KR20170001109A - Autonomous underwater vehicle launching and recovery system used in pier - Google Patents

Autonomous underwater vehicle launching and recovery system used in pier Download PDF

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Publication number
KR20170001109A
KR20170001109A KR1020150090617A KR20150090617A KR20170001109A KR 20170001109 A KR20170001109 A KR 20170001109A KR 1020150090617 A KR1020150090617 A KR 1020150090617A KR 20150090617 A KR20150090617 A KR 20150090617A KR 20170001109 A KR20170001109 A KR 20170001109A
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KR
South Korea
Prior art keywords
unmanned submersible
frame
mount
submersible
unmanned
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Application number
KR1020150090617A
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Korean (ko)
Other versions
KR101742545B1 (en
Inventor
이규상
김주일
옥진규
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한화시스템 주식회사
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Priority to KR1020150090617A priority Critical patent/KR101742545B1/en
Publication of KR20170001109A publication Critical patent/KR20170001109A/en
Application granted granted Critical
Publication of KR101742545B1 publication Critical patent/KR101742545B1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C3/00—Launching or hauling-out by landborne slipways; Slipways
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C3/00—Launching or hauling-out by landborne slipways; Slipways
    • B63C3/12—Launching or hauling-out by landborne slipways; Slipways using cradles
    • 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

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ship Loading And Unloading (AREA)

Abstract

The present invention relates to a prefabricated distribution box for outdoor use, and an outdoor prefabricated distribution box according to the present invention comprises: a pair of side plates which are seated on an upper portion of a column and face each other; and a pair of side plates And a lower jaw which is disposed between the pair of side plates and connects both sides of the side plate to each other and which is spaced apart from the upper jaw to form an opening; A top plate coupled to an upper portion of the side plate to seal the upper plate and the upper plate, and a door for opening and closing the opening.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an automatic undersea submersible lifting device,

The present invention relates to an unmanned submersible lifting device for a quay, and more particularly, to an unmanned submersible lifting device for a quay, and more particularly, to an unmanned submersible lifting device for a quay, ≪ / RTI >

In recent years, as the marine industry has developed, a lot of equipment that operates in water has been developed, and in fact, it is widely used in the industrial field.

However, despite the development of such equipment, due to the fact that related work must be done in water, the launching and salvaging of the equipment is becoming a burden.

The conventional method is a method using a robot arm or a simple jig using a hand held by a person.

In the case of a robot arm, it is a device for holding an unmanned submersible by a robot arm and launching it in water, and a robot arm holding an unmanned submersible next to the ship and placing it on a ship for collection. However, even if a precise device has not been developed yet, It is clear that there is a limit to price competitiveness.

In the case of a jig used by a person, it is very difficult to use even if the distance between the ship and the water is about 1 meter due to the limitation of the length that a person can lift.

There is also a limit on the weight, since the person lifts the weight of the jig and unmanned submersible.

Prior art related to this is disclosed in Korean Patent Laid-Open No. 10-2013-0009194 entitled "Convenient and safe J-type frame for launching and lifting a portable self-propelled submersible vehicle", published on Jan. 23, 2013) .

It is an object of the present invention to provide an unmanned submersible lifting device for an unmanned submersible vehicle, which enables easy operation of an unmanned submersible because the unmanned submersible can be loaded and moved to a quay.

The present invention also provides an unmanned submersible lifting device for a quay where the unmanned submersible can be easily lifted and lifted by moving the unmanned submersible as described above, and thus unnecessary expenditure due to the use of an expensive crane can be reduced. will be.

In order to solve the above problems, an unmanned immersed lifting device for a quay according to the present invention comprises an upper frame on which a mount for an unmanned submersible is mounted, A lower frame having one side connected to a lower portion of the vertical frame, and a winch for allowing the mount for the unmanned submersible to move up and down.

In addition, the lower frame may further include a moving wheel for moving the unmanned submersible.

Further, the lower frame is further provided with a locking means for controlling the rotation of the movable wheel.

