RU2328407C1 - Method of autonomous unmanned submersible transmission into submarine and equipment for its realisation - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention concerns methods and equipment for autonomous unmanned submersible (AUSM) transmission into the submarine (SM). The method of AUSM transmission includes release of a towing conducting rope from SM with the hydro acoustic marks and the float-otter with the subsequent supply of alternating voltage to the hydro acoustic marks. Then AUSM moves, according to the program, into the position assigned with the regard to the marks and releases from it a receiving sling with gripper and fixation of the towing conducting rope. Thereafter, AUSM is turned through the transverse off-bow angle relatively the towing conducting rope and moved across the motion of the towing conducting rope through the area between the hydro acoustic marks. Capture of the towing conducting rope and fixation of AUSM on it are achieved, as a result of towing conducting rope and receiving sling veering. Then AUSM is pulled by dint of winch into the pipe on SM. Equipment for realisation of this method contains the means of docking, located on AUSM, and the machine, which includes a pipe with moving and stationary parts, located inside the sternmost horizontal fin of SM. Besides, the mooring cone is placed in the moving part of the pipe, through which the running end of the towing conducting rope is passed. The towing conducting rope is wrapped around the winch and electrically connected with the SM hydro acoustic station.

EFFECT: allows enhancing reliability of AUSM transmission into SM on the move.

13 cl, 15 dwg

Description

The invention relates to means for placing, releasing towing devices or uninhabited underwater vehicles (AUV) and receiving underwater objects, in particular, to a method for receiving AUVs in a submarine (PL) in an underwater position and a device for its implementation.

There is a method of receiving uninhabited underwater vehicles (NPA) in a submarine in the underwater position, described in [Uninhabited underwater vehicles for military use / comp .: M.D. Ageev, L.A. Naumov and others; under the editorship of Academician of RAS M.D. Ageev. - Vladivostok .: Dalnauka, 2005, p. 28-31; information taken from sources: 1. Inside The Navy. - 2002. - V.15. - No. 6. - P.15; 2. Warship Technology. - 2000. - May. - P.6, 7].

As part of the implementation of the US Navy's program for creating an LMRS (Long-Term Mine Reconnaissance System) mine reconnaissance system, a system called the AN / BLQ-11 was created. The system consists of two LAs controlled by fiber optic cable, as well as a set of ship and shore equipment.

The devices themselves and their ship equipment for the duration of the combat mission are placed on the shelves of the torpedo compartment of atomic submarines of the Los Angeles and Virginia types.

The method of receiving the NPA, the work of which is carried out according to the given program, consists in moving the NPA using its own propulsion unit according to the hydroacoustic signals of its sonar station (GAS) to the lower bow torpedo tube of one submarine submarine, capturing the NPA by the telescopic manipulator and directing it to the lower torpedo tube.

The method is implemented using a device for receiving anti-aircraft weapons, including two torpedo tubes of one side of the submarine and a telescopic manipulator located in the upper torpedo tube [Uninhabited underwater vehicles for military use / comp .: M.D. Ageev, L.A. Naumov and others; under the editorship of Academician of RAS M.D. Ageev. - Vladivostok .: Dalnauka, 2005, p. 28-31].

The disadvantages of the known method when it is implemented in the described device include:

- the need to stabilize the depth of immersion of an atomic submarine without its progress during the reception of AUV on a submarine;

- the difficulty of controlling the telescopic manipulator during its capture and direction of the anti-aircraft gun into the torpedo tube;

- the risk of mutual damage to the anti-aircraft weapons and nuclear submarines in case of inaccuracy in maneuvering the anti-aircraft weapons or the operation of the telescopic manipulator on the submarine.

Closest to the technical nature of the claimed method is a method of receiving an anti-aircraft gun into the nose of a torpedo tube, described in [Uninhabited underwater vehicles for military use / comp .: M.D. Ageev, L.A. Naumov and others; under the editorship of Academician of RAS M.D. Ageev. - Vladivostok .: Dalnauka, 2005, p.25-27; information taken from sources: 1. Jane's Fighting Ships. - 1997-1998. - P.795; 2. Sea Technology. - 1991. - No. 12. - P.32-35; 3. Warship Technology. - 2000. - May. - P.6, 7].

In the framework of the US Navy's implementation of the program, which was called the “First Term Mine Reconnaissance System” (NMRS) in the first stage and the FTRS (Far-Term Reconnaissance System) “Long-Term Mine Reconnaissance System”, the NLA developed returned to the submarine and controlled by fiber optic cable. The system includes two LAs, equipment for their release and reception, as well as a control and monitoring system on board the submarine.

NPA is released through a torpedo tube and goes outside under the influence of its own propulsion device, after which it remains connected to the submarine using a steel cable and a fiber optic cable supported by buoys.

The method of receiving NPA into the tube of a submarine torpedo tube in an underwater position is carried out by tightening it with a winch that selects a steel cable-cable. The attached AUV is moved to the bow of the submarine, its speed is reduced and the mover is stopped. At the final stage of receiving AUVs on a cable, the winch is slowly pulled into the tube of the bow torpedo tube of a submarine and placed in a compartment on the rack.

This method is implemented using a device including a winch with a steel cable-rope, buoys and a control and monitoring system on board the submarine. Steel cable-cable and fiber-optic cable are supported by buoys [Uninhabited underwater vehicles for military use / comp .: M.D. Ageev, L.A. Naumov et al .; under the editorship of Academician of RAS M.D. Ageev. - Vladivostok .: Dalnauka, 2005, p.25].

The disadvantages of the prototype method when it is implemented using the described device are:

- limitation of the maneuverability of the AUV and submarine by the length of the cable and fiber optic cable and the presence of buoys, which directly affects the performance of the tasks assigned to the AUV;

- the need to stabilize the submersion depth of the submarine without its progress during the reception of the AUV on the submarine;

- the predisposition of the towing cable and fiber optic cable with buoys to entangle both when maneuvering the AUV and submarine, and when taking the AUV on board the submarine.

The closest in technical essence to the claimed device is a device for returning to a submarine autonomous uninhabited underwater vehicles for special purposes [Pat. USA No. 5447115, MKI ⁶ B63G 8/00, Moody Paul E .: The USA Secretary of the Navy. - No. 269430; declared 06/30/94; publ. 09/05/95; NKI 114/312].

The AUV return system used in connection with the tube of the torpedo tube of the submarine includes an external cylinder designed for docking with the tube of the torpedo tube inside the submarine, with cable entries and a pump pipe fitting at the rear of the outer cylinder. The device includes three telescopic retractable concentric hollow cylinders with channels between them, through which the corresponding spaces of the system device are filled with outboard water. At the same time, an attached underwater vehicle is installed in the inner cylinder, which has a bell on one side, which returns the AUV to the submarine (SAW), held by a ball lock and a cable cable in the cylinder. In the bow of the surfactant there is a protrusion for docking with the returned AUV, and in the stern of the propeller there is a propeller in the guard and control wheels of the device.

A winch is installed in the torpedo compartment of the submarine behind the outer cylinder, which pulls the surfactant together with AUV into the torpedo tube of the submarine. The operation to return to the AUV submarine begins with the docking of the front flange of the outer cylinder of the return system device with a torpedo tube. Then the front cover of the torpedo tube opens and the torpedo tube and the device are filled with sea water. The pump pumps water into the space behind the insert with a ball lock and surfactant. After that, the water pushes two telescopic inner cylinders from the outer cylinder, with the surfactant in the second. At this time, the AUV, moving in front of the submarine, stops behind the bow of the submarine before the cutout in the light hull of the submarine (where its torpedo tubes are located). SAW, moving on its own, from the inner cylinder through the torpedo tube leaves this torpedo tube of a submarine. Then the surfactant with the help of a homing system finds the AUV and, using its bow protrusion, joins the cone stern with a part of the AUV. A winch located in the torpedo compartment of the submarine draws the docked surfactants and AUV into the inner cylinder until the cone stern of the AUV enters the socket of the cylinder. After that, the entire device of the return system with SAW and AUV is pulled by a winch into the torpedo tube, and the internal telescopic cylinders are folded. The front cover of the torpedo tube is closed, the torpedo tube and cavities of the return system device are drained, after which the rear cover of the torpedo tube is opened, first the return system device is removed from the torpedo tube (TA), and then the AUV.

The disadvantages of the prototype device are:

- the need to stabilize the submarine without its progress when accepting the AUV into the submarine;

- the need to stabilize the depth of immersion of the submarine at the time of acceptance of the AUV on board the submarine;

- the risk of loss of AUV due to a failure of the guidance system or surfactant docking station;

- the predisposition of the cable to tangling, sagging and breaks if it is wound on the stabilizers of the steering wheels, propeller propeller, SAW or AUV body in the process of searching and connecting to AUV;

- the predisposition of the cable to tangling and breaks due to its inactivity and sagging in the process of sampling the winch;

- limitation by the length of the cable-rope of surfactant maneuverability when searching, approaching and docking with AUV;

- the risk of mutual damage to the surfactant or AUV in case of inaccuracy in maneuvering the surfactant when docking with the AUV;

- the risk of mutual damage to the nodes of the SAW or AUVA return system about the hull and the protruding parts of the submarine when the SAW winch is pulled from the AUVA into the submarine torpedo tube.

