CN114394216B - Unmanned underwater vehicle retraction device and retraction method - Google Patents
Unmanned underwater vehicle retraction device and retraction method Download PDFInfo
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- CN114394216B CN114394216B CN202210201037.5A CN202210201037A CN114394216B CN 114394216 B CN114394216 B CN 114394216B CN 202210201037 A CN202210201037 A CN 202210201037A CN 114394216 B CN114394216 B CN 114394216B
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- 238000000034 method Methods 0.000 title claims abstract description 13
- 238000011084 recovery Methods 0.000 claims abstract description 26
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims abstract description 13
- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000003032 molecular docking Methods 0.000 claims abstract description 4
- 210000001503 joint Anatomy 0.000 claims description 5
- 229910000838 Al alloy Inorganic materials 0.000 claims description 4
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 239000013535 sea water Substances 0.000 claims description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 235000017166 Bambusa arundinacea Nutrition 0.000 description 2
- 235000017491 Bambusa tulda Nutrition 0.000 description 2
- 241001330002 Bambuseae Species 0.000 description 2
- 235000015334 Phyllostachys viridis Nutrition 0.000 description 2
- 239000011425 bamboo Substances 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000007257 malfunction Effects 0.000 description 2
- 238000004064 recycling Methods 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000003628 erosive effect Effects 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000036544 posture Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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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
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/10—Arrangement of ship-based loading or unloading equipment for cargo or passengers of cranes
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B27/00—Arrangement of ship-based loading or unloading equipment for cargo or passengers
- B63B27/36—Arrangement of ship-based loading or unloading equipment for floating cargo
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Toys (AREA)
- Other Liquid Machine Or Engine Such As Wave Power Use (AREA)
Abstract
The invention relates to the technical field of high-technology marine devices, and particularly discloses an unmanned submersible vehicle retraction device and a retraction method, wherein the retraction device comprises an integral retraction cage main body, a plurality of buoyancy cylinders, a plurality of groups of rotatable electric propellers, a bearing retraction piece for retracting the unmanned submersible vehicle, a battery pack for providing electric power guarantee and a wireless communication component for remote control; the rotatable electric propeller is used for providing power in sailing, the course is changed through rotation of the electric propeller, the bearing and releasing pieces are at least two, each bearing and releasing piece is detachably arranged at the bottom of the corresponding releasing and releasing cage main body, the releasing and releasing cage main body and the bearing and releasing piece enclose a cage structure with at least one opening, the unmanned submersible vehicle can enter the cage structure through one opening to be matched with the bearing and releasing piece to complete water surface docking recovery, the distance between the bearing and releasing pieces is adjustable, and then the unmanned submersible vehicle with different shapes or types can be adaptively recovered, so that the unmanned submersible vehicle with higher universality can be realized for multiple purposes.
Description
Technical Field
The invention relates to the technical field of high-technology marine devices, in particular to an unmanned submersible vehicle retraction device and a retraction method.
Background
The unmanned submersible is an unmanned detection device for operation under water, the main unmanned submersible is mainly in torpedo shape at home and abroad, the main body section is a regular revolving body structure, and the unmanned submersible is matched with larger wings such as AUV, UUV, glider and the like, and also has partial unmanned submersible in irregular shape such as ARV and the like. The length of a main stream glider developed by relevant domestic units is generally about 3m, the diameter of a main body is generally about 0.3m, the span is about 1.5m, the weight of the main stream glider is not more than 200kg, the length of a developed main stream AUV is generally not more than 5m, the width of a boat body is about 0.55m, the height of the main stream AUV is about 1.5m, the span is also about 1.5m, and the total weight of the main stream AUV is generally not more than 1.5t.
When the unmanned underwater vehicle works in water, the unmanned underwater vehicle needs to be provided with a corresponding retraction device to complete the recovery and the deployment, and the retraction modes of the main unmanned underwater vehicle at home and abroad mainly comprise: slide drag belt, A-type lifting, underwater butt-joint lifting recovery type. The retraction devices are usually only aimed at unmanned underwater vehicles with single appearance or type, can not meet the retraction requirements of unmanned underwater vehicles with different appearance or type, and have poor universality; and when the power of the individual unmanned underwater vehicle is lost, particularly when rescue and fishing are needed, a certain power is needed to the retraction device, the retraction device can actively approach the unmanned underwater vehicle and complete the retraction operation, and then the retraction device is lifted through a mother ship to complete the retraction, but the conventional retraction device cannot be used in most cases.