The locking means may include a bolt member that is bolted to the lower frame and that is moved forward and backward toward the ground, and a bolt member that is provided at a lower portion of the bolt member and contacts the ground surface by the operation of the bolt member, And a support plate for supporting the base plate.

The weight box further includes a weight box provided on the other side of the lower frame to prevent the other side of the lower frame from rising due to a load of the unmanned submersible, and a weight added to the weight box.

The vertical frame further includes a through hole formed in the upper portion of the vertical frame and slidable back and forth with the upper frame interposed therebetween.

In addition, the upper frame further includes a plurality of guide brackets extending in a longitudinal direction of the upper frame so that the wires wound on the winch are inserted into the unmanned submersible mount.

In addition, a plurality of U blocks are provided along the longitudinal direction of the U-bolt mount so that the U-bolt is fixed to the U-bolt mount.

As described above, according to the present invention, since the unmanned submersible can be loaded and moved to the wharf, the operation of the unmanned submersible is advantageous.

In addition, since the unmanned submersible as described above is moved up and down, the unmanned submersible can be easily launched and lifted, thereby eliminating the need for a separate crane, thereby reducing unnecessary expenditure due to the use of expensive crane.

1 is a perspective view of an unmanned submersible lifting device for a quay according to a preferred embodiment of the present invention.
2 is a side view of an unmanned submersible lifting device for a quay according to a preferred embodiment of the present invention.
FIG. 3 is a side view showing a retracted upper frame of the unmanned underwater lifting device for a quay according to a preferred embodiment of the present invention.
FIGS. 4 to 7 are conceptual diagrams showing a manner in which an unmanned submersible is launched from a quay using an unmanned undershooting device for a quay according to a preferred embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. The same reference numerals shown in the drawings denote the same members. In describing the present invention, a detailed description of known functions and configurations incorporated herein will be omitted so as to avoid obscuring the subject matter of the present invention.

FIG. 1 is a perspective view of an unmanned submersible lifting device for a quay according to a preferred embodiment of the present invention, FIG. 2 is a side view of the unmanned submersible lifting device for a quay according to a preferred embodiment of the present invention, and FIG. FIGS. 4 to 7 illustrate a side view showing a retracted upper frame of the unmanned submersible spinnaker for a quay. FIG. 4 to FIG. 7 show a state in which an unmanned submersible is launched from a quay using an unmanned undershooting device for a quay according to a preferred embodiment of the present invention It is a conceptual diagram.

The submersible lifting device for a quadruple according to the preferred embodiment of the present invention includes an upper frame 100, a vertical frame 200, a lower frame 300 and a winch 400. The upper frame 100, The frame 200 and the lower frame 300 may be fabricated in the form of an assembled metal frame (e.g., a profile) coated with a corrosion-resistant coating.

First, the upper frame 100 will be described.

As shown in FIG. 1, the upper frame 100 is a generally rectangular frame, and an unmanned submersible mount 20 may be installed on one side of the upper frame 100.

When the unmanned submersible 10 is mounted on the unmanned submersible mount 20 as described above, the unmanned submersible 10 is released from the unmanned submersible mount 20, When the submersible 10 is lifted, the unmanned submersible 10 is mounted on the unmanned submersible mount 20.

As described above, the U-shaped block 21 is provided inside the mount for unmanned submersible 20 in which the unmanned submersible 10 is detached or mounted so that the unmanned submersible 10 can be stably installed on the unmanned submersible mount 20 So that it can be fixed.

A plurality of guide brackets 110 are installed along the longitudinal direction of the upper frame 100 of the rectangular frame structure as described above. A wire 410 wound on a winch 400 to be described later is passed through the guide bracket 110 , And a detailed description thereof will be described later.

Next, the vertical frame 200 will be described.

The vertical frame 200 is a member provided between the upper frame 100 and a lower frame 300 to be described later. The upper frame 100 is disposed on the other side of the upper frame 100, and the lower portion is disposed on one side of the lower frame 300 Respectively.