The technical result of the invention consists in the development of a method and device for reliable reception of an autonomous uninhabited underwater vehicle into a submarine in an underwater position on the fly of a submarine.

It is achieved by the fact that in the method for receiving an autonomous uninhabited underwater vehicle into a submarine in an underwater position through a pipe using a tow cable and a winch according to the invention, the autonomous uninhabited underwater vehicle is equipped with a hydroacoustic communication system, means for docking in the form of a receiving line with a tow cable capture device -the cable and the device for their release, on the running end of the towing cable-cable pre-fix the float-diverter, and between the float-diver and the underwater at least two hydroacoustic markers are spaced apart, then a cable-rope with markers is wound on a winch, and a bobber-float is installed in the pipe and put on a stopper, in the process of preparation for release, a bobber-float is removed from the stopper, allowing access to the incoming flow in the nose of the pipe and release the float-diverter along with the towing cable-rope and markers, then from the sonar station of the submarine an alternating voltage is applied to the sonar markers, as a result of which the markers emit a tone, and a command is sent to the control system of the underwater vehicle via the hydroacoustic communication channel to start the program of setting the underwater vehicle on the towing cable, according to the program, the uninhabited underwater vehicle is moved to the position set relative to the markers, then the receiving line is released from the underwater vehicle with a towing cable cable capture device, deploy the underwater vehicle relative to the towing cable cable to the traverse heading angle and move Through the movement of the towing cable through the section between the hydroacoustic markers, as a result of the retighting of the towing cable and the receiving line, the tow cable is captured by the capture device and the underwater vehicle is fixed on it, then the device is pulled into the pipe using a winch.

Hydroacoustic markers are mounted on a towing cable at a distance of 100-105 m from each other, while the first marker in relation to the submarine can also be installed at a distance of 100-105 m from it; with the help of a float-diverter, sonar markers are oriented so that the first marker is located in a vertical plane below the second.

The position relative to the hydroacoustic markers to which the autonomous uninhabited underwater vehicle is moved is at the point from which the course angles to the markers are equal in magnitude - the bow directional angle to the first marker is equal to the aft directional angle to the second marker and is 25-28 °, and the angle the place of the first marker down from the horizontal plane of movement of the underwater vehicle exceeds 3 times the elevation angle of the second marker up from the horizontal plane of movement of the underwater vehicle.

The technical result is also achieved by the fact that in a device for receiving an autonomous uninhabited underwater vehicle into a submarine in an underwater position containing docking means located on the underwater vehicle and an installation including a pipe with movable and fixed parts located on the submarine, in the movable part of the pipe there is a receiving device through which the running end of the tow cable is wound on a winch, fixed on it with a root end and electrically connected connected with the sonar station of the submarine, according to the invention, the installation is located in the stern horizontal stabilizer of the submarine, the fixed stern of the pipe has a back cover with a drive for opening and closing it, and the movable bow of the pipe is the front, fixed and movable parts of the pipe located at the base of the horizontal stabilizer submarine and are equipped with a drive for docking and undocking the aft and fore parts of the pipe and front cover, which also performs the function of opening and closing drive tearing off the front cover, at the running end of the towing cable-rope a float-diverter is fixed, between the float-diverter and the root end of the towing cable-rope at least two sonar markers are spaced apart from each other, the winch with the towing cable-rope wound on it is fixed on the movable part of the pipe in its upper front part, and the float-diverter is inserted into the receiving device, feed shields are installed at the tip of the horizontal stabilizer of the submarine, attached connected to a set of light stabilizer body, with a drive for opening and closing them, a diffuser with a nose shield and a drive for opening and closing it, and a unit equipped with a carriage for the nose of the pipe with a drive for its movement and guide tracks of the carriage's travel route, while the nose of the pipe is mounted on the carriage with the possibility of longitudinal movement in it and is equipped with flanges and a guide rod inserted into the guide track for moving the rod, the aft of the pipe and the front cover are equipped with sealing rings Under the flanges, on the nose of the pipe, a stopper and a data entry device are mounted that are electrically connected to the combat information and control system of the submarine, the docking device is a receiving line with a towing cable cable capture device and a release device that is arranged in a cowl on the counterpropeller in the stern of the nozzle of the jet propulsion device, including a paddle wheel with a hub, which in the stern of the nozzle is closed by a rigid plug into which a tightening screw is screwed a bolt, the device contains a coil on which the towing receiving sling is wound in rings in the form of a cable cable with live conductors, which are electrically connected to the onboard control system of the underwater vehicle via an electrical connector, the cowling is worn through the aperture at the apex to the tightening burst bolt, the receiving the sling in the folded state, the root end is attached to the device for hanging uninhabited underwater vehicle mounted in the bow of the body of the underwater vehicle with the possibility by rotating the device around its axis for reliable staging underwater vehicle to the tow-rope cable, and on the running end of the receiving towing slings fixed capture device of the towing cable-rope.

In this case, the towing cable-cable is a polypropylene cable with an electric cable, for example, grade SM PEVG - 100-4 × I-1000 TU-16, equipped with a signal-breaking pyrotechnic device, which is located at a distance of 1-2 m from the float-diverter and is made, for example, in the form of a contact washer with an electric lock and a pyrotechnic burst bolt.

Hydroacoustic markers are spherical piezoelectric elements made of the TsTBS-3 piezoceramic structure of a power structure with a size of 20 and 10 mm for the first and second markers, respectively, and two electrodes are soldered on the spherical surface of each piezoelectric element, electrically connected to the conductors of the current-carrying cable of the towing cable while the piezoelectric elements are mounted in soundproof rubber and placed in a frame composed of steel rings with grooves through which tow cab cables are passed spruce wire rope.

The receiving device is a sliding mooring cone containing a rigid round funnel with a central hole of sufficient diameter for the passage of the towing cable with markers, a towing receiving line with an annular lock and a contact washer of the signal-breaking pyrotechnic device, while on the funnel using hinges steel spokes in a PTFE braid are fixed for better sliding in the pipe, the position of the spokes on the funnel, folded and opened in the shape of a cone, is fixed with the help of a capron A rubber chamber is also attached to steel spokes when folded in the middle part of the spokes when folded. The rubber chamber is also attached using a nylon cord, which is attached to these spokes in the upper part of the rubber chamber through drifts and holes at the ends of the spokes, and is missed in the lower part of the rubber chamber through a pyrotechnic cutter, while in the design of the mooring cone, a steel tube with a nipple is used as one of the spokes to supply nitrogen to the rubber chamber, providing maximum opening of the mooring spokes cone.

The stabilizing float-diverter is a rigid sealed body with positive buoyancy in the form of a body of revolution with a revitalizing nose and a conical tail, on which three stationary vertical feathers of its horizontal stabilizer are installed, while the diameter of the float-diverter housing is made to match the diameter of the nose of the pipe. The float-diverter is installed on a towing cable-cable at a distance of 8-10 m from the second marker.

The towing receiving line in the aft of an autonomous uninhabited underwater vehicle at the rear edge of the nozzle of the jet propulsion device is held, for example, by a supporting roller, on the lower edge of the counter-propeller of the nozzle of the jet propulsion device - by an exhaust clamp, and along the entire AUV body - in the open slats.

The drive for moving the carriage of the bow of the pipe is made in the form of a drum with a cable, one end of which is fixed to the drum, and the other wound on blocks located at the tip of the stern horizontal stabilizer of the submarine, and mounted on the carriage, and the drum with a cable cable, one end of which the cable part is fixed to the drum, the electrical part is connected via sliding contacts of the same drum with the combat information and control system of the submarine, the second end of the cable-cable is fixed with the cable part to the carriage, and the electrical part is connected to the data input device and the stopper.

The drive for docking and undocking the aft and bow parts of the pipe and the front cover and the drives for opening and closing the nose shield of the diffuser and the rear shields are made in the form of a screw-nut transmission, while the nut-slider of the docking and undocking drive is rigidly fixed to the front cover, the nut the slider of the drive for opening and closing the bow shield is equipped with a finger rigidly fixed to the shield, and a lever connected to the corresponding stern shield is pivotally attached to each nut-slider of the feed shield drive.

The carriage is made with guide rollers interacting with the guide tracks of the carriage movement path.

