CN110143258B - Unmanned ship release recovery device and unmanned ship release recovery method - Google Patents
Unmanned ship release recovery device and unmanned ship release recovery method Download PDFInfo
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- CN110143258B CN110143258B CN201910388792.7A CN201910388792A CN110143258B CN 110143258 B CN110143258 B CN 110143258B CN 201910388792 A CN201910388792 A CN 201910388792A CN 110143258 B CN110143258 B CN 110143258B
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- 238000011084 recovery Methods 0.000 title claims abstract description 134
- 238000000034 method Methods 0.000 title claims abstract description 32
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 11
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000004064 recycling Methods 0.000 description 11
- 210000001503 joint Anatomy 0.000 description 7
- 238000011161 development Methods 0.000 description 2
- 238000003032 molecular docking Methods 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000004744 fabric Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/02—Davits, i.e. devices having arms for lowering boats by cables or the like
- B63B23/04—Davits, i.e. devices having arms for lowering boats by cables or the like with arms pivoting on substantially horizontal axes, e.g. gravity type
- B63B23/06—Davits, i.e. devices having arms for lowering boats by cables or the like with arms pivoting on substantially horizontal axes, e.g. gravity type with actual pivots
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B23/00—Equipment for handling lifeboats or the like
- B63B23/40—Use of lowering or hoisting gear
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- Chemical & Material Sciences (AREA)
- Engineering & Computer Science (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
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Abstract
The invention relates to the field of unmanned ship release and recovery, and discloses an unmanned ship release and recovery device and an unmanned ship release and recovery method, wherein the unmanned ship release and recovery device comprises a mother ship (1), a boat lifting frame (2) is arranged on the mother ship (1), a boat lifting rope (3) is arranged on the boat lifting frame (2), the boat lifting rope (3) is connected with a shackle (11), the shackle (11) is connected with a release unhooking (12) or a recovery cable (15), the release unhooking (12) is used for being connected with a lifting point (13) of an unmanned ship (4), and the recovery cable (15) is used for being connected with the lifting point (13) of the unmanned ship (4). The release unhooking (12) is connected with a unhooking release cable (5), and the unhooking release cable (5) is used for opening a switch for releasing the unhooking (12). The boat lifting rope (3) comprises a first lute head (10), and the shackle (11) is connected with the boat lifting rope (3) through the first lute head (10). The invention has the advantages of simple structure, convenient implementation, good stability, high reliability, high use efficiency and low manufacturing cost.
Description
Technical Field
The invention relates to the field of unmanned ship release and recovery, in particular to an unmanned ship release and recovery device and an unmanned ship release and recovery method.
Background
In recent years, with the development of the field of ocean resource exploration and the increasing importance of the country to the sea area, unmanned surface vessels are becoming important unmanned marine equipment. The unmanned surface vehicle can be widely applied to various water tasks such as coastline patrol, offshore defending, port patrol, warship navigation, environment monitoring and the like by carrying different devices. With the increasing development of technology and related research in the unmanned boat field, unmanned boats will have wider application in the future. Patent title: unmanned ship cloth recycling system, application number: the invention patent of CN201711403745.2 describes that an unmanned ship deployment and recovery system comprises a butt joint connected with a sling of a mother ship, and an ejection mechanism, an ejection head, a cradle head mechanism, a butt joint mechanism and a traction wire which are arranged on the unmanned ship; the ejection mechanism is arranged on the cradle head mechanism, and the cradle head structure is used for adjusting the ejection angle of the ejection mechanism; one end of the traction wire is fixedly connected with the ejection mechanism, and the other end of the traction wire is connected with the ejection head; the traction wire is used for guiding the butt joint to be embedded into the butt joint mechanism; the ejection mechanism is used for ejecting the ejection head to the mother ship; the docking mechanism is used for fixing the docking head so as to fix the unmanned ship on the sling. The unmanned ship laying and recycling system disclosed in the patent can directly lay the unmanned ship on the water surface during laying, and the butt joint is guided to the butt joint mechanism by the traction wire during recycling, so that quick butt joint is realized, and the laying and recycling efficiency of the unmanned ship is improved.
