CN214084673U - Marine recovery unit of large-scale underwater vehicle based on tower crane - Google Patents
Marine recovery unit of large-scale underwater vehicle based on tower crane Download PDFInfo
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- CN214084673U CN214084673U CN202023062217.5U CN202023062217U CN214084673U CN 214084673 U CN214084673 U CN 214084673U CN 202023062217 U CN202023062217 U CN 202023062217U CN 214084673 U CN214084673 U CN 214084673U
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Abstract
The utility model relates to a large-scale underwater vehicle offshore recovery device and a recovery method based on a tower crane, wherein tower hoisting mechanism and carrier supporting seat are all movably located on the experimental guarantee ship, and tower hoisting mechanism is along lateral shifting, the carrier supporting seat is along longitudinal shifting, tower hoisting mechanism is including removing the base, the grudging post, the undercarriage, the jack-up cable and butt joint locking device, the grudging post is located on removing the base, undercarriage liftable is located grudging post one side, jack-up cable one end is connected with the jack-up cable winch, the other end is connected with the undercarriage after bypassing the grudging post upper end, the undercarriage tip is equipped with the buffer seat, the buffer seat downside is equipped with butt joint locking device, the jack-up cable one end is connected with the jack-up cable winch, the other end is passed around the grudging post upper end and is passed the buffer seat back is connected with the undersea vehicle ware, experimental guarantee ship recovery side is equipped with collision buffer mechanism. The utility model discloses collect butt joint, lift by crane and safety protection in an organic whole, can be applied to the marine recovery of large-scale underwater vehicle.
Description
Technical Field
The utility model belongs to the technical field of the ocean robot recovery technique and specifically relates to a large-scale underwater vehicle marine recovery unit based on tower crane.
Background
Since the mid-90 s of the last century, underwater robots have been increasingly used in the fields of marine science research and military. The operation capability of the underwater robot is greatly influenced by sea conditions in sea areas, and the influence of the sea conditions is mainly reflected in the distribution and recovery process stage, so that the development of a safe, reliable and rapid retraction system is one of important ways for improving the ocean adaptability of the underwater robot.
The existing offshore laying and recovering system of the underwater robot mainly comprises a folding arm crane, an A-shaped frame device and the like, wherein the folding arm crane is the simplest underwater vehicle folding and recovering system, can be designed according to the structural characteristics of a submersible vehicle body in a customized mode, and can also be used as a suspension arm by directly utilizing an existing crane on a mother ship. The A-shaped frame folding and unfolding system is the most representative underwater vehicle folding and unfolding system at present, is relatively mature in technology, is widely applied to folding and unfolding operation of small and medium-sized underwater vehicles, generally comprises an A-shaped door frame, a buffering butt joint protection device, a releasing and recovering device, a winch, a hydraulic system, an electric control system and the like, is high in universality, can fold and unfold the underwater vehicle, and can also be used for other underwater operation equipment.
Compared with the traditional hundred-kilogram and ton-class small and medium-sized underwater robots, in recent years, large-scale (LDUUV) and ultra-large-scale (XLUUV) underwater robots have been listed into definite plans in many countries, for example, 50-ton-class 'echo cruise person' large-scale unmanned underwater vehicles developed by American Boeing company enter the final test stage, the maximum working depth reaches 3300 m, and the underwater robots are developing towards large-scale and large-submergence directions.
The underwater robot has the advantages that the two modes have certain defects for the marine retraction (hundred-ton level) of the large underwater robot, firstly, although the retraction of the A-type frame retraction system can be realized, the scale of the A-type frame retraction system is increased along with the increase of the length of the underwater vehicle, so that the water discharge of a mother ship is ensured to be increased greatly, and the folding arm suspension retraction is adopted, so that the safety protection implementation difficulty of the underwater vehicle is high, and the swinging can not be stopped manually. Therefore, it is very necessary to develop a folding and unfolding device integrating lifting, butt joint and safety protection for large-scale underwater vehicles.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a marine recovery unit of large-scale underwater vehicle based on tower crane can realize when retrieving the operation that the underwater vehicle lifts by crane perpendicularly and fall on the carrier supporting seat safely, collects the butt joint, lifts by crane and safety protection in an organic whole, can be applied to the marine recovery of large-scale underwater vehicle.