The towing cable grip devices are made in the form of an annular lock of four annular bushings in the form of a “cat”, which enters a tightening burst bolt and a reel hole in each spindle, each lock annular bush is made in the form of a part of a hollow toroid with a diameter smaller than the diameter of the contact washer a signal-bursting pyrotechnic device, an annular rod, a working spring, an annular stopper and a lever are placed inside the sleeve, while a working spring is put on the annular rod, which abuts against one end the thrust ring of the annular sleeve, and the other in the thrust ring of the annular rod, the thrust rings are rigidly fixed to the annular sleeve and the annular rod, respectively, in the thrust ring of the annular sleeve there is an opening through which the annular rod passes freely, the thrust ring of the annular rod passes freely inside the annular sleeve and stands for the dimensions of the annular rod, the stopper is attached to the lever, which is pivotally mounted on the rack and rigidly attached to the ring sleeve, the ring sleeve of the lock between them is scrapped Frames are brackets welded to the spindle, and the brackets at the top have holes for the halyards, which are located in the upper part of the lock and are rigidly sealed in the free end of the towing receiving line, in the lower part of the spindle the end line is passed through the pyrotechnic cutter of this line, which is installed in the lower part of the spindle and is electrically connected to the electric locks of the ring lock and the onboard control system of the autonomous uninhabited underwater vehicle, each electric lock is embedded in the upper the annular part of each sleeve and is electrically connected to the current-carrying veins of the towing receiving slings and the onboard control system of the underwater vehicle, there are through-holes in the lower part of each ring sleeve and the ring rod, into which a metal pin is inserted to fix the ring rod in the ring sleeve, while all four the checks are made in the form of a dowel and connected to the end line with the help of nylon cords, a stabilizing probe is fixed on the end line, which is worn through the hole at its top on the tightening burst bolt, the end sling and nylon cords are laid in rings on the shaft of the tightening burst bolt at the bottom of the ring bushings.

From the sources of information known to us, a method and device have not been identified that have features that are identical to all the features of our inventions. Therefore, we can conclude that the claimed inventions meet the condition of patentability "novelty."

In the prior art, we know a method [Patent No. 2183137, priority 02/14/2001, publ. 06/10/2002, bull. No. 16], which contains signs common with the claimed method.

These signs are:

- a tow cable is placed in the pipe with hydroacoustic markers and a float-diverter installed on it; diverter float.

The known method (protected by patent No. 2183137) is intended for the production of AUVs, so not a tow cable with hydroacoustic markers is placed in the pipe, but AUVs, they are placed on the stopper, in the process of preparation for release they are removed from the stopper, the pipe with AUVs is moved into the incident and produce release.

However, the set of essential features of the proposed method is not identical to all the features of the known method [Patent No. 2183137].

Distinctive from the known features of the proposed method are:

- equipping an autonomous uninhabited underwater vehicle with a sonar communication system and means for docking in the form of a receiving line with a towing cable cable capture device and a device for their release;

- fastening on the running end of the towing cable of the float-diver and placement between the float-diver and the submarine of at least two sonar markers, spaced 100-105 m apart;

- winding the cable with markers on the winch, placing the float-diverter in the pipe and fixing it on the stopper;

- in the process of preparing for release, release the float-diverter from the stopper, open access to the incoming flow into the nose of the pipe and release the float-diverter together with the tow cable and markers;

- applying alternating voltage to sonar markers, as a result of which the markers emit a tone;

- giving a command via the hydroacoustic communication channel to the control system of the underwater vehicle to switch to the execution of the program for setting the underwater vehicle to the tow cable;

- moving according to the program of an autonomous uninhabited underwater vehicle to a position set relative to markers;

- release from the underwater apparatus of the receiving line with the device for capturing and fixing the towing cable, turning the underwater vehicle relative to the towing cable to the traverse heading angle and moving it across the movement of the towing cable through the section between the sonar markers;

- capture of the towing cable by the capture device as a result of retaking the towing cable and the receiving line, fixing the underwater vehicle on it, pulling the device into the pipe using a winch.

The known method (patent No. 2183137) provides only the release of AUV.

A new set of known and distinctive features of the proposed method provides not only the release of the AUV, but also the reliable reception of the AUV into a submarine in the underwater position at its small (inverse) course (in which submarine control is possible) by placing the AUV on a tow cable (without direct contact of the AUV with the hull of the submarine) and tightening the cable with the AUV into the mooring cone installed in the movable pipe, which is located in the horizontal stabilizer of the aft compartment of the submarine.

From the prior art, we know the device [Patent No. 2183137, priority 02/14/2001, publ. 06/10/2002, bull. No. 16], which contains signs common with the claimed device. These signs are:

- a pipe located in the aft compartment of the submarine with a fixed aft and movable bow parts with the possibility of their docking;

- the back cover of the stern of the pipe with a drive for opening and closing it;

- front cover of the nose of the pipe;

- aft shields and a channel diffuser with a bow shield located at the tip of the aft horizontal stabilizer of the submarine,

- a drive for opening and closing aft channel shields;

- drive opening and closing the nose shield of the diffuser;

- a drive for docking and undocking the aft and bow parts of the pipe and front cover, which also performs the function of opening and closing the front cover;

- the carriage of the bow of the pipe with the drive of its movement and the guide tracks of the carriage;

- the nose of the pipe is mounted on the carriage with the possibility of longitudinal movement in it and is equipped with flanges and a guide rod inserted into the guide track for moving the rod;

- the stern of the pipe and the front cover are equipped with o-rings for the flanges;

- a stopper and a data entry device are mounted on the bow of the pipe, which are electrically connected to the combat information and control system of the submarine.

However, the set of essential features of the claimed device is not identical to all the features of a known device [Patent No. 2183137].

In this case, the distinguishing features are:

- a receiving device in the form of a mooring cone installed in the aft horizontal stabilizer of the submarine, located in the movable part of the pipe; a winch with a towing cable-rope, on which sonar markers and a bobber-float are installed, while the root end of the cable-rope is mounted on the winch, the running end passes through the receiving device, and the winch is mounted on the movable part of the pipe in its upper front part;

- means installed on the AUV for docking in the form of a receiving line with a towing cable cable capture device and a device for their release.

The known device [Patent No. 2183137] provides only the release of the object (AUV) from a submarine.

The inventive device can also be used to release the AUV from a submarine (if you use only the features of the device, which are located in the aft horizontal stabilizer of the aft compartment of the submarine), but it is intended for reliable reception of the AUV into a submarine.

This set of known and distinctive essential features provides a technical result in all cases to which the requested amount of legal protection applies. It is this combination of essential features that made it possible to develop a device for reliable reception of AUVs in a submarine in the underwater position at low speed (in which submarine control is possible) by placing the AUV on a tow cable (without direct contact of the AUV with the hull of the submarine) and tightening the cable a cable from AUV to a mooring cone installed in a movable pipe, which is located in the horizontal stabilizer of the aft compartment of the submarine.

Based on the foregoing, we can conclude that the set of essential features of the claimed inventions has a causal relationship with the achieved technical result, i.e. thanks to this combination of essential features of the claimed inventions, it became possible to solve the problem.

Therefore, the claimed method and device meet the condition of patentability "inventive step", i.e. they do not explicitly follow from the prior art and are suitable for industrial use.

The invention is illustrated by drawings.

Figure 1 shows a fragment of the aft end of a modern high-speed submarine with a horizontal feed stabilizer and a towing cable release device and AUV reception, side view I is enlarged; figure 2 - device for the release of the cable, installed in the bow movable part of the pipe (before the release of the cable), top view; figure 3 - AUV, adopted in the mooring cone, pulled by a winch into the bow of the pipe, top view; figure 4 - the nose of the pipe with a folded mooring cone; figure 5 - the nose of the pipe with a mooring cone in the open state of the cone, type I - the lower spring retainer on the rear cut of the pipe is increased; figure 6 - drive opening and closing the feed shields of the channel of the oncoming flow; Fig.7 - drive opening and closing the nose shield of the diffuser of the channel of the oncoming flow; on Fig - drive moving the carriage into the channel of the oncoming flow; figure 9 - AUV with a water-jet propulsion before the release of the receiving slings with an annular lock and a stabilizing probe; figure 10 - AUV with a water-jet propulsion after firing the tightening burst bolt and dumping the fairing, type I - increased; figure 11 - AUV with a water-jet propulsion after firing the tightening burst bolt, at the time of the discharge of the fairing, coil and the release of the stabilizing probe with an annular lock (type I - increased, type II - increased); on Fig - submarine with a towed AUV, capturing the ring lock tow cable; view I - (enlarged); in Fig.13 - ring lock attached to the receiving sling of the AUV for gripping and fixing the AUV on the tow cable; on Fig - position of the AUV between the markers in the horizontal plane; on Fig - position of the AUV between the markers in the vertical plane.

The installation, located in the aft horizontal stabilizer of the aft compartment of the submarine, contains a pipe consisting of a fixed aft part 1 of the pipe with a sealing ring 2, a back cover 3 with a drive for opening and closing it 4 and a movable bow 5-5 of the pipe with flanges 6, a guide rod 7, stopper 8 and data entry device 9, front cover 10 with O-ring 11, guide rollers 12, hook 13 and telescopic nozzles 14 of the flooding and drainage system.

