the above object, a marine vehicle launching device according to one aspect of the present invention includes a platform extending across the lower part of a horizontally extending marine vehicle on which the marine vehicle is placed, a fixing part for removably fixing the marine vehicle to the platform, at least a pair of struts extending upward from the platform on both sides in the width direction of the marine vehicle, and a superstructure supported by the pair of struts above the marine vehicle and having a float that floats on water, the platform being configured to be movable away from the marine vehicle. The platform is configured to be movable below the navigation body, the pair of struts are arranged in a fore-aft direction, which is the traveling direction of the navigation body fixed to the platform, and at least one of the pair of struts is provided with an extension mechanism that increases the distance between the strut and the superstructure, and the extension mechanism extends the strut located on one side in the fore-aft direction to increase the distance between the strut and the superstructure on the one side. It is characterized by the following.

[0007] According to the above aspect of the marine vehicle throwing device, the marine vehicle throwing device, to which the marine vehicle is fixed by the fixing part, is thrown into water, and while the marine vehicle is floating in a balanced manner on the water surface by the floating body of the superstructure, the fixation of the marine vehicle is released, and the base can be separated from the marine vehicle. Then, when the base is moved to a position where it does not interfere with the marine vehicle, the marine vehicle can be launched without coming into contact with the marine vehicle throwing device. Furthermore, after the marine vehicle is separated from the marine vehicle throwing device, the marine vehicle throwing device can be easily retrieved on the ship.

[0008] In this way, the present invention eliminates the problem of the navigation body coming into contact with the hull due to cargo swaying caused by waves, which is a problem seen in conventional lifting methods, and also eliminates the need for time-consuming work such as hooking, making it possible to easily and quickly launch the navigation body and retrieve the navigation body launching device. Furthermore, in the present invention, the mounting base is positioned away from the vessel when the vessel launches, thereby preventing the vessel from interfering with and damaging the cage, as occurs with conventional cage systems, and also eliminating the need to manage the vessel's position and launch orientation with high precision. Furthermore, compared to the conventional slide system, the present invention has the advantage that the installation surface of the marine vehicle relative to the base can be fixed, eliminating the need to reinforce the installation surface of the marine vehicle relative to the base.

[0010] According to this configuration, the platform is spaced below the watercraft, so that interference with the watercraft during movement of the platform can be prevented.

[0012] With this configuration, after the anchorage of the navigation body is released, the support column can be extended by the telescopic mechanism to increase the vertical distance between the platform and the superstructure. This allows the platform to be separated from the navigation body, so that when the platform is moved to a position where it does not interfere with the navigation body, the navigation body can be launched without coming into contact with the navigation body launching device.

[0016] In this case, only the support pillars located on one side of the navigation body insertion device in the fore-aft direction are extended, and the distance between the platform and the superstructure on one side becomes larger in the up-down direction, so that after the support pillars are extended, the navigation body can be launched from the other side to the one side in the fore-aft direction. Also, since only a portion of the support pillars is extended, the navigation body insertion device can be made to have a simple structure.

[0017] The above-mentioned underwater vehicle launching device may also be characterized in that the support pillar and the upper structure located on the other side of the fore-and-aft direction are rotatably arranged by a rotating part whose center of rotation is along the width direction.

[0018] In this case, when the support column arranged on one side in the fore-aft direction is extended, the platform and the superstructure can be rotated relatively around the rotating part arranged on the other side in the fore-aft direction, so that the platform and the superstructure can be spaced apart in a stable position and can be prevented from coming into contact with the navigation body when adjusting the space between the platform and the superstructure.

[0019] Also, The present invention relates to The vehicle launch device is a platform extending across the bottom of a horizontally extending watercraft and on which the watercraft is placed; a fixing portion for removably fixing the watercraft to the platform; at least a pair of struts extending upward from the platform on both sides in the width direction of the watercraft; and a superstructure supported by the pair of struts above the watercraft and having a float that floats on water, the platform being configured to be separable from the watercraft, and the platform being configured to be separable below the watercraft; A retraction section for retracting the mount is provided at one end of the mount in the forward / rearward direction, which is the direction of travel of the marine vessel, and the centers of gravity of the marine vessel and the mount are aligned, a first center of buoyancy of the mount is located closer to the one end than the center of gravity, and a second center of buoyancy of the marine vessel is located closer to the other end than the center of gravity in the forward / rearward direction. is doing.

[0020] In the present invention, when the navigation body is fixed to the mount, the center of gravity of the navigation body and the center of gravity of the mount coincide with each other, so that the navigation body is horizontally balanced in the water. When the navigation body is released from the mount, the first center of buoyancy of the mount is located on one end side of the mount in the fore-aft direction relative to the center of gravity, so that the navigation body throwing device rotates so that one end of the mount floats due to trim balance, while the other end sinks downward. This allows the mount to be separated from the navigation body, so that when the mount is moved away from the navigation body to a position where it does not interfere with the navigation body, the navigation body can be launched without coming into contact with the navigation body throwing device.

