CN113460244A

CN113460244A - Laying and recycling device of multi-joint submersible vehicle

Info

Publication number: CN113460244A
Application number: CN202110790741.4A
Authority: CN
Inventors: 孟庆浩; 刘科显; 徐雪寒
Original assignee: Tianjin University
Current assignee: Tianjin University
Priority date: 2021-09-01
Filing date: 2021-09-01
Publication date: 2021-10-01
Anticipated expiration: 2041-09-01
Also published as: CN113460244B

Abstract

The invention relates to a laying and recovering device of a multi-joint submersible vehicle, which comprises a basic bearing structure, a folding door structure, a door opening mechanism and an electric and transmission system, wherein the folding door structure comprises two sets, each set is divided into a top door and a tail door, the two doors are connected through a heavy elastic hinge, the two top doors are connected with the basic bearing structure through the heavy hinge, each top door is provided with a guide rail and a slide block and is connected with the door opening mechanism; the door opening mechanism comprises a rotary table, a pull rod A, a push rod A, a pull rod B and a push rod B, the rotary table is connected between an electric transmission system and a basic bearing structure through an output shaft, the pull rod A, the push rod A, the pull rod B and the push rod B are symmetrically connected to two sides of the rotary table, the pull rod A and the pull rod B are connected to the rotary table through pin shafts respectively, and the pull rod A and the pull rod B can rotate around the pin shafts on the rotary table.

Description

Laying and recycling device of multi-joint submersible vehicle

Technical Field

The invention relates to the technical field of deep sea underwater vehicles (also called underwater vehicles), in particular to a deploying and recovering device for an autonomous underwater vehicle.

Background

Marine science research and resource exploration have become one of the fundamental strategies of major countries in the world. With the continuous and deep exploration and research progress, people pay more attention to the deep sea from the offshore place, and for this reason, various remote unmanned vehicles (ROVs), Autonomous Underwater Vehicles (AUVs), buoys and other equipment for deep sea exploration and related supporting facilities have been introduced by research institutions and related field enterprises. The laying and recovering scheme is the key to normal operation of the underwater vehicles such as the ROV, the AUV and the like, and for large-scale detection equipment such as the ROV, the AUV and the like, the laying and recovering operation is generally carried out by arranging a lifting point on an equipment body and adopting a lifting mode, or by adopting a mode of integrally wrapping a cage, a fishing net and the like. However, there is no more mature automatic deployment and recovery scheme for underwater vehicles.

At present, research institutions at home and abroad propose distribution and recovery schemes for large underwater vehicles or similar marine equipment. Shanghai vehicle Ensendi ocean equipment Co., Ltd invents a recovery device for ROV and a corresponding control method { CN111625009A }, and the scheme has high automation capacity, saves deck operators and improves working efficiency. However, this solution requires the recovered equipment to be equipped with positioning equipment such as an ultra-short baseline, and requires a large amount of debugging for the recovered equipment, which is not suitable for recovering the AUV underwater vehicle. The university of continental maritime affairs invented a kind of deployment recovery system { CN111516805A } used for small-scale AUV cluster, this system can be effective and reliable to deploy the small-scale AUV apparatus in batches, but this system needs to rely on ROV or other mechanical arm to assist when retrieving AUV, retrieve the condition that needs is higher, and only suitable for deploying small-scale AUV, can't deploy and retrieve medium-and large-scale AUV.

