CN112173012A - Underwater vehicle retraction system and operation method thereof - Google Patents
Underwater vehicle retraction system and operation method thereof Download PDFInfo
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- CN112173012A CN112173012A CN202011101257.8A CN202011101257A CN112173012A CN 112173012 A CN112173012 A CN 112173012A CN 202011101257 A CN202011101257 A CN 202011101257A CN 112173012 A CN112173012 A CN 112173012A
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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
- B63B23/48—Use of lowering or hoisting gear using winches for boat handling
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Abstract
The invention relates to a submarine vehicle retraction system and an operation method thereof, and belongs to the technical field of ocean engineering workboats. The device comprises a moon pool, a deck lifting system, a traction system and a transfer system; a deck lifting system is arranged in the moon pool; a traction system for drawing the underwater vehicle is arranged on the ship body; and a transfer system for transferring the underwater vehicle is arranged on the deck of the ship body. The invention does not need the manual connection and disconnection operation of the heavy-duty lifting hook during the retraction operation, has higher operation efficiency and safety, and can operate under higher sea conditions; compared with the traditional retraction system, the retraction system can stably realize retraction of the underwater vehicle without arranging an oscillation stopping system; the complete deck space can be kept after the completion; the underwater vehicle can be conveniently and quickly transferred to a deck maintenance area; the system has the characteristic of large load capacity, and can adapt to the retraction operation of various underwater vehicles which do not exceed the maximum design size and load.
Description
Technical Field
The invention relates to a submarine vehicle retraction system and an operation method thereof, and belongs to the technical field of ocean engineering workboats.
Background
The underwater vehicle is an unmanned vehicle capable of autonomously navigating underwater, and is applied to underwater operations such as marine environment monitoring, submarine topography and landform detection, underwater search, deep sea rescue and the like. The submarine vehicle is generally deployed and recovered by a mother ship, namely, when the submarine vehicle operates, the mother ship deploys the submarine vehicle to the sea surface, and when the submarine vehicle completes the operation, the submarine vehicle is recovered to the mother ship to perform operations such as energy supplement, data processing, overhaul and maintenance. The laying and recovery operation is the most critical part in the operation process of the underwater vehicle and is the link which is most prone to accidents. At present, the retraction and release modes of the underwater vehicle mainly comprise A-shaped frame laying and recovery, special single-arm hanging and single-arm laying and recovery, slideway laying and recovery and the like. However, the above folding and unfolding modes are mainly used for medium and small-sized underwater vehicles, and no mature solution is available for the laying and recycling of large or ultra-large (heavy weight and large size) underwater vehicles, especially under high sea conditions.
Disclosure of Invention
The invention aims to solve the technical problem of how to realize deployment and recovery under high sea conditions for large or ultra-large (heavy weight and large size) underwater vehicles.
In order to solve the problem, the technical scheme adopted by the invention is to provide a submarine vehicle retraction system; the device comprises a moon pool, a deck lifting system, a traction system and a transfer system; a moon pool is arranged at the tail of the ship body, and a deck lifting system is arranged in the moon pool; a traction system for drawing the underwater vehicle is arranged on the ship body; and a transfer system for transferring the underwater vehicle is arranged on the deck of the ship body.
Preferably, the moon pool is provided with a U-shaped structure which is opened towards the tail of the ship body.
Preferably, the deck lifting system comprises a lifting system, a pile leg, a lifting deck and a pile fixing chamber; pile legs are arranged on two sides of the lifting deck and fixedly connected with the lifting deck; pile fixing chambers are arranged on deck boards of the ship bodies on two sides of the moon pool, and lifting systems used for driving pile legs to lift are arranged in the pile fixing chambers.
Preferably, the periphery of the pile leg is provided with a pile leg guide device for guiding the pile leg and reducing the bending stress of the pile leg; and the periphery of the pile leg is provided with a pile leg navigation fixing device for fixing the pile leg and limiting the transverse movement of the pile leg.
Preferably, a hydraulic bolt device for fixedly connecting the lifting deck and the hull structure and limiting the vertical movement of the lifting deck is arranged between the lifting deck and the hull deck at the periphery of the moon pool.
Preferably, a gear and rack type lifting mechanism for lifting the pile leg is arranged between the pile leg and the ship body.