[0021] The above-mentioned underwater vehicle insertion device may be characterized in that the base is provided with a push-out section which pushes the underwater vehicle from one side to the other in a fore-and-aft direction which is the direction of travel of the underwater vehicle.

[0022] In this case, the fixing unit releases the fixing of the naval vessel to the base, and the base is pushed from one side to the other in the fore-aft direction by the pushing unit while the naval vessel is floating above the base due to buoyancy, allowing the base to be separated from the naval vessel. This allows the naval vessel to launch without coming into contact with the naval vessel launching device when the base is moved away from the naval vessel to a position where it does not interfere with the naval vessel.

[0023] Also, The present invention The launch device is the superstructure includes a platform extending across the bottom of a horizontally extending watercraft and on which the watercraft is placed, a fixing portion for removably fixing the watercraft to the platform, at least a pair of struts extending upward from the platform on both sides in the width direction of the watercraft, and a superstructure supported by the pair of struts above the watercraft and having a float that floats on water, the platform being configured to be separable from the watercraft, The platform is configured to be movable to the side of the navigation body, The frame is composed of a pair of divided frames divided in the width direction, and the divided frames are provided so as to be rotatable about a rotation axis having a rotation center in the vertical direction. Characterized by There are.

[0024] According to the above aspect of the marine vehicle throwing device, the marine vehicle throwing device fixed to the fixing part is thrown into water, and the fixing of the marine vehicle is released while the marine vehicle is floating in a balanced manner on the water surface by the floating body of the superstructure, and then the base can be moved away to the side of the marine vehicle. Then, when the base is moved to a lateral position where it does not interfere with the marine vehicle, the marine vehicle can be launched without coming into contact with the marine vehicle throwing device. Furthermore, after the marine vehicle is separated from the marine vehicle throwing device, the marine vehicle throwing device can be easily retrieved on the ship. In this case, since the platform is not configured to move vertically, there is no need to space the platform from the superstructure, and the buoyancy of the platform can be easily adjusted using the floating body.

[0026] In this case, a pair of split frames separated in the width direction each rotate around a rotation axis, allowing these split frames to be deployed in a stable posture and preventing the split frames from coming into contact with the navigation body when deployed.

[0027] The above-mentioned underwater vehicle launching device may be configured to include a deployment mechanism that increases the distance between the divided platforms in the width direction.

[0028] In this case, after releasing the fixation of the navigation body, the pair of split frames can be extended so as to unfold by the deployment mechanism, thereby easily increasing the widthwise separation between the pair of split frames. Effect of the Invention

[0029] According to the navigation body throwing device of the present invention, there is no need to reinforce the navigation body, and the navigation body can be thrown into water efficiently and without hassle while preventing interference from the outside. [Brief description of the drawings]

[0030] [Figure 1] 1 is a side view showing a state in which a marine vessel throwing device to which a marine vessel is fixed according to a first embodiment of the present invention has been thrown into water. FIG. [Diagram 2] 2 is a front view of the marine vehicle throwing device shown in FIG. 1 as viewed from the front. [Diagram 3] FIG. 2 is a process explanatory diagram following FIG. 1, and is a side view illustrating the process of throwing the navigation body into water. [Figure 4] FIG. 4 is a process explanatory diagram following FIG. 3, and is a side view illustrating the process of throwing the navigation body into water. [Diagram 5] FIG. 11 is a side view illustrating a process of throwing a navigation body throwing device to which a navigation body is fixed according to the second embodiment into water. [Figure 6] FIG. 6 is a process explanatory diagram following FIG. 5, and is a side view illustrating the process of throwing the navigation body into water. [Figure 7] FIG. 7 is a process explanatory diagram following FIG. 6, and is a side view illustrating the process of throwing the navigation body into water. [Figure 8] FIG. 11 is a side view illustrating a process of throwing the navigation body throwing device to which the navigation body is fixed according to the third embodiment into water. [Figure 9] 9 is a front view of the marine vehicle throwing device shown in FIG. 8 as viewed from the front. [Figure 10] FIG. 9 is a process explanatory diagram following FIG. 8, and is a side view illustrating the process of throwing the navigation body into water. [Figure 11] FIG. 11 is a process explanatory diagram following FIG. 10, and is a side view illustrating the process of throwing the navigation body into water. [Figure 12] FIG. 13 is a side view illustrating a process of throwing a marine vessel throwing device to which a marine vessel is fixed according to the fourth embodiment into water. [Figure 13] 13 is a front view of the marine vehicle throwing device shown in FIG. 12 as viewed from the front. [Figure 14] FIG. 13 is a process explanatory diagram following FIG. 12, and is a side view illustrating the process of throwing the navigation body into water. [Figure 15]FIG. 15 is a process explanatory diagram following FIG. 14, and is a side view illustrating the process of throwing the navigation body into water. [Figure 16] FIG. 13 is a plan view seen from above illustrating a process of throwing a navigation body throwing device to which a navigation body is fixed according to the fifth embodiment into water. [Figure 17] 17 is a front view of the marine vehicle throwing device shown in FIG. 16 as viewed from the front. [Figure 18] FIG. 17 is a process explanatory diagram following FIG. 16, and is a plan view illustrating the process of throwing the navigation body into water. [Figure 19] FIG. 19 is a process explanatory diagram following FIG. 18, and is a plan view illustrating the process of throwing the navigation body into water. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0031] Hereinafter, a marine vehicle throwing device according to an embodiment of the present invention will be described with reference to the drawings. The embodiment shows one aspect of the present invention, and does not limit the present invention. The present invention can be modified as desired within the scope of the technical concept of the present invention.