Disclosure of Invention
The invention aims to provide a remote control type unmanned underwater vehicle retraction device which solves the problems in the background technology.
In order to achieve the above purpose, the technical scheme of the invention is as follows: the unmanned submersible vehicle retraction device comprises an integral retraction cage main body, a plurality of buoyancy cylinders, a plurality of groups of rotatable electric propellers, a bearing retraction piece for retracting the unmanned submersible vehicle, a battery pack for providing electric power guarantee and a wireless communication component for remote control; the rotatable electric propeller is used for providing power in sailing, the course is changed through rotation of the electric propeller, the bearing and releasing pieces are at least two, each bearing and releasing piece is detachably arranged at the bottom of the corresponding releasing and releasing cage main body, the releasing and releasing cage main body and the bearing and releasing piece enclose a cage structure with at least one opening, the unmanned submersible vehicle can enter the cage structure through one opening to be matched with the bearing and releasing piece to complete water surface docking recovery, the distance between the bearing and releasing pieces can be adjusted, and then the unmanned submersible vehicles with different shapes or types can be adaptively recovered.
Preferably, the carrying retractable member is of a substantially V-shaped configuration with a trawl attached to the stern of the cage such that the cage is of a semi-closed configuration with one end open.
Preferably, a plurality of first bolt holes are respectively arranged on two sides of the bottom of the retractable cage main body along the length direction, and the bolts penetrate through the first bolt holes and are mutually matched with the bearing retractable pieces so as to adjustably install the bearing retractable pieces at the bottom of the retractable cage main body.
Preferably, the buoyancy cylinders are arranged at the left side and the right side of the folding cage main body in parallel, and the front end and the rear end of the buoyancy cylinders are conical.
Preferably, the two sides of the folding cage main body are respectively provided with a clamp, the buoyancy cylinder is provided with a groove, and the clamp is in nested fit with the groove so as to fixedly install the buoyancy cylinder on the two sides of the folding cage main body.
Preferably, the electric propellers are two groups, the two groups of electric propellers are in one-to-one correspondence with the two buoyancy cylinders, and each group of electric propellers are two and are respectively arranged below the front end and the rear end of the corresponding buoyancy cylinder.
Preferably, the main body of the retraction cage is made of 5083-H116 aluminum alloy plates, and reinforcing ribs are arranged at the bending positions inside the main body of the retraction cage.
Preferably, the device further comprises a plurality of bases and lifting hooks, wherein each two bases are symmetrically arranged at the bottom side of each bearing receiving and releasing piece and are used for realizing safe and stable placement of the receiving and releasing device on a deck of a mother ship; the top of the retractable cage body is provided with a plurality of second bolt holes along the length direction, and the bolts penetrate through the second bolt holes to be matched with the lifting hooks, so that the positions of the lifting hooks are adjustably arranged at the top of the retractable cage body.
Preferably, the battery pack and the wireless communication unit are installed at a position apart from the waterline at the top of the cage main body to prevent malfunction caused by corrosion by seawater.
The invention also provides a recovery method of the unmanned submersible vehicle, which comprises any one of the unmanned submersible vehicle retraction devices, and the recovery method comprises the following steps:
(1) The unmanned underwater vehicle drives back to the vicinity of the unmanned underwater vehicle retraction device;
(2) The electric propeller is started in a remote control mode, so that the unmanned underwater vehicle retraction device drives to the unmanned underwater vehicle and is in butt joint with the unmanned underwater vehicle on the water surface, and the unmanned underwater vehicle enters the cage structure from an opening at one end;
(3) When the unmanned underwater vehicle is positioned at the corresponding recovery position above the bearing retraction piece, the lifting device lifts the unmanned underwater vehicle retraction device, so that the unmanned underwater vehicle can stably hover on the bearing retraction piece, and the unmanned underwater vehicle is captured;
(4) And the lifting device lifts and transfers the unmanned submersible vehicle retraction device and the unmanned submersible vehicle to the mother ship, and recovery is completed.
