阅读说明：本技术 一种水压驱动的水下潜器回收装置及其作业方法 (Hydraulic-driven underwater vehicle recovery device and operation method thereof ) 是由 刘俊旭 高世琰 钟庆超 蒋玮 郭浩 高月龙 刘展志 陈斌 于 2021-07-20 设计创作，主要内容包括：本发明提供了一种水压驱动的水下潜器回收装置及其作业方法,其包括回收装置船体、磁性滑块、对位磁体、挡板活塞缸等。回收装置船体连接桁架设置有吊轨,吊轨上连接有可沿其运动的移动吊架,移动吊架上设置有吊缆收放机构,以收放吊缆,调整吊缆端部设置的电动吊钩的位置；水压泵通过船体进水口吸入海水,将加压后的高压海水输送至集成阀块,通过控制集成阀块各电磁阀的通断,实现回收装置电动吊钩和水下潜器机体相对位置的十字移动,满足回收作业的起吊精确度要求；本发明以高压海水为介质产生驱动力,可实时循环且无需散热,实现回收装置针对水下潜器收放机构活动部件的驱动及夹紧,保障水下潜器的顺利布放和安全回收。(The invention provides a water pressure driven underwater vehicle recovery device and an operation method thereof. The recovery device hull connecting truss is provided with a hanger rail, the hanger rail is connected with a movable hanger capable of moving along the hanger rail, and the movable hanger is provided with a hanger cable retracting mechanism for retracting a hanger cable and adjusting the position of an electric hook arranged at the end part of the hanger cable; the hydraulic pump sucks seawater through a water inlet of the ship body, the pressurized high-pressure seawater is conveyed to the integrated valve block, and the cross movement of the relative positions of the electric lifting hook of the recovery device and the underwater vehicle body is realized by controlling the on-off of each electromagnetic valve of the integrated valve block, so that the lifting accuracy requirement of the recovery operation is met; the underwater vehicle power recovery device takes high-pressure seawater as a medium to generate driving force, can circulate in real time without heat dissipation, realizes the driving and clamping of the recovery device aiming at the movable parts of the underwater vehicle retraction mechanism, and ensures the smooth deployment and safe recovery of the underwater vehicle.)

1. A recovery device of a hydraulic driven underwater vehicle is characterized by comprising a recovery device hull, wherein the recovery device hull comprises two split hulls which are arranged in parallel, and the two split hulls are connected through a hull connecting truss; the stern part of each split hull is provided with a driving mechanism for driving the split hull to move; each split hull is provided with a hull guide rail, the hull guide rail is provided with a plurality of L-shaped hull baffles, one end of each L-shaped hull baffle is movably connected with the hull guide rail, the other end of each L-shaped hull baffle faces the other split hull, and the end of each L-shaped hull baffle is provided with an elastic protection piece;

the hull connecting truss is provided with two suspension rails which are longitudinally arranged, the outside of each suspension rail is connected with a movable suspension bracket which can move longitudinally along the suspension rail, the lower end of each movable suspension bracket is connected with a suspension cable retracting mechanism, and the suspension cable retracting mechanism is connected with a lifting hook through a suspension cable;

the interior of the hanger rail is of a hollow sealed groove body structure, a magnetic sliding block with a sealing sliding ring is embedded in the groove body, and water inlets and water outlets capable of being filled with seawater are formed in two ends of the groove body structure;

the movable hanging bracket is provided with an alignment magnet which has a magnetic pole opposite to that of the magnetic slider; the magnetic slide block is made of a strong magnetic material and is attracted with the contraposition magnet with the opposite magnetic pole, so that the movable hanging bracket can be driven to move longitudinally;

a baffle piston cylinder is arranged in each split ship body, and the rear end of each machine body baffle is connected with a piston rod of each baffle piston cylinder; the baffle piston cylinder in the split hull body on the left side is connected with the left baffle electromagnetic valve, the baffle piston cylinder in the split hull body on the right side is connected with the right baffle electromagnetic valve, and high-pressure seawater is injected into the baffle piston cylinders on the left side and the right side by changing the conduction positions of the left baffle electromagnetic valve and the right baffle electromagnetic valve so as to drive the machine body baffles on the left side and the right side to respectively move towards the inner side and the outer side of the split hull body on the left side and the right side in parallel;

the electric lifting hook and the underwater vehicle can realize cross movement of relative positions by means of longitudinal movement of the movable hanging bracket and transverse movement of the machine body baffle;