[0032] (First embodiment) The underwater vehicle launching device 1 of the first embodiment shown in Figure 1 is a device for launching an unmanned underwater vehicle 10 into water from a ship T in a fixed state, and then detaching the underwater vehicle 10 from the device main body so that it can depart.

[0033] 2 and 3, the vehicle 10 is an unmanned underwater vehicle (UUV) for conducting, for example, exploration, research, surveying, photography, etc., and extends from a base end 10b to a tip end 10a, with a fin 11 for forward movement provided at the base end 10b, and the tip end 10a faces forward by rotating the fin 11, allowing the vehicle to move forward unmanned. The direction and speed of the vehicle 10 are controlled wirelessly. The navigation vehicle 10 may be one that can move forward and backward, but this embodiment is directed to one that can move forward.

[0034] The navigation body throwing device 1 comprises a platform 2 extending across the lower part of the navigation body 10 extending in the horizontal direction and on which the navigation body 10 is placed, a fixing part 3 for removably fixing the navigation body 10 to the platform 2, at least a pair of struts 4 extending upward from the platform 2 on both sides in the width direction of the navigation body 10, and a superstructure 5 supported by the pair of struts 4 above the navigation body 10 and having a float 50 that floats on water. The navigation body throwing device 1 is configured so that the platform 2 can be moved away below the navigation body 10.

[0035] Here, in the marine vehicle throwing device 1, the direction in which the marine vehicle 10 fixed to the marine vehicle throwing device 1 moves forward and backward is referred to as the fore-aft direction X1, and the direction perpendicular to the fore-aft direction X1 as viewed from above is referred to as the width direction X2. In the fore-aft direction X1, the side of the ship T is referred to as the front side, and the opposite side is referred to as the rear side, in the following description.

[0036] The mount 2 is formed in a rectangular frame shape and includes a pair of side frames 21 and a connecting frame 22 that is shorter than the side frames 21 and connects the pair of side frames 21 to bridge between them. The longitudinal direction of the mount 2 is the front-rear direction X1. The mount 2 is provided with a fixing part 3 and a support 4. The navigation body 10 is detachably fixed by the fixing part 3 with the axial direction of the navigation body 10 facing the front-rear direction X1 of the mount 2 and with a tip end 10a of the navigation body 10 in the traveling direction facing forward. The mount 2 is submerged when thrown into water.

[0037] A cable 23 (retraction section) that can be wound and unwound from the ship T is connected to the rear end of the frame 2. The cable 23 is wound and unwound by a winding machine (not shown) mounted on the ship T. When retrieving the navigation body throwing device 1 that has been thrown into the water, the frame 2 can be pulled forward (towards the ship T) by winding up the cable 23.

[0038] The fixing part 3 is provided on the base 2 and detachably fixes the navigation body 10. The fixing part 3 may be, for example, a gripping mechanism that is movable in a radial direction centered on the front-rear direction X1 and grips the circumferential surface of the main body 12 of the navigation body 10 when moved radially inward. The release operation of the fixing part 3 can release the navigation vehicle 10 from the mount 2 at an appropriate timing by transmitting a release signal wirelessly.

[0039] The pair of support columns 4 are arranged with a gap between them in the front-rear direction X1, and stand upright. Each of the pair of support columns 4 is provided with a telescopic cylinder 41 (retraction mechanism) that expands and contracts in the vertical direction to increase the distance between the support column 4 and the superstructure 5. The frame body 51 of the superstructure 5 is connected to the upper end 41a of the telescopic cylinder 41. By expanding and contracting the telescopic cylinder 41, the platform 2 and the superstructure 5 move closer to or away from each other in the vertical direction. In other words, by simultaneously expanding the telescopic cylinders 41 of all the support columns 4, the distance between the platform 2 and the superstructure 5 increases. When the telescopic cylinders 41 are contracted, the navigation vehicle 10 is disposed between the platform 2 and the superstructure 5.