The purpose of the utility model is realized through the following technical scheme:
the utility model provides a large-scale underwater vehicle marine recovery unit based on tower crane which characterized in that: comprises a tower type hoisting mechanism, a carrier supporting seat and a test support ship, wherein the tower type hoisting mechanism and the carrier supporting seat are movably arranged on the test support ship, and the tower hoisting mechanism moves along the transverse direction, the carrier supporting seat moves along the longitudinal direction, the tower hoisting mechanism comprises a moving base, an upright frame, an undercarriage, a hoisting cable and a butt-joint locking device, the upright frame is arranged on the moving base, the undercarriage is arranged on one side of the upright frame in a liftable manner, one end of the hoisting cable is connected with a hoisting cable winch arranged on a test support ship, the other end of the hoisting cable is connected with the undercarriage after bypassing the upper end of the upright frame, a buffer seat is arranged at the end part of the undercarriage, the butt-joint locking device is arranged on the lower side of the buffer seat, one end of the hoisting cable is connected with the hoisting cable winch arranged on the test support ship, the other end of the hoisting cable bypasses the upper end of the upright frame and penetrates through the buffer seat and then is connected with an underwater vehicle, and a collision buffer mechanism is arranged on the recovery side of the test support ship.
The undercarriage front end is equipped with the connecting seat, just the connecting seat is connected with the buffer seat of downside through a plurality of buffer hydraulic cylinder.
The front side of the upper end of the vertical frame is provided with two first hoisting cable guide wheels, the rear side of the upper end of the vertical frame is provided with two second hoisting cable guide wheels, the two hoisting cables are led out by a hoisting cable winch and then sequentially bypass the second hoisting cable guide wheels and the first hoisting cable guide wheels on the corresponding sides respectively, and then are fixedly connected with the undercarriage, and the hoisting cables are arranged between the two hoisting cables.
The front side of the upper end of the vertical frame is provided with a first hoisting cable guide wheel, the rear side of the middle part of the vertical frame is provided with a second hoisting cable guide wheel, and the hoisting cable is led out by a hoisting cable winch, sequentially bypasses the second hoisting cable guide wheel and the first hoisting cable guide wheel, penetrates through the buffer seat and is connected with the underwater vehicle.
And a lifting slide rail is arranged on one side of the vertical frame, and a slide block matched with the lifting slide rail is arranged on the rear side of the undercarriage.
The test support ship is provided with a transverse rail and a longitudinal rail, the movable base moves along the corresponding transverse rail, and the carrier support seat moves along the corresponding longitudinal rail.
The collision buffer mechanism comprises a driving hydraulic cylinder, a telescopic scissor assembly and an air bag, the telescopic scissor assembly is driven to stretch by the driving hydraulic cylinder, and the air bag is arranged at the free end of the telescopic scissor assembly.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses a tower hoisting mechanism utilizes and lifts by crane the cable and drags the ware of diving and retrieve and dock locking with butt joint locking device, then utilizes jack-up cable drive undercarriage to drive the ware vertical lift that diving to tower hoisting mechanism can be along horizontal rail displacement, can put the ware of diving safely on the carrier supporting seat along vertical rail displacement, the utility model discloses collect butt joint, lift by crane and safety protection in an organic whole, can be applied to the marine recovery of large-scale ware of diving.
2. The utility model discloses a tower hoisting mechanism is equipped with butt joint locking device at the buffer seat downside, but buffer seat buffer test guarantee ship's the motion impact to the ware carrier of diving in the horizontal, the pitch motion, and then reduce the swing range of ware of diving in the air, play the guard action.
3. The utility model discloses be equipped with collision buffer gear in experimental guarantee ship one side, can cushion the collision impact of ware and hull side board of diving under water, avoid the ware collision damage of diving under water, and collision buffer gear can shrink gradually along with the recovery of ware of diving under water, does not influence the ware butt joint of diving under water and lifts by crane.
4. The utility model discloses rationally distributed compactness, convenient operation.
Drawings
Figure 1 is a general schematic view of the present invention,
figure 2 is a schematic view of the tower lift mechanism of figure 1,
figure 3 is a schematic view of the crash cushion mechanism of figure 1,
FIG. 4 is a first schematic flow chart of the recovery underwater vehicle of the present invention,
FIG. 5 is a schematic view of the second process of the recovery underwater vehicle of the present invention,
FIG. 6 is a third schematic flow chart of the recovery underwater vehicle of the present invention,
FIG. 7 is a fourth schematic flow chart of the recovery underwater vehicle of the present invention,
FIG. 8 is a fifth schematic flow chart of the recovery underwater vehicle of the present invention,
fig. 9 is a sixth schematic flow chart of the recovery underwater vehicle of the present invention.