The existing underwater vehicle laying and recovering method has the following defects:

(1) the device and the method aim at the problems that a large number of automatic recovery devices or schemes are available for small-sized underwater vehicles such as AUV (autonomous underwater vehicle), but the device and the scheme for laying and recovering large-sized underwater vehicles generally lack automatic functions and are complex in laying and recovering modes;

(2) for the laying and recovery of large underwater vehicles, a hoisting mode (a lifting point is arranged on the submersible vehicle) or tools such as cages and tucknets are generally adopted, personnel assistance is generally required in the laying and recovery stage, the operation mode is complex and has certain risks;

(3) the traditional cage recovery mode requires that the underwater vehicle has an autonomous docking function, or an assistant person controls the underwater vehicle to enter the cage on a mother ship in a teleoperation mode, so that the whole recovery process is complicated and has failure risk;

(4) the existing cage recovery, net bag recovery and hoisting recovery modes all require that the submersible vehicle autonomously moves to a designated position, and the relative position of the recovery device and a mother ship is kept unchanged, only the submersible vehicle has the maneuvering capability in the operation process, and the arrangement and recovery device does not have the maneuvering capability;

(5) the clamping mechanism of the traditional laying device or other mechanisms needing action mostly adopt equipment such as oil cylinders, the arrangement of oil ways is complex, equipment such as a matched hydraulic station is needed, and the manual state is difficult to switch to for debugging.

At present, the laying and recovery scheme for the large underwater vehicle is less, the existing scheme does not have an automation function, the recovery mode is difficult, and the flow is complicated.

Disclosure of Invention

The invention provides a laying and recovering device of a multi-joint submersible vehicle, aiming at the problems of the existing laying and recovering device or scheme for the submersible vehicle. The technical scheme adopted by the invention is as follows:

a laying and recovering device of a multi-joint submersible comprises a basic bearing structure, a folding door structure, a door opening mechanism and an electric and transmission system, wherein the door opening mechanism and the electric and transmission system are fixed on the basic bearing structure, the electric and transmission system provides power for the door opening mechanism, wherein,

a base load-bearing structural body for placing a multi-joint submersible;

the folding door structure comprises two sets, each set is divided into a top door and a tail door, the two doors are connected through a heavy elastic hinge, the two top doors are connected with a basic bearing structure through the heavy hinge, and each top door is provided with a guide rail and a sliding block and is connected with a door opening mechanism;

the door opening mechanism comprises a rotary table, a pull rod A, a push rod A, a pull rod B and a push rod B, the rotary table is connected between the electric transmission system and the basic bearing structure through an output shaft, the pull rod A, the push rod A, the pull rod B and the push rod B are symmetrically connected to two sides of the rotary table, the pull rod A and the pull rod B are respectively connected to the rotary table through pin shafts, and the pull rod A and the pull rod B can rotate around the pin shafts on the rotary table 40;

the push rod A is provided with 3 hinge supporting points which are respectively connected with the pull rod A, the foundation bearing structure and one sliding block of the folding door structure; the push rod B is provided with 3 hinge supporting points which are respectively connected with the pull rod B, the foundation bearing structure and the other slide block of the folding door structure;

the electric and transmission system adopts a sealed box body to package a motor, a controller and an electromagnetic clutch which need to be waterproof; the output shaft of the motor is connected with a small bevel gear shaft B through a coupling B, a large bevel gear B is meshed with the small bevel gear shaft B, an electromagnetic clutch is connected to the large bevel gear B, and the electromagnetic clutch is connected with a driving shaft through a flat key;

the large bevel gear A is connected to a turntable of the door opening mechanism, the large bevel gear A is connected with a clutch, one half clutch is connected to the large bevel gear A in a threaded mode, the other half clutch slides on the output shaft through a guide flat key arranged on the output shaft, and meshing and separation of the clutches are achieved; the output shaft of the motor is connected with the driving shaft through a coupler C.

Furthermore, a pulley and a cable fixing point are arranged on the top door; the laying and recycling device further comprises a cabin body clamping structure, the cabin body clamping structure is arranged on the basic bearing structure, a main body of the cabin body clamping structure is connected into the bearing seat A through adapter plates on two sides, a reset torsion spring is arranged between the adapter plates and the bearing seat A, a clamping ring and a rotating wrench are arranged on the cabin body clamping structure, the rotating wrench is connected with a cable fixing point on the top door through a cable, and the cable is supported through a pulley.