On the movable bow of the pipe in the upper front part there is a winch 15 with a tow cable 16 assembled on a drum (not shown), while the root end of the cable cable is rigidly fixed to the winch drum 15, and two sonar markers are located on its running end 17-17 (the first, closest to the submarine, and the second), spaced 100-105 m from one another, while the first marker is located at a distance of 100-105 m from the submarine (its aft compartment).

At the end of the towing cable 16, at a distance of 8-10 m from the second sonar marker 17, there is a diverting float (the towing cable "ends" with a diverting float), and a signal-breaking pyrotechnic is installed at a distance of 1-2 m from it device 18 embedded in a tow cable.

The burst signal pyrotechnic device 18 can be structurally made in one unit, for example, in the form of a contact washer with an electric lock and a pyrotechnic burst bolt and is intended for signaling on a submarine about the final installation of the AUV on the tow cable 16 and for breaking the cable rope and releasing it from of the float-diverter 19.

The tow cable 16 is a power structure, for example, in the form of a polypropylene cable with an electric cable (for example, SM PEVG - 100-4 × I-1000 TU-16) with a length of 208-220 m with live conductors to ensure the operation of two electrical circuits signaling to the submarine about the final installation of the AUV on the tow cable and breaking the pyrotechnic burst bolt in order to undock the tow cable from the float-diverter 19.

Stop 8 and data input device 9 are mounted on the nose of the pipe 5-5. A pressurized connector (not shown) is connected to the input of the data input device 9, the first input of which is connected to a cable cable 16 for supplying alternating voltage from the GAS PL to the markers 17-17 and for supplying power to the signal-breaking pyrotechnic device 18 for undocking the stabilizing float - of the outlet 19 from the cable cable 16, the second input of the pressure seal is connected to an electric circuit of the signaling circuit on the submarine on setting the AUV on the tow cable 16 and the power supply circuit for breaking the pyrotechnic burst bolt , the third input of the pressurized connector is connected to the power circuit of the power supply of the winch 15 and the circuit of the electromechanical stopper 8, and the fourth input of the pressurized connector is electrically connected to the combat information-control system (not shown) on board the submarine.

Hydroacoustic markers 17-17 are spherical piezoelectric elements (not shown), made, for example, of the CTBS-3 piezoceramic composition of a power structure and 20 and 10 mm in size for the front and end markers, respectively. Two electrodes (not shown) are soldered on the spherical surface of each piezoelectric element, electrically connected to the conductors of the current-carrying cable of the towing cable cable 16. The piezoelectric elements are mounted in translucent rubber (not shown) and placed in a frame (not shown), assembled from steel rings with grooves (not shown), through which the towing cable cables (not shown) are passed 16. The conductors of the towing cable of the towing cable are electrically connected to the GAS PL.

In the inner bow 5-5 of the pipe under the winch 15 (located on the pipe), a motor switch 20 (not shown) of the winch is installed.

A cylinder 21 with a liquid polymer, for example, Forum Forum highly dispersed fluoropolymer (TU 2229 - 004-02698192 - 2002) is installed in the lower nose 5-5 of the pipe to ensure minimum friction between the rubbing parts when receiving the AUV in the nose of the pipe.

To supply liquid polymer from the cylinder 21 under pressure to the inner flowing nose part 5-5 of the pipe, an electric closure 22 and an electro-pneumatic valve with a reducer 23 are provided in an electric circuit with an autonomous power supply (not shown).

In the aft compartment of the submarine in a regular place there is a folding berth cone 24, in which a stabilizing float-diverter 19 is inserted, which is designed to raise the towing cable 16 above the tail of the submarine and its propeller 25 and place markers 17-17 one above the other (front below the end) away from the stern horizontal 26 and vertical (not shown) stabilizers and propeller 25 submarines in the direction (in the course) behind the stern of the submarine. It is, for example, a metal sealed enclosure with positive buoyancy in the form of a body of revolution with a lively nose and a conical tail. Three fixed vertical feathers of its horizontal stabilizer are installed on the conical tail of the float-diverter 19. The diameter of the body of the float-diverter 19 is made under the diameter of the bow 5-5 of the pipe. As mentioned above, within 1-2 meters from the bow of the float-diverter 19, a burst signal pyrotechnic device 18 is plugged into the cable cable 18. At the same time, the conductors of the current-carrying cable of the towing cable cable 16 are electrically connected to the electrical circuit located on the submarine using which control the operation of the signal-explosive pyrotechnic device 18.

The float-diverter 19 is equipped with a hydrostatic self-flooding valve (not shown).

The mooring cone is a rigid structure, consisting, for example, of a round metal funnel 27 that has come to life with a central hole 28 in diameter that is sufficient for passage through this hole of the cable 16 with markers 17-17. In the inner part of the funnel body 27, a recessed electric contactor 29 is installed for supplying autonomous power supply (not shown) to the pyrotechnic cutter electric valve 30. The funnel 27 is fixed, for example, by three spring clips 31 in the circular groove of the rear cut 32 of the nose part 5-5 of the pipe. The most optimal is to fix the funnel with the spokes in three places with spring clips to prevent lateral skewing of the funnel with the spokes when the spokes exit the pipe. Steel spokes 34 are fixed on funnel 27 using hinges 33 in a fluoroplastic braid for better gliding in the pipe 5. The position of the spokes 34 on funnel 27 (folded and opened in the shape of a cone) fixes a nylon cord 35 fixed in drillings (not shown) in the middle part knitting needles A rubber chamber 36 is attached to steel knitting needles 34 when folded, for example, by means of a nylon cord (not shown), which is attached to these needles at the ends of the needles through drifts (not shown) and drilling (not shown) at the ends of the needles, and in the lower part of the rubber chamber, this fixing cord is passed through the pyrotechnic cutter 30. In this case, in the construction of the mooring cone 24, one of the spokes uses a steel tube 37 (spoke-tube) with a nipple (not shown) for supplying, for example, nitrogen from the cylinder 38 through pieces Ep (not shown) through the rubber tube 39 into the rubber chamber 36, providing maximum disclosure of the spokes 34 of the mooring cone 24 after it extends beyond the rear section 32 of the bow 5-5 of the pipe. The pyrotechnic cutter 30 through current-carrying conductors (not shown), laid in the braid of a steel knitting needle-tube 37, is connected to an autonomous power source (not shown) and an electric contactor 40.

The electric closure 40 is located at the rear cut 32 of the pipe 5 immediately in front of the funnel 27 of the mooring cone 24 and serves to turn on the electric pneumatic valve circuit with a reducer 41 from a stand-alone power supply (not shown) when nitrogen is supplied from the cylinder 38 to the rubber chamber 36.

The rubber chamber 36 is provided with a hydrostatic self-flooding valve (not shown).

In addition, the device comprises a carriage 42 with two pairs of upper 43 and lower 44 guide rollers, aft shields 45 are mounted at the tip of the horizontal stabilizer 26 of the submarine, attached to a set of light stabilizer body, for example, using hinges 46, the drive opening and closing the feed shields 45, made, for example, in the form of a screw-nut gear, with each nut-slider 47 mounted on the screw 48, pivotally attached to the lever 49, pivotally connected to the corresponding aft shield 45, diffuser 50 with a shield 51 and a drive for opening and closing it, also made, for example, in the form of a “screw-nut” transmission, with a slider nut 52 with a sleeve mounted on a screw 53, which at one end is mounted on the wall of the diffuser 50 with axial rotation, and others to their electric drive (not shown). A finger 54 is rigidly fixed at one end on the nose shield 51 to the sleeve of the slider nut 52 with the possibility of longitudinal movement in it during the opening (closing) of the nose shield 51 of the diffuser 50.

The inner wall of the bow shield 51 of the diffuser 50, the outer walls of the diffuser, the inner walls of the stern horizontal stabilizer 26 of the submarine and the inner walls of the stern shield 45 form a free flow channel 59 around the bow of the pipe (after moving it to the tip of the stern horizontal stabilizer 26).

To ensure reliable operation, at least one guide roller 55 is attached to the bow shield 51, inserted into its guide track 56, attached to the set of stern horizontal stabilizer 26.

To ensure the docking and undocking of the aft 1 and bow 5-5 parts of the pipe and the front cover 10, the device is equipped with a drive made also, for example, in the form of a screw-nut gear, with the nut-slider 57 mounted on the screw 58 and rigidly fixed to the front cover 10 with a hook 13. This drive also acts as a drive for opening and closing the front cover 10.