[0040] The retracted position of the telescopic cylinder 41 is a position where the superstructure 5 does not interfere with the navigation body 10 fixed to the fixing part 3. The extended position of the telescopic cylinder 41 is a position where the navigation body 10 can detach from the fixing part 3, rise to the surface, and depart from the frame 2 without coming into contact with the navigation body launching device 1.

[0041] The superstructure 5 comprises a frame body 51 and a floating body 50 attached to the frame body 51. The superstructure 5 has a function of adjusting the buoyancy of the base 2 on which the navigation body 10 is mounted, and of keeping the posture of the base 2 to which the navigation body 10 is fixed in the water horizontal.

[0042] The float 50 is configured to have a buoyancy that allows the marine vehicle throwing device 1 to float on the water surface. In other words, as long as it has a configuration with a set buoyancy, it may be a single float or a combination of multiple floats. The floating body 50 of this embodiment is disposed in the center of the frame main body 51 in the front-rear direction X1 so that the marine vehicle throwing device 1 equipped with the marine vehicle 10 ensures approximately horizontal balance.

[0043] Next, the procedure for throwing the marine vehicle 10 into water using the marine vehicle throwing device 1 configured as described above, and the procedure for retrieving the marine vehicle throwing device 1 after the marine vehicle 10 has been thrown will be described in detail with reference to the drawings.

[0044] First, as shown in Fig. 1, the navigation body throwing device 1, with the navigation body 10 fixed to the frame 2 by the fixing parts 3, is thrown into the water from the ship T. At this time, the telescopic cylinders 41 of all the struts 4 are contracted to bring the superstructure 5 into a lowered position. Then, the navigation body throwing device 1 thrown into the water is raised to the water surface by the floats 50, and the floats 50 ensure balance so that the posture of the frame 2 is kept horizontal.

[0045] Next, as shown in Fig. 3, the fixing part 3 is operated to release the anchorage of the navigation body 10 from the frame 2. At the same time as this release, the telescopic cylinder 41 of the support 4 is extended to increase the distance between the frame 2 and the superstructure 5. Specifically, by extending the telescopic cylinder 41 provided on the support 4, the frame 2 moves downward by receiving a reaction force from the superstructure 5, which is floated by the floating body 50, and the navigation body 10 is separated from the frame 2. Next, as shown in FIG. 4, the navigation vehicle 10 is actuated to start moving forward (rearward).

[0046] Next, the cable is reeled in from the ship T using a winding machine or the like, and the ship launching device 1 after the ship 10 has been detached is reeled in to the ship T side and retrieved. In this embodiment, the marine vehicle throwing device 1 may be retrieved to the ship T before the marine vehicle 10 is operated.

[0047] Next, the operation of the above-mentioned marine vehicle throwing device 1 will be specifically described with reference to the drawings. 4, in the navigation body throwing device 1 according to this embodiment, the navigation body 10 fixed by the fixing part 3 is thrown into water, and the navigation body 10 is released from the fixing while floating in a balanced manner on the water surface by the floating body 50 of the superstructure 5, and then the base 2 can be moved away from the navigation body 10. Then, when the base 2 has moved away to a position where it does not interfere with the navigation body 10, the navigation body 10 can be launched without coming into contact with the navigation body throwing device 1. Furthermore, after the marine vehicle 10 is separated from the marine vehicle throwing device 1, the marine vehicle throwing device 1 can be easily retrieved to the ship T.

[0048] In this way, in this embodiment, there is no longer the problem of the underwater vehicle 10 coming into contact with the hull due to cargo swings caused by waves, as occurs with conventional lifting methods, and time-consuming tasks such as hooking are also unnecessary, making it possible to easily and quickly launch the underwater vehicle 10 and retrieve the underwater vehicle launching device 1.

[0049] Furthermore, in this embodiment, when the marine vessel 10 launches, the mounting platform 2 is positioned away from the marine vessel 10, thereby preventing the marine vessel from interfering with and damaging the cage as occurs with the conventional cage system, and also eliminating the need to manage the position and launch orientation of the marine vessel 10 with high precision.

[0050] Furthermore, in this embodiment, compared to the conventional slide system, the installation surface of the navigation body 10 relative to the base 2 can be fixed, which has the advantage that it is not necessary to reinforce the installation surface of the navigation body 10 relative to the base 2.

[0051] In this embodiment, after the anchorage of the navigation body 10 is released, all the struts 4 are extended by the telescopic cylinders 41, so that the gap between the platform 2 and the superstructure 5 in the vertical direction can be opened in parallel. Therefore, the navigation body 10 can be launched in either direction in the forward or backward direction X1 without coming into contact with the navigation body launching device 1.

[0052] The above-described marine vessel throwing device 1 according to the present embodiment does not require reinforcement or the like for the marine vessel 10, and can efficiently throw the marine vessel 10 into water without hassle by preventing interference from the outside.

[0053] Next, a description will be given of a marine vehicle throwing device according to another embodiment. Note that components having the same functions as those in the first embodiment described above are given the same reference numerals, and detailed descriptions of these components will be omitted to avoid duplication.

