阅读说明：本技术 一种模块化小艇收放装置的智能收放方法 (Intelligent deploying and retracting method of modular boat deploying and retracting device ) 是由 张孝奕 韩强 胡士博 陈斌 贾旺杰 胡罗村 刘中胜 于 2021-08-18 设计创作，主要内容包括：本发明提供了一种模块化小艇收放装置的智能收放方法,模块化小艇收放装置自上而下依次由顶部回收机构、中部辅助定位机构和下部支撑底座组成,顶部回收机构上安装有绞车,绞车设有多根穿过中部辅助定位机构与下部支撑底座相连的钢丝绳。需要收放小艇时,利用吊机将装置下放至海面,通过绞机下放下部支撑底座至预设深度,随后打开中部辅助定位机构驶入或者驶离小艇。本发明对船舶要求低,适用于各类船舶,甲板占用面积小,不需要固定安装,存储灵活便捷,并且海况适应性强,大风浪条件下也可稳定、安全收放艇。(The invention provides an intelligent retraction method of a modularized boat retraction device, wherein the modularized boat retraction device sequentially consists of a top recovery mechanism, a middle auxiliary positioning mechanism and a lower support base from top to bottom, wherein a winch is arranged on the top recovery mechanism, and is provided with a plurality of steel wire ropes which penetrate through the middle auxiliary positioning mechanism and are connected with the lower support base. When the boat needs to be stored, the device is lowered to the sea surface by using the crane, the lower supporting base is lowered to a preset depth by using the winch, and then the middle auxiliary positioning mechanism is opened to drive in or drive out of the boat. The invention has low requirement on ships, is suitable for various ships, has small deck occupation area, does not need fixed installation, is flexible and convenient to store, has strong sea condition adaptability, and can stably and safely take and release the boat under the condition of high wind and waves.)

1. An intelligent deploying and retracting method of a modularized boat deploying and retracting device is characterized in that the modularized boat deploying and retracting device sequentially consists of a top retracting mechanism (100), a middle auxiliary positioning mechanism (200) and a lower supporting base (300) from top to bottom, a winch (103) is installed on the top retracting mechanism (100), a plurality of steel wire ropes (102) penetrating through the middle auxiliary positioning mechanism (200) and connected with the lower supporting base (300) are arranged on the winch (103), a floating body frame (201) used for enclosing a boat is arranged on the middle auxiliary positioning mechanism (200), and at least two pairs of self-adaptive supporting bases (305) used for supporting the boat are arranged on the lower supporting base (300);

the step of using the modularized boat deploying and retracting device to lower the boat to the sea surface is as follows:

s11, integrally lowering the modular boat storing and releasing device loaded with the boat to the sea surface by using a crane, wherein the boat is positioned in the middle auxiliary positioning mechanism (200) and the bottom of the boat is supported by the lower supporting base (300);

s12, starting the winch (103) to lower the lower supporting base (300) to a preset depth, wherein the middle auxiliary positioning mechanism (200) floats on the sea surface under the action of buoyancy;

s13, opening the floating body frame (201), and closing the floating body frame (201) after the boat is driven out;

s14, starting the winch (103) to recover the lower supporting base (300), and recovering the unloaded modular boat collecting and releasing device to a deck for standby by using a crane;

the steps of utilizing the modularized boat collecting and releasing device to recover the marine boat are as follows:

s21, lowering the unloaded modular boat collecting and releasing device to the sea surface by using a crane;

s22, starting the winch (103) to lower the lower supporting base (300) to a preset depth;

s23, opening the floating body frame (201), driving the small boat on the sea surface into the floating body frame (201), and closing the floating body frame (201);

and S24, starting the winch (103) to recover the lower supporting base (300), and recovering the modular boat collecting and releasing device with the boat to a deck for standby by using a crane.

2. The intelligent folding and unfolding method as claimed in claim 1, wherein in step S12 and step S22, the lowering depth of the lower supporting base (300) is properly selected according to sea conditions, and the stability of the modular boat folding and unfolding device on the sea surface is improved under the action of the gravity and seawater resistance of the lower supporting base (300).