The system comprises a tower type hoisting mechanism 1, a movable base 101, a vertical frame 102, a lifting slide rail 103, a landing gear 104, a hoisting cable 105, a first hoisting cable guide wheel 106, a first hoisting cable guide wheel 107, a hoisting cable 108, a buffer seat 109, a butt joint locking device 110, a connecting seat 111, a buffer hydraulic cylinder 112, a second hoisting cable guide wheel 113, a second hoisting cable guide wheel 114, a test support ship 2, a submersible vehicle 3, a collision buffer mechanism 4, a driving hydraulic cylinder 401, a telescopic scissor assembly 402, an air bag 403, a traversing rail 5, a carrier support seat 6 and a longitudinal moving rail 7.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1-9, the present invention comprises a tower hoisting mechanism 1, a carrier support 6 and a test support ship 2, wherein the tower hoisting mechanism 1 and the carrier support 6 are movably disposed on the test support ship 2, and the tower hoisting mechanism 1 moves along a transverse direction, and the carrier support 6 moves along a longitudinal direction, as shown in fig. 2, the tower hoisting mechanism 1 comprises a movable base 101, a vertical frame 102, an undercarriage 104, a hoisting cable 105, a hoisting cable 108 and a butt locking device 110, wherein the vertical frame 102 is vertically disposed on the movable base 101, the undercarriage 104 is liftably disposed on one side of the vertical frame 102, one end of the hoisting cable 105 is connected to a hoisting cable winch disposed on the test support ship 2, the other end of the hoisting cable bypasses the upper end of the vertical frame 102 and is connected to the undercarriage 104, the undercarriage 104 is lifted and lowered by the hoisting cable 105, the end of the undercarriage 104 is provided with a buffer seat 109, a butt-joint locking device 110 is arranged on the lower side of the buffer seat 109, one end of a hoisting cable 108 is connected with a hoisting cable winch arranged on the test support ship 2, and the other end of the hoisting cable bypasses the upper end of the vertical frame 102 and penetrates through the buffer seat 109 to be connected with the underwater vehicle 3. The docking lock 110 on the underside of the buffer base 109 is well known in the art and is commercially available.
As shown in fig. 2, undercarriage 104 front end is equipped with connecting seat 111, just connecting seat 111 is connected with the buffer seat 109 of downside through a plurality of buffer hydraulic cylinder 112, the utility model discloses a motion impact to the ware 3 carrier is moved in the roll of damping effect cushioning test guarantee ship 2 of buffer hydraulic cylinder 112, pitching, and then reduces the amplitude of oscillation of ware 3, plays the guard action.
As shown in fig. 2, two first hoist cable guide wheels 106 are disposed on the front side of the upper end of the vertical frame 102, two second hoist cable guide wheels 113 are disposed on the rear side of the upper end of the vertical frame, and the two hoist cables 105 are led out by the ship-mounted hoist cable winch, and then sequentially bypass the second hoist cable guide wheels 113 and the first hoist cable guide wheels 106 on the corresponding sides, and are fixedly connected to the undercarriage 104.
As shown in fig. 2, a first hoisting cable guide wheel 107 is arranged on the front side of the upper end of the vertical frame 102, a second hoisting cable guide wheel 114 is arranged on the rear side of the middle part of the vertical frame 102, a hoisting cable 108 is led out by a hoisting cable winch, sequentially bypasses the second hoisting cable guide wheel 114 and the first hoisting cable guide wheel 107, passes through the connecting seat 111 and the buffer seat 109, and is connected with the underwater vehicle 3, and the hoisting cable 108 is arranged between the two hoisting cables 105.
As shown in fig. 2, the undercarriage 104 is slidably connected to the stand 102, a lifting slide rail 103 is provided on one side of the stand 102, and a slider engaged with the lifting slide rail 103 is provided on the rear side of the undercarriage 104.
As shown in fig. 1, the test support vessel 2 is provided with a transverse rail 5 and a longitudinal rail 7, wherein wheels are arranged on the lower side of the movable base 101 to move along the transverse rail 5, and wheels are arranged on the lower side of the carrier support seat 6 to move along the longitudinal rail 7.
In this embodiment, the moving base 101 and the carrier support base 6 are both of a moving trolley structure, and a servo motor is arranged in the moving trolley structure to drive any pair of wheels of the moving trolley to rotate, so as to realize movement.