However, in the manner of ejection, the unmanned ship is easy to be damaged or even injured due to misalignment of ejection angles in the process of releasing and recycling the unmanned ship in the high sea condition. And under the influence of the high wind in the sea, the unmanned ship is easy to deflect in angle, so that release recovery failure is caused.
Disclosure of Invention
Aiming at the defects of unstable release and recovery of the unmanned ship and high risk to operators in the prior art, the invention provides a release and recovery device and a release and recovery method of the unmanned ship.
In order to solve the technical problems, the invention is solved by the following technical scheme:
the utility model provides an unmanned ship release recovery unit, includes the mother ship, is equipped with the davit on the davit, and the davit is connected with the shackle, and the shackle is connected with release unhook or retrieves the cable, and release unhook is used for being connected with unmanned ship's hoisting point, retrieves the cable and is used for being connected with unmanned ship's hoisting point. The boat lifting frame releases the unmanned boat through releasing the unhook, and the boat lifting frame retrieves the unmanned boat through retrieving the cable. In the releasing and recycling process, no unmanned boat is needed for personnel to assist, and the risk of personnel to operate on boats is avoided.
Preferably, the release hook is connected with a release cable for opening a switch for releasing the release hook.
Preferably, the davit comprises a first lute head, through which the shackle is connected to the davit.
Preferably, the recovery cable comprises a second lute head, and the recovery cable is connected with the shackle through the second lute head.
The unmanned ship releasing and recovering device includes the following steps:
step 1, a ring-shaped cable pile on the unmanned ship is penetrated by a swinging stopping cable, one end of the swinging stopping cable is fixedly connected with a mother ship, the other end of the swinging stopping cable is a movable section, and a worker can reduce the swinging condition of the unmanned ship by tightening the swinging stopping cable;
step 2, the mother ship shakes the unmanned ship out of the mother ship through the boat lifting frame, the boat lifting frame lifts the unmanned ship to the water surface, when the unmanned ship reaches the water surface and the boat lifting rope is not stressed, a worker pulls the unhooking release cable, and the unmanned ship is separated from the release unhooking;
preferably, the method further comprises a step 3 of unwinding the anti-swing rope to finish the release of the unmanned ship at sea, and after the release of the unmanned ship is finished, the release unhooking is unwound from the shackle to prepare for recovery.
In the releasing process, no personnel are needed to assist the unmanned ship, the risk of personnel on-board operation is avoided, and particularly compared with the existing mode, the unmanned ship releasing device has obvious advantages in unmanned ship releasing operation under high sea conditions, can effectively keep the stability of the unmanned ship in the releasing process, prevents the unmanned ship from shaking caused by the influence of strong wind, and effectively improves the safety of the unmanned ship releasing process.
The unmanned ship recovering method adopts an unmanned ship releasing and recovering device and further comprises the following steps:
step A, when the unmanned ship reaches the vicinity of the recovery position of the mother ship, a worker hooks any recovery ring on two sides of the unmanned ship through the long-pole, so that recovery cables, head cables and tail cables on the unmanned ship are recovered;
step B, after the head cable and the tail cable are put on the mother ship, the worker immediately tightens the head cable and the tail cable to control the unmanned ship to swing and approach the mother ship;
and C, after the recovery cable is put on the mother ship, the recovery ring is disassembled and connected with the boat lifting rope through the shackle, and the boat lifting frame lifts the unmanned boat to the recovery position through the recovery cable.
Preferably, the method further comprises the step D of rewinding the head cable, the tail cable and the recovery cable after the unmanned ship is recovered in place for the next use, and accordingly the whole unmanned ship offshore release recovery process is completed.
In the recovery process, no personnel are needed to assist the unmanned ship, the risk of personnel on-board operation is avoided, and particularly compared with the existing mode, the unmanned ship recovery system has obvious advantages in unmanned ship recovery operation under high sea conditions, can effectively keep the stability of the unmanned ship in the recovery process, prevents the unmanned ship from shaking caused by the influence of strong wind, and effectively improves the safety of the unmanned ship recovery process.