[0054] Second embodiment As shown in FIG. 5, the second embodiment of the marine vehicle throwing device 1A is configured such that the configuration of the pillars 4 of the first embodiment is changed, and only the rear pillar 4B of the pair of pillars 4A, 4B is provided with a telescopic cylinder 41 so as to be extendable. The navigation body 10 is detachably fixed to the mount 2 by a fixing part 3 with a leading end 10a of the navigation body 10 in the traveling direction facing rearward, as in the first embodiment.

[0055] The upper end 4a of the front support 4A and a frame body 51 of the upper structure 5 are rotatably connected by a hinge 42 (rotating part) whose center of rotation is in the width direction X2. In the marine vehicle throwing device 1A, the distance between the rear side of the marine vehicle throwing device 1 and the superstructure 5 can be increased by extending the rear support 4B.

[0056] Next, a procedure for throwing the marine vehicle 10 into water using the marine vehicle throwing device 1A of the second embodiment and a procedure for retrieving the marine vehicle throwing device 1A after the marine vehicle 10 is thrown will be described in detail with reference to the drawings. First, as shown in Fig. 5, the navigation body throwing device 1A, with the navigation body 10 fixed to the frame 2 by the fixing part 3, is thrown into the water from the ship. At this time, the telescopic cylinder 41 of the rear support 4B is contracted to bring the superstructure 5 into a lowered position. The navigation body throwing device 1A thrown into the water is raised to the water surface by the float 50, and the float 50 ensures balance so that the posture of the frame 2 is kept horizontal.

[0057] Next, as shown in Fig. 6, the fixing part 3 is operated to release the anchorage of the navigation body 10 from the frame 2. At the same time as this release, the telescopic cylinder 41 of the rear support 4B is extended to increase the rearward separation between the frame 2 and the superstructure 5. Specifically, by extending the telescopic cylinder 41 provided on the rear support 4B, the rear side of the frame 2 rotates downward by reaction force from the superstructure 5, which is floated by the floating body 50. In other words, when the telescopic cylinder 41 of the rear support 4B is extended, the frame 2 rotates downward (in the direction of the arrow E1 shown in Figs. 6 and 7) around the hinge 42, and the navigation body 10 is released from the frame 2. Next, as shown in FIG. 7, the navigation vehicle 10 is actuated to start moving forward (rearward).

[0058] Next, the cable is reeled in from the ship using a winding machine or the like, and the ship launching device 1A after the ship 10 has been detached is reeled in and retrieved aboard the ship. In this embodiment, the marine vehicle throwing device 1A may be retrieved to the ship before the marine vehicle 10 is operated.

[0059] In this way, in the second embodiment, only the rear support 4B located at the rear of the marine vehicle throwing device 1A extends, and the distance between the base 2 and the superstructure 5 at the rear increases in the vertical direction, so that the marine vehicle 10 can be launched rearward after the rear support 4B is extended. Also, because only the rear support 4B is configured to extend, the marine vehicle throwing device 1A can have a simple structure.

[0060] In this embodiment, when the rear support 4B arranged on one side (rear side) in the fore-and-aft direction X1 is extended, the mount 2 and the superstructure 5 can be rotated relatively around the hinge 42 located at the front end. Therefore, the mount 2 and the superstructure 5 can be separated in a stable posture, and contact with the navigation body 10 can be prevented when adjusting the separation between the mount 2 and the superstructure 5.

[0061] Third embodiment As shown in Figures 8 and 9, the marine vessel throwing device 1B according to the third embodiment is configured to detach the marine vessel 10 underwater by using the gravity balance with the fixed marine vessel 10. That is, while the support pillar 4 is equipped with a telescopic cylinder 41 in the above-mentioned first and second embodiments, the marine vessel throwing device 1B according to the third embodiment does not include the telescopic cylinder 41. In the third embodiment of the marine vessel throwing device 1B, the marine vessel 10 is fixed to the base 2 by the fixing part 3 in a position in which the leading end 10a of the marine vessel 10 in the traveling direction faces forward of the base 2.

[0062] In the marine vehicle throwing device 1B, the upper end 4a of the support 4 is fixed directly to the superstructure 5. The float 50 attached to the superstructure 5 is provided at a position close to the front of the frame main body 51. The marine vehicle throwing device 1B is arranged so that the centers of gravity P of the marine vehicle 10 fixed to the frame 2 and the frame 2 are aligned, and the first center of buoyancy F1 of the frame 2 is located forward of the center of gravity P, and the second center of buoyancy F2 of the marine vehicle 10 is located rearward of the center of gravity P.