the bottom of the left split hull is provided with a hull water inlet for sucking seawater; the bottom of the split hull on the right side is provided with a hull water outlet for discharging seawater;

a pump driving motor and a hydraulic pump which are connected with each other are arranged in the split hull body on the left side, the water inlet end of the hydraulic pump is communicated with the hull water inlet of the split hull body on the left side through a water pipe, the water outlet end of the hydraulic pump is communicated with the water inlet end of an integrated valve block arranged on a hull connection truss through a water pipe, and the water outlet end of the integrated valve block is communicated with the hull water outlet of the split hull body on the right side through a water pipe; the water pressure pump absorbs seawater through a water inlet of the ship body, boosts the seawater, and conveys high-pressure seawater to the integrated valve block, and the integrated valve block discharges the seawater circularly used by the water pressure driving system through a water outlet of the ship body;

the integrated valve block is provided with 3 electromagnetic hydraulic valves which are four-position three-way electromagnetic valves, namely a hanger electromagnetic valve, a left baffle electromagnetic valve and a right baffle electromagnetic valve; the hanger electromagnetic valve is used for controlling the switching on and off and switching over of water inlet and outlet loops at two ends of a hollow sealed groove body structure in the hanger rail; the left baffle electromagnetic valve is used for controlling the opening and closing and switching of a water inlet and outlet loop of the baffle piston cylinder in the split hull on the left side; and the right baffle electromagnetic valve is used for controlling the switching on and off and switching over of a water inlet and outlet loop of the baffle piston cylinder in the split hull on the right side.

2. A hydraulically driven submersible recovery device as claimed in claim 1 wherein the outer edges of the split hulls are streamlined.

3. A hydraulically driven underwater vehicle recovery device as claimed in claim 1 in which the drive mechanism is an externally mounted protective hull propeller.

4. The recovery device of a water pressure driven underwater vehicle as claimed in claim 1, wherein the lifting hook is an electric lifting hook, two magnetic lock buckles capable of being controlled by switching on and off power supply are arranged on the electric lifting hook, a spring and an electromagnet are arranged in the magnetic lock buckles, and when the electromagnet is powered off, the spring pushes out the magnetic lock buckles, so that the end faces of the two magnetic lock buckles are tightly attached to each other and are mutually meshed through tooth mouths on the magnetic lock buckles; when the electromagnet is electrified, the magnetic lock buckle can be reversely sucked back, so that a space is generated between the end faces of the two magnetic lock buckles.

5. A distribution and recovery operation method of a hydraulic driven underwater vehicle specifically comprises the following steps:

1. laying operation

After the recovery device carries the underwater vehicle to a target sea area, the recovery device stops sailing;

starting a hydraulic pump in the ship body, sucking seawater by the hydraulic pump through a water inlet of the ship body, and conveying the pressurized high-pressure seawater to an integrated valve block;

controlling the left baffle electromagnetic valve to move to the left position, and enabling high-pressure seawater to enter a rod cavity of a baffle piston cylinder in the split hull on the left side, so that the left body baffle moves to the tail end limiting position towards the left side of the split hull on the left side; the right baffle electromagnetic valve moves to the left position, and high-pressure seawater enters a rod cavity of a baffle piston cylinder in the split hull on the right side, so that the right body baffle moves to the tail end limiting position towards the right side of the split hull on the right side;

controlling the left baffle electromagnetic valve and the right baffle electromagnetic valve to move to the middle position, and respectively sealing the water inlet and the water outlet of the baffle piston cylinder in the left split ship body and the water inlet and the water outlet of the baffle piston cylinder in the right split ship body, so that the machine body baffles on the two sides are tightly attached to the split ship bodies on the two sides and keep still;

after the machine body baffles on the two sides move left and right and are opened, the underwater vehicle breaks away from the constraint of the machine body baffles and floats on the sea surface;

the electric lifting hook is opened, the electric lifting hook is separated from the lifting ring of the underwater vehicle, and the underwater vehicle is separated from the recovery device and sails independently to be far away from the recovery device;

the hoisting cable retracting mechanism tightens the hoisting cable and lifts the electric lifting hook;

the electromagnetic valve of the hanger moves to the left position, high-pressure seawater enters the front end of the internal sealing groove body structure of the hanger rails on the left side and the right side, the magnetic slide block in the groove body is pushed by water pressure to move towards the rear side and is attracted by opposite magnetic poles of the aligning magnet, and the movable hanger also moves towards the rear side; when the magnetic slider moves to the tail end limiting position, the movable hanging bracket also stops moving;

the hanger electromagnetic valve moves to the middle position, water inlets at two ends of the sealed groove body structure in the hanger rails on the left side and the right side are sealed, and the movable hanger is kept still at the rear part of the truss of the recovery device;