Preferably, the traction system comprises a main traction winch, a main traction winch steel wire rope guide pulley, an auxiliary traction winch steel wire rope and an auxiliary traction winch steel wire rope guide pulley; the main traction winch is arranged in a cabin below a hull deck, a main traction winch steel wire rope is arranged on the main traction winch, and the main traction winch steel wire rope is connected with the submersible vehicle in the moon pool through a main traction winch steel wire rope guide pulley; the auxiliary traction winches are arranged on two sides of the front part of the moon pool on the hull deck, the auxiliary traction winches are provided with auxiliary traction winch steel wire ropes, and the auxiliary traction winch steel wire ropes are connected with the submergence devices in the moon pool through auxiliary traction winch steel wire rope guide pulleys.
Preferably, the transfer system comprises a transfer trolley, a transfer trolley traction device and a transfer trolley guide rail; the transfer trolley guide rail is arranged on the lifting deck and the hull deck, and a transfer trolley is arranged on the transfer trolley guide rail; the ship deck is provided with a transfer trolley traction device, and the transfer trolley traction device is movably connected with the transfer trolley.
Preferably, the transfer trolley guide rail is of a sunken structure, and the top of the transfer trolley guide rail is flush with the upper surfaces of the ship body deck and the lifting deck.
The invention provides an operation method of a submarine vehicle retraction system, which comprises the following steps:
step 1: when the underwater vehicle is recovered, the dynamic positioning of the ship is started, and the tail part of the ship is close to the underwater vehicle floating on the sea;
step 2: the transfer trolley and the transfer trolley traction device are quickly disengaged, the transfer trolley is locked and fixed on the lifting deck, and the transfer trolley traction device is transferred to the ship body deck and locked and fixed;
and step 3: starting a lifting system, lowering the lifting deck and the transfer trolley to a certain position under water, braking and locking the lifting system, and keeping a certain safety distance from the upper end face of the transfer trolley to the bottom of the underwater vehicle;
and 4, step 4: connecting a steel wire rope of a main traction winch with a steel wire rope of an auxiliary traction winch and a submersible vehicle by a diver, starting the main traction winch, and towing the submersible vehicle above a transfer trolley in a moon pool under the assistance of the auxiliary traction winch;
and 5: starting the lifting system, and enabling the underwater vehicle to be located on the transfer trolley; the lifting deck integrally lifts the underwater vehicle to enable the transfer trolley and the lifting deck to be lifted to the position of the deck surface of the ship body; the lifting deck is flush with the hull deck;
step 6: the transfer trolley is quickly connected with a transfer trolley traction device, and the underwater vehicle is pulled to be transferred to a ship deck maintenance area along a transfer trolley guide rail, so that the recovery operation of the underwater vehicle is realized;
and 7: when the underwater vehicle is deployed, the recovery operation is opposite to the recovery operation from the step 1 to the step 6; when the underwater vehicle is used for laying operation, the underwater vehicle leaves automatically and enters the sea for operation after being laid on the water surface of the moon pool.
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention does not need the manual connection and release operation of the heavy-duty lifting hook during the retraction operation, has higher operation efficiency and safety, can operate under higher sea conditions and improves the operation efficiency;
(2) technologies such as a lifting system and the like adopted by the system are widely applied to the field of ocean engineering, the technology is mature and reliable, and the technical risk and the manufacturing, overhauling and maintenance costs are low;
(3) compared with the traditional retraction system, the retraction system can stably realize retraction of the underwater vehicle without arranging an oscillation stopping system;
(4) the system can keep a complete deck space after the operation is finished;
(5) the system can be arranged at the tail of the ship, is favorable for balancing the floating state of the ship and reducing the scale of the ship.
(6) The system can conveniently and quickly transfer the underwater vehicle to a deck maintenance area
(7) The system has the characteristic of large load capacity, and can adapt to the retraction operation of various underwater vehicles which do not exceed the maximum design size and load.
Drawings
Fig. 1 is a schematic front view of a submersible retraction system according to the present invention.
Fig. 2 is a schematic top view of a submersible retraction system according to the present invention.
Fig. 3 is a schematic view of an operation method of the underwater vehicle retraction system of the present invention.
Wherein fig. 3A shows the lifting deck lowered below the water level prior to recovery of the underwater vehicle; FIG. 3B shows the main and auxiliary towing winch steel wire ropes connected to the underwater vehicle outside the ship body; FIG. 3C shows the submergence vehicle entering the upper part of the transfer trolley of the moon pool elevating deck; FIG. 3D shows the submergence vehicle and the transfer trolley rising through the lifting deck; figure 3E shows the transfer trolley carrying the underwater vehicle raised to the point where the lifting deck is flush with the hull deck.