The invention has the remarkable technical effects due to the adoption of the technical scheme: in the releasing and recycling process, no personnel are needed to assist the unmanned ship, the risk of personnel on-board operation is avoided, and particularly compared with the existing mode, the unmanned ship releasing and recycling method has obvious advantages in the unmanned ship releasing and recycling operation under high sea conditions, can effectively keep the stability of the unmanned ship in the releasing and recycling process, prevents the unmanned ship from shaking caused by the influence of strong wind, and effectively improves the safety of the unmanned ship releasing and recycling process. The invention has the advantages of simple structure, convenient implementation, good stability, high reliability, high use efficiency and low manufacturing cost, and is suitable for large-scale popularization and use.
Drawings
Fig. 1 is a schematic view of the structure of the present invention when releasing an unmanned boat.
Fig. 2 is a schematic view of the structure between the davit and the unmanned boat of fig. 1.
Fig. 3 is a schematic view of the structure of the present invention when recovering an unmanned boat.
Fig. 4 is a schematic view of the structure between the davit and the unmanned boat of fig. 3.
Fig. 5 is a schematic illustration of the cable arrangement of the unmanned boat of the present invention.
Fig. 6 is a schematic view of the structure of the loop bollard of fig. 5.
The names of the parts indicated by the numerical reference numerals in the above drawings are as follows: wherein, 1-mother ship, 2-davit, 3-davit cable, 4-unmanned ship, 5-unhook release cable, 6-mother ship gunwale, 7-surface of water, 8-deck, 9-end and swing cable, 10-first lute head, 11-shackle, 12-release unhook, 13-hoisting point, 14-second lute head, 15-retrieve cable, 16-head cable, 17-retrieve ring, 18-annular cable stake, 19-tail cable, 20-marine shackle.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
Example 1
The embodiment is to introduce the release principle of the unmanned ship, as follows:
the utility model provides an unmanned ship release recovery unit, as shown, includes mother ship 1, is equipped with davit 2 on the mother ship 1, is equipped with davit 3 on the davit 2, and davit 3 is connected with shackle 11, and shackle 11 is connected with release unhooking 12, and release unhooking 12 is used for being connected with the hoisting point 13 of unmanned ship 4.
The release cable 5 is connected with the release unhooking 12, and the unhooking release cable 5 is used for opening a switch for releasing the unhooking 12. The davit rope 3 comprises a first lute head 10, through which first lute head 10 the shackle 11 is connected to the davit rope 3.
The structure of the unmanned ship 4 is shown in the figure, a hanging point 13 is arranged in the middle of the unmanned ship 4, recovery rings 17 are respectively arranged on two sides of the unmanned ship 4, the recovery rings 17 are connected with the unmanned ship 4 through buckles, and when the recovery rings 17 are stressed, the recovery rings 17 are separated from the buckles 4 on the unmanned ship; the head of the unmanned ship 4 is provided with an annular bollard 18, and two ends of the tail of the unmanned ship 4 are respectively provided with the annular bollard 18.
One end of the recovery cable 15 is connected with the lifting point 13 on the unmanned ship 4, the other end of the recovery cable is connected with one recovery ring 17 through a ship shackle 20, and the middle position of the recovery cable 15 is connected with the other recovery ring 17 through the ship shackle 20; one end of the head cable 16 is connected with the annular bollards 18 at the head part through a ship shackle 20, and the other end is connected with the recovery ring 17 through the ship shackle 20; one end of the tail cable 19 is connected with one of the annular bollards 18 at the tail part through the ship shackle 20, and the other end is connected with the recovery ring 17 through the ship shackle 20.
The unmanned ship releasing and recovering device includes the following steps:
step 1, a swinging stopping rope 9 penetrates through an annular bollard 18 on the unmanned ship 4, one end of the swinging stopping rope 9 is fixedly connected with the mother ship 1, the other end of the swinging stopping rope 9 is a movable section, and a worker can reduce swinging of the unmanned ship 4 by tightening the swinging stopping rope 9;
step 2, the mother ship 1 shakes the unmanned ship 4 out of the mother ship 1 through the boat lifting frame 2, the boat lifting frame 2 lifts the unmanned ship 4 to the water surface, when the unmanned ship 4 reaches the water surface and the boat lifting rope 3 is not stressed, a worker pulls the unhooking release cable 5, and the unmanned ship 4 is separated from the release unhooking 12;
and 3, unwinding the swinging stop rope 9 to finish the offshore release of the unmanned ship 4, and unwinding the release unhooking 12 from the shackle 11 after the release of the unmanned ship 4 is finished, so as to prepare for recovery.