In this embodiment, the test support vessel 2 is provided with two groups of transverse rails 5 corresponding to the two tower-type hoisting mechanisms 1, and is further provided with a group of longitudinal rails 7 on which a plurality of carrier support seats 6 are arranged, and each carrier support seat 6 can move independently.
As shown in fig. 1, a collision buffer mechanism 4 is arranged on the recovery side of the test support vessel 2, as shown in fig. 3, the collision buffer mechanism 4 includes a driving hydraulic cylinder 401, a telescopic scissor assembly 402 and an air bag 403, the telescopic scissor assembly 402 is driven by the driving hydraulic cylinder 401 to extend and retract, the air bag 403 is arranged at the free end of the telescopic scissor assembly 402, the telescopic scissor assembly 402 extends out in the recovery process of the underwater vehicle 3, and the air bag 402 at the tail end can be used for buffering the impact generated by the accidental collision between the underwater vehicle and the side of the vessel.
As shown in fig. 1, the submersible vehicle 3 includes two lifting points, i.e., a front lifting point and a rear lifting point, and the lifting cables 108 of the two tower-type lifting mechanisms 1 are respectively connected to the corresponding lifting points during recovery.
The utility model discloses a theory of operation does:
as shown in fig. 4 to 9, the working process of the present invention will be described below by taking the recovery of the underwater vehicle as an example.
The method comprises the following steps: the tower type hoisting mechanism 1 moves to a recovery side ship board of the test support ship 2 along the corresponding transverse rail 5, recovery preparation is made, the test support ship 2 is positioned to a position 100-200 meters away from the underwater vehicle 3 by power, and the side ship board carries out top flow, so that the recovery side ocean current is ensured to be as stable as possible;
step two: the hoisting cable winch releases the hoisting cable 108, the hoisting cable 108 is connected with the working boat, the head end of the hoisting cable 108 is pulled to the vicinity of the underwater vehicle 3 by the working boat, and the hoisting cable 108 is manually connected with a hoisting point on the underwater vehicle 3;
step three: the collision buffer mechanism 4 is started, and the telescopic scissors assembly 402 drives the air bag 403 to extend out;
step four: the hoisting cable winch retracts the hoisting cable 108 and drags the underwater vehicle 3 close to the side, the underwater vehicle 3 abuts against an air bag 403 of the collision buffer mechanism 4 in the recovery process, the air bag 403 of the collision buffer mechanism 4 can buffer collision impact of the underwater vehicle 3 and the side of the ship body, collision damage of the underwater vehicle is avoided, and the telescopic scissor assembly 402 of the collision buffer mechanism 4 gradually shrinks along with recovery of the underwater vehicle;
step five: the hoisting cable winch continues to retract the hoisting cable 108, the underwater vehicle 3 is quickly lifted out of the water surface and is pressed to the lower side of the butt-joint locking device 110 to be locked and fixed, and at the moment, the buffer seat 109 plays a role in reducing the swing amplitude of the underwater vehicle 3;
sixthly, starting a hoisting cable winch to recover a hoisting cable 105 and drive an undercarriage 104 to ascend, wherein the undercarriage 104 further drives the underwater vehicle 3 to vertically ascend to a preset position, and the hoisting cable winch synchronously retracts a hoisting cable 108 in the process to ensure that the underwater vehicle 3 is always pressed on the butt joint locking device 110;
step seven: the carrier support seat 6 moves towards two sides along the longitudinal rails 7, a transverse moving space of the tower type hoisting mechanisms 1 is reserved, then the two tower type hoisting mechanisms 1 move backwards along the corresponding transverse rails 5 to a preset position on a deck of the test support ship 3, and the underwater vehicle 3 is ensured to fall onto the carrier support seat 6 after being lowered;
step eight: the carrier support seat 6 on the longitudinal rail 7 moves towards the middle, then the lifting cable 105 and the lifting cable 108 are simultaneously laid to slowly place the underwater vehicle 3 on the carrier support seat 6 and are bound and fixed, and at the moment, the underwater vehicle 3 can be transferred to a specified area to be maintained, uploaded with data and the like.