Furthermore, a detachable locking groove is arranged on the foundation bearing structure; be provided with the locking lever mounting hole on the carousel, the one end of locking lever can be through locking lever mounting hole fixed connection on the carousel, and the other end can be connected to the locking groove, makes the locking carousel can not rotate under the restriction in locking groove.

Furthermore, basic bearing structure main part is V type groove, and two overhead doors of folding door structure pass through heavy hinged joint respectively at the groove top in V type groove.

Furthermore, the tail part of the basic bearing structure is provided with a locking electromagnet as required for attracting the tail door of the folding door; the tail gate is provided with an electromagnet armature corresponding to the position of the locking electromagnet at the tail part of the basic bearing structure.

Furthermore, a small electromagnet and a large electromagnet for locking are arranged at the tail part of the foundation bearing structure, and a small electromagnet armature and a large electromagnet armature are respectively arranged at the side edge and the bottom of the tail door.

Furthermore, the distribution and recovery device also comprises a position fine-tuning system, the position fine-tuning system comprises at least one propeller arranged on the basic bearing structure, fine tuning of the position of the distribution and recovery device on the water surface is realized by adjusting the thrust of the propeller, and the distribution and recovery device is matched with the submersible vehicle for recovery; the bottom of the foundation bearing structure is provided with a universal heavy caster with a braking function.

Furthermore, the distribution and recovery device further comprises a small bevel gear shaft A and a manual opening wrench, wherein the small bevel gear shaft A is meshed with the large bevel gear A, the small bevel gear shaft A is connected with the manual opening wrench through a coupler A, and the folding door is opened and closed through the manual opening wrench when the distribution and recovery device is in a manual mode.

Further, the electromagnetic clutch connected with the large bevel gear B is a jaw electromagnetic clutch.

Further, the clutch connected with the large bevel gear A is a jaw clutch; and when the two half clutches need to be separated, the ejection screws are rotated to realize separation.

The invention has the beneficial effects that:

(1) the device is an automatic device, so that a large amount of manual operation in the traditional underwater vehicle release and recovery scheme is relieved, and the release and recovery efficiency is effectively improved;

(2) the device is provided with a position fine adjustment system, and can be matched with the docking direction of the submersible vehicle in the recovery stage, so that the recovery operation difficulty is reduced, and the working efficiency is improved;

(3) the device is integrally in a V-shaped structure when being completely unfolded, has a larger accommodating space, can easily pull out the device when being laid, has a larger recovery range when being recovered, and reduces the recovery difficulty of the submersible vehicle;

(4) the device can be kept in a fully closed state in the hoisting process, so that the submersible vehicle cannot slide out of the device;

(5) the device is provided with a cabin body clamping structure, so that the submersible vehicle can be further fixed and cannot shake in the device;

(6) except for the propeller, all driving motors and power supplies of the device are positioned at the front part of the equipment, so that the waterproof treatment is conveniently centralized, and the overall structure is more compact and the maintenance is convenient by adopting the schemes of connecting rods, cable rope traction, electromagnet attraction and the like;

(7) the device adopts two sets of tooth embedded clutches inside and outside the box, under the normal operating condition, through the inside tooth embedded electromagnetic clutch switching electronic or manual mode of sealed box, when electric system breaks down, can switch over equipment to manual mode through the manual outside tooth embedded clutch that separates of precession ejecting screw under the emergency, when outside tooth embedded clutch also can't use, can open or close the folding door of laying recovery unit by force through moving the locking lever under the emergency.

(8) The device can realize the driving requirements of the folding door switch and the cabin body clamping structure by adopting one driving motor, and reduces the number of the driving motors, thereby reducing the complexity of an electrical system.