Reference numerals: 1. a moon pool; 2. a deck lift system; 21. a lifting system; 22. pile legs; 23. lifting the deck; 24. a pile fixing chamber; 25. a leg guide; 26. a pile leg navigation fixing device; 27. a hydraulic latch device; 3. a traction system; 31. a main traction winch; 32. a main traction winch wire rope; 33. a main traction winch steel wire rope guide pulley; 34. auxiliary traction winches; 35. auxiliary traction winch steel wire rope; 36. auxiliary traction winch steel wire rope guide pulley; 4. a transport system; 41. a transfer trolley; 42. a transfer trolley traction device; 43. a transfer trolley guide rail; 5. a submersible vehicle; 6. a ship body.
Detailed Description
In order to make the invention more comprehensible, preferred embodiments are described in detail below with reference to the accompanying drawings:
as shown in fig. 1-3, the present invention provides a submersible retraction system; the device comprises a moon pool 1, a deck lifting system 2, a traction system 3 and a transfer system 4 which are arranged below a deck of a ship body 6; the tail part of the ship body 6 is provided with a moon pool 1, and a deck lifting system 2 is arranged in the moon pool 1; a traction system 3 for drawing the underwater vehicle 5 is arranged on the ship body; the deck of the ship body 6 is provided with a transfer system 4 for transferring the underwater vehicle 5. The moon pool 1 is formed in a U-shaped structure that opens to the rear of the hull 6. The deck lifting system 2 comprises a lifting system 21, pile legs 22, a lifting deck 23 and a pile fixing chamber 24; pile legs 22 are arranged on two sides of the lifting deck 23, and the pile legs 22 are fixedly connected with the lifting deck 23; pile fixing chambers 24 are arranged on deck boards of ship bodies on two sides of the moon pool 1, and lifting systems 21 for driving the pile legs 22 to lift are arranged in the pile fixing chambers 24. The periphery of the pile leg 22 is provided with a pile leg guiding device 25 for guiding the pile leg and reducing the bending stress of the pile leg; the legs 22 are provided with leg navigation fixtures 26 around their periphery to secure the legs and limit their lateral movement. A hydraulic bolt device 27 for fixedly connecting the lifting deck 23 with a hull structure and limiting the vertical movement of the lifting deck 23 is arranged between the lifting deck 23 and the hull deck at the periphery of the moon pool 1. A lifting mechanism of a rack and pinion type for lifting the lifting deck 23 is provided between the legs 22 and the hull 6. The traction system 3 comprises a main traction winch 31, a main traction winch steel wire rope 32, a main traction winch steel wire rope guide pulley 33, an auxiliary traction winch 34, an auxiliary traction winch steel wire rope 35 and an auxiliary traction winch steel wire rope guide pulley 36; the main traction winch 31 is arranged in a cabin below a deck of the ship body 6, a main traction winch steel wire rope 32 is arranged on the main traction winch 31, and the main traction winch steel wire rope 32 is connected with the submersible vehicle 5 in the moon pool through a main traction winch steel wire rope guide pulley 33; the auxiliary traction winches 34 are arranged on two sides of the front part of the moon pool 1 on the deck of the ship body 6, the auxiliary traction winches 34 are provided with auxiliary traction winch steel wire ropes 35, and the auxiliary traction winch steel wire ropes 35 are connected with the submergence vehicles 5 in the moon pool through auxiliary traction winch steel wire rope guide pulleys 36. The transfer system 4 comprises a transfer trolley 41, a transfer trolley traction device 42 and a transfer trolley guide rail 43; the transfer trolley guide rail 43 is arranged on the lifting deck 23 and the ship body 6 deck, and the transfer trolley guide rail 43 is provided with a transfer trolley 41; a transfer trolley traction device 42 is arranged on the deck of the ship body, and the transfer trolley traction device 42 is movably connected with the transfer trolley 41. The transfer trolley guide rails 43 are arranged in a sunken structure, and the tops of the transfer trolley guide rails 43 are flush with the upper surfaces of the deck of the ship body 6 and the lifting deck 23.
