RU2509027C1 - Rescue underwater vehicle for submarine crew salvaging including from under ice surface - Google Patents

Abstract

FIELD: transport.

SUBSTANCE: invention relates to ship building, particularly, to underwater vehicles intended for rescue of people from emergency underwater vehicles. Rescue submarine comprises hull and cup chamber with gripper attachment and pull-in device to allow gripper extension beyond the cup chamber joint bottom plane through the magnitude defined by the required angle of craft inclination by pulling in. Invention covers a particular design of gripper attachment and pull-in device.

EFFECT: reliable docking of rescue submarine with coaming platform inclined to horizon through up to 60 degrees.

8 cl, 2 dwg

Description

The invention relates to the field of shipbuilding, and more particularly to underwater vehicles designed to save people from emergency underwater objects under water, including under ice.

Known rescue underwater vehicle (SPA), including a suction chamber with a docking flange. To ensure the coupling of the indicated flange with the coaming-platform of the emergency underwater object, the plane of which is inclined to the horizon, the apparatus is tilted using a trim (roll-type) system.

For all known SPA, this angle reaches a value of 40 ... 45 degrees. However, according to modern requirements, it is necessary to ensure docking at an angle of inclination of the coaming site of the emergency underwater object to the horizon up to 60 degrees (Goldovsky B.I. Current status and development forecast for rescue deep-sea vehicles // Marine Intelligent Technologies, 2011, No. 4 (14), p. .3-6).

The inclination of the rescue underwater vehicle at such an angle with the help of a trim (roll-differential) system leads to an increase in the displacement of the vehicle by 3 ... 4%, which accordingly increases the cost of the vehicle and the cost of the carrier vessel SPA. In addition, most often, an increase in the displacement of the apparatus is impossible due to restrictions on transportation and its lifting weight.

On rescue underwater vehicles used from surface carrier vessels, docking with an emergency submarine at angles of inclination of the coaming area to the horizon of more than 40 ... 45 degrees is ensured by the use of a rotary suction chamber or a replaceable part of the suction chamber with a tilted docking flange (Goldovsky B. I. The current state and forecast for the development of deep-sea rescue vehicles // Marine Intelligent Technologies, 2011, No. 4 (14), pp. 3-6).

However, on rescue underwater vehicles used from underwater carriers, the use of such suction chambers is not possible due to the design features of the SPA carrier submarine.

The aim of the invention is to increase the reliability of the docking of a rescue underwater vehicle with an emergency underwater object, including under ice, by eliminating these shortcomings while maintaining the support of the device on the underwater object in the process of securing the capture.

This goal is achieved due to the fact that the manipulator for securing the grip is installed in the suction chamber, forming, together with the pulling winch, a fixing and pulling device. In this case, the extension of the capture beyond the lower plane of the docking flange of the suction chamber must be not less than the value determined by the required angle of inclination of the apparatus due to pulling in the expression:

, $$\Delta \mathrm{one}P\ge R_F\cdot Sin{\alpha }_P+0.1$$

,

- величина выдвижения захвата устройства за нижнюю плоскость стыковочного фланца (м);Where $$\Delta {\mathrm{one}}_P$$

- the magnitude of the extension of the capture device beyond the lower plane of the docking flange (m);

R _F - radius of the outer edge of the connection flange lower suction chamber (m);

α _P = (α _KP - α _F ) - the required angle of inclination of the apparatus when pulling;

α _KP - the largest specified angle of inclination of the plane of the coaming-platform to the horizon;

α _Ф - the largest angle of inclination of the plane of the docking flange to the horizon, provided by other technical means of the apparatus (in particular, due to the trim (roll-differential) system).

To limit the dimensions of the fixing and pulling device, for example, including a pulling winch and a manipulator, the number of degrees of freedom of the manipulator can be limited to four. For the same purpose, the largest amount of extension of the grip beyond the lower plane of the docking flange of the suction chamber can be limited by the value determined by the parameters of the fastening and pulling device, and by the restrictions imposed by the elements of the SPA and its hatch, in the expression:

, $$\Delta {\mathrm{one}}_{PN}={\mathrm{<figure-callout\; id="2"\; label="R\; F"\; filenames="00000006.png"\; state="\{\{state\}\}">R\; </figure-callout>}}_{{{}^F}^{}}\cdot T/(D\cdot h)+0.1$$

,

where Δ1 _PN - the maximum required magnitude of the extension of the capture device beyond the lower plane of the docking flange (m);

R _f - the radius of the outer lower edge of the connecting flange of the suction chamber (m);

T is the maximum allowable thrust of the device (kN);

T = min (T _MIND ; T _DOP );

T _UMAH - maximum thrust device (kN);

T _ATT - Rod, allowable conditions of strength elements escape hatch for which the device is fixed grip (kN);

D - displacement of the rescue underwater vehicle (kN);

h is the initial metacentric height of the apparatus, referred to the value of D (m).

The fixing and pulling device located in the suction chamber of the device, performing the functions of fixing and pulling the grip, can be made in the form of a three-stage power manipulator, consisting of three rods of variable length, two of which - power - are located along the axis of the suction chamber and are pivotally fixed with upper ends on the constructions of the casing of the apparatus or chamber of the suction cup so that the hinges are spaced from the axis of the suction chamber, and the line passing through the axis of the two hinges is parallel to the main plane and the apparatus, the lower ends are pivotally connected at one point and connected to the movable gripper, and the third rod — the control rod — is located as perpendicularly as possible to the plane formed by the power rods, and at one end it is fixed to the structures of the apparatus body or suction chamber, and the other end is articulated to one of the power rods.