The nose 5-5 of the pipe is installed in the carriage 42. To move the carriage with the nose of the pipe to the tip of the stern horizontal stabilizer and back, it is equipped with a drive made, for example, in the form of a drum 60 with a cable 61, one end of which is fixed to the drum and the other connected to the blocks 62 located at the tip of the horizontal stabilizer, and mounted on the carriage 42, and the drum 63 with its cable cable 64, one end of which is attached by a cable part to the drum, and connected to the electrical part by means of sliding kt 65 of the same drum (in the inner sealed cavity of which they are located) with a combat information control system PL (not shown), the second end of the cable 64 with a cable part is fixed to the carriage 42, and an electrical part (not shown) is connected to the input device 9 and stop 8. The carriage 42 with the guide rollers (upper 43 and lower 44) is installed in the guide tracks 66 attached to the set of the housing of the stern horizontal stabilizer 26 of the submarine. The rod 7 is installed in the guide track 67, so that the nose 5-5 of the pipe has the possibility of longitudinal movement inside the carriage 42. O-rings 2 and 11 (aft of the pipe 2 and the front cover 10, respectively) under the flanges 6 ensure the tightness of the pipe 5 in the joint state (bow and stern and front cover).

Aft 1 part of the pipe is rigidly fixed in the bulkhead glass 68, which is welded into the aft end 69 of the strong submarine housing. A shaft 71 passes mechanically connected to the screw 58 for connecting and undocking the aft 1 and fore 5-5 pipe parts and the front cover 10 through a stuffing box 70 of the aft end 69 of the strong submarine housing. Drive shafts (not shown) are inserted into similar robust submarine housing 58 the drums 60 and 63 and the shafts (not shown) of the opening and closing drives of the bow shield 51 of the diffuser 50 and the aft shields 45, and changing the direction of the shafts of the opening and closing drives in the cavity of the horizontal feed stabilizer 26 and the light feed housing the submarine section is carried out, for example, using cardan joints (not shown). In addition, inside the nose of the pipe there are roller guide tracks 72 for installing a stabilizing float-diverter on them, inserted into the berth cone (or AUV if released), and adopted AUV. The front cover 10 is kept from vertical movements by the coupling and undocking drive of the aft and bow parts of the pipe and the front cover (in the form of a screw-nut transmission, pos. 57, 58), and from the axial ones, by guide rollers 12 inserted into their guide track ( not shown).

The device for the release of the towing receiving slings is located in the rear of the AUV and is arranged in the cowl 73 on the counter-propeller 74 in the rear of the nozzle 75 of the jet propulsion. In the middle of the nozzle, there is a metal plug 76, into which a tightening bursting bolt 77 is screwed onto the thread, and the plug 76 closes the end part of the hub 78 of the propeller wheel of the nozzle 75 of the jet propulsion device.

A device for releasing a receiving line located inside the fairing comprises a coil 79, for example, of a conical shape (in the form of a truncated cone), on which the undercarriage of the towing receiving line 80 is laid in rings.

The running end of the receiving line 80 in the folded state is attached with the root end to the AUV suspension device 81 mounted in the AUV bow with the ability to rotate this device around its axis to securely place the AUV on a towing cable 16. A device can be used as such a device for suspending an underwater vehicle from a towing cable (in our case, to a towing receiving line), protected by RF patent No. 2240251. This device provides the reliability of mounting the AUV to the towing receiving line 80, as well as the free spinning of the receiving line throughout the entire range of the angle of orientation of the longitudinal axis of the receiving line relative to the AUV. In addition, the possibility of sea water flowing into the device is eliminated and the wear of the mating current-carrying parts in the rotation unit is reduced. The device 81 comprises a power seal of the towing receiving line 80, a cardan joint, an electrical connector, which is an electrical contact part with the input of the electrical part of the towing receiving line into the AUV control system, an airtight lead-in current-carrying conductor and a rotating current collector filled with dielectric fluid. Moreover, the housing of the power seal of the receiving line 80, the housing assembly of the sealed input of current-carrying conductors, the housing of the electrical connector and the output hollow shaft of the rotating current collector are sequentially and rigidly interconnected with the possibility of undocking the housing of the electrical connector, and the housing of the rotating current collector is connected to the housing of the AUV by a universal joint, the electrical connector contains two sealed plugs installed in different parts of the collapsible housing, and a bushing, and a node for the sealed input of current-carrying conductors and rotating osemnik provided with bellows changes volume of the dielectric fluid.

In working condition (when the AUV is moving), before releasing the towing receiving line, it is held along the entire hull in the openable lamellas 82. In the aft part of the AUV, at the rear section of the nozzle 75 of the jet propulsion unit, the receiving line 80 is held, for example, by a supporting roller 83 and an exhaust lock 84. Exhaust the slider 84 can be, for example, a thin polypropylene cord, one end (root) of which is rigidly fixed to the base of the coil 79, and the free end, which is pressed by the body of the fairing 73, is threaded in the form of a cord ovki into transverse holes in the profile of the lower edges 74 kontrpropellera nozzle 75 the jet propulsion unit. At the same time, this free end of the latch 84 before releasing the receiving line 80 keeps it from the impact of the incoming water flow on the lower edge of the counter-propeller 74 in the nozzle 75 of the AUV water-jet propulsion.

The towing receiving line 80 is a cable-rope, for example, ГПЭ4 × 0.1 grades 20-25 m long with current-carrying conductors, and current-carrying conductors of line 80 are electrically connected to the AUV control system (not shown) by the hermetic input unit of current-carrying conductors. By the graphoanalytical method it was found that the length of the receiving line should be 0.2-0.25 distances between the markers.

An annular lock 85 is mounted on the running end of the towing receiving line 80, consisting of 4 annular bushings 86 made in the shape of a “cat” with a central spindle 87, which is inserted into the central hole (not shown) of the coil 79. The spindle 87 is in turn through its central hole 88 is worn on a tightening burst bolt 77. The design of the ring lock 85 of 4 ring sleeves in the form of a "cat" is the most optimal for reliable capture of the tow cable 16.

Each annular sleeve 86 of the lock is made in the form of a part of a hollow toroid, inside of which an annular rod 89, a working spring 90, an annular stopper 91 and a lever 92 are placed. A working spring is put on the annular rod 89, which abuts against the thrust ring 93 of the annular sleeve at one end, and others into the thrust ring 94 of the annular shaft. The thrust rings 93 and 94 are rigidly fixed to the annular sleeve and the annular rod, respectively.

The thrust ring 93 of the annular sleeve 86 has an opening through which the annular rod 89 passes freely. The thrust ring of the annular rod passes freely inside the annular sleeve 86 and protrudes beyond the dimensions of the annular rod 89. The annular stopper 91 is attached to a lever 92, which is pivotally mounted on the strut 95 and rigidly attached to the annular sleeve 86. The inner diameter of the annular sleeve 86 must be larger than the diameter of the markers 17-17 for free passage of the ring lock 85 through the markers.

The lock ring sleeves 86 are fastened together by brackets 96 welded to spindle 87, and the brackets 96 at the top have holes 97 for the halyards 98, which are located in the upper part of the lock 85 and are rigidly sealed in the free end of the towing receiving line 80. Thus, the towing receiving line 80 is attached by the halyards 98 through openings 97 to the brackets 96 and the spindle 87 of the ring lock 85. In the lower part of the spindle 87, the end line 99 is rigidly fixed, passed through the pyrotechnic cutter (not shown) of this line. A pyrotechnic cutter is installed in the lower part of the spindle 87 and is electrically connected to the electric locks 100 of the ring lock 85 and the on-board control system (not shown) of the AUV. Each electric closure 100 (there are 4 in total according to the number of ring lock bushings) is embedded in the upper annular part of each bush 86. All 4 electric locks are also electrically connected to current-carrying conductors of the towing receiving line 80 and the AUV onboard control system (not shown).

In the lower part of each annular sleeve 86 and the annular rod 89 there are through-holes (not shown) for the metal pin 101. Each pin is inserted into the holes to fix the annular rod 89 in the annular sleeve 86. All 4 checks are made in the form of a dowel and connected to the end line 99, for example, using nylon cords 102 0.2-0.5 m long.

A stabilizing probe 103 is mounted on the end sling 99. Before the use, the end sling 99 and the nylon cords 102 are laid in rings on the shaft of the tightening explosive bolt 77 at the bottom of the ring bushings 86 of the lock 85. By design, the ring bushings 86 with the ring rods 89 should be smaller than the contact the washer of the signal-bursting pyrotechnic device 18 on the tow cable 16. The washer of the device 18 is used for reliable setting and fixing of the AUV using the lock 85 on the tow cable 16.

The end sling 99 is made of a segment, for example, of a polypropylene cable with a diameter of 4 mm and a length of 1-3 m. The stabilizing probe 103 is designed to pull out the checks 101 by means of the end sling 99 at the same time from each ring rod and then orienting it in the incoming flow of the ring lock 85 below the AUV body and is, for example, a parachute with a conical dome. Its halyards (not shown) are heels (not shown), for example, of a polypropylene cable, and at the top of the dome, the heels are braided, forming an opening for a tightening burst bolt 77. The dome of the probe 103 is formed, for example, by capron tapes fastened with heels.