[0063] Next, a procedure for throwing the marine vehicle 10 into water using the marine vehicle throwing device 1B of the third embodiment and a procedure for retrieving the marine vehicle throwing device 1B after the marine vehicle 10 is thrown will be described in detail with reference to the drawings. First, as shown in Fig. 8, the navigation body throwing device 1B, with the navigation body 10 fixed to the frame 2 by the fixing part 3, is thrown into the water from a ship. At this time, the navigation body 10 fixed to the frame 2 is aligned with the center of gravity P of the frame 2, the first center of buoyancy F1 of the frame 2 is positioned forward of the center of gravity P, and the second center of buoyancy F2 of the navigation body 10 is positioned rearward of the center of gravity P. Then, the navigation body throwing device 1B thrown into the water is raised to the water surface by the float 50, and is horizontally balanced in the water by the float 50 so that the posture of the frame 2 is kept horizontal.

[0064] 10, the fixing portion 3 is operated to release the fixing of the navigation body 10 to the base 2. The release of the fixing causes the navigation body 10 to float up from the base 2. Then, as shown in Fig. 11, when the anchorage of the navigation body 10 is released, the first center of buoyancy F1 of the frame 2 is located forward of the center of gravity P, so the navigation body throwing device 1B rotates in the direction of arrow E2 shown in Fig. 11 so that the rear side of the frame 2 sinks downward while the front side of the frame 2 floats due to trim balance. This allows the frame 2 to be separated from the navigation body 10. Next, as shown in Fig. 11, the navigation body 10 is operated to start moving in the traveling direction (rearward).

[0065] Next, the cable is reeled in from the ship using a winding machine or the like, and the ship launching device 1B after the ship 10 has been detached is reeled in and retrieved aboard the ship. In this embodiment, the marine vehicle throwing device 1B may be retrieved to the ship before the marine vehicle 10 is operated.

[0066] In the third embodiment of the marine vessel insertion device 1B, the mount 2 can be moved away from the marine vessel 10, so that when the mount 2 moves away to a position where it does not interfere with the marine vessel 10, the marine vessel 10 can be launched backwards without coming into contact with the marine vessel insertion device 1B.

[0067] (Fourth embodiment) As shown in Figures 12 and 13, the marine vehicle launching device 1C according to the fourth embodiment does not have the telescopic cylinder 41 of the support pillar 4 of the first embodiment described above, and further has a push-out section 6 on the base 2 that pushes the marine vehicle 10 from the front to the rear. In the marine vessel throwing device 1C of the fourth embodiment, the marine vessel 10 is fixed to the base 2 by the fixing part 3 in a position in which the leading end 10a of the marine vessel 10 in the traveling direction faces forward of the base 2.

[0068] The push-out unit 6 is a plate-like member having an abutment surface 6a facing rearward, and is disposed opposite in the fore-and-aft direction X1 to the tip end 10a of the navigation body 10 fixed to the frame 2. As shown in Figs. 14 and 15, the push-out unit 6 is provided in front of the frame 2 so as to be movable in the fore-and-aft direction X1, and is configured to push the released navigation body 10 rearward as it moves rearward. The push-out movement mechanism of the push-out unit 6 can be, for example, a configuration in which it is movable along a guide (not shown) installed on the frame 2, or a configuration in which it is pushed out by the extension of a hydraulic jack or the like.

[0069] Next, a procedure for throwing the marine vehicle 10 into water using the marine vehicle throwing device 1C of the fourth embodiment and a procedure for retrieving the marine vehicle throwing device 1C after the marine vehicle 10 is thrown will be described in detail with reference to the drawings. First, as shown in Fig. 12, the navigation body throwing device 1C, in which the navigation body 10 is fixed to the frame 2 by the fixing part 3, is thrown into the water from a ship. Then, the navigation body throwing device 1C thrown into the water is raised to the water surface by the floating body 50, and the floating body 50 ensures balance so that the posture of the frame 2 is kept horizontal.

[0070] Next, as shown in Fig. 14, the fixing unit 3 is operated to release the fixation of the navigation body 10 to the frame 2. By releasing the fixation, the navigation body 10 floats up from the frame 2. Alternatively, the navigation body throwing device 1C sinks by an amount equal to the negative buoyancy of the navigation body 10. Then, as shown in Fig. 15, after the fixation of the navigation body 10 is released, the navigation body 10, which is floating up from the frame 2 due to buoyancy, is pushed from the front to the rear (in the direction of arrow E3 shown in Fig. 15) by the pushing unit 6, and the frame 2 is separated from the navigation body 10. Next, as shown in FIG. 15, the navigation vehicle 10 is actuated to start moving forward (rearward).

[0071] Next, the cable is reeled in from the ship using a winding machine or the like, and the ship launching device 1C after the ship 10 has been detached is reeled in and retrieved aboard the ship. In this embodiment, the marine vehicle throwing device 1C may be retrieved to the ship before the marine vehicle 10 is operated.