The unmanned ship release process is as follows: the mother ship 1 shakes the unmanned ship 4 out of the mother ship 1 through the boat lifting frame 2, the unmanned ship 4 is lifted to the water surface through the boat lifting frame 2, and meanwhile, a worker can reduce the shaking condition of the unmanned ship 4 by tightening the shaking stopping rope 9; when the unmanned ship 4 reaches the water surface and the boat lifting rope 3 is not stressed, a worker pulls the unhooking release cable 5, so that the release unhooking 12 is opened, the unmanned ship 4 is separated from the release unhooking 12, the swinging stopping rope 9 is untied, and the offshore release of the unmanned ship 4 is completed.
In the release process, no personnel are needed to assist the unmanned ship, the risk of personnel on-board operation is avoided, and particularly compared with the existing mode, the unmanned ship release method has obvious advantages in unmanned ship release operation under high sea conditions, can effectively keep the stability of the unmanned ship in the release process, prevents the unmanned ship from shaking caused by the influence of strong wind, and effectively improves the safety of the unmanned ship release process. The invention has the advantages of simple structure, convenient implementation, good stability, high reliability, high use efficiency and low manufacturing cost, and is suitable for large-scale popularization and use.
Example 2
The embodiment is to introduce the recovery principle of the unmanned ship, as follows:
the utility model provides an unmanned ship release recovery unit, as shown, includes mother ship 1, is equipped with davit 2 on the mother ship 1, is equipped with davit 3 on the davit 2, and davit 3 is connected with shackle 11, and shackle 11 is connected with recovery cable 15, and recovery cable 15 is used for being connected with the hoisting point 13 of unmanned ship 4.
The davit rope 3 comprises a first lute head 10, through which first lute head 10 the shackle 11 is connected to the davit rope 3.
The recovery cable 15 comprises a second lute head 14, and the recovery cable 15 is connected to the shackle 11 via the second lute head 14.
The structure of the unmanned ship 4 is shown in the figure, a hanging point 13 is arranged in the middle of the unmanned ship 4, recovery rings 17 are respectively arranged on two sides of the unmanned ship 4, the recovery rings 17 are connected with the unmanned ship 4 through buckles, and when the recovery rings 17 are stressed, the recovery rings 17 are separated from the buckles 4 on the unmanned ship; the head of the unmanned ship 4 is provided with an annular bollard 18, and two ends of the tail of the unmanned ship 4 are respectively provided with the annular bollard 18.
One end of the recovery cable 15 is connected with the lifting point 13 on the unmanned ship 4, the other end of the recovery cable is connected with one recovery ring 17 through a ship shackle 20, and the middle position of the recovery cable 15 is connected with the other recovery ring 17 through the ship shackle 20; one end of the head cable 16 is connected with the annular bollards 18 at the head part through a ship shackle 20, and the other end is connected with the recovery ring 17 through the ship shackle 20; one end of the tail cable 19 is connected with one of the annular bollards 18 at the tail part through the ship shackle 20, and the other end is connected with the recovery ring 17 through the ship shackle 20.
The unmanned ship recovering method adopts an unmanned ship releasing and recovering device and further comprises the following steps:
step A, when the unmanned ship 4 arrives near the recovery position of the mother ship 1, a worker hooks any recovery ring on two sides of the unmanned ship 4 through the long-pole, so as to recover the recovery cable 15, the head cable 16 and the tail cable 19 on the unmanned ship 4;
step B, after the head cable 16 and the tail cable 19 are arranged on the mother ship 1, the staff immediately tightens the head cable 16 and the tail cable 19 to control the unmanned ship 4 to swing and be close to the mother ship 1;
step C, after the recovery cable 15 is put on the mother ship 1, the recovery ring 17 is detached and connected with the boat lifting rope 3 through the shackle 11, and the boat lifting frame 2 lifts the unmanned ship 4 to a recovery position through the recovery cable 15; after the unmanned ship 4 is recovered in place, the head cable 16, the tail cable 19 and the recovery cable 15 are reworked for the next use, and the whole offshore release recovery process of the unmanned ship 4 is completed.