As shown in FIG. 1, the vertical frame 200 is a generally rectangular parallelepiped frame, and the vertical frame 200 has a through hole 210 through which the upper frame 100 is inserted. .

As described above, the upper frame 100 inserted into the through hole 210 can be slid forward and backward while being inserted into the through hole 210.

For example, as shown in FIGS. 4 to 6, when the unmanned submersible 10 is lowered from the wharf to launch the unmanned submersible 10, the upper frame 100 is pushed forward to move the unmanned submersible 10 upward And the upper frame 100 may be pulled backward as shown in FIG. 3 after the unmanned submersible 10 is lifted to the land.

Next, the lower frame 300 will be described.

The lower frame 300 is connected to a lower portion of the vertical frame 200. One side of the lower frame 300 is connected to a lower portion of the vertical frame 200 and a weight box 320 is provided on the other side.

In addition, a moving wheel 310 for moving the unmanned submersible 10 is installed in the lower part of the lower frame 300. In the process of launching or lifting the unmanned submersible 10, Therefore, the locking means 330 is provided at one side of the lower frame.

1 to 3, the locking means 330 includes a bolt member 331 and a support plate 333. The bolt member 331 is fixed to one side of the lower frame 300, The bolt member 331 is preferably a member that is raised or lowered while being rotated by the operation of the operator. Preferably, a rotary knob 332 is provided on the upper portion of the bolt member 331.

The support plate 333 is a disc-like member provided at the lower portion of the bolt member 331. The support plate 333 is brought into contact with the ground by the descent of the bolt member 331 to fix the present invention to the ground , Thereby preventing the present invention from being overturned forward due to the load of the unmanned SUV 10.

A weight box 320 is installed on the other side of the lower frame 300. A weight 321 may be inserted into the weight box 320 and the weight 321 may be inserted into the unmanned submersible 10 It is possible to prevent the other side of the lower frame 300 from rising, that is, to prevent the lower frame 300 from being lifted upward.

The locking means 330 and the weight 321 as described above can prevent the balance of the unmanned submersible 10 from being lost due to the weight of the unmanned SUV.

Next, the winch 400 will be described.

The winch 400 is a member installed on the other side (rear side) of the upper frame 100 as shown in FIGS. 1 and 2. The winch 400 is wound with a wire 410, The end of the wire 410 is connected to the mount for an unmanned submersible 20 so that the unmanned submersible mount 20 is moved up and down.

The winch 400, also referred to as a winch, is a machine that winds a wire around a cylindrical drum and uses a pulley to lift or pull the heavy object up to a high point.

The winch 400 applied to the present invention can be mounted on the other side of the upper frame 100 by selecting either the manual or electric type according to the weight of the unmanned submersible 10.

As described above, it is preferable that the wires 410 wound on the winch 400 are connected to both sides of the mount 20 in the longitudinal direction of the mount for unmanned underwater so that the mounts 20 can be raised or lowered stably, The wire 410 is connected through a plurality of guide brackets 110 provided in the upper frame 100 to maintain the tension.

Hereinafter, a method for launching an unmanned submersible vehicle using the unmanned submersible lifting device for a quay according to a preferred embodiment of the present invention will be described with reference to FIGS. 4 to 6. FIG.

First, the unmanned submersible 10 is mounted on the unmanned submersible mount 20, and the unmanned submersible 10 is mounted on the unmoved block 21 provided inside the unmanned submersible mount 20. [

Thereafter, the unmanned submersible mount 20 is connected to the end of the wire 410 wound on the winch 400. The wire 410 is connected to a plurality of guide brackets 110 ).

As shown in FIG. 3, it is preferable that the unmanned submersible mount 20 and the wire 410 are connected in a state where the upper frame 100 is retracted as described above. This is to prevent an accident that the submersible 10 is overturned by the load.

After the connection between the unmanned submersible mount 20 and the wire 410 is completed as described above, the operator pushes the present invention by sliding it on the ledge of the dock, as shown in FIGS.