The invention has the following beneficial effects:
(1) The unmanned underwater vehicle enters the cage structure through one end opening and is matched with the bearing and releasing piece to finish water surface docking recovery, the recovery mode ensures that the retraction device has good multipurpose and high universality, and the unmanned underwater vehicles with different shapes can be retracted and released in an adaptive manner by adjusting the distance between the bearing and releasing pieces, and the bearing and releasing pieces with corresponding shapes can be customized according to the characteristics of the unmanned underwater vehicle to be retracted and released, so that the bearing and releasing pieces are replaced to be adapted to the unmanned underwater vehicles with different types; according to the invention, the rotatable electric propeller is used for providing power, and then the retraction device is controlled to be actively closed to the unmanned underwater vehicle in a remote control mode, so that the recovery operation can be more conveniently and rapidly completed.
(2) The buoyancy cylinder is two, and parallel arrangement is in the left and right sides of receive and release cage main part respectively, and the front and back both ends of buoyancy cylinder are conical, reduce the resistance in the navigation process when guaranteeing to provide enough reserves buoyancy.
Drawings
FIG. 1 is a front view of one embodiment of the present invention;
FIG. 2 is a left side view of one embodiment of the present invention;
FIG. 3 is a top view of one embodiment of the present invention;
FIG. 4 is a right side view of one embodiment of the present invention;
fig. 5 is a front view of an embodiment of the present invention.
The drawings are marked: the unmanned underwater vehicle comprises a cage body 1, a buoyancy cylinder 2, an electric propeller 3, a bearing and releasing piece 4, a base 5, a lifting hook 6, a battery pack 7, a wireless communication component 8, a reinforcing rib 9, a first bolt hole 10, a second bolt hole 11, a clamping hoop 12 and an unmanned underwater vehicle 13.
Detailed Description
For further illustration of the various embodiments, the invention is provided with the accompanying drawings. The accompanying drawings, which are incorporated in and constitute a part of this disclosure, illustrate embodiments and together with the description, serve to explain the principles of the embodiments. With reference to these matters, one of ordinary skill in the art will understand other possible embodiments and advantages of the present invention. The components in the figures are not drawn to scale and like reference numerals are generally used to designate like components.
Example 1: the invention relates to an unmanned underwater vehicle retraction device
Referring to fig. 1-5, as an embodiment of the present invention, there is provided an unmanned submersible vehicle retraction device, comprising an integral retraction cage body 1, a plurality of buoyancy cylinders 2, a plurality of groups of rotatable electric propellers 3, a carrying retraction member 4 for retracting the unmanned submersible vehicle 13, a battery pack 7 for providing electric power guarantee, and a wireless communication part 8 for remote control; the rotatable electric propeller 3 is used for providing power in sailing, changes the course through rotation of self, bears the weight of and receive and release piece 4 and is four, and every bears the weight of and receive and release piece 4 detachably to install in receive and release cage main part 1 bottom, receive and release cage main part 1 and bear and receive and release piece 4 and enclose and form the open-ended cage structure of at least one end, unmanned submersible vehicle 13 accessible one end opening get into in the cage structure with bear receive and release piece 4 cooperation and accomplish the surface of water and receive and retrieve, bear the interval adjustable between the release piece 4, and then can adapt to retrieve unmanned submersible vehicle 13 of different appearance or type.