2. recovery operation

After the underwater vehicle is operated, the underwater vehicle floats out of the water surface, the recovery device reaches the target sea area where the underwater vehicle is located, and the underwater vehicle sails at a low speed until the underwater vehicle is placed between the body baffles of the two split hulls, and then the sailing is stopped;

starting a hydraulic pump in the split hull, sucking seawater by the hydraulic pump through a water inlet of the hull, and conveying the pressurized high-pressure seawater to the integrated valve block;

controlling the left baffle electromagnetic valve to move to the right, and enabling high-pressure seawater to enter a rodless cavity of a baffle piston cylinder in the split hull on the left side, so that the body baffle on the left side moves to the right side of the hull; the right baffle electromagnetic valve moves to the right, and high-pressure seawater enters a rodless cavity of a baffle piston cylinder in the split hull on the right, so that the right body baffle moves to the left side of the hull;

after the underwater vehicle is propped and clamped by the left engine body baffle and the right engine body baffle, the left baffle electromagnetic valve and the right baffle electromagnetic valve are controlled to move to the middle position to respectively seal a water inlet of the baffle piston cylinder in the left split ship body and a water inlet of the baffle piston cylinder in the right split ship body, and the left engine body baffle and the right engine body baffle stop moving and keep the existing positions still;

the electromagnetic valve of the hanger moves to the right, high-pressure seawater enters the rear ends of the internal sealing groove body structures of the hanger rails on the left side and the right side, the magnetic slide blocks in the groove body are pushed by water pressure to move to the front side and are attracted by opposite magnetic poles of the aligning magnets, and the movable hanger also moves to the front side; when the movable hanger moves to the position above the hanging ring of the underwater vehicle, the electromagnetic valve of the hanger moves to the middle position to seal the water pipes at the two ends of the sealed groove structure in the hanger rails at the left side and the right side, and the movable hanger stops moving and keeps the existing position still;

the hoisting cable retracting mechanism releases the hoisting cable, and an electric lifting hook at the tail end of the hoisting cable hooks a lifting ring of the underwater vehicle;

the positions of the movable hanger, the left machine body baffle and the right machine body baffle can be controlled by adjusting the valve core positions of the hanger electromagnetic valve, the left baffle electromagnetic valve and the left baffle electromagnetic valve, so that the electric lifting hook and the underwater vehicle can realize cross movement of relative positions by means of longitudinal movement formed by the movable hanger and transverse movement formed by the machine body baffles, accurate alignment is carried out, and the lifting accuracy requirement of recovery operation is met;

adjusting the position of the electric lifting hook, after the electric lifting hook hooks a lifting ring of the underwater vehicle, tightening a lifting cable by a lifting cable retracting mechanism, and lifting the electric lifting hook;

the length of the suspension cable is adjusted to enable the underwater vehicle to be under the combined action of three directional forces, namely a clamping force of machine body baffles on two sides of the ship body and a pulling force of the electric lifting hook, to form a stable and fixed connection form with the ship body, and relative position movement does not occur at the locked position;

and (4) completing the recovery operation of the underwater vehicle, and returning the underwater vehicle carried by the recovery device to the shore base.

Technical Field

The invention belongs to the technical field of underwater vehicle deployment and recovery, and particularly relates to a hydraulic-driven underwater vehicle recovery device and an operation method thereof.

Background

At present, ocean energy sources, communication and power transmission pipelines (hereinafter collectively referred to as "submarine pipelines") such as submarine oil pipelines, communication optical cables, power cables and the like are put into use in large quantity, and the submarine pipelines after being put into operation need to be regularly inspected to solve possible problems of submarine pipeline bodies and potential threats to routing areas. If the anchor body or the fishing net of the operation ship is dragged to cause accidents such as damage and fracture of the submarine pipeline, the damaged or fractured position of the pipeline needs to be quickly and accurately positioned so as to accelerate the maintenance efficiency of the faulty pipeline.