Thereafter, the operator pushes the upper frame 100 forward as shown in Fig. 6 so that the unmanned submersible mount 20 is positioned on the water.

In order to prevent the unmanned submersible mount 20 from being directly lowered over the water in the process of unlocking the winch 400 as described above, the unmanned submersible mount 20 is fixed to the upper portion of the upper frame 100, It may be desirable to provide a wire (not shown).

After the upper frame 100 has been moved forward, the operator unlocks the winch 400 to drop the unmanned submersible mount 20 freely, as shown in FIG. 7, into the water.

After the unmanned submersible mount 20 is introduced into the water as described above, the unmanned submersible 10 receives a separate signal and is launched.

In addition, the unmanned submersible 10 having completed the mission can be salvaged in the reverse order of the above-described method, and a detailed description thereof will be omitted.

Optimal embodiments have been disclosed in the drawings and specification. Although specific terms are used herein, they are used for the purpose of describing the present invention only and are not used to limit the scope of the present invention described in the meaning of the claims or the claims. Therefore, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

10 - Unmanned submersible
20 - Unmanned submersible mount 21 - U Block
100-upper frame 110-guide bracket
200-vertical frame 210-through hole
300-Lower frame 310-Moving wheel
320-weight box 321-weight weight
330 - Locking means 331 - Bolt member
332-Turn handle 333-Support plate
400-winch 410-wire

Claims (8)

An upper frame on which an unmanned submersible mount on which an unmanned submersible is mounted,
A vertical frame having an upper portion connected to the other side of the upper frame,
A lower frame having one side connected to a lower portion of the vertical frame,
And a winch for allowing the unmanned submersible mount to be moved up and down is included in the submersible lifting device. The method according to claim 1,
In the lower frame,
Further comprising a moving wheel for moving the unmanned submersible vehicle. The method of claim 2,
In the lower frame,
Further comprising locking means for controlling the rotation of the moving wheel. ≪ RTI ID = 0.0 > 11. < / RTI > The method of claim 3,
Wherein the locking means comprises:
A bolt member bolted to the lower frame and moving back and forth toward the ground,
And a support plate installed at a lower portion of the bolt member and contacting the ground by the operation of the bolt member to control rotation of the moving wheel. The method of claim 3,
A weight box provided on the other side of the lower frame to prevent the other side of the lower frame from rising due to a load of the unmanned submersible,
Further comprising an additional weight stored within the weight box. ≪ RTI ID = 0.0 > 11. < / RTI > The method according to claim 1,
Further comprising a through hole formed on an upper portion of the vertical frame and slidable back and forth with the upper frame inserted thereinto. The method of claim 6,
In the longitudinal direction of the upper frame,
Further comprising a plurality of guide brackets for allowing a wire wound on the winch to penetrate and to be connected to the mount for the unmanned submersible. The method according to claim 1,
Wherein a plurality of U blocks are provided along the longitudinal direction of the unmanned submersible mount so that the unmanned submersible is fixed to the unmanned submersible mount.
KR1020150090617A 2015-06-25 2015-06-25 Autonomous underwater vehicle launching and recovery system used in pier KR101742545B1 (en)

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Application Number Priority Date Filing Date Title
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KR101742545B1 KR101742545B1 (en) 2017-06-01

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112849343A (en) * 2021-01-19 2021-05-28 鹏城实验室 Flexible recovery device of unmanned underwater vehicle, mother ship and flexible recovery method

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR102281005B1 (en) * 2020-08-12 2021-07-23 홍진영 Transfer wheel device assembly to side movement for ship

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR200477310Y1 (en) * 2013-09-06 2015-06-01 삼성중공업 주식회사 Life boat launching apparatus of ship

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112849343A (en) * 2021-01-19 2021-05-28 鹏城实验室 Flexible recovery device of unmanned underwater vehicle, mother ship and flexible recovery method
CN112849343B (en) * 2021-01-19 2022-04-19 鹏城实验室 Unmanned underwater vehicle mother ship and flexible recovery method

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