Unmanned boats are released and recovered as follows: when the unmanned ship 4 arrives near the recovery position of the mother ship 1, a worker hooks any recovery ring 17 on two sides of the unmanned ship 4 through the long-pole, so that the recovery cable 15, the head cable 16 and the tail cable 19 on the unmanned ship 4 are recovered through the recovery ring 17; after the head cable 16 and the tail cable 19 are arranged on the mother ship 1, the staff immediately tightens the head cable 16 and the tail cable 19 to control the unmanned ship 4 to swing and be close to the mother ship 1; after the recovery cable 15 is put on the mother ship 1, the recovery ring 17 is detached and connected with the boat lifting rope 3 through the shackle 11, and the boat lifting frame 2 lifts the unmanned boat 4 to a recovery position through the recovery cable 15; after the unmanned ship 4 is recovered in place, the head cable 16, the tail cable 19 and the recovery cable 15 are reworked for the next use, and the whole offshore release recovery process of the unmanned ship 4 is completed.
In the recovery process, no personnel are needed to assist the unmanned ship, the risk of personnel on-board operation is avoided, and particularly compared with the existing mode, the unmanned ship recovery method has obvious advantages in unmanned ship recovery operation under high sea conditions, can effectively keep the stability of the unmanned ship in the recovery process, prevents the unmanned ship from shaking caused by the influence of strong wind, and effectively improves the safety of the unmanned ship recovery process. The invention has the advantages of simple structure, convenient implementation, good stability, high reliability, high use efficiency and low manufacturing cost, and is suitable for large-scale popularization and use.
Example 3
The present embodiment describes the structure of the unmanned boat 4 as follows:
the structure of the unmanned ship 4 is shown in the figure, a hanging point 13 is arranged in the middle of the unmanned ship 4, recovery rings 17 are respectively arranged on two sides of the unmanned ship 4, the recovery rings 17 are connected with the unmanned ship 4 through buckles, and when the recovery rings 17 are stressed, the recovery rings 17 are separated from the buckles 4 on the unmanned ship; the head of the unmanned ship 4 is provided with an annular bollard 18, and two ends of the tail of the unmanned ship 4 are respectively provided with the annular bollard 18.
One end of the recovery cable 15 is connected with the lifting point 13 on the unmanned ship 4, the other end of the recovery cable is connected with one recovery ring 17 through a ship shackle 20, and the middle position of the recovery cable 15 is connected with the other recovery ring 17 through the ship shackle 20; one end of the head cable 16 is connected with the annular bollards 18 at the head part through a ship shackle 20, and the other end is connected with the recovery ring 17 through the ship shackle 20; one end of the tail cable 19 is connected with one of the annular bollards 18 at the tail part through the ship shackle 20, and the other end is connected with the recovery ring 17 through the ship shackle 20.
In summary, the foregoing description is only of the preferred embodiments of the present invention, and all equivalent changes and modifications made in accordance with the claims should be construed to fall within the scope of the invention.
Claims (4)
1. The release recovery method of the unmanned ship is characterized by comprising the following steps of: the unmanned ship release recovery device comprises a mother ship (1), wherein a boat lifting frame (2) is arranged on the mother ship (1), a boat lifting rope (3) is arranged on the boat lifting frame (2), the boat lifting rope (3) is connected with a shackle (11), the shackle (11) is connected with a release unhooking hook (12) or a recovery cable (15), the release unhooking hook (12) is used for being connected with a lifting point (13) of the unmanned ship (4), and the recovery cable (15) is used for being connected with the lifting point (13) of the unmanned ship (4);
the release unhooking device is characterized in that the release unhooking device (12) is connected with a unhooking release cable (5), and the unhooking release cable (5) is used for opening a switch for releasing the unhooking device (12);
the boat lifting rope (3) comprises a first lute head (10), and the shackle (11) is connected with the boat lifting rope (3) through the first lute head (10);
the recovery cable (15) comprises a second lute head (14), and the recovery cable (15) is connected with the shackle (11) through the second lute head (14);