Drawings

FIG. 1 shows the open state of the dispensing and retrieving device

FIG. 2 shows the closing state of the dispensing and retrieving device

FIG. 3 shows a hoisting structure

FIG. 4 is a basic load bearing structure

FIG. 5 shows a structure of a folding door

FIG. 6 is a schematic view of a cabin clamping structure

FIG. 7 schematic view of the cabin clamping structure

FIG. 8 is a schematic view of the electrical and drive system and the installation of the door opening mechanism

FIG. 9 is a schematic view of a door opening mechanism

FIG. 10 is a schematic cross-sectional view of an electrical and transmission system

FIG. 11 is a layout view of the interior of the sealed box

FIG. 12 is a view showing the structure of an external manual jaw clutch

FIG. 13 is a schematic view showing the layout operation

FIG. 14 is a schematic view of the recycling operation

FIG. 15 is a schematic view of the docking and undocking of a multi-joint submersible vehicle

Detailed Description

Referring to fig. 1-2, the invention provides a distribution and recovery device with a manual/electric conversion function for a deep sea multi-joint submersible vehicle, which comprises a hoisting structure 1, a basic bearing structure 5, a top door 2, a tail door 8, a door opening mechanism 3, an electric and transmission system 4, a cabin body clamping structure 6, a position fine adjustment system 7 and a heavy hinge 9, wherein the multi-joint submersible vehicle 10 is placed in a V-shaped groove built by the basic bearing structure 5. A manual opening wrench 11 and a locking lever 12 are provided on the front side of the apparatus. The top door 2 and the cabin clamping structure 6 are connected by a cable 14, and a fixed pulley block 13 is arranged on the upper side of the top door 2 and used for supporting and guiding the cable 14.

Position fine setting system 7 comprises four group's propellers, installs on the propeller installation position of basic bearing structure 5 bottom, and inside basic bearing structure 5 was placed in to the propeller was completely in, and the cable was arranged along basic bearing structure edge, hidden danger such as collision and kinking avoided appearing.

Referring to fig. 3, the hoisting structure 1 is in a welded steel structure form, four small U-shaped rings are welded at four corners, two large U-shaped rings are welded at the upper end of the hoisting structure through four hoisting points of a hoisting belt and a base structure, and the hoisting structure is connected with an a-shaped frame or other hoisting equipment through one hoisting belt.

Referring to fig. 4, the basic load-bearing structure 5 is generally formed by splicing aluminum alloy sections, and may also be in a welded steel structure form. The containing device is a main body of a basic bearing structure 5, is of a V-shaped structure and can play a role in positioning the submersible vehicle with a cylindrical shape. The front end of the basic bearing structure 5 is provided with a locking groove 15, an electric and transmission system mounting position 16, the bottom of the bearing structure is provided with a position fine adjustment system mounting position 21, four lifting points 18 are arranged at four outermost peripheral points of the basic bearing structure 5 and used for mounting a hoisting belt, and four pairs of heavy casters 17 with brakes are mounted at the bottom. Two small electromagnets 20 are symmetrically arranged at the upper end of the tail part of the bearing structure, and a large electromagnet 19 is arranged at the bottom end of the tail part.

Referring to fig. 5, the main structure of the folding door is divided into a top door 2 and a tail door 8, which are generally formed by splicing aluminum alloy sections and can also be in a welded steel structure form. A pair of fixed pulley blocks 13 are arranged on the upper side of the top door 2 side by side and used for bearing and guiding the cable 14 to move, and two handles 23 are arranged between two rectangular pipes of the top door in the front and back direction. The top door 2 and the tail door 8 are connected by a heavy elastic hinge 24, and a small electromagnet armature 25 and a large electromagnet armature 26 are respectively arranged at the side edge and the bottom of the tail door. A guide rail 22 is provided at the front end of the top door 2. When the cloth placing and recycling equipment is opened, under the action of gravity and the heavy elastic hinge 24, the relative positions of the top door 2 and the tail door 8 are changed into the same plane from a 90-degree included angle, and the tail door 8 is electrically sucked on the small electromagnet 20. When the distribution and recovery equipment is closed, the gravity of the tail door 8 is greater than the spring force of the heavy elastic hinge 24, the tail door 8 is tightly attached to the tail end of the basic bearing structure 5, and the large electromagnet 19 is electrified to suck the tail door 8.