The invention provides an operation method of a submarine vehicle retraction system, which comprises the following steps:
step 1: when the underwater vehicle 5 is recovered, the dynamic positioning of the ship is started, and the tail part of the ship is close to the underwater vehicle 5 floating on the sea;
step 2: the transfer trolley 41 and the transfer trolley traction device 42 are quickly disengaged, the transfer trolley 41 is locked and fixed on the lifting deck 23, and the transfer trolley traction device 42 is transferred to the deck of the ship body 6 and locked and fixed;
and step 3: starting the lifting system 21, lowering the lifting deck 23 and the transfer trolley 41 to a certain position under water, braking and locking the lifting system 21, and keeping a certain safety distance between the upper end surface of the transfer trolley 41 and the bottom of the underwater vehicle 5;
and 4, step 4: connecting a main traction winch steel wire rope 32 with an auxiliary traction winch steel wire rope 35 and the underwater vehicle 5 by a diver, starting the main traction winch 31, and drawing the underwater vehicle 5 to the upper part of a transfer trolley 41 in the moon pool 1 under the assistance of an auxiliary traction winch 34;
and 5: starting the lifting system 21, and enabling the underwater vehicle 5 to be located on the transfer trolley 41; the lifting deck 23 integrally lifts the underwater vehicle 5, so that the transfer trolley 41 and the lifting deck 23 are lifted to the surface position of the ship body deck; the lifting deck 23 is flush with the hull deck;
step 6: the transfer trolley 41 is quickly connected with a transfer trolley traction device 42, and the submersible vehicle 5 is pulled to be transferred to a ship deck maintenance area along a transfer trolley guide rail 43, so that the recovery operation of the submersible vehicle 5 is realized;
and 7: when the underwater vehicle 5 is deployed, the recovery operation is opposite to the recovery operation from the step 1 to the step 6; when the underwater vehicle 5 is used for laying operation, the underwater vehicle 5 automatically leaves and enters the sea after the underwater vehicle 5 is lowered to the water surface of the moon pool 1.
As shown in fig. 1 and 2, the underwater vehicle retraction system of the present invention includes a moon pool 1, a deck lifting system 2, a traction system 3, a transfer system 4, etc. The underwater vehicle 5 can be towed into the moon pool 1 by the towing system 3, lifted to the deck surface of the ship body 6 by the deck lifting system 2, and transported to the maintenance area of the ship body 6 by the transporting system 4, so that the retractable operation of the underwater vehicle 5 is realized. The moon pool 1 is arranged at the tail part of the ship body 6, the moon pool 1 is U-shaped, the opening of the moon pool faces the stern, and the size of the moon pool 1 is matched with the overall size of the underwater vehicle 5. The deck lift system 2 comprises a lift system 21, legs 22, a lift deck 23, a pile fixing chamber 24, leg guides 25, leg navigation fixtures 26, hydraulic plug devices 27 and the like. The four pile legs 22 are respectively fixed on two sides of the lifting deck 23, and the four pile legs 2 can freely lift up and down along the corresponding slotted structures on two sides of the moon pool 1. Four lifting systems 21 are arranged in the pile fixing chambers 24 at two sides of the moon pool 1 and are fixedly connected with the ship body 6. The four lifting systems 21 can respectively drive the four pile legs 22 to lift, so that the lifting deck 23 can be lifted. The lifting system 21 adopts a rack and pinion type lifting mechanism, which is advantageous in that the driving device of the lifting mechanism can be arranged at the longitudinal front and rear sides of the ship, increasing the effective working space of the moon pool 1. In addition, compared with other types of lifting mechanisms, the lifting mechanism has the characteristic of high lifting speed, and can improve the efficiency of the retraction operation. The lifting system 21 is installed on the main decks of the ship bodies 6 on both sides of the moon pool 1, and has the advantages that on one hand, the lifting system 21 can be prevented from being immersed in water, on the other hand, the height of the pile fixing chamber 24 can be reduced as much as possible, the weight is reduced, and meanwhile, the structure is convenient to strengthen. The pile leg 22 is in a cylindrical form, a box body structure is adopted at the connection part of the pile leg 22 and the lifting deck 23, the length of the pile leg 22 above the lifting deck 23 is matched with the height of the pile fixing chamber 24, and the length of the pile leg 22 below the lifting deck 23 is matched with the height from the bottom plate of the ship body 6 to the deck surface. The lifting deck 23 adopts a box structure, the length and width dimensions are matched with the opening dimension of the moon pool 1, and the height dimension meets the strength requirement. In the corresponding vicinity of the top of the leg 22 in the chamber 24 and in the vicinity of the bottom of the hull 6, leg guides 25 are installed, which leg guides 25, in addition to providing guidance for the leg 22, can also take up lateral forces and reduce bending stresses in the leg 22. A leg navigation fixture 26 is mounted on the top of the leg 22 corresponding to the chamber 24, and the leg navigation fixture 26 can fix the lateral movement of the leg 22 when the vessel is underway, reducing the stress on the leg 22. The four hydraulic bolt devices 27 are arranged on the hull structures on two sides of the moon pool 1, the bolts of the hydraulic bolt devices 27 are ejected out, and the bolts enter the concave hole structures in the lifting deck 23, so that the lifting deck 23 is fixedly connected with the hull 6, and the vertical movement of the lifting deck 23 can be limited. Two hydraulic latch devices 27 are mounted on the hull structure at the head of the moon pool 1 and below the transfer trolley rails 43, to reduce the deformation of the lifting deck 23 there.