3. An intelligent deploying and retracting method according to claim 2, wherein the lowering depth of the lower support base (300) is 3-5m greater than the wave height of sea waves.

4. The intelligent retraction method according to claim 2, characterized in that a lifting eye plate is provided on the top retraction mechanism (100);

pulleys (104) are respectively arranged at four corners of the top recovery mechanism (100), 4 steel wire ropes (102) which respectively pass through the pulleys (104) are arranged on the winch (103), and the 4 steel wire ropes respectively pass through longitudinal through holes (205) at four corners of the middle auxiliary positioning mechanism (200) to be connected with four corners of the lower supporting base (300).

5. The intelligent folding and unfolding method according to claim 1, wherein a plurality of vertical positioning support columns (302) are arranged on the side of the lower support base (300), a support step (304) is arranged on one side of each positioning support column (302) close to the middle auxiliary positioning mechanism (200) and used for supporting the middle auxiliary positioning mechanism (200), and a positioning pin (303) is arranged at the top end of each positioning support column (302);

a plurality of first proximity switches (105) and locking devices corresponding to the positions of the positioning support columns (302) are arranged on an upper frame (101) of the top recovery mechanism (100), and the top ends of the positioning support columns (302) are fixedly connected with the top recovery mechanism (100) after the steel wire ropes (102) are tightened in place;

the first proximity switch (105) and the locking device are connected to the winch (103).

6. The intelligent folding and unfolding method as claimed in claim 1, wherein the floating body frame (201) is made of glass fiber reinforced plastic material with the same outer contour as the small boat, a plurality of wave passing holes (202) are formed in the side wall of the floating body frame (201), and a plurality of buffer guide rollers (203) are arranged along the inner wall of the floating body frame (201);

a bow locking device (208) is arranged at the front end of the floating body frame (201) and used for fixing the small boat, and horizontal wing plates (206) for the steel wire rope (102) to pass through are arranged on two sides of the front end of the floating body frame (201).

7. The intelligent folding and unfolding method as claimed in claim 1, wherein a guide door (204) is hinged to at least one side of the tail of the floating body frame (201), and the guide door (204) is opened backwards to enable a boat to be driven into or out of the floating body frame (201).

8. The intelligent retraction method according to claim 7, characterized in that a second proximity switch is arranged at the front side of the floating body frame (201), a rotation driver for driving the guide door (204) to rotate is arranged at the tail part of the floating body frame (201), and the rotation driver is connected with the second proximity switch;

in step S23, the boat is fully driven into the float frame (201) and triggers the second proximity switch, which sends a signal to a rotary drive to close the directional door (204).

9. The intelligent folding and unfolding method as claimed in claim 1, characterized in that the lower frame (301) of the lower supporting base (300) is provided with a front supporting base cross frame (306) and a rear supporting base cross frame (306) which are distributed along the width of the boat, and each supporting base cross frame (306) is provided with a pair of left-right symmetrical self-adaptive supporting bases (305);

each self-adaptive support base (305) comprises a rotating frame (305-1), the rotating frame (305-1) is rotatably connected to a support base transverse frame (306) and swings in the left-right direction, the upper surface of one end, close to each other, of the rotating frame (305-1) of each pair of self-adaptive support bases (305) is provided with a roller (305-2), and the upper surface of the other end of each pair of self-adaptive support bases is provided with a rubber mat (305-3).

Technical Field

The invention relates to the field of ships, in particular to an intelligent deploying and retracting method of a modular boat deploying and retracting device.

Background

The existing boat collecting and releasing technology mainly depends on a special boat frame to carry out the marine collecting and releasing operation of a boat, the special lifting boat frame is usually arranged on a board side, the boat is poured out to release and recover the boat, the boat is released and recovered at every time, a crewman is required to realize unhooking and hooking operation on the sea, the operation efficiency is low, the weather operation of large stormy waves is difficult, and even the marine collecting and releasing operation of the boat can not be carried out.