[0072] In the navigation body throwing device 1C according to the fourth embodiment, the fastening unit 3 releases the fastening between the navigation body 10 and the base 2, and the pushing unit 6 pushes the navigation body 10, floating above the base 2 due to buoyancy, from the front to the rear, thereby separating the base 2 from the navigation body 10. As a result, when the base 2 has moved away from the navigation body 10 to a position where it does not interfere with it, the navigation body 10 can be launched rearward without coming into contact with the navigation body throwing device 1C.

[0073] Fifth embodiment As shown in Figures 16 to 19, the marine vessel injection device 1D according to the fifth embodiment is configured so that the platform 2 and the upper structure 5 can be unfolded in the width direction X2, allowing each to be separated to the side of the marine vessel 10. The pedestal 2 is divided into a pair of separate pedestals 2A and 2B in the width direction X2. A rotation shaft 24 with a vertical rotation center is provided at the center of the front end of the pedestal 2 in the width direction. Each of the separate pedestals 2A and 2B is provided rotatably about the rotation shaft 24.

[0074] The mount 2 is provided with a hydraulic deployment jack 25 (deployment mechanism) that increases the distance between the pair of split mounts 2A, 2B in the width direction X2. The deployment jack 25 is fixed to approximately the center of the mount 2 in the front-rear direction X1 with the jack extension direction facing the width direction X2. That is, one axial end 25a of the deployment jack 25 is fixed to the inner surface 2b of one split mount 2A, and the other axial end 25b is fixed to the inner surface 2c of the other split mount 2B. In the fifth embodiment, the deployment jack 25 is provided as a mechanism for opening the split pedestals 2A and 2B, but a spring member may be provided instead. In short, any mechanism may be used as long as it operates to deploy the split pedestals 2A and 2B in the width direction X2.

[0075] A pair of columns 4 are provided on each of the divided frames 2A, 2B with a gap therebetween in the front-rear direction X1, and a superstructure 5 having a floating body 50 is provided on the upper ends 4a of the pair of front and rear columns 4. The floating body 50 is disposed at the center of a frame body 51 of the superstructure 5 in the front-rear direction X1. Each of the split platforms 2A, 2B is provided with fixing parts 3A, 3B that are divided in the width direction X2 so as to support the left and right halves of the navigation body 10 from the outer periphery. The fixing parts 3A, 3B are holding plates cut out in a semicircular shape along the outer periphery of the navigation body 10. When the split platforms 2A, 2B are in a closed holding position, they are fixed in a state engaged with the navigation body 10 by the fixing parts 3A, 3B on both the left and right sides. When the split platforms 2A, 2B are deployed at a predetermined angle, the fixing parts 3A, 3B provided on each of the split platforms 2A, 2B rotate and move in the width direction X2, and this movement releases the fixation of the navigation body 10. The deployment jack 25 can be operated wirelessly from the ship.

[0076] Next, a procedure for throwing the marine vehicle 10 into water using the marine vehicle throwing device 1D of the fifth embodiment, and a procedure for retrieving the marine vehicle throwing device 1D after the marine vehicle 10 is thrown, will be described in detail with reference to the drawings. 16, a navigation body throwing device 1D having a navigation body 10 fixed to a frame 2 by a fixing part 3 is thrown into the water from a ship. Then, the navigation body throwing device 1D thrown into the water is raised to the water surface by a floating body 50, and the floating body 50 ensures balance so that the posture of the frame 2 is kept horizontal.

[0077] Next, as shown in FIG. 18, the fixing part 3 is operated to release the fixing of the navigable body 10 to the frame 2. By releasing the fixing, the navigable body 10 floats up from the frame 2. Then, as shown in FIG. 19, at the same time as this release, the deployment jack 25 is extended to increase the distance between the split frames 2A, 2B on both sides in the width direction X2. Specifically, by extending the deployment jack 25, the split frames 2A, 2B rotate about the rotation shaft 24, and the rear side opens in the width direction X2 (arrow E4 shown in FIG. 19), and the navigable body 10 is thus released from the split frames 2A, 2B. Next, as shown in FIG. 19, the navigable body 10 is operated to start moving forward (rearward).

[0078] Next, the cable is reeled in from the ship using a winding machine or the like, and the ship launching device 1D after the ship 10 has been detached is reeled in and retrieved aboard the ship. In this embodiment, the marine vehicle throwing device 1D may be retrieved to the ship before the marine vehicle 10 is operated.

[0079] In the navigation body throwing device 1D according to the fifth embodiment, the navigation body 10 fixed to the fastening portion 3 of the navigation body throwing device 1D is thrown into water, and after the navigation body 10 is released from the fastening while floating in a balanced manner on the water surface by the floating body 50 of the superstructure 5, the mounting base 2 can be moved away to the side of the navigation body 10. Then, when the mounting base 2 is moved to a lateral position where it does not interfere with the navigation body 10, the navigation body 10 can be launched without coming into contact with the navigation body throwing device 1D. Furthermore, after the navigation body 10 is separated from the navigation body throwing device 1D, the navigation body throwing device 1D can be easily retrieved to the ship. In this case, since the platform 2 is not configured to move vertically, there is no need to space the platform 2 from the superstructure 5, and the buoyancy of the platform 2 can be easily adjusted by the floating body 50.