a lifting point (13) is arranged in the middle of the unmanned ship (4), recovery rings (17) are respectively arranged on two sides of the unmanned ship (4), the recovery rings (17) are connected with the unmanned ship (4) through buckles, and when the recovery rings (17) are stressed, the recovery rings (17) can be separated from the buckles on the unmanned ship (4); the head of the unmanned ship (4) is provided with an annular bollard (18), and two ends of the tail of the unmanned ship (4) are respectively provided with an annular bollard (18);
one end of the recovery cable (15) is connected with a lifting point (13) on the unmanned ship (4), the other end of the recovery cable is connected with one recovery ring (17) through a ship shackle (20), and the middle position of the recovery cable (15) is connected with the other recovery ring (17) through the ship shackle (20); one end of the head cable (16) is connected with the annular cable pile (18) at the head part through the ship shackle (20), and the other end is connected with the recovery ring (17) through the ship shackle (20); one end of the tail cable (19) is connected with one of the annular bollards (18) at the tail part through the ship shackle (20), and the other end of the tail cable is connected with the recovery ring (17) through the ship shackle (20);
the method also comprises the following steps:
step A, when the unmanned ship (4) reaches the vicinity of the recovery position of the mother ship (1), a worker hooks any recovery ring (17) on two sides of the unmanned ship (4) through the long-pole, so that a recovery cable (15), a head cable (16) and a tail cable (19) on the unmanned ship (4) are recovered;
step B, immediately tightening the head cable (16) and the tail cable (19) by a worker to control the unmanned ship (4) to swing and be close to the mother ship (1) after the head cable (16) and the tail cable (19) are arranged on the mother ship (1);
and C, after the mother ship (1) is arranged on the recovery cable (15), the recovery ring (17) is detached and connected with the boat lifting cable (3) through the shackle (11), and the boat lifting frame (2) lifts the unmanned boat (4) to the recovery position through the recovery cable (15).
2. The unmanned boat release recovery method according to claim 1, wherein: and D, after the unmanned ship (4) is recovered in place, the head cable (16), the tail cable (19) and the recovery cable (15) are coiled again for the next use, and the whole offshore release recovery process of the unmanned ship (4) is completed.
3. The unmanned boat release recovery method according to claim 1, wherein: the unmanned aerial vehicle release recovery device comprises a release method of an unmanned aerial vehicle, wherein the release method of the unmanned aerial vehicle adopts the unmanned aerial vehicle release recovery device, and the unmanned aerial vehicle release recovery device further comprises the following steps:
step 1, a swinging stopping rope (9) penetrates through an annular bollard (18) on the unmanned ship (4), one end of the swinging stopping rope (9) is fixedly connected with the mother ship (1), the other end of the swinging stopping rope (9) is a movable section, and workers reduce the swinging condition of the unmanned ship (4) by tightening the swinging stopping rope (9);
step 2, mother ship (1) shakes unmanned ship (4) out mother ship (1) through davit (2), davit (2) hoist unmanned ship (4) to the surface of water, when unmanned ship (4) reach the surface of water to davit cable (3) atress, the staff pulls unhook release cable (5), unmanned ship (4) and release unhook (12) are disengaged.
4. A method of unmanned watercraft release recovery according to claim 3 wherein: the method further comprises the step 3 of unwinding the anti-swing rope (9) to finish the offshore release of the unmanned ship (4), and after the release of the unmanned ship (4) is finished, unwinding the release unhooking hook (12) from the shackle (11) to prepare for recovery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910388792.7A CN110143258B (en) | 2019-05-10 | 2019-05-10 | Unmanned ship release recovery device and unmanned ship release recovery method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910388792.7A CN110143258B (en) | 2019-05-10 | 2019-05-10 | Unmanned ship release recovery device and unmanned ship release recovery method |
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| CN110143258A CN110143258A (en) | 2019-08-20 |
| CN110143258B true CN110143258B (en) | 2023-12-29 |
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| CN112938783B (en) * | 2021-01-14 | 2022-06-10 | 上海交通大学 | Sling hook device of submersible with multiple hanging points and working method |
| CN114148456B (en) * | 2021-12-06 | 2022-10-25 | 沈海龙 | Device is put in lifting that unmanned ship is independently unhook |
| CN116080829B (en) * | 2023-04-06 | 2023-06-06 | 卓控海洋装备技术(广州)有限公司 | Hanging type dinghy retraction device and method |
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| CN110143258A (en) | 2019-08-20 |
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