In this case, the dome of the probe 103 through the hole (not shown) at its apex is put on a tightening bursting bolt 77. The entire design of the exhaust device of the receiving line 80 with the coil 79, the ring lock 85 and the stabilizing probe 103 is closed by the cowling 73, which also through its hole (not shown) at the top is worn on a tightening explosive bolt 77.

A device for releasing a towing cable and receiving AUV in a submarine in the underwater position works as follows.

In the initial position, feed 1 and bow 5-5 of the pipe and the front cover 10 are hermetically docked. Tightness in the docking state is ensured by the flanges 6 of the nose of the pipe and the sealing rings 2 and 11 (under these flanges), respectively, of the aft 1 of the pipe and the front cover 10, into which the nose of the pipe enters its rear and front ends.

To release the tow cable 16, its running end through a slot (not shown) in the pipe wall is manually wound from the winch drum 15, passed through the central hole 28 in the funnel 27 of the mooring cone 24 and mounted on the eye-bolt (not shown) of the stabilizing float - of the retractor 19. The design of the winch drum should provide free winding and winding of the towing cable 16 with markers 17-17 in case of release of this cable and receiving it with a towing receiving line 80, ring lock 85 and contact washer tearing pyrotechnic device 18. The slot in the wall of the pipe 5-5 and the Central hole 28 in the funnel 27 of the berthing cone 24 should be sufficient for free passage of the towing cable 16 with markers 17-17, the towing receiving slings 80 with the ring lock 85 and contact washer of the signal-bursting pyrotechnic device 18. The stabilizing float-diverter 19, inserted into the berth cone 24 (or AUV in case of its release), with the rear cover 3 aft of the pipe 1 open, is placed on the roller guides of the track 72, disposed within nose portion 5 of the tube. The berthing cone 24 with the float-diverter 19 is fixed by the walls of the pipe 5-5 on the float-diverter, and the float-diverter (or AUV) is placed on the stop 8. After this, the hermetic connectors of the electric and pneumatic circuits (not shown) of the exhaust device are connected cable 16 to the data input device 9.

Using drive 4, close the back cover 3 and using a standard flooding and dehumidification system, using if necessary (for example, with a different stern) the telescopic pipes 14 included in this system, fill the inner cavity of the pipe with seawater and equalize the pressure inside the pipe with outboard pressure . Then, the drive for docking and undocking the aft and bow parts of the pipe and the front cover is actuated: when the screw 58 is rotated, the slider nut 57, which is rigidly fixed to the case of the front cover 10, starts moving along the screw, opening the front cover in the direction of the aft part of the pipe. The cover 10 moves parallel to the axis of the screw 58, with its hook 13 clings to the flange 6 of the bow of the pipe and moves it along the axis of the carriage 42, undocking the bow 5 of the pipe from the stern 1, while the carriage remains stationary. Rotating the drive drum 60 of the carriage moving mechanism using a cable 61 thrown through the system of blocks 62, the carriage 42 is moved on its rollers (upper 43 and lower 44) along the guide tracks 66 to the tip of the horizontal feed stabilizer 26 of the submarine, where the incoming flow channel 59 is located Thus, under tension of the cable cable 64, the second drive drum 63 of the cable drive of the carriage movement mechanism is driven into rotation by winding the cable cable. In the process of movement of the carriage, the guide rod 7, moving along its guide track 67, provides longitudinal movement of the nose of the pipe into the channel of the oncoming flow 59 along a predetermined path track 67 of the path. Thus, in the process of moving into the channel of the oncoming flow 59, the nose part 5 of the pipe performs both translational motion together with the carriage 42, and longitudinal movements inside the carriage. When the carriage approaches the inlet flow channel 59, the mechanical drive for opening and closing the aft shields is activated: when the screws 48 are turned, the slide nuts 47, moving on the screws, press on the levers 49, as a result of which the aft shields 45 open. After opening the shields, the bow 5-5 of the pipe moves into the channel 59 of the incoming flow, since the rod 7 transmits to it longitudinal movement in the carriage. When the mooring cone 24 with the float-diverter 19 (or AUV) is ready for release, the actuator for opening and closing the nose shield 51 of the diffuser 50 is actuated: when the screw 53 is rotated, the slider nut 52, which acts on the pin 54 with its sleeve, through it and to the bow shield 51, moving it together with the finger in the direction of movement of the slider nut 52. Next, the bow shield 51 moves due to the interaction of at least one guide roller 55 with its guide track 56 and extends beyond the skin of the stern horizon All-round stabilizer 26, opening the inlet of the diffuser 50, thereby allowing access of the incoming flow into the nose of the pipe and into the channel around the pipe.

At the start command, the stabilizing float-diverter 19 (or AUV) is removed from the stopper 8 and the incident hydrodynamic flow, acting on the funnel 27 of the mooring cone 24 (and it, in turn, presses on the float-diverter 19, which is connected to the cable cable 16 ), moves the mooring cone 24 to the rear section 32 of the pipe 5-5, and the float-diverter 19 pushes out of the pipe. The float-diverter 19 freely released from the pipe 5-5 into the incoming flow behind the submarine feed under the action of the hydrodynamic force of the incoming flow and its positive buoyancy force, floating up, freely rotates the drum (not shown) of the winch 15, releases the running gear from the bow 5-5 the end of the tow cable 16 with sonar markers 17-17. When the mooring cone 24 exits the pipe, its steel spokes 34 go beyond the rear cut 32 of the pipe 5, and the funnel 27 of the mooring cone, when passing the rear cut of the pipe 32, presses with its protrusion on the electric closure 40 in the wiring diagram of the electro-pneumatic valve with the gearbox 41 of nitrogen 38. Nitrogen from cylinder 38 through pipes 37 (steel) and 39 (rubber) through a fitting (not shown) enters the rubber chamber 36, which, by inflating, provides reliable opening of the spokes 34 of the mooring cone 24 after it is locked with spring clips 31 in the groove of the rear cut 32 pipes 5-5. After the berthing cone 24 has been opened, the tow cable 16, previously launched on 201-220 m, is ready to receive the AUV.

A command is sent from the hydroacoustic station of the submarine via the hydroacoustic communication channel to the AUV control system (located on the AUV) to proceed with the program of placing the AUV on a towing cable 16 and subsequent reception of the AUV on board the submarine. Carrying out the program, AUV maneuvers in the vertical and horizontal planes to occupy the position given relative to the markers 17-17.

The position relative to the hydroacoustic markers the position to which the AUV is moved is at a point from which the course angles α to the hydroacoustic markers are equal in magnitude (the forward course angle to the first marker nearest to the PL is equal to the aft angle to the second marker).

By the graphoanalytical method it was found that the value of α is 25-28 °. Such an angle provides the position of the AUV at which the traverse distance from the AUV to the towing cable rope is about a quarter of the distance between the markers, which in turn provides the AUV with freedom of maneuver and safety against collision of the AUV with a cable cable 16 and a float-diverter 19.

Occupying a position between the markers 17-17 in depth, the AUV changes the depth so that the elevation angle θ ₁ (down from the horizontal plane of movement of the AUV) of the first (lower) marker exceeds about 3 times the elevation angle θ ₂ (up from the horizontal plane of the AUV movement ) the second (top) marker relative to AUV.

Having taken a position in distance and depth, the AUV sets the speed equal to the submarine. To receive AUVs on board a submarine by a signal from a submarine via a sonar communication channel between the submarine and the AUV (hydroacoustic communication is provided by the submarine and AUV sonar stations), the AUV in the rear part of it is fired off with a pyrotechnic device (not shown), a tightening burst bolt 77 in the outlet device of the receiving line 80 At the same time, the fairing 73 is sinking freely. The coil 7, rotating from the incident flow ejected from the nozzle 75 of the working jet propulsion, uncovers the running end of the towing receiving line 80 and at the same time pulls the exhaust latch 84 of the line 80, after which the coil 79 is completely released from the line and also sinks. At the same time, the towing receiving line 80 with an annular lock 85 manufactured by a stand-alone uninhabited underwater vehicle is stabilized in a free-stream by a stabilizing probe 103, and all the working elements of the annular lock 85 are brought into operation after each check 101 is pulled out by a nylon cord 102. This is achieved by pulling and selecting a short parts of kapron cords 102 with an end line 99 at the time of opening of the stabilizing probe 103 in the stream.