If the device has a hydraulic system, traction of variable length can be made in the form of hydraulic cylinders. At the same time, to reduce the dimensions of the device in the idle position while ensuring the required extension of the gripper beyond the plane of the docking flange, the power rods can be telescopic with multiple actions.

In the absence on the apparatus of a hydraulic system, traction of variable length can be made in the form of a screw-nut pair with an electric drive. In this case, to reduce the dimensions of the device in the idle position while ensuring the required extension of the capture beyond the plane of the docking flange, the power rods can be multi-stage.

To reduce contact pressure at the point of contact of the docking flange of the plane of the coaming pad when pulling, the outer lower edge of the docking flange of the suction chamber can be rounded.

The invention is illustrated in figure 1, which shows the underwater vehicle before starting to tilt due to pulling up, and figure 2, which shows a diagram of the parameters that determine the extension of the capture beyond the plane of the docking flange of the suction chamber at the same time.

The underwater vehicle with housing 1 has a suction chamber 2 with a docking flange 3. Inside the suction chamber there is a fastening and pulling device including a grip 4 connected to two power rods of variable length 5, as well as a control rod of variable length 6 connected to one of the rods 5 Capture 4 is fixed to the element of the rescue hatch 7 of the coaming pad 8 of the emergency underwater object 9.

The underwater vehicle lands on the plane of the coaming pad 8 with the outer outer edge of the docking flange 3 of the suction cup 2. In this position, the gripper 4 is secured to the element of the rescue hatch 7 by changing the length of the rods 5 and 6. In this case, changing the length of the rods 5 ensures that the gripper moves in the plane of the angle formed by these rods, and changing the length of the rod 6 provides rotation of the specified plane around the axis formed by the hinges of the upper ends of the rods 5, generally ensuring the movement of the gripper in three space.

After securing the gripper 4, it is pulled inward towards the suction chamber by reducing the length of the rods 5. This increases the inclination of the apparatus 1, which rotates around the point of contact of the docking flange of the plane of the coaming pad 3, until the contact planes of the docking flange of the suction chamber and the coaming pad 8.

Calculations show that for rescue underwater vehicles with a displacement of up to 55 tons, docking with the coaming site of an emergency underwater object inclined to the horizon by an angle of up to 60 degrees can be provided.

This increases the reliability of the connection while maintaining the convenience of performing the required operations without increasing the displacement of the apparatus and when using the suction chamber of a simple design (cylindrical, not rotary), which allows you to work with underwater media.

Claims (7)

1. A rescue underwater vehicle comprising a body, a suction chamber with a gripping device and a manipulator for securing the gripper on an underwater object, characterized in that the manipulator is mounted in the suction chamber, forming a fastening and pulling device together with the gripping means and providing extension capture for the lower plane of the connecting flange of the suction chamber is not less than the value determined by the required angle of inclination of the apparatus due to pulling. 2. Rescue underwater vehicle according to claim 1, characterized in that the pull-up device is made in the form of a winch with a cable connected to the claw, and the number of degrees of freedom of the manipulator of the device for fixing and pulling is taken to be at least four. 3. Rescue underwater vehicle according to claim 1, characterized in that the largest extension of the capture beyond the lower plane of the docking flange of the suction chamber is limited to a value determined by the parameters of the fastening and pulling device and the restrictions imposed by the elements of the rescue hatch according to the expression:
$$\Delta {\mathrm{one}}_{PN}=R_f^2\cdot T/(D\cdot h)+0.1$$

,
wherein Δ1 _Mo - maximum extension required value capture device for connection flange bottom plane (m);
R _f - the radius of the outer lower edge of the connecting flange of the suction chamber (m);
T is the maximum allowable thrust of the device (kN);
T = min (T _MIND ; T _DOP );
T _UMAH - maximum thrust device (kN);
T _DOP - thrust permissible from the strength conditions of the elements of the rescue hatch, for which the grip of the device is fixed (kN);
D - displacement of the rescue underwater vehicle (kN);
h is the initial metacentric height of the apparatus, referred to the value of D (m). 4. Rescue underwater vehicle according to claim 1, characterized in that the device for securing and pulling up is made in the form of a three-stage power manipulator, consisting of three rods of variable length, two of which - power - are located along the axis of the suction cup and the upper ends are pivotally mounted on structures the body of the apparatus or chamber of the suction cup so that the hinges are spaced from the axis of the chamber of the suction cup, and the line passing through the axis of the hinges is parallel to the main plane of the apparatus, the lower ends are pivotally connected to hydrochloric point and connected with the movable gripper, and third link - control - located as perpendicular to the plane formed by force rods, and one end is fixed to the machine housing structures or suction chamber, the other end pivotally secured to one of the power linkage. 5. Rescue underwater vehicle according to claim 4, characterized in that the thrust of variable length is made in the form of hydraulic cylinders, and the power thrust is made of telescopic multiple actions. 6. Rescue underwater vehicle according to claim 4, characterized in that the thrusts of variable length are made in the form of a screw-nut pair with an electric drive, and the power thrusts are multi-stage. 7. Rescue underwater vehicle according to claim 1, characterized in that the lower edge of the docking flange of the suction chamber is rounded.

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