The traction system 3 comprises a main traction winch 31, a main traction winch steel wire rope 32, a main traction winch steel wire rope guide pulley 33, an auxiliary traction winch 34, an auxiliary traction winch steel wire rope 35, an auxiliary traction winch steel wire rope guide pulley 36 and the like. The main traction winch 31 is installed in a cabin below the main deck of the ship body 6, and the main traction winch steel wire rope 32 is guided into the moon pool 1 through a main traction winch steel wire rope guide pulley 33. The auxiliary traction winch 34 is arranged on the main deck of the ship body 6, two sides of the front part of the moon pool 1 are provided with auxiliary traction winch steel wire ropes 35, and the auxiliary traction winch steel wire ropes are guided into the moon pool 1 through auxiliary traction winch steel wire rope guide pulleys 36.
The transfer system of the invention comprises a transfer trolley 41, a transfer trolley traction device 42, a transfer trolley guide rail 43 and the like. Transfer trolley guide rails 43 are mounted on the lift deck 23 and the main deck of the hull 6, the transfer trolley guide rails 43 providing guidance for the transfer trolley 41 and the transfer trolley towing means 42. The transfer trolley 41 and the transfer trolley traction device 42 can be quickly connected and disconnected, and the transfer trolley traction device 42 is a power device of the transfer trolley 41. The transfer trolley guide rail 43 adopts a sinking type design, and the top of the transfer trolley guide rail 43 is flush with the upper surfaces of the main deck of the ship body 6 and the lifting deck 23.
The present invention also has the following operation method on the basis of the above:
firstly, starting the dynamic positioning of a ship, and enabling a stern to be close to a submarine 5 floating on the sea;
secondly, the transfer trolley 41 and the transfer trolley traction device 42 are quickly disengaged, the transfer trolley 41 is locked and fixed on the lifting deck 23, and the transfer trolley traction device 42 is transferred to the main deck of the ship body 6 and locked and fixed;
thirdly, starting the lifting system 21, lowering the lifting deck 23 and the transfer trolley 41 to a certain position under water, braking and locking the lifting system 21, and keeping a certain safety distance between the transfer trolley 41 and the bottom of the underwater vehicle 5;
thirdly, completing the connection of the main traction winch steel wire rope 33, the auxiliary traction winch steel wire rope 35 and the underwater vehicle 5 by a diver, starting the main traction winch 31, and drawing the underwater vehicle 5 into the moon pool 1 under the assistance of the auxiliary traction winch 34;
fourthly, the lifting system 21 is started, the underwater vehicle 5 is located on the transfer trolley 41, and the underwater vehicle 5, the transfer trolley 41 and the lifting deck 23 are integrally lifted to the deck surface position of the ship body 6;
and fifthly, the transfer trolley 41 is quickly connected with a transfer trolley traction device 42 to pull the underwater vehicle 5 to be transferred to a deck maintenance area of the ship body 6, so that the recovery operation of the underwater vehicle 5 is realized.
The deployment operation of the underwater vehicle 5 is the reverse of the above steps. When the underwater vehicle 5 is used for laying operation, the underwater vehicle 5 is powered and can leave and enter the sea to operate after being laid on the water surface of the moon pool 1.