After releasing the towing receiving line 80, according to the program of setting the AUV to the towing cable, the NPA changes course by 90 ° towards the towing cable 16 (across the towing cable) and passes between the markers above it. At the same time, due to the movement of the receiving line 80 (towed by the AUV) across the movement of the towing cable, the cable 16 touches the receiving line 80 at a distance of approximately 75 of its length, after which they are mutually reshuffled (the towing cable slides along the receiving line and the receiving line slides along the cable cable), as a result of which the towing cable cable enters the ring lock 85 (into one of the four ring bushes 86) and presses on the lever 92, and it, in turn, acts on the ring stopper 91. Stopper disengages with an annular rod 89. The annular rod 89, being released from the stopper 91 by the action of the spring 90, closes the ring of the annular sleeve 86 and fixes the lock 85 on the towing cable 16. In this case, the annular sleeve 86 presses on the electric closure 100, which closes its contacts, signaling into the on-board control system of the AUV (located on the AUV) on the capture of the tow cable 16 by the ring lock 85, and also includes the pyrotechnic cutter circuit (not shown), which cuts the end line 99, freeing the ring lock 85 from stabilization uyuschego probe 103 that sinks. After that, the on-board control system of the AUV via a hydroacoustic communication channel with the submarine signals to the submarine about the capture of the tow cable 16 by the ring lock and the AUV is placed on the tow cable. AUV onboard control system slows down the AUV movement to a stop. Then, according to the signal from the on-board control system of the AUV, the power is turned on to the electric fuse (not shown) of the bursting pyrotechnic device to shoot the roller 83 supporting the root end of the towing undercarriage receiving line 80. The roller 83 is fired off and drowns. The AUV, by holding the towing receiving line 80 with the lock 85 on the cable cable 16, turning its nose along the submarine, pulls the line 80, as a result of this, the lamellas 82 open, releasing a part of the receiving line laid along the body of the AUV. The AUV, finally mounted on the towing cable-cable 16, turns its bow forward along the stream and along the submarine, begins to be towed by a submarine. The ring lock 85 continues to slide along the tow cable 16, while the ring sleeve of the lock closed by the ring rod passes through the end marker 17 and fixes the AUV on the contact washer of the burst signal pyrotechnic device 18 installed behind the end marker 17 before the float-diverter 19 The ring lock 85 locked on the cable cable 16 by the ring sleeve 86 presses on the contact washer of the signal-bursting pyrotechnic device 18, and it, in turn, presses on the electric lock (not shown) of this devices (the electric closure is terminated at the end of the cable 16), as a result of which the electric closure closes the alarm circuit, signaling to the submarine about the final installation of the AUV on the tow cable 16.

With the submarine through the data input device 9, an electric circuit (not shown) of the fuse of the signal-bursting pyrotechnic device 18, embedded in the cable-cable 16. Is bursted, the bursting bolt of this device is broken, freeing the float-diverter 19 from the towing cable-cable 16, and the contact washer is signal The bursting pyrotechnic device 18 remains on the towing cable 16 to securely hold the ring lock 85 on the cable 16. The float-diverter 19 pops up and self-floods by means of a hydrostatic valve. In the course of subsequent actions, the winch 15 motor (not shown) is turned on with the submarine and, through a sufficiently large central hole 28 in the metal funnel 27 of the mooring cone 24, the winch 15 is sampled onto a drum (not shown) cable cable 16 with markers 17-17, the receiving line 80 with an annular lock 85 locked on a contact washer (not shown), pulling the receiving line from the AUV (as mentioned above, the towing receiving line with the root end is attached to the device for hanging 81 AUV) and its entry into the berth cone 24.

Before the entrance of the AUV to the pipe 5-5, he presses the nose funnel 27 into the concave of the funnel 27 of the mooring cone 24, removes the funnel from the spring clips 31 and closes the autonomous circuit 29 (not shown) of the pyrotechnic pyrotechnic cutter 30, which cuts the nylon cord lock (not shown), releasing the rubber chamber 36. The camera, having positive buoyancy, pops up, while pulling out the cord-latch of the camera, after which the freely popping up camera 36 when the hydrostatic valve (not shown) is triggered aplivaetsya. The steel spokes 34 of the mooring cone 24, being released from the rubber chamber 36, are folded in hinges 33, and the mooring cone, which has formed around the bow of the AUV, together with the AUV is pulled by an electric winch 15 deep into the fore of the pipe 5-5. With the subsequent movement in the pipe, the mooring cone 24 by the edge of the funnel 27 presses on the electric closure 22 of the electric pneumatic valve circuit with a gear 23 in the liquid polymer supply circuit. The electro-pneumatic valve 22 with the gearbox 23 includes the supply of liquid polymer from the cylinder 21, and the polymer for the best lubrication of the friction parts by the oncoming flow of water moves along the entire nose of the pipe 5-5 to its rear section 32.

The liquid polymer significantly reduces the frictional force between the pipe 5-5 and the mooring cone 24 with AUV. The final selection of the towing cable 16 and the mooring cone 24 and the installation of the automatic gearbox on the stopper 8 is completed with the switch 20 disconnected in the winch 15 power supply circuit (not shown). For this, the switch 20 is installed in the pipe 5-5 on the final path of the automatic gearbox movement. At the final entry of the AUV into the pipe, with its nose part, it presses on the switch 20 and turns off the power supply to the winch. For reliable fixation of the AUV in the pipe 5-5, it is placed on the stopper 8, the nose shield 51 of the diffuser 50 is mechanically closed as follows: the screw 53 is rotated (reverse to the original), which drives the slider nut 52. The latter, in turn, acting with his sleeve on the finger 54, and through it on the nose shield 51, moves it towards the diffuser 50 and closes the diffuser. At the end of the path, the roller 55, moving along the track 56, provides an exit of the bow shield 51 due to the sheathing of the horizontal feed stabilizer 26. Then a second drive drum 63 is rotated, onto which the cable 64 is wound. Under the tension of the cable, the carriage 42 with the bow part of the pipe returns to coaxial with the aft of the pipe and the front cover 10 position. Then, the screws 48 are rotated (opposite to the original one), on which the sliders 47 move and, acting on the levers 49, close the feed shields 45. Next, the screw 58 is rotated (opposite to the initial one), while the slider nut 57 is rigidly fixed on the cover 10, moves along the screw, moving the cover 10 with the sealing ring 11 to the rear end of the nose 5-5 of the pipe. With further movement of the nut-slide 57 on the screw 58, the cover 10 moves the nose 5-5 of the pipe in the carriage 42, providing a dock with the aft 1. After joining, the inner cavity of the pipe 5 is drained through the nozzles 14, the back cover 3 of the nose 5-5 is opened pipes, manually disconnect the towing cable-cable 16 with the receiving line 80 from the AUV, unwind the receiving line 80 and unload it to regular places in the aft compartment of the berth cone 24 and the AUV adopted on the submarine.

The inventive method and device provide reliable reception of the AUV into a submarine in a submerged position at its small (inversion) course (in which reliable control of the submarine is ensured) by placing the AUV on a tow cable (without direct contact of the AUV with the hull of the submarine) and tightening the cable cable from AUV to a pipe located in the aft compartment of the submarine.

AUVs are mounted on a towing cable-cable due to the mutual retaking of the towing cable-cable released from the aft end of the submarine and the receiving cable of the AUV, as a result of which the cable-cable is captured by an annular lock and fixed on the contact washer. Mutual retaking of the cable and the receiving line is achieved by towing the cable with the submarine at a given orientation (tow cable under the influence of the float-diverter and the incoming flow is oriented in space along an arc directed to the surface of the water) and the movement of the AUV across the towing movement cable-cable in the area between the markers.

The invention allows to simplify the operation of receiving AUVs in a submarine, since placing AUVs on a towing cable-cable eliminates the difficult task of accurately approaching AUVs to submarines and capturing AUVs using a manipulator [Uninhabited underwater vehicles for military use / comp .: M.D. Ageev, L. A. Naumov and others; under the editorship of Academician of RAS M.D. Ageev. - Vladivostok .: Dalnauka, 2005, p.28-31] or docking AUV with a receiving device SAW (as in the prototype), which reduces the risk of mutual damage to AUV, receiving device or submarine.

During the acceptance process, the AUV submarine (if necessary) can maneuver, that is, change the speed and depth of immersion, while the AUV, guided by the markers, follows the submarine. This option provides a great opportunity to maneuver submarines. The device can be used for multiple release and reception of AUVs.

In addition, the invention eliminates the technically difficult task of stabilizing the submersion depth of the submarine without the submarine running (since the submarine receives the AUV in the aft compartment of the submarine through a horizontal stabilizer) and accept the AUV in the submarine of any projects if they are equipped with the aft device of the proposed device.

To implement the proposed method and device, there is no need to use a special receiving device as part of a surfactant (as in the prototype), which reduces the cost of the entire operation of receiving AUVs in submarines.