Claims (7)
1. The utility model provides a large-scale underwater vehicle marine recovery unit based on tower crane which characterized in that: the test support ship comprises a tower type lifting mechanism (1), a carrier support seat (6) and a test support ship (2), wherein the tower type lifting mechanism (1) and the carrier support seat (6) are movably arranged on the test support ship (2), the tower type lifting mechanism (1) moves along the transverse direction, the carrier support seat (6) moves along the longitudinal direction, the tower type lifting mechanism (1) comprises a movable base (101), a vertical frame (102), an undercarriage (104), a lifting cable (105), a lifting cable (108) and a butt joint locking device (110), the vertical frame (102) is arranged on the movable base (101), the undercarriage (104) is arranged on one side of the vertical frame (102) in a lifting manner, one end of the lifting cable (105) is connected with a lifting cable winch arranged on the test support ship (2), the other end of the lifting cable bypasses the upper end of the vertical frame (102) and is connected with the undercarriage (104), a buffer seat (109) is arranged at the end part of the undercarriage (104), buffer seat (109) downside is equipped with butt joint locking device (110), and the cable winch that lifts by crane on (108) and locating experimental guarantee ship (2) is connected to the cable that lifts by crane one end, and the other end is walked around grudging post (102) upper end and is passed buffer seat (109) back is connected with underwater vehicle (3), experimental guarantee ship (2) are retrieved the side and are equipped with collision buffer gear (4).
2. The large-scale submersible vessel offshore recovery device based on tower crane of claim 1, characterized in that: the front end of the landing gear (104) is provided with a connecting seat (111), and the connecting seat (111) is connected with a buffer seat (109) on the lower side through a plurality of buffer hydraulic cylinders (112).
3. The large-scale submersible vessel offshore recovery device based on tower crane of claim 1, characterized in that: the front side of the upper end of the vertical frame (102) is provided with two first hoisting cable guide wheels (106), the rear side of the upper end of the vertical frame is provided with two second hoisting cable guide wheels (113), the two hoisting cables (105) are led out by a hoisting cable winch and then sequentially bypass the second hoisting cable guide wheels (113) and the first hoisting cable guide wheels (106) on the corresponding sides respectively, and then are fixedly connected with the undercarriage (104), and the hoisting cables (108) are arranged between the two hoisting cables (105).
4. The large-scale submersible vessel offshore recovery device based on tower crane of claim 1 or 3, characterized in that: the front side of the upper end of the vertical frame (102) is provided with a first hoisting cable guide wheel (107), the rear side of the middle part of the vertical frame (102) is provided with a second hoisting cable guide wheel (114), and a hoisting cable (108) is led out by a hoisting cable winch, sequentially bypasses the second hoisting cable guide wheel (114) and the first hoisting cable guide wheel (107), penetrates through the buffer seat (109) and is connected with the underwater vehicle (3).
5. The large-scale submersible vessel offshore recovery device based on tower crane of claim 1, characterized in that: a lifting slide rail (103) is arranged on one side of the vertical frame (102), and a slide block matched with the lifting slide rail (103) is arranged on the rear side of the undercarriage (104).
6. The large-scale submersible vessel offshore recovery device based on tower crane of claim 1, characterized in that: be equipped with horizontal track (5) and longitudinal rail (7) on experimental guarantee ship (2), remove base (101) and remove along corresponding horizontal track (5), carrier supporting seat (6) remove along corresponding longitudinal rail (7).
7. The large-scale submersible vessel offshore recovery device based on tower crane of claim 1, characterized in that: the collision buffer mechanism (4) comprises a driving hydraulic cylinder (401), a telescopic scissor assembly (402) and an air bag (403), the telescopic scissor assembly (402) is driven to stretch by the driving hydraulic cylinder (401), and the air bag (403) is arranged at the free end of the telescopic scissor assembly (402).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023062217.5U CN214084673U (en) | 2020-12-18 | 2020-12-18 | Marine recovery unit of large-scale underwater vehicle based on tower crane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023062217.5U CN214084673U (en) | 2020-12-18 | 2020-12-18 | Marine recovery unit of large-scale underwater vehicle based on tower crane |
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| CN214084673U true CN214084673U (en) | 2021-08-31 |
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| CN202023062217.5U Active CN214084673U (en) | 2020-12-18 | 2020-12-18 | Marine recovery unit of large-scale underwater vehicle based on tower crane |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114074747A (en) * | 2021-12-30 | 2022-02-22 | 上海大学 | Novel unmanned underwater vehicle laying and recycling system and method |
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2020
- 2020-12-18 CN CN202023062217.5U patent/CN214084673U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114074747A (en) * | 2021-12-30 | 2022-02-22 | 上海大学 | Novel unmanned underwater vehicle laying and recycling system and method |
| CN114074747B (en) * | 2021-12-30 | 2022-09-30 | 上海大学 | Novel unmanned underwater vehicle deployment and recovery system and method |
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