According to the technical scheme, the distance between the bearing and accommodating parts 4 is adjustable, so that the unmanned underwater vehicles 13 with different shapes can be recycled in an adapting mode, and the bearing and accommodating parts 4 can be detached and replaced, so that the bearing and accommodating parts 4 with corresponding shapes can be customized according to the characteristics of the unmanned underwater vehicles 13 to be retracted, the bearing and accommodating parts 4 can be replaced to be used for accommodating and accommodating the unmanned underwater vehicles 13 with different types, and the recycling mode is water surface butt joint lifting recycling mode, so that the device has good multipurpose and high universality; the invention relates to a remote control type retraction device, which is provided with an industrial-grade remote controller for convenient use, a flexible remote control handle is arranged for a technician to control, and the operator needs to be fully trained before implementing operation to achieve certain navigation precision, and skillfully grasp the control requirements to ensure that four electric propellers 3 obtain good matching and achieve the required navigation precision, so that the retraction device can actively approach an unmanned submarine 13, and the retraction operation can be more conveniently and rapidly completed.
The total length of the retraction device of the unmanned submersible vehicle is about 5.5m, the total width is about 3m, the structural length of the retraction cage main body 11 is about 4.8m, the internal width is 2.2m, the size and the structural strength of the whole device meet the retraction requirement of the domestic main stream unmanned submersible vehicle 13, the remote control distance is about 1km, the retraction device is additionally provided with a detachable trawl structure at the stern part in the direction so as to facilitate the retraction of the unmanned submersible vehicle 13, various reserved interfaces are provided, the video device can be additionally arranged according to the requirement to perform beyond-sight operation, and different power forms can be replaced, thereby facilitating the extension of shipborne equipment.
In this embodiment, the carrying and deploying member 4 is basically in a V-shaped structure, and a trawl (not shown) is additionally installed at the stern of the cage structure, so that the cage structure is a semi-closed structure with one end open. Of course, the carrying and storing element 4 may have other shapes and structures.
In this embodiment, a plurality of first bolt holes 10 are respectively provided on two sides of the bottom of the cage main body 1 along the length direction, and bolts pass through the first bolt holes 10 and are mutually matched with the bearing and accommodating pieces 4 so as to adjustably mount the positions of the bearing and accommodating pieces 4 on the bottom of the cage main body 1, and then the positions of the bearing and accommodating pieces 4 can be adjusted according to the operation needs, so that the optimal operation space is achieved.
In this embodiment, the buoyancy cylinders 2 are two, and are respectively disposed on the left and right sides of the retractable cage main body 1 in parallel, and the front and rear ends of the buoyancy cylinders 2 are conical, so that sufficient reserve buoyancy is provided, and meanwhile, resistance in the sailing process is reduced.
In this embodiment, the two sides of the cage main body 1 are respectively provided with a clamp 12, the buoyancy cylinder 2 is provided with a groove, the clamp 12 is in nested fit with the groove so as to fixedly install the buoyancy cylinder 2 on the two sides of the cage main body 1, and the installation stability and reliability of the buoyancy cylinder 2 are ensured by the strapping type installation mode.
In this embodiment, electric propulsion ware 3 is two sets of, and two sets of electric propulsion ware 3 and two buoyancy section of thick bamboo 2 one-to-one, and every electric propulsion ware 3 of group has two, sets up respectively in the below that corresponds buoyancy section of thick bamboo 2 front and back both ends for cooperate at 4 electric propulsion ware 3 during operation, guarantee that the winding and unwinding device is whole to be controlled more easily, navigation stability is better.
In the embodiment, the retractable cage main body 1 adopts 5083-H116 aluminum alloy plates, and the aluminum alloy plates are welded and reinforced to ensure the overall structural strength; the bending part inside the folding cage main body 1 is also provided with a reinforcing rib 9, so that the overall structural strength is further improved, and the folding device is prevented from deforming in operation.
In this embodiment, the device further comprises a plurality of bases 5 and hooks 6, wherein each two bases 5 are symmetrically arranged at the bottom side of each bearing and accommodating part 4, and are used for realizing safe and stable placement of the accommodating device on the deck of the mother ship; the top of the retractable cage main body 1 is provided with a plurality of second bolt holes 11 along the length direction, and the bolts penetrate through the second bolt holes 11 and are matched with the lifting hooks 6, so that the positions of the lifting hooks 6 are adjustably arranged at the top of the retractable cage main body 1, and then the connection positions of the lifting hooks 6 can be manually adjusted according to the lifting requirements so as to achieve optimal lifting balance.