The best carrier for performing subsea pipeline condition inspection and fault detection operations is an underwater vehicle. The underwater vehicle usually needs to be deployed and recovered by using a hoisting device (a crane or an A-shaped frame) of a mother ship on the water surface, so that the underwater vehicle has high requirements on the tonnage and the equipment of the mother ship, is complex to operate, cannot be deployed and recovered under poor sea conditions, and is more difficult to recover once the underwater vehicle breaks down and floats out of the water surface. Although there is a dedicated underwater vehicle deployment and recovery device, it usually needs to use a motor or a hydraulic system to drive each movable part of the deployment and recovery mechanism, and it will be seriously corroded when used in seawater for a long time, so a new power driving system needs to be researched to adapt to the severe environment of long-term marine operation.

Disclosure of Invention

The invention aims to solve the problems and provides a hydraulic pressure driven underwater vehicle recovery device and an operation method thereof.

The technical scheme provided by the invention is as follows: a recovery device of a hydraulic driven underwater vehicle is characterized by comprising a recovery device hull, wherein the recovery device hull comprises two split hulls which are arranged in parallel, and the two split hulls are connected through a hull connecting truss; the stern part of each split hull is provided with a driving mechanism for driving the split hull to move; each split hull is provided with a hull guide rail, the hull guide rail is provided with a plurality of L-shaped hull baffles, one end of each L-shaped hull baffle is movably connected with the hull guide rail, the other end of each L-shaped hull baffle faces the other split hull, and the end of each L-shaped hull baffle is provided with an elastic protection piece;

the hull connecting truss is provided with two suspension rails which are longitudinally arranged, the outside of each suspension rail is connected with a movable suspension bracket which can move longitudinally along the suspension rail, the lower end of each movable suspension bracket is connected with a suspension cable retracting mechanism, and the suspension cable retracting mechanism is connected with a lifting hook through a suspension cable;

the interior of the hanger rail is of a hollow sealed groove body structure, a magnetic sliding block with a sealing sliding ring is embedded in the groove body, and water inlets and water outlets capable of being filled with seawater are formed in two ends of the groove body structure;

the movable hanging bracket is provided with an alignment magnet which has a magnetic pole opposite to that of the magnetic slider; the magnetic slide block is made of a strong magnetic material and is attracted with the contraposition magnet with the opposite magnetic pole, so that the movable hanging bracket can be driven to move longitudinally;

a baffle piston cylinder is arranged in each split ship body, and the rear end of each machine body baffle is connected with a piston rod of each baffle piston cylinder; the baffle piston cylinder in the split hull body on the left side is connected with the left baffle electromagnetic valve, the baffle piston cylinder in the split hull body on the right side is connected with the right baffle electromagnetic valve, and high-pressure seawater is injected into the baffle piston cylinders on the left side and the right side by changing the conduction positions of the left baffle electromagnetic valve and the right baffle electromagnetic valve so as to drive the machine body baffles on the left side and the right side to respectively move towards the inner side and the outer side of the split hull body on the left side and the right side in parallel;

the electric lifting hook and the underwater vehicle can realize cross movement of relative positions by means of longitudinal movement of the movable hanging bracket and transverse movement of the machine body baffle;

the bottom of the left split hull is provided with a hull water inlet for sucking seawater; the bottom of the split hull on the right side is provided with a hull water outlet for discharging seawater;

a pump driving motor and a hydraulic pump which are connected with each other are arranged in the split hull body on the left side, the water inlet end of the hydraulic pump is communicated with the hull water inlet of the split hull body on the left side through a water pipe, the water outlet end of the hydraulic pump is communicated with the water inlet end of an integrated valve block arranged on a hull connection truss through a water pipe, and the water outlet end of the integrated valve block is communicated with the hull water outlet of the split hull body on the right side through a water pipe; the water pressure pump absorbs seawater through a water inlet of the ship body, boosts the seawater, and conveys high-pressure seawater to the integrated valve block, and the integrated valve block discharges the seawater circularly used by the water pressure driving system through a water outlet of the ship body;

the integrated valve block is provided with 3 electromagnetic hydraulic valves which are four-position three-way electromagnetic valves, namely a hanger electromagnetic valve, a left baffle electromagnetic valve and a right baffle electromagnetic valve; the hanger electromagnetic valve is used for controlling the switching on and off and switching over of water inlet and outlet loops at two ends of a hollow sealed groove body structure in the hanger rail; the left baffle electromagnetic valve is used for controlling the opening and closing and switching of a water inlet and outlet loop of the baffle piston cylinder in the split hull on the left side; and the right baffle electromagnetic valve is used for controlling the switching on and off and switching over of a water inlet and outlet loop of the baffle piston cylinder in the split hull on the right side.

