Safe and efficient arrangement and take-back method and device for underwater vehicle
A recovery device and recovery method technology, applied to underwater ships, underwater operation equipment, transportation and packaging, etc., can solve problems such as low success rate at one time, uncontrollable movement, collision between submersible and mother ship, etc., and achieve deployment and recovery Personnel safety, improved efficiency and success rate, good motion control effect
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Embodiment 1
[0040] Such as figure 1 As shown, a device for laying and recovering underwater submersibles on water in this embodiment includes a mother ship 1, a hook robot 2, a capturing robot 3, a console 4, a hoist 5, and a retractable cable machine 6, wherein the console 4, Both the crane 5 and the cable take-up and unwinder 6 are arranged on the mother ship. The mother ship 1 is covered with a protective airbag cushion 8 to protect the underwater submersible and the mother ship. There will be no adverse consequences even if the two collide. The retractable cable machine 6 is connected to the capture robot 3 through the umbilical cable 7 to capture the robot 3 The hook robot 2 is electrically connected to the console 4, and the console 4 controls its work. Among them, the capturing method of the robot can be electromagnetic chuck, vacuum chuck, and external components of the underwater submersible.
[0041] In this embodiment, a method for deploying an underwater vehicle based on the abo...
Embodiment 2
[0045] Such as figure 2 , 3 As shown, a device for deploying and recovering underwater submersibles on water in this embodiment includes a mother ship 1, a console, a crane 5, a recovery device 9 and a lifting protection cabin 10. The recovery device 9 is used to capture the underwater submersible 17, and the console is placed in the mother ship, which can be placed in any suitable compartment of the mother ship. Such as image 3 As shown, the hoisting protection cabin 10 of this embodiment includes a circular tube with an inner diameter larger than the outer diameter of the recovery device 9, a cable retractor 6 located in the circular tube, a protection cabin water depth gauge, and a protection cabin controller. A hoisting umbilical cable 11 is connected between the hoisting protective cabin 10 and the mother ship 1. The hoisting umbilical cable 11 is electrically and optically connected to the umbilical cable 7, the protective cabin controller and the console, and is connect...
Embodiment 3
[0053] For the application of the present invention in underwater concealed deployment and recovery scenarios, the mother ship adopts the known underwater deployment non-wire-controlled torpedo method to deploy the underwater submersible, and when the underwater submersible is recovered, the mother ship adopts the well-known underwater deployment wire-controlled torpedo To deploy the recovery device of the second embodiment of the present invention, it is only necessary to place a commercial cable retractor in the underwater deployment tube.
[0054] Placement of recovery device:
[0055] Before the recovery device is placed underwater, it is inflated through the recovery device's inflation nozzle. The mother ship console will test the recovery device including the gas pressure stored in the recovery cylinder. At this time, the recovery device’s rope airbag roll is in an inflated state. The spring in the rope tube is in a compressed state, and the recovery device is deployed in a w...
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