In order to improve the folding and unfolding efficiency of the small boat, a slideway type small boat folding and unfolding scheme is provided, namely, the slideway is arranged at the tail part of the boat, the small boat is directly driven to the slideway, and the driving rollers can drive the small boat to go on the boat as long as the small boat enters the slideway, so that the folding and unfolding operation of the small boat is completed. However, the scheme has high cost, a large opening needs to be formed in the tail of the ship, space is reserved for installation and arrangement of the slide way, only other methods can be used for ships which cannot be opened at the tail, certain selectivity is provided for the ship type, the ship type applicability is poor, and the cost is high. Under the operation condition of heavy waves, the small boat driving into the slideway is also confronted with great difficulty and has higher risk.

Disclosure of Invention

This patent receives the inspiration of underwater tension leg platform, and the device adopts "anchoring principle under water". The main idea of the whole structure design is that the whole device sequentially comprises a top recovery mechanism, a middle auxiliary positioning mechanism and a lower supporting base from top to bottom, the device is in a semi-flexible and semi-rigid state under the working condition, the lower supporting base is sunk below the wave trough of the sea surface in the process of collecting and releasing the sea surface, and the steel wire ropes tightened under the action of gravity form four fixed boundaries. The state at this time is that the entire apparatus is divided into an upper part, a middle part and a lower part, the relatively stable lower part supporting the base provides sufficient stability to the entire system due to gravity and water resistance, and the upper part and the middle part are major sources of instability factors of the entire system. Because the top recovery mechanism is connected with the lower support base through the flexible steel wire rope, unstable upper dynamic conduction is blocked; the middle auxiliary positioning mechanism is made of floatable materials, and waves and ocean currents are main factors influencing system stability.

Firstly, wave fluctuation motion can drive the middle part auxiliary positioning mechanism to float up and down, but because the degree of freedom of the middle part floating body structure along the vertical direction of the steel wire rope is not limited, the influence of waves on the whole system can be considered to be very little, ocean current should be said to have an influence on the middle part auxiliary positioning mechanism and the support base of the lower part, the middle part auxiliary positioning mechanism is provided with wave passing holes, and the lower part support base adopts a frame structure, so that the influence of the current is greatly reduced. Therefore, a stable system established by taking the lower base as a core depends on a fixed boundary formed by a tightened steel wire rope, the translation (surging, swaying) and large-angle rotation (rolling, pitching and yawing) of the middle auxiliary positioning mechanism on the horizontal plane can be greatly limited, and the boat can be more easily folded and unfolded under the condition of high wind waves under the condition that the middle recovery mechanism is relatively stable.

The technical scheme adopted by the invention is as follows:

an intelligent retraction method of a modularized boat retraction device is characterized in that the modularized boat retraction device sequentially comprises a top recovery mechanism, a middle auxiliary positioning mechanism and a lower supporting base from top to bottom, a winch is mounted on the top recovery mechanism and provided with a plurality of steel wire ropes penetrating through the middle auxiliary positioning mechanism and connected with the lower supporting base, the middle auxiliary positioning mechanism is provided with a floating body frame used for surrounding a boat, and at least two pairs of self-adaptive supporting bases used for supporting the boat are arranged on the lower supporting base;

the step of using the modularized boat deploying and retracting device to lower the boat to the sea surface is as follows:

s11, integrally lowering the modular boat retraction device with a boat loaded on a deck onto the sea surface by using a crane, wherein the boat is positioned in the middle auxiliary positioning mechanism and the bottom of the boat is supported by the lower supporting base;

s12, starting the winch to lower the lower supporting base to a preset depth, wherein the middle auxiliary positioning mechanism floats on the sea surface under the action of buoyancy;

s13, opening the floating body frame, and closing the floating body frame after the boat is driven out;

s14, starting the winch to recover the lower supporting base, and recovering the unloaded modularized boat collecting and releasing device to a deck for later use by using a crane;

the steps of utilizing the modularized boat collecting and releasing device to recover the marine boat are as follows:

s21, lowering the modular boat collecting and releasing device with no load on the deck to the sea surface by using a crane;

s22, starting the winch to lower the lower supporting base to a preset depth;

s23, opening the floating body frame, and closing the floating body frame after the small boat on the sea surface drives into the floating body frame;

and S24, starting the winch to recover the lower supporting base, and recovering the modular boat collecting and releasing device with the boat to a deck for standby by using a crane.