Referring to fig. 6-7, the cabin clamping structures 6 are symmetrically installed on two sides of the bottom of the basic bearing structure 5, the main body of the cabin clamping structures is a double-groove aluminum profile 31, two clamping rings 29 and a rotating wrench 30 are installed on the double-groove aluminum profile 31 through T-shaped nuts, adapter plates 32 are installed at two ends of the aluminum profile 31, the outer sides of the adapter plates 32 are optical axes and are matched with a bearing seat a27 so as to rotate around a shaft, and a reset torsion spring 28 is arranged between the bearing seat a27 and the adapter plates 32. The rotating wrench 30 is connected with the top door 2 through the cable 14, when the top door 2 is closed, the rotating wrench 30 is pulled upwards under the traction of the cable 14 to drive the double-groove aluminum profile 31 to rotate, so that the clamping ring 29 clamps the cabin body; when the top door 2 is opened, the double-groove aluminum profile 31 rotates reversely under the action of the reset torsion spring 28, and the clamping ring 29 leaves the cabin body.

Referring to fig. 8-12, the door opening mechanism 3 and the electric and driving system 4 are installed at the front end of the basic bearing structure 5 through the sealed box 43 and the bearing seat E50, and the electric and driving system 4 provides power for the door opening mechanism 3. The door opening mechanism 3 is a link mechanism as a whole, and joint bearings are arranged at two ends of the pull rod A33 and are connected to the turntable 40 through pin shafts. The pull rod A33 can rotate around a pin shaft on the turntable 40, the push rod A35 is connected with the pull rod A33 through a hinge fulcrum 34, is connected with the basic bearing structure 5 through a fixed hinge fulcrum 36, is connected with the guide rail 22 through a slider 37, and is connected with the push rod B38 and the pull rod B39 in the same way as the push rod A35 and the pull rod A33 and symmetrically installed.

When the turntable 40 is in the initial position shown in fig. 8, i.e., the apparatus is in a closed state, the top door 2 and the rear door 8 are in a closed state. When the turntable 40 rotates, the traction pull rod A33 and the pull rod B39 move, the pull rod A35 and the pull rod B38 rotate around a fixed hinge pivot fixed on the basic bearing structure 5, the slide block 37 is driven to move on the guide rail 22, and the top door 2 is pushed to move around the heavy hinge 9, so that the top door 2 and the tail door 8 are opened. When the rotary disk 40 rotates back to the initial position, the pull rod A33, the pull rod B39, the push rod A35, the push rod B38 and other parts act to restore the top door 2 and the tail door 8 to the closed state.

A locking lever mount 49 is mounted on the turntable 40. When the equipment is in a closed state, the locking rod 12 can be screwed into the locking rod mounting seat 49, the rotary disc 40 is locked under the limitation of the locking groove 15 so as not to rotate, and then the top door 2 and the tail door 8 are locked, so that the top door 2 and the tail door 8 are prevented from being opened uncontrollably under the conditions of transportation bump and the like. When the apparatus is used formally, the locking lever 12 should be unscrewed. When special conditions are met, under the condition that the electric opening mechanism and other opening modes cannot be used, the locking groove 15 is detached, the locking rod 12 is moved forcefully to drive the turntable to rotate, and the top door 2 and the tail door 8 can also be opened under emergency conditions.