In conclusion, the invention realizes the recovery of the underwater vehicle from the water surface or the water to the deck of the ship, or the arrangement of the underwater vehicle from the deck to the water surface or the water, avoids the direct operation of the operating personnel in the dangerous area, and simultaneously can greatly improve the operation efficiency and the safety and reliability.
While the invention has been described with respect to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Those skilled in the art can make various changes, modifications and equivalent arrangements, which are equivalent to the embodiments of the present invention, without departing from the spirit and scope of the present invention, and which may be made by utilizing the techniques disclosed above; meanwhile, any changes, modifications and variations of the above-described embodiments, which are equivalent to those of the technical spirit of the present invention, are within the scope of the technical solution of the present invention.
Claims (10)
1. A retraction system of a submarine vehicle; the method is characterized in that: the device comprises a moon pool, a deck lifting system, a traction system and a transfer system; a moon pool is arranged at the tail of the ship body, and a deck lifting system is arranged in the moon pool; a traction system for drawing the underwater vehicle is arranged on the ship body; and a transfer system for transferring the underwater vehicle is arranged on the deck of the ship body.
2. The submersible vehicle retraction system according to claim 1, wherein: the moon pool is of a U-shaped structure with an opening towards the tail of the ship body.
3. The submersible vehicle retraction system according to claim 1, wherein: the deck lifting system comprises a lifting system, pile legs, a lifting deck and a pile fixing chamber; pile legs are arranged on two sides of the lifting deck, and the lifting deck is fixedly connected with the pile legs; pile fixing chambers are arranged on deck boards of the ship bodies on two sides of the moon pool, and lifting systems used for driving pile legs to lift are arranged in the pile fixing chambers.
4. A submersible vessel retraction system as claimed in claim 3 wherein: the periphery of the pile leg is provided with a pile leg guide device for guiding the pile leg and reducing the bending stress of the pile leg; and the periphery of the pile leg is provided with a pile leg navigation fixing device for fixing the pile leg and limiting the transverse movement of the pile leg.
5. The submersible vessel retraction system according to claim 4, wherein: and a hydraulic bolt device which is used for fixedly connecting the lifting deck and the hull structure and limiting the lifting deck to move in the vertical direction is arranged between the lifting deck and the hull deck at the periphery of the moon pool.
6. The submersible vehicle retraction system according to claim 5, wherein: and a gear and rack type lifting mechanism for lifting the pile legs is arranged between the pile legs and the ship body.
7. The submersible vehicle retraction system according to claim 6, wherein: the traction system comprises a main traction winch, a main traction winch steel wire rope guide pulley, an auxiliary traction winch steel wire rope and an auxiliary traction winch steel wire rope guide pulley; the main traction winch is arranged in a cabin below a hull deck, a main traction winch steel wire rope is arranged on the main traction winch, and the main traction winch steel wire rope is connected with the submersible vehicle in the moon pool through a main traction winch steel wire rope guide pulley; the auxiliary traction winches are arranged on two sides of the front part of the moon pool on the hull deck, the auxiliary traction winches are provided with auxiliary traction winch steel wire ropes, and the auxiliary traction winch steel wire ropes are connected with the submergence devices in the moon pool through auxiliary traction winch steel wire rope guide pulleys.
8. The submersible vehicle retraction system according to claim 7, wherein: the transfer system comprises a transfer trolley, a transfer trolley traction device and a transfer trolley guide rail; the transfer trolley guide rail is arranged on the lifting deck and the hull deck, and a transfer trolley is arranged on the transfer trolley guide rail; the ship deck is provided with a transfer trolley traction device, and the transfer trolley traction device is movably connected with the transfer trolley.
9. The submersible vehicle retraction system according to claim 8, wherein: the transfer trolley guide rail is of a sinking structure, and the top of the transfer trolley guide rail is flush with the hull deck and the upper surface of the lifting deck.