Further, in step S12 and step S22, the lowering depth of the lower support base is selected according to the sea state, and the stability of the modular boat storing and releasing device on the sea surface is improved under the action of the gravity of the lower support base and the resistance of the sea water.

Further, the lowering depth of the lower supporting base is 3-5m larger than the wave height of the sea waves.

Furthermore, a lifting eye plate is arranged on the top recovery mechanism, pulleys are arranged at four corners of the top recovery mechanism respectively, 4 steel wire ropes respectively passing through the pulleys are arranged on the winch, and the 4 steel wire ropes respectively pass through the longitudinal through holes at the four corners of the middle auxiliary positioning mechanism to be connected with the four corners of the lower supporting base.

Furthermore, a plurality of vertical positioning support columns are arranged on the side edge of the lower supporting base, a support step is arranged on one side, close to the middle auxiliary positioning mechanism, of each positioning support column and used for supporting the middle auxiliary positioning mechanism, and positioning pins are arranged at the top ends of the positioning support columns;

the upper frame of the top recovery mechanism is provided with a plurality of first proximity switches and locking devices corresponding to the positions of the positioning support columns, and the top ends of the positioning support columns are fixedly connected with the top recovery mechanism after the steel wire ropes are tightened in place;

the first proximity switch and the locking device are connected with the winch.

Furthermore, the floating body frame is made of glass fiber reinforced plastic materials with the same outline as the small boat, a plurality of wave passing holes are formed in the side wall of the floating body frame, and a plurality of buffer guide rollers are arranged along the inner wall of the floating body frame;

the front end of the floating body frame is provided with a bow locking device for fixing the boat, and two sides of the front end of the floating body frame are provided with horizontal wing plates for the steel wire rope to pass through.

Furthermore, at least one side of the tail part of the floating body frame is hinged with a guide door, and the guide door is opened backwards to enable the boat to enter or leave the floating body frame.

Furthermore, a second proximity switch is arranged on the front side of the floating body frame, a rotary driver for driving the guide door to rotate is arranged at the tail part of the floating body frame, and the rotary driver is connected with the second proximity switch;

in step S23, the boat is fully driven into the float frame and the second proximity switch is triggered, which sends a signal to a rotary drive to close the directional door.

Furthermore, the lower frame of the lower supporting base is provided with a front supporting base transverse frame and a rear supporting base transverse frame which are distributed along the width of the boat, and each supporting base transverse frame is respectively provided with a pair of bilaterally symmetrical self-adaptive supporting bases;

every the self-adaptation supports the base including the rotating turret, the rotating turret rotates to be connected and swings on supporting the base crossbearer and in the left and right sides orientation, and every one end upper surface that the rotating turret that supports the base to the self-adaptation is close to each other is provided with the gyro wheel, and is provided with the cushion at the other end upper surface.

The invention has the advantages that:

1) the boat can be stored and released by a common marine crane or equipment in the marine crane without a special boat bracket.

2) The ship has low requirement on ships, is suitable for various ships, has small occupied area of a deck, does not need fixed installation, and is flexible and convenient to store.

3) The sea condition adaptability is strong, and the boat can be stably, safely and reliably folded and unfolded under the condition of heavy wind and waves.

4) The adaptability to the boat is strong, various small boats can be recovered/distributed, and the problem of collecting and releasing unmanned boats can be solved.

5) Low production cost and easy popularization.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

FIG. 1 is a schematic view of a modular boat of the present invention in a stowed condition;

FIG. 2 is a schematic view of the present invention in an operational state;

FIG. 3 is a perspective view of the top retrieval mechanism;

FIG. 4 is a perspective view of a middle auxiliary positioning mechanism;

FIG. 5 is a perspective view of the lower support base;

fig. 6 is a flow chart of the invention for launching and launching a boat.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

In the following description, for the purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.