The large bevel gear A41 is connected to the rotary table 40 in a threaded mode, the small bevel gear shaft A48 is meshed with the large bevel gear A41, the bearing seat B46 is connected to the front plate of the sealed box body 43 in a threaded mode, and the small bevel gear shaft A48 penetrates through the bearing seat B46 and is connected with the manual opening wrench 11 through the coupler A47. When the jaw electromagnetic clutch 57 inside the sealed box 43 or the external jaw clutch 42 is in a disengaged state, the device is in a manual mode at this time, the manual opening wrench 11 is moved to drive the bevel pinion shaft a48 to rotate, and further drive the bevel pinion a41 and the rotating disc 40 to rotate, so that the top door 2 and the tail door 8 are manually opened and closed.

The electrical and transmission system 4 is mainly divided into two parts, namely an inner part and an outer part, of the sealed box body 43. The sealed box 43 adopts 6 aluminum plates to splice and form, and wherein the front bezel is main bearing structure, has higher intensity and rigidity, and the roof sets up watertight joint 45 for debugging equipment, writing program, controlgear, charging or power supply, for convenient maintenance, sets up the hand hole on the back plate, and seals the hand hole with hand hole lid 44. The sealing box 43 adopts a sealing ring and sealant combined sealing scheme among the aluminum plates.

The main controller 64, the battery pack 65 and the bearing seat C53 are fixed on the front plate of the sealed box body 43 through threads, the motor 51 is installed on the bearing seat C53 through threads, and the bevel pinion shaft B54 penetrates through the bearing seat C52 and is connected with the motor 51 through the coupling B52. The large bevel gear B58 meshes with the small bevel gear C54, and the dog electromagnetic clutch 57 is threadedly mounted on the large bevel gear B58. The dog-type electromagnetic clutch 57 is connected to the drive shaft 59 by a flat key, and two rotary seals 60 are provided between the drive shaft 59 and the seal case front plate 43. The drive shaft 59 and the output shaft 61 are connected by a coupling C56. The coupling C56 is built into the bearing seat D55. The fixed half clutch of the jaw clutch 42 arranged outside is in threaded connection with a large bevel gear A41, the movable half clutch slides on the output shaft 61 through a guide flat key arranged on the output shaft 61, the movable half coupling is provided with an ejection screw 62, and the two half couplings can be separated by rotating the ejection screw 62. When the two half couplings are required to be meshed, the locking screw 63 is screwed in to connect the two half couplings, and the two half couplings are prevented from being separated due to other reasons such as bumping.

When the jaw electromagnetic clutch 57 is in a connection state, the driving shaft 59 and the large bevel gear B58 are rigidly connected, the motor 51 drives the small bevel gear shaft B54 to rotate, and further drives the large bevel gear B58 to rotate, the driving shaft 59 rotates, the output shaft 61 outputs power, and the device is in an electric state.

When the jaw electromagnetic clutch 57 is in the disengaged state, there is no rigid connection between the driving shaft 59 and the large bevel gear B58, and the power of the motor 51 cannot be transmitted to the driving shaft 59, and at this time, the apparatus can be opened and closed by manually opening the wrench 11, and the apparatus is in the manual state.

The jaw electromagnetic clutch 57 is used to switch between the manual and electric states of the device under normal operating conditions. If a fault occurs in the electrical system or a water leakage occurs in the seal box 43, and the dog-type electromagnetic clutch 57 is not in the disengaged state. The dog clutch 42 outside the sealed case 43 can be separated to switch the device state to the manual mode. If the external jaw clutch 42 is seized or cannot be separated due to other faults, the locking groove 15 is detached, the locking rod 12 is moved by force, the top door 2 and the tail door 8 are opened forcibly, and the equipment in the device is taken out.