Preferably, the outer edge of the split hull is streamline.

Preferably, the driving mechanism is a propeller with an external protective shell.

Preferably, the lifting hook is an electric lifting hook, two magnetic lock buckles capable of being controlled by switching on and off a power supply are arranged on the electric lifting hook, springs and electromagnets are arranged in the magnetic lock buckles, and when the electromagnets are powered off, the springs push out the magnetic lock buckles, so that the end faces of the two magnetic lock buckles are tightly attached to each other and are mutually meshed through tooth mouths on the magnetic lock buckles; when the electromagnet is electrified, the magnetic lock buckle can be reversely sucked back, so that a space is generated between the end faces of the two magnetic lock buckles.

A distribution and recovery operation method of a hydraulic driven underwater vehicle specifically comprises the following steps:

1. laying operation

After the recovery device carries the underwater vehicle to a target sea area, the recovery device stops sailing;

starting a hydraulic pump in the ship body, sucking seawater by the hydraulic pump through a water inlet of the ship body, and conveying the pressurized high-pressure seawater to an integrated valve block;

controlling the left baffle electromagnetic valve to move to the left position, and enabling high-pressure seawater to enter a rod cavity of a baffle piston cylinder in the split hull on the left side, so that the left body baffle moves to the tail end limiting position towards the left side of the split hull on the left side; the right baffle electromagnetic valve moves to the left position, and high-pressure seawater enters a rod cavity of a baffle piston cylinder in the split hull on the right side, so that the right body baffle moves to the tail end limiting position towards the right side of the split hull on the right side;

controlling the left baffle electromagnetic valve and the right baffle electromagnetic valve to move to the middle position, and respectively sealing the water inlet and the water outlet of the baffle piston cylinder in the left split ship body and the water inlet and the water outlet of the baffle piston cylinder in the right split ship body, so that the machine body baffles on the two sides are tightly attached to the split ship bodies on the two sides and keep still;

after the machine body baffles on the two sides move left and right and are opened, the underwater vehicle breaks away from the constraint of the machine body baffles and floats on the sea surface;

the electric lifting hook is opened, the electric lifting hook is separated from the lifting ring of the underwater vehicle, and the underwater vehicle is separated from the recovery device and sails independently to be far away from the recovery device;

the hoisting cable retracting mechanism tightens the hoisting cable and lifts the electric lifting hook;

the electromagnetic valve of the hanger moves to the left position, high-pressure seawater enters the front end of the internal sealing groove body structure of the hanger rails on the left side and the right side, the magnetic slide block in the groove body is pushed by water pressure to move towards the rear side and is attracted by opposite magnetic poles of the aligning magnet, and the movable hanger also moves towards the rear side; when the magnetic slider moves to the tail end limiting position, the movable hanging bracket also stops moving;

the hanger electromagnetic valve moves to the middle position, water inlets at two ends of the sealed groove body structure in the hanger rails on the left side and the right side are sealed, and the movable hanger is kept still at the rear part of the truss of the recovery device;

2. recovery operation

After the underwater vehicle is operated, the underwater vehicle floats out of the water surface, the recovery device reaches the target sea area where the underwater vehicle is located, and the underwater vehicle sails at a low speed until the underwater vehicle is placed between the body baffles of the two split hulls, and then the sailing is stopped;

starting a hydraulic pump in the split hull, sucking seawater by the hydraulic pump through a water inlet of the hull, and conveying the pressurized high-pressure seawater to the integrated valve block;

controlling the left baffle electromagnetic valve to move to the right, and enabling high-pressure seawater to enter a rodless cavity of a baffle piston cylinder in the split hull on the left side, so that the body baffle on the left side moves to the right side of the hull; the right baffle electromagnetic valve moves to the right, and high-pressure seawater enters a rodless cavity of a baffle piston cylinder in the split hull on the right, so that the right body baffle moves to the left side of the hull;

after the underwater vehicle is propped and clamped by the left engine body baffle and the right engine body baffle, the left baffle electromagnetic valve and the right baffle electromagnetic valve are controlled to move to the middle position to respectively seal a water inlet of the baffle piston cylinder in the left split ship body and a water inlet of the baffle piston cylinder in the right split ship body, and the left engine body baffle and the right engine body baffle stop moving and keep the existing positions still;