The invention provides an intelligent deploying and retracting method of a modular boat deploying and retracting device, which is shown in the figure 1-2, the modular boat deploying and retracting device sequentially consists of a top recovery mechanism 100, a middle auxiliary positioning mechanism 200 and a lower supporting base 300 from top to bottom, and a boat supported on the lower supporting base 300 is surrounded in the middle auxiliary positioning mechanism 200.

The structure of the top recovery mechanism 100, the middle auxiliary positioning mechanism 200 and the lower support base 300 will be further described with reference to fig. 3 to 5:

the top recovery mechanism 100 is provided with a winch 103 for retracting and releasing the lower support base 300, the winch 103 is provided with a plurality of steel wire ropes 102 which penetrate through the middle auxiliary positioning mechanism 200 and are connected with the lower support base 300, and the top recovery mechanism 100 is provided with a lifting eye plate for connecting steel wire ropes of a deck crane. The middle auxiliary positioning mechanism 200 is provided with a floating body frame 201, the side wall of the floating body frame 201 is provided with a plurality of wave passing holes 202, the inner wall of the floating body frame 201 is provided with a plurality of buffer guide rollers 203, and the floating body frame 201 is provided with a plurality of longitudinal through holes 205 for the steel wire rope 102 to pass through. At least two pairs of self-adaptive supporting bases 305 for supporting the boat are arranged on the lower supporting base 300, a plurality of vertical positioning supporting columns 302 are arranged on the side edges of the lower supporting base 300, and the top ends of the positioning supporting columns 302 abut against the top recovery mechanism 100 after the steel wire ropes 102 are tightened in place.

Fig. 1 is a schematic view of the device in a storage state, three parts can be taken as a whole to be stored together with a boat, and the whole structure does not occupy excessive deck space. When a small boat needs to be put on the sea, the whole device is lifted off a deck by using a crane and placed in seawater, then the winch 103 is controlled to stably put the lower supporting base 300 down, the top recovery mechanism 100 is positioned above the sea surface, the middle auxiliary positioning mechanism 200 floats on the sea surface, and the lower supporting base 300 is submerged below the water surface.

In an alternative embodiment, a plurality of first proximity switches 105 corresponding to the positions of the positioning support columns 302 are arranged on the upper frame 101 of the top recovery mechanism 100, and the first proximity switches 105 are connected with the winch 103. The top end of the positioning support column 302 of the lower support base 300 is provided with a positioning pin 303, the upper frame 101 is provided with a plurality of mechanical locking devices or electronic locking devices corresponding to the positioning support column 302, and the electronic locking devices are connected with the first proximity switch 105.

When the first proximity switch 105 senses that the positioning support column 302 is raised to a specified position, indicating that the lower support base 300 has been raised to the desired position, a signal is sent to the winch 103 to stop the take-up of the wireline 102. In addition, the first proximity switch 105 can also send a locking signal to the electronic locking device, which is closed to lock the positioning support column 302 in place, better ensuring a stable connection between the top recycling mechanism 100 and the lower support base 300. The positioning pin 303 is used for positioning, so that the lower support base 300 and the top recovery mechanism 100 can be properly returned during recovery.

When the upper frame 101 is provided with the mechanical locking device, the mechanical locking device can be manually unlocked before the lower supporting base 300 is placed downwards, at the moment, the lower supporting base 300 can still be firmly fixed below the top recovery mechanism 100 because the steel wire rope is not placed downwards, and when the steel wire rope is tightened to lift the lower supporting base 300 below the water surface, the positioning pin 303 abuts against the mechanical locking device to enable the lower supporting base 300 to return to the water surface, so that automatic locking is realized. In the prior art, there are many structural schemes capable of implementing the mechanical locking device of the present invention, which are not described herein again.