[0080] In addition, in this embodiment, a pair of split frames 2A, 2B divided in the width direction X2 each rotates around the rotation axis 24, so that these split frames 2A, 2B can be deployed in a stable posture and the split frames 2A, 2B can be prevented from coming into contact with the navigation vehicle 10 when deployed.

[0081] Furthermore, in this embodiment, after the anchorage of the navigation body 10 is released, the pair of split frames 2A, 2B can be extended so as to unfold using the deployment jack 25, thereby easily increasing the distance between the pair of split frames 2A, 2B in the width direction X2.

[0082] While the embodiment of the underwater vehicle throwing device according to the present invention has been described above, the present invention is not limited to the above embodiment and can be modified as appropriate without departing from the spirit of the present invention.

[0083] For example, the starting direction of the navigation body 10 fixed to the mount 2 of the navigation body launching device 1 is not limited to the above-described embodiment. Furthermore, the shape, size, etc. of the navigation body 10 are not limited.

[0084] In addition, the configuration of the base 2, fixed part 3, support pillars 4, and superstructure 5 of the marine vehicle launching device 1, i.e., the shape, size, quantity, arrangement, etc., can be appropriately set depending on the shape and weight balance, etc. of the marine vehicle 10 to be launched.

[0085] In addition, within the scope of the invention, the components in the above-described embodiments may be replaced with well-known components, and the above-described embodiments may be combined as appropriate. [Explanation of symbols]

[0086] 1, 1A, 1B, 1C, 1D Vehicle insertion device 2, 2A, 2B Mount 3, 3A, 3B fixed part 4 pillars 4A front strut 4B Rear strut 5 Superstructure 6 Extrusion section 23 Cable (retraction section) 24 Rotational Axis 25 Deployment jack (deployment mechanism) 41 Telescopic cylinder (telescopic mechanism) 42 Hinge (rotating part) 50 Floating Body 51 Frame body F1 First center of gravity F2 2nd center of buoyancy P center of gravity X1 Anteroposterior direction X2 Width direction

Claims

1. a platform extending across a lower portion of the horizontally extending watercraft and on which the watercraft is placed; A fixing part that detachably fixes the navigation body to the frame; At least a pair of columns extending upward from the frame on both sides in the width direction of the navigation body; a superstructure supported by the pair of columns above the navigation body and having a float that floats on water; Equipped with The mount is configured to be movable away from the navigation body, The platform is configured to be movable below the navigation body, The pair of struts are arranged in a front-rear direction, which is a traveling direction of the navigation body fixed to the frame, At least one of the pair of columns is provided with an extension mechanism that increases the distance between the column and the upper structure, The telescopic mechanism is a vessel launching device that extends the support pillar located on one side in the fore-and-aft direction to increase the distance between the support pillar and the superstructure on that side.

2. The underwater vehicle throwing device according to claim 1 , wherein the support column and the upper structure located on the other side in the front-rear direction are rotatably mounted by a rotating part whose center of rotation is along the width direction.

3. A platform extending across a lower portion of a horizontally extending vehicle on which the vehicle is mounted; A fixing part that detachably fixes the navigation body to the frame; At least a pair of columns extending upward from the frame on both sides in the width direction of the navigation body; a superstructure supported by the pair of columns above the navigation body and having a float that floats on water; Equipped with The mount is configured to be movable away from the navigation body, The platform is configured to be movable below the navigation body, A retraction section for retracting the platform is provided at one end of the platform in the forward / rearward direction, which is the traveling direction of the navigation body, The center of gravity of the watercraft and the base are aligned, A watercraft launching device arranged so that a first center of buoyancy of the frame is located toward the one end side of the center of gravity, and a second center of buoyancy of the watercraft is located toward the other end side in the fore-and-aft direction than the center of gravity.

4. The underwater vehicle insertion device according to claim 3 , wherein the platform is provided with a push-out section which pushes the underwater vehicle from one side to the other in a forward / rearward direction which is a traveling direction of the underwater vehicle.

5. A platform extending across a lower portion of the horizontally extending vehicle on which the vehicle is mounted; A fixing part that detachably fixes the navigation body to the frame; At least a pair of columns extending upward from the frame on both sides in the width direction of the navigation body; a superstructure supported by the pair of columns above the navigation body and having a float that floats on water; Equipped with The mount is configured to be movable away from the navigation body, The platform is configured to be movable to the side of the navigation body, The frame is composed of a pair of divided frames divided in the width direction, The divided frames are rotatably mounted on a rotation axis whose center of rotation is in the vertical direction.

6. The underwater vehicle throwing device according to claim 5 , further comprising a deployment mechanism for increasing the distance between the divided platforms in the width direction.

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