Referring to fig. 13-15, the working process of the present invention is as follows:

during the laying operation, the multi-joint submersible vehicle 10 is placed on the laying base bearing structure 5, the top door 2 and the tail door 8 are closed, and the large electromagnet 19 at the tail end of the bottom of the base bearing structure 5 is electrified to adsorb the tail door 8. The hoisting structure 1 is hoisted by the A frame or other hoisting equipment, and the device is slowly placed in water. When the multi-joint submersible vehicle 10 contacts the water surface, the large electromagnet 19 is powered off, the electric and transmission system 4 drives the door opening mechanism 3 to open the top door 2 and the tail door 8, under the action of gravity and the heavy elastic hinge 24, the relative positions of the tail door 8 and the top door 2 are changed from 90-degree included angles in a closed state to be in the same plane, and meanwhile, the cabin body clamping structure 6 is separated from the submersible vehicle cabin body under the action of the reset torsion spring 28. After the top door 2 and the tail door 8 are completely unfolded, the small electromagnets 20 on the two sides of the tail end of the upper part of the basic bearing structure 5 are electrified to adsorb the tail door 8. Slowly and continuously lowering the device until the device is completely submerged in water, separating the multi-joint submersible vehicle 10 from the distribution and recovery equipment under the action of self buoyancy, starting a propeller of the multi-joint submersible vehicle 10, and slowly opening the area where the distribution and recovery device is located forwards. And then hoisting the laying and recovering device back to the deck for maintenance.

During the recovery operation, the cloth recovery device is firstly hung on the water surface in a closed state, when the middle part of the device is positioned on the water surface, the electric and transmission system 4 drives the door opening mechanism 3 to open the top door 2 and the tail door 8, the device is in an open state, the cabin body clamping structure 6 is opened, and the small electromagnet 20 is electrified to suck the tail door 8. At this point the lowering of the apparatus continues until only the uppermost ends of the top and

tail doors

2, 8 are on the water. At this time, the multi-joint submersible vehicle 10 is controlled to slowly drive into the designated area, and the opening direction of the tail of the device is opposite to the advancing direction of the multi-joint submersible vehicle 10 under the action of the swing stopping rope and the position fine adjustment system 7. Immediately after the multi-joint submersible vehicle 10 enters the area of the distribution and recovery device, the distribution and recovery device is slowly and upwards lifted until the top door 2 and the tail door 8 are completely above the water surface. And in the process, continuously operating the multi-joint submersible vehicle 10 to drive to the inside of the laying and recovering device until the head of the multi-joint submersible vehicle 10 touches the cross beam at the front end of the basic bearing structure 5, then stopping a propeller of the multi-joint submersible vehicle 10, and slowly hoisting the laying and recovering device upwards until the multi-joint submersible vehicle 10 just breaks away from the water surface. At the moment, the small electromagnet 20 is powered off, the electric and transmission system 4 drives the door opening mechanism 3 to close the top door 2 and the tail door 8, the cabin body clamping structure 6 clamps the cabin body under the traction of the cable 14, the tail door 8 is tightly attached to the tail part of the basic bearing structure 5 under the action of gravity, and the large electromagnet 19 is powered on to suck the tail door 8. And after the detection is correct, the distribution and recovery device is hoisted back to the deck, and the multi-joint submersible vehicle 10 is taken out and maintained.

When the laying and recovering device is debugged or the device is in failure and needs to be temporarily opened and closed manually, the manual and electric mode switching of the device can be realized by 3 methods.

When the electric and system 4 works normally, the jaw electromagnetic clutch 57 inside the sealed box 43 is cut off, and there is no rigid connection between the driving shaft 59 and the motor 51, and the device can be opened and closed by moving the manual opening wrench 11.

When the electric and transmission system 4 fails or the electric and transmission system 4 cannot be normally started due to other reasons such as water inflow of the sealed box 43, the device cannot normally work, and the jaw electromagnetic clutch 57 is not in a separated state. At this time, the locking screw 63 on the external dog clutch 42 is loosened, the ejecting screw 62 is screwed inwards, and the two half clutches of the dog clutch 42 are separated, and at this time, the rotary table 40 and the output shaft 61 are not rigidly connected. The large bevel gear 41 and the rotary disc 40 can be driven to rotate by moving the manual opening wrench 11, so that the device can be opened and closed.