The bolts in the embodiment are 316L bolts, so that the bolts are firmer and more reliable.
In this embodiment, the battery pack 7 and the wireless communication unit 8 are installed at a position apart from the waterline (the position of the dotted line in fig. 5) on the top of the housing cage body 1 to prevent the occurrence of a malfunction caused by erosion by seawater.
The remote control type unmanned submersible vehicle retraction device provided by the invention has integrated structural strength, can meet the requirements of recovery and deployment of most of current medium-sized unmanned submersible vehicles, can be used as carrier-based equipment to be arranged on a mother ship for carrying out ship-following guarantee, and can also be used as shore-based equipment to be arranged on the shore for being used as a professional remote control type unmanned submersible vehicle retraction device. The invention has flexible control and large reserve buoyancy, can be used in the sight distance, can also be matched with video transmission equipment to carry out remote beyond-sight-distance operation, and is excellent unmanned operation auxiliary equipment with multi-purpose characteristic.
When the invention does not work, the invention is directly placed on the deck of the mother ship through the base 5; when the unmanned underwater vehicle 13 is lowered, a proper carrying and retracting member 4 is required to be selected according to the basic characteristics of the unmanned underwater vehicle, and a proper size is found by adjusting the front-rear spacing so as to facilitate the retraction of the unmanned underwater vehicle 13. When the unmanned underwater vehicle 13 is lowered, the unmanned underwater vehicle 13 can float on the water surface freely after reaching a certain draft, and at the moment, the unmanned underwater vehicle 13 drives out of the folding cage main body 1 through self power, and then the wings are unfolded to perform the operation task.
Example 2: the invention relates to a recovery method of an unmanned underwater vehicle
The invention also provides a recovery method of the unmanned submersible vehicle, which comprises any one of the unmanned submersible vehicle retraction devices, and the recovery method comprises the following steps:
(1) The unmanned submarine 13 is driven back to the vicinity of the retraction device;
(2) When recovery operation is carried out in the sight distance, a recovery worker controls the retraction device on the deck of the mother ship in the sight distance range through a remote control device, and remotely controls the electric propeller 3 to enable the retraction device to drive to the unmanned underwater vehicle 13 and to be in butt joint with the unmanned underwater vehicle 13 on the water surface, so that the unmanned underwater vehicle 13 enters the cage structure from one end opening, a trawl is arranged at the other end opening of the unmanned underwater vehicle 13, and the unmanned underwater vehicle 13 is prevented from slipping out after entering; when the recovery operation is carried out outside the sight distance, a video device can be additionally arranged on the retraction device so as to clearly see the internal and external postures of the cage type structure in the recovery process of the unmanned underwater vehicle 13, and a worker remotely controls the remote controller through the video in the remote control station so that the retraction device drives to the unmanned underwater vehicle 13 and is in butt joint with the unmanned underwater vehicle 13 on the water surface, and then the unmanned underwater vehicle 13 is positioned in the cage type structure of the retraction device;
(3) When the unmanned submersible vehicle 13 is positioned at the corresponding recovery position above the bearing retraction piece 4, the lifting device lifts the unmanned submersible vehicle retraction device, so that the unmanned submersible vehicle 13 can stably hover on the bearing retraction piece 4, and the unmanned submersible vehicle 13 is captured;
(4) The lifting device lifts and transfers the unmanned submersible vehicle retraction device and the unmanned submersible vehicle 13 to the mother ship, and recovery is completed.
While the invention has been particularly shown and described with reference 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 as defined by the appended claims.