In an alternative embodiment, pulleys 104 are provided at four corners of the top recovery mechanism 100, and the winch 103 is provided with 4 wire ropes 102 passing through the pulleys 104 and connected to four corners of the lower support base 300. The front end of the upper frame 101 is provided with 1 bulleye plate 106 which can be connected with a bulleye so as to control the lifting posture of the whole device in the lifting process and prevent excessive swinging and rotation.

In an alternative embodiment, as shown in fig. 4, the floating body frame 201 is made of a lightweight glass fiber reinforced plastic material, which is a common material of the boat body, and has the characteristics of light weight and high strength, and is very suitable for being used as a frame material of the internal auxiliary positioning mechanism 200 of the present invention. The contour line type of the floating body frame 201 is matched with the external line type of the small boat, a plurality of buffer guide rollers 203 are arranged in the floating body frame, the buffer guide rollers 203 are vertical guide rollers, once the small boat enters the floating body, the small boat runs forwards under the driving of the power of the small boat to realize automatic positioning and locking, and preferably, the front end of the floating body frame 201 is provided with a bow locking device 208 which can lock and fix the head of the entering small boat. Because the front end of the floating body frame 201 is narrow, in order to ensure that the steel wire rope 102 vertically passes through the floating body frame 201 downwards, horizontal wing plates 206 are arranged on two sides of the front end of the floating body frame 201 for the steel wire rope 102 to pass through.

With continued reference to fig. 4, at least one side of the tail of the buoyant hull frame 201 is hinged with a guiding door 204 (two guiding doors 204 are shown in fig. 4, one on each of the left and right sides), and the tail guiding door 204 can be opened backwards to form a bell mouth for the boat to enter the buoyant hull frame 201. Preferably, a second proximity switch (not shown) is provided at the front side of the floating body frame, and a rotation driver for driving the guide door to rotate is provided at the rear part of the floating body frame 201, and the rotation driver is connected with the second proximity switch. The boat, after being fully driven into the buoyant hull frame 201, can trigger the second proximity switch, which automatically closes the trailing directional door when a signal is sent to the rotary drive to automatically close the directional door 204. The rotation driver can be a driving mechanism such as a motor or a hydraulic cylinder.

One side of each positioning support column 302 close to the middle auxiliary positioning mechanism 200 is provided with a support step 304 for supporting the middle auxiliary positioning mechanism 200, and after the lower support base 300 is recovered in place, the support step 304 can provide longitudinal support and transverse limit for the middle auxiliary positioning mechanism 200.

In an alternative embodiment, the lower frame 301 is provided with two front and rear supporting base cross frames 306 distributed along the width of the boat, and a pair of left and right symmetrical adaptive supporting bases 305 are respectively arranged on the supporting base cross frames 306. Each adaptive support base 305 comprises a rotating frame 305-1, the rotating frame 305-1 is rotatably connected to a support base transverse frame 306 and swings in the left-right direction, the upper surface of one end, close to the rotating frame 305-1, of each pair of adaptive support bases 305 is provided with a roller 305-2, and the upper surface of the other end is provided with a rubber pad 305-3. As shown in fig. 5, the lower frame 301 is provided with two pairs of front and rear adaptive support bases 305, and the rotating frame 305-1 of the adaptive support bases 305 can rotate freely to adapt to different bottom line types of the boat, so as to provide safer and more reliable support for the boat.

The whole lower support base 300 is manufactured by steel processing for the ship body, can sink below the water surface besides providing sufficient rigid support for the boat and the retraction device, provides anchoring force for the whole retraction device by means of gravity and water resistance, and achieves the effect of stabilizing the whole retraction device. In addition, the lower support base 300 is submerged, thereby avoiding the possibility of collision with the boat during the recovery process.

Referring to fig. 6, the retraction method of the present invention is further explained as follows:

1) the step of lowering the boat to the sea surface is as follows:

s11, integrally lowering the modular boat storing and releasing device with a boat loaded on a deck onto the sea surface by using a crane, wherein the boat is positioned in the middle auxiliary positioning mechanism 200 and the bottom of the boat is supported by the lower supporting base 300;

s12, starting the winch 103 to lower the lower supporting base 300 to a preset depth, floating the middle auxiliary positioning mechanism 200 on the sea surface under the action of buoyancy, and suspending the top recovery mechanism 100 and keeping a certain distance from the middle auxiliary positioning mechanism 200;

s13, opening the floating body frame 201, and closing the floating body frame 201 after the boat is driven out;

and S14, starting the winch 103 to recover the lower supporting base 300, and recovering the unloaded modular boat collecting and releasing device to a deck for standby by using a crane.