Claims (13)

1. A method of receiving an autonomous uninhabited underwater vehicle into a submarine in an underwater position through a pipe using a tow cable and a winch, characterized in that the underwater apparatus is equipped with a sonar system and means for docking in the form of a receiving line with a tow cable cable capture device and with their release device, at the running end of the towing cable, a diverter float is pre-fixed, and at least two hydroacoustics are placed between the diver float and the submarine of markers spaced among themselves, then a cable-rope with markers is wound on a winch, and the bobber-float is installed in the pipe and put on the stopper, in the process of preparation for the release, the bobber-float is removed from the stopper, open the incoming flow into the nose of the pipe and they release a float-diverter together with a towing cable and markers, then an alternating voltage is supplied from the sonar station of the submarine to the sonar markers, as a result of which the markers emit a tone and the system control of an autonomous uninhabited underwater vehicle via a hydroacoustic communication channel gives a command to switch to a program for setting up the underwater vehicle on a tow cable, according to the program, the underwater vehicle is moved to a position set relative to the markers, a receiving line with a device for capturing and fixing the towing cable is released from the underwater vehicle cables, deploy the underwater vehicle relative to the towing cable to the traverse heading angle and move across the movement of the towbar Spruce-line through the portion between the hydroacoustic markers, resulting peresuchivaniya towing cable and rope slings receiving grip a towing cable-gripping and cable fixation device thereon underwater vehicle, the apparatus further tightened into the pipe by a winch. 2. The method according to claim 1, characterized in that the sonar markers are mounted on a towing cable at a distance of 100-105 m from each other. 3. The method according to claim 1, characterized in that by means of the float-diverter, sonar markers are oriented so that the first marker relative to the submarine is located in a vertical plane below the second. 4. The method according to claim 1 or 3, characterized in that the position relative to the hydroacoustic markers to the position in which the autonomous uninhabited underwater vehicle is moved is at the point from which the course angles to the markers are equal in magnitude - the forward course angle to the first marker is aft the heading angle to the second marker and is 25-28 °, and the elevation angle of the first marker down from the horizontal plane of movement of the underwater vehicle is 3 times higher than the elevation angle of the second marker up from the horizontal plane of movement of the underwater vehicle that one. 5. A device for receiving an autonomous uninhabited underwater vehicle into a submarine in an underwater position, comprising docking means located on the submarine, and an installation including a pipe with movable and fixed parts located on the submarine, while a receiving part is located in the movable part of the pipe a device through which the running end of the towing cable-cable, wound on a winch, mounted on it by the root end and electrically connected to the underwater sonar sonar station, passes through characterized in that the installation is located in the stern horizontal stabilizer of the submarine, the fixed stern of the pipe has a back cover with a drive to open and close it, and the movable bow of the pipe has the front, fixed and movable parts of the pipe located at the base of the horizontal stabilizer of the submarine and equipped with a drive for docking and undocking the aft and bow parts of the pipe and front cover, which also performs the function of a drive for opening and closing the front cover, on the running end of the axle box A cable-rope is fixed to the float-diverter, between the float-diverter and the root end of the towing cable-rope, at least two sonar markers are spaced apart from each other, a winch with a towing cable-rope wound on it is fixed on the movable part of the pipe in the upper front its parts, and the float-diverter is inserted into the receiving device, at the tip of the stern horizontal stabilizer of the submarine there are stern shields attached to the set of the light stabilizer body, with the opening and closing actuator, the diffuser with the nose shield and the drive for opening and closing it and the installation is equipped with a carriage for the nose of the pipe with a drive for its movement and guide tracks of the carriage's moving path, while the nose of the pipe is mounted on the carriage with the possibility of longitudinal movement in it and equipped flanges and a guide rod inserted into the guide path for moving the rod, the aft of the pipe and the front cover are equipped with o-rings for the flanges, mounted on the nose of the pipe We have a stopper and a data input device, which are electrically connected to the combat information and control system of the submarine, the docking device is a receiving line with a towing cable grip device and a release device, which is arranged in the cowl on the counter-propeller in the aft part of the jet propulsion nozzle including a paddle wheel with a hub, which in the aft of the nozzle is closed by a rigid plug, into which a tightening explosive bolt is screwed, while the exhaust outlet device the trail with the towing cable grip device contains a coil on which the towing receiving line is wound in rings in the form of a cable cable with live conductors, which are electrically connected to the onboard control system of the underwater vehicle via an electrical connector, and a fairing is threaded through its opening at the top to a tightening bolt , the receiving sling in the folded state, the root end is attached to the device for hanging uninhabited underwater vehicle installed in the bow of the underwater app arata with the ability to rotate this device around its axis for reliable placement of the underwater vehicle on the tow cable, and on the running end of the towing receiving slings attached device for capturing the tow cable. 6. The device according to claim 5, characterized in that the tow cable is equipped with a signal-bursting pyrotechnic device, which is located at a distance of 1-2 m from the float-diverter and is made, for example, in the form of a contact washer with an electric lock and a pyrotechnic burst bolt . 7. The device according to claim 5, characterized in that the hydroacoustic markers are spherical piezoelectric elements made of the CTBS-3 piezoceramic composition of a power structure and 20 and 10 mm in size for the first and second markers, respectively, with two soldered on the spherical surface of each piezoelectric element an electrode electrically connected to the conductors of the current-carrying cable of the towing cable-cable, while the piezoelectric elements are mounted in soundproof rubber and placed in a frame composed of steel rings with grooves Otori missed ropey cable tow-rope. 8. The device according to claim 5, characterized in that the receiving device is a sliding mooring cone containing a rigid round funnel with a central hole of diameter sufficient to allow the towing cable with markers to pass, a towing receiving line with an annular lock and a contact washer a bursting pyrotechnic device, while on the funnel, with the help of hinges, steel spokes are fixed in a fluoroplastic braid for better sliding in the pipe, the position of the spokes on the funnel, folded and opened in the form the onus is fixed with a nylon cord fixed in the drills in the middle of the knitting needles, a rubber chamber is attached to the steel spokes in the folded state also with a nylon cord, which is attached to the knitting needles in the upper part of the rubber chamber through drifts and drills at the ends of the the lower part of the rubber chamber is passed through a pyrotechnic cutter, while in the design of the mooring cone, a steel tube with a nipple is used as one of the spokes to supply nitrogen to the rubber chamber, providing the maximum opening of the spokes of the mooring cone. 9. The device according to claim 5, characterized in that the stabilizing float-diverter is a rigid sealed housing with positive buoyancy in the form of a body of revolution with a lively nose and a tapered tail, on which three stationary vertical feathers of its horizontal stabilizer are installed, while the diameter the body of the float-diverter is made under the diameter of the bow of the pipe. 10. The device according to claim 5, characterized in that the drive for moving the carriage of the bow of the pipe is made in the form of a drum with a cable, one end of which is mounted on the drum, and the other wound on blocks located at the tip of the stern horizontal stabilizer of the submarine, and mounted on the carriage, and the drum with a cable cable, one end of which is attached with a cable part to the drum, is electrically connected via sliding contacts of the same drum to the combat information and control system of the submarine, the second end Abel tether cable part is secured on the carriage, and the electric part is connected to the data input device and the stopper. 11. The device according to claim 5, characterized in that the drive for docking and undocking the aft and bow parts of the pipe and front cover and the actuators for opening and closing the nose shield of the diffuser and the feed panels are made in the form of a screw-nut gear, with a slider nut the docking and undocking drive is rigidly fixed to the front cover, the slider nut for opening and closing the bow shield is equipped with a finger that is rigidly fixed to the shield, and a lever is pivotally attached to each nut of the slider drive of the aft shield yuschim aft shield. 12. The device according to claim 5, characterized in that the carriage is made with guide rollers that interact with the guide tracks of the carriage. 13. The device according to claim 5, characterized in that the towing cable grip device is made in the form of a ring lock of four ring bushings in the form of a “cat”, which is hollow spindle enters a tightening burst bolt and a hole in the coil, each ring lock sleeve it is made in the form of a part of a hollow toroid with a diameter smaller than the diameter of the contact washer of a signal-bursting pyrotechnic device, an annular rod, a working spring, an annular stopper and a lever are placed inside the sleeve, while the working rod is put on the annular rod a spring that abuts against the thrust ring of the annular sleeve at one end and the other at the thrust ring of the ring rod, the thrust rings are rigidly fixed to the ring sleeve and the ring rod, respectively; in the thrust ring of the annular sleeve there is an opening through which the annular rod passes freely, the thrust ring of the annular rod passes freely inside the annular sleeve and protrudes beyond the dimensions of the annular rod, the stopper is attached to a lever that is pivotally mounted on the stand and rigidly attached to the annular sleeve, the ring bushings the locks are fastened together by brackets welded to the spindle, and the brackets at the top have holes for the halyards, which are located in the upper part of the lock and are rigidly fixed into a free In the lower part of the spindle, the end sling is rigidly sealed, passed through the pyrotechnic cutter of this sling, which is installed in the lower part of the spindle and is electrically connected to the electric locks of the ring lock and the onboard control system of the autonomous uninhabited underwater vehicle, each electric lock is sealed in the upper ring part of each sleeve and is electrically connected to current-carrying veins of the towing receiving slings and the onboard control system of the underwater vehicle, in the lower part Each annular sleeve and annular rod has through holes in which a metal pin is inserted to fix the annular rod in the annular sleeve, while all four checks are made in the form of a dowel and connected to the end line with nylon cords, a stabilizing probe is fixed on the end line, which through a hole at its apex it is worn on a tightening burst bolt, the end sling and nylon cords are laid in rings on the shaft of the tightening burst bolt at the bottom of the ring bushings.

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