Claims (5)
1. An unmanned submarine vehicle retraction device which is characterized in that: the unmanned underwater vehicle comprises an integral type retraction cage main body, two buoyancy cylinders, two groups of rotatable electric propellers, a bearing retraction piece for retracting the unmanned underwater vehicle, a battery pack for providing electric power guarantee and a wireless communication component for remote control; the rotary electric propeller is used for providing power in sailing, the course is changed through rotation of the rotary electric propeller, the number of the bearing and releasing pieces is at least two, each bearing and releasing piece is detachably arranged at the bottom of the bearing and releasing cage main body, the bearing and releasing cage main body and the bearing and releasing piece are enclosed to form a cage structure with at least one opening, the unmanned underwater vehicle can enter the cage structure through one opening to be matched with the bearing and releasing piece to finish water surface docking recovery, the distance between the bearing and releasing pieces can be adjusted, and then the unmanned underwater vehicles with different shapes or types can be adaptively recovered; the bearing retractable piece is basically in a V-shaped structure, and a trawl is additionally arranged at the stern of the cage structure, so that the cage structure is a semi-closed structure with one end open; the two buoyancy cylinders are respectively arranged at the left side and the right side of the retractable cage main body in parallel, and the front end and the rear end of each buoyancy cylinder are conical; the two groups of electric propellers are in one-to-one correspondence with the two buoyancy cylinders, and each group of electric propellers are arranged below the front end and the rear end of the corresponding buoyancy cylinder respectively; a plurality of first bolt holes are respectively formed in two sides of the bottom of the retractable cage main body along the length direction, and the bolts penetrate through the first bolt holes and are mutually matched with the bearing retractable pieces so as to adjustably install the bearing retractable pieces at the bottom of the retractable cage main body; the two sides of the folding cage main body are respectively provided with a clamp, the buoyancy cylinder is provided with a groove, and the clamp is nested and matched with the groove so as to fixedly install the buoyancy cylinder on the two sides of the folding cage main body.
2. The unmanned submersible vehicle retraction device of claim 1 wherein: the main body of the folding and unfolding cage is made of 5083-H116 aluminum alloy plates, and reinforcing ribs are arranged at the bending positions inside the main body of the folding and unfolding cage.
3. The unmanned submersible vehicle retraction device of claim 1 wherein: the device also comprises a plurality of bases and lifting hooks, wherein each two bases are symmetrically arranged at the bottom side of each bearing receiving and releasing piece and are used for realizing safe and stable placement of the receiving and releasing device on a deck of a mother ship; the top of the retractable cage body is provided with a plurality of second bolt holes along the length direction, and the bolts penetrate through the second bolt holes to be matched with the lifting hooks, so that the positions of the lifting hooks are adjustably arranged at the top of the retractable cage body.
4. The unmanned submersible vehicle retraction device of claim 1 wherein: the battery pack and the wireless communication component are arranged at the top of the retractable cage main body and far away from the waterline, so that the battery pack and the wireless communication component are prevented from being corroded by seawater to cause faults.
5. The unmanned submarine recovery method is characterized by comprising the following steps of: comprising the unmanned submersible vehicle retraction device according to any one of the preceding claims 1 to 4, the recovery method comprising the steps of:
(1) The unmanned underwater vehicle drives back to the vicinity of the unmanned underwater vehicle retraction device;
(2) The electric propeller is started in a remote control mode, so that the unmanned underwater vehicle retraction device drives to the unmanned underwater vehicle and is in butt joint with the unmanned underwater vehicle on the water surface, and the unmanned underwater vehicle enters the cage structure from an opening at one end;
(3) When the unmanned underwater vehicle is positioned at the corresponding recovery position above the bearing retraction piece, the lifting device lifts the unmanned underwater vehicle retraction device, so that the unmanned underwater vehicle can stably hover on the bearing retraction piece, and the unmanned underwater vehicle is captured;
(4) And the lifting device lifts and transfers the unmanned submersible vehicle retraction device and the unmanned submersible vehicle to the mother ship, and recovery is completed.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210201037.5A CN114394216B (en) | 2022-03-02 | 2022-03-02 | Unmanned underwater vehicle retraction device and retraction method |
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| CN202210201037.5A CN114394216B (en) | 2022-03-02 | 2022-03-02 | Unmanned underwater vehicle retraction device and retraction method |
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| CN115476986A (en) * | 2022-08-25 | 2022-12-16 | 南方海洋科学与工程广东省实验室(珠海) | Underwater recovery device and method for unmanned underwater vehicle |
| CN115723905B (en) * | 2022-12-15 | 2023-07-25 | 广东智能无人系统研究院(南沙) | Towing type retraction device |
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