The steps of utilizing the modularized boat collecting and releasing device to recover the marine boat are as follows:

s21, lowering the modular boat collecting and releasing device with no load on the deck to the sea surface by using a crane;

s22, starting the winch 103 to lower the lower support base 300 to a preset depth;

s23, opening the floating body frame 201, and closing the floating body frame 201 after the small boat on the sea surface drives into the floating body frame 201;

and S24, starting the winch 103 to recover the lower support base 300, and recovering the modular boat storing and releasing device with the boat to a deck for standby by using a crane.

In the steps S12 and S22, the lowering depth of the lower support base 300 is selected according to the sea state, preferably, the lowering depth of the lower support base 300 is 3-5m greater than the wave height of the sea waves, and the stability of the modular boat storing and releasing device on the sea surface is improved under the action of the gravity and the sea water resistance of the lower support base 300.

In the present invention, the lower support base 300 has a simple frame structure and a large mass. Under various sea conditions, winch 103 is intelligently controlled to lower support pedestal 300 to a stable area depending on the height of the waves. The lower support base 300 at the desired depth provides sufficient stability to the overall retraction system under its own weight and resistance to seawater. A stabilizing system formed by taking the lower supporting base 300 as a core greatly limits the horizontal translation (surge, sway) and large-angle rotation (roll, pitch and yaw) of the middle auxiliary positioning mechanism 200 which mainly takes a light floating body on the horizontal plane by means of a fixed boundary formed by tensioning a steel wire rope and the traction of a bow cable, and is assisted by a second proximity switch and a rotation driver carried on the middle auxiliary positioning mechanism 200, so that unmanned intelligent folding and unfolding of a small boat can be realized.

In conclusion, compared with the comparison file, the method has the following positive effects:

1) the existing boat collecting and releasing device generally operates under a four-stage sea condition, so that the requirement of offshore operation can not be met, and particularly the boat collecting and releasing operation under a larger storm condition in the rescue field is difficult to realize. The invention makes boat retraction and release operation possible under the condition of heavy stormy waves, has high reliability, can adapt to the wave height in various sea conditions, safely and efficiently retracts the boat, and has more obvious advantages particularly under the condition of heavy stormy waves.

2) At present, the boat receiving and releasing mode needs to be provided with a special boat frame or a special slide way, needs to be fixed to occupy the space of a ship, and is not flexible to store and store. The invention can more flexibly utilize the space of the ship, the storage position is not fixed, and the placing position can be adjusted according to the requirement.

3) The existing boat retraction device is high in manufacturing and production cost. The invention has low cost and is easy to popularize and implement.

4) The existing boat retraction device needs to be arranged and installed in consideration of the ship construction stage. The invention has low requirement on ships, can be purchased for use on board at a later stage, does not need special boat frames and hoisting equipment, is suitable for various ships to intelligently receive and release boats, and is more flexible and convenient to apply.

5) The middle auxiliary positioning mechanism is made of light materials with wave passing holes, can float on the sea surface and is convenient for the boat to enter or leave; in addition, the approach switch and the rotary driver on the floating body frame can be used for automatically closing the guide door after the boat is driven in.

The above description is of the preferred embodiment of the invention. It is to be understood that the invention is not limited to the particular embodiments described above, in that devices and structures not described in detail are understood to be implemented in a manner common in the art; those skilled in the art can make many possible variations and modifications to the disclosed embodiments, or modify equivalent embodiments to equivalent variations, without departing from the spirit of the invention, using the methods and techniques disclosed above. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention are still within the scope of the protection of the technical solution of the present invention, unless the contents of the technical solution of the present invention are departed.