10. An operation method of a submarine vehicle retraction system is characterized by comprising the following steps:
step 1: when the underwater vehicle is recovered, the dynamic positioning of the ship is started, and the tail part of the ship is close to the underwater vehicle floating on the sea;
step 2: the transfer trolley and the transfer trolley traction device are quickly disengaged, the transfer trolley is locked and fixed on the lifting deck, and the transfer trolley traction device is transferred to the ship body deck and locked and fixed;
and step 3: starting a lifting system, lowering the lifting deck and the transfer trolley to a certain position under water, braking and locking the lifting system, and keeping a certain safety distance from the upper end face of the transfer trolley to the bottom of the underwater vehicle;
and 4, step 4: connecting a steel wire rope of a main traction winch with a steel wire rope of an auxiliary traction winch and a submersible vehicle by a diver, starting the main traction winch, and towing the submersible vehicle above a transfer trolley in a moon pool under the assistance of the auxiliary traction winch;
and 5: starting the lifting system, and enabling the underwater vehicle to be located on the transfer trolley; the lifting deck integrally lifts the underwater vehicle to enable the transfer trolley and the lifting deck to be lifted to the position of the deck surface of the ship body; the lifting deck is flush with the hull deck;
step 6: the transfer trolley is quickly connected with a transfer trolley traction device, and the underwater vehicle is pulled to be transferred to a ship deck maintenance area along a transfer trolley guide rail, so that the recovery operation of the underwater vehicle is realized;
and 7: when the underwater vehicle is deployed, the recovery operation is opposite to the recovery operation from the step 1 to the step 6; when the underwater vehicle is used for laying operation, the underwater vehicle leaves automatically and enters the sea for operation after being laid on the water surface of the moon pool.
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| CN202011101257.8A CN112173012A (en) | 2020-10-15 | 2020-10-15 | Underwater vehicle retraction system and operation method thereof |
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| CN202011101257.8A CN112173012A (en) | 2020-10-15 | 2020-10-15 | Underwater vehicle retraction system and operation method thereof |
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| CN112960085A (en) * | 2021-01-29 | 2021-06-15 | 广船国际有限公司 | Winding and unwinding devices of large-scale unmanned underwater vehicle |
| CN113401283A (en) * | 2021-06-30 | 2021-09-17 | 中国船舶工业集团公司第七0八研究所 | Double-portal frame folding and unfolding device and operation method thereof |
| CN114148460A (en) * | 2021-12-02 | 2022-03-08 | 广东智能无人系统研究院 | Lifting system and winding and unwinding devices |
| CN114166465A (en) * | 2021-11-16 | 2022-03-11 | 哈尔滨工程大学 | Comprehensive guarantee platform for underwater test of submersible vehicle |
| CN114475929A (en) * | 2022-01-06 | 2022-05-13 | 武汉船用机械有限责任公司 | Cloth placing and recycling device |
| CN114771761A (en) * | 2022-04-20 | 2022-07-22 | 广东智能无人系统研究院 | Loading and unloading ship |
| CN114987702A (en) * | 2022-08-03 | 2022-09-02 | 广东智能无人系统研究院 | Recovery system and recovery method of underwater vehicle |
| CN115503890A (en) * | 2022-10-06 | 2022-12-23 | 中国船舶集团有限公司第七○八研究所 | Liftable submersible laying and recycling system and operating method thereof |
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| CN112960085A (en) * | 2021-01-29 | 2021-06-15 | 广船国际有限公司 | Winding and unwinding devices of large-scale unmanned underwater vehicle |
| CN113401283A (en) * | 2021-06-30 | 2021-09-17 | 中国船舶工业集团公司第七0八研究所 | Double-portal frame folding and unfolding device and operation method thereof |
| CN113401283B (en) * | 2021-06-30 | 2022-12-20 | 中国船舶工业集团公司第七0八研究所 | Double-portal frame retracting device and operation method thereof |
| CN114166465A (en) * | 2021-11-16 | 2022-03-11 | 哈尔滨工程大学 | Comprehensive guarantee platform for underwater test of submersible vehicle |
| CN114148460A (en) * | 2021-12-02 | 2022-03-08 | 广东智能无人系统研究院 | Lifting system and winding and unwinding devices |
| CN114475929A (en) * | 2022-01-06 | 2022-05-13 | 武汉船用机械有限责任公司 | Cloth placing and recycling device |
| CN114475929B (en) * | 2022-01-06 | 2023-10-27 | 武汉船用机械有限责任公司 | Cloth-placing and recovering device |
| CN114771761A (en) * | 2022-04-20 | 2022-07-22 | 广东智能无人系统研究院 | Loading and unloading ship |
| CN114987702A (en) * | 2022-08-03 | 2022-09-02 | 广东智能无人系统研究院 | Recovery system and recovery method of underwater vehicle |
| CN115503890A (en) * | 2022-10-06 | 2022-12-23 | 中国船舶集团有限公司第七○八研究所 | Liftable submersible laying and recycling system and operating method thereof |
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