When the electric and transmission system 4 can not work normally and the external jaw clutch 42 can not be separated due to seizure or other reasons, in an emergency, the locking groove 15 is removed, the locking rod 12 is forcibly moved, and the rotating disc 40 is rotated, so that the opening and closing of the cloth and recovery device are realized.

Claims

1. A laying and recovering device of a multi-joint submersible comprises a basic bearing structure, a folding door structure, a door opening mechanism and an electric and transmission system, wherein the door opening mechanism and the electric and transmission system are fixed on the basic bearing structure, the electric and transmission system provides power for the door opening mechanism, wherein,

a base load-bearing structural body for placing a multi-joint submersible;

the door opening mechanism comprises a rotary table, a pull rod A, a push rod A, a pull rod B and a push rod B, the rotary table is connected between the electric transmission system and the basic bearing structure through an output shaft, the pull rod A, the push rod A, the pull rod B and the push rod B are symmetrically connected to two sides of the rotary table, the pull rod A and the pull rod B are respectively connected to the rotary table through pin shafts, and the pull rod A and the pull rod B can rotate around the pin shafts on the rotary table;

2. The deployment and retrieval device of claim 1, wherein a pulley, cable fixing point is provided on the top door; the laying and recycling device further comprises a cabin body clamping structure, the cabin body clamping structure is arranged on the basic bearing structure, a main body of the cabin body clamping structure is connected into the bearing seat A through adapter plates on two sides, a reset torsion spring is arranged between the adapter plates and the bearing seat A, a clamping ring and a rotating wrench are arranged on the cabin body clamping structure, the rotating wrench is connected with a cable fixing point on the top door through a cable, and the cable is supported through a pulley.

3. The deployment and retrieval device of claim 1, wherein a detachable locking slot is provided on the base load bearing structure; be provided with the locking lever mounting hole on the carousel, the one end of locking lever can be through locking lever mounting hole fixed connection on the carousel, and the other end can be connected to the locking groove, makes the locking carousel can not rotate under the restriction in locking groove.

4. The deployment and retrieval device of claim 1, wherein the basic load-bearing structural body is a V-shaped groove, and the two top doors of the folding door structure are respectively connected to the tops of the V-shaped groove through heavy hinges.

5. The arrangement and recovery device according to claim 1, wherein the tail of the basic bearing structure is provided with a locking electromagnet as required for attracting the tail door of the folding door; the tail gate is provided with an electromagnet armature corresponding to the position of the locking electromagnet at the tail part of the basic bearing structure.

6. The cloth unwinding and recycling device according to claim 5, wherein the base bearing structure is provided with a small electromagnet and a large electromagnet for locking at the tail, and a small electromagnet armature and a large electromagnet armature are respectively arranged at the side and the bottom of the tail gate.

7. The deployment and recovery device as claimed in claim 1, further comprising a position fine-tuning system, wherein the position fine-tuning system comprises at least one propeller arranged on the base bearing structure, and fine tuning of the position of the deployment and recovery device on the water surface is realized by adjusting the thrust of the propeller, and recovery is matched with the submersible; the bottom of the foundation bearing structure is provided with a universal heavy caster with a braking function.

8. The device for laying and recycling the cloth according to claim 1, further comprising a small bevel gear shaft A and a manual opening wrench, wherein the small bevel gear shaft A is meshed with the large bevel gear A, the small bevel gear shaft A is connected with the manual opening wrench through a coupling A, and the folding door is opened and closed through the manual opening wrench when the device for laying and recycling the cloth is in a manual mode.

9. The deployment and retrieval device according to claim 1, wherein the electromagnetic clutch connected to the large bevel gear B is a dog clutch.

10. The deployment and retrieval device of claim 1, wherein the clutch connected to the large bevel gear a is a dog clutch; and when the two half clutches need to be separated, the ejection screws are rotated to realize separation.