the electromagnetic valve of the hanger moves to the right, high-pressure seawater enters the rear ends of the internal sealing groove body structures of the hanger rails on the left side and the right side, the magnetic slide blocks in the groove body are pushed by water pressure to move to the front side and are attracted by opposite magnetic poles of the aligning magnets, and the movable hanger also moves to the front side; when the movable hanger moves to the position above the hanging ring of the underwater vehicle, the electromagnetic valve of the hanger moves to the middle position to seal the water pipes at the two ends of the sealed groove structure in the hanger rails at the left side and the right side, and the movable hanger stops moving and keeps the existing position still;

the hoisting cable retracting mechanism releases the hoisting cable, and an electric lifting hook at the tail end of the hoisting cable hooks a lifting ring of the underwater vehicle;

the positions of the movable hanger, the left machine body baffle and the right machine body baffle can be controlled by adjusting the valve core positions of the hanger electromagnetic valve, the left baffle electromagnetic valve and the left baffle electromagnetic valve, so that the electric lifting hook and the underwater vehicle can realize cross movement of relative positions by means of longitudinal movement formed by the movable hanger and transverse movement formed by the machine body baffles, accurate alignment is carried out, and the lifting accuracy requirement of recovery operation is met;

adjusting the position of the electric lifting hook, after the electric lifting hook hooks a lifting ring of the underwater vehicle, tightening a lifting cable by a lifting cable retracting mechanism, and lifting the electric lifting hook;

the length of the suspension cable is adjusted to enable the underwater vehicle to be under the combined action of three directional forces, namely a clamping force of machine body baffles on two sides of the ship body and a pulling force of the electric lifting hook, to form a stable and fixed connection form with the ship body, and relative position movement does not occur at the locked position;

and (4) completing the recovery operation of the underwater vehicle, and returning the underwater vehicle carried by the recovery device to the shore base.

The invention has the beneficial effects that:

1. the invention innovatively provides a water pressure driven underwater vehicle recovery device, which takes high-pressure seawater as a medium to generate a driving force, can circulate in real time without heat dissipation, realizes the driving and clamping of the recovery device on movable parts of an underwater vehicle retraction and release mechanism, and ensures the smooth distribution and safe recovery of underwater vehicles.

2. The invention innovatively provides a method for controlling the positions of a movable hanging bracket, a left machine body baffle and a right machine body baffle, so that the electric lifting hook and the underwater vehicle can realize cross movement of relative positions by means of longitudinal movement formed by the movable hanging bracket and transverse movement formed by the machine body baffles, accurate alignment is carried out, and the lifting accuracy requirement of recovery operation is met.

3. The invention innovatively provides a fixing device for a body baffle of an underwater vehicle, which adopts extrusion force generated by the body baffle capable of moving towards the inner side of a ship body to clamp the underwater vehicle in the middle of a catamaran so that the underwater vehicle cannot move laterally, and the body is prevented from shaking. The vertical surface of the machine body baffle is provided with an elastic protection piece, so that the machine body of the underwater vehicle is clamped and prevented from being damaged, and the underwater vehicle is suitable for underwater vehicles of different types.

4. The invention innovatively provides an electric lifting hook device with a magnetic lock buckle, which can enable an electric lifting hook of a recovery device to be tightly connected with a lifting ring of an underwater vehicle through a magnetic suction device and a spring to freely move the buckle, so that the body of the underwater vehicle is fixed.

5. The invention innovatively provides a deployment and recovery operation method of a water pressure driven underwater vehicle, which can realize autonomous deployment and recovery operation of the underwater vehicle by remote control and power drive of a seawater liquid medium without direct manual participation and reduces operation difficulty and risk.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate exemplary embodiments of the invention and together with the description serve to explain the invention and not to limit the invention.

FIG. 1 is a side schematic view of a hydraulically driven submersible recovery unit of the present invention;

fig. 2 is a front view of the hydraulically driven submersible recovery device of the present invention.

Fig. 3 is a schematic structural view of the electric hook of the hydraulically driven underwater vehicle recovery unit of the present invention.

1. An underwater vehicle; 2. a submersible lifting ring; 3. a split hull; 4. a propeller thruster; 5. a machine body baffle plate; 6. the hull is connected with a truss; 7. an integration valve block; 8. a left baffle electromagnetic valve; 9. a right baffle electromagnetic valve; 10. a hanger electromagnetic valve; 11. hoisting a rail; 12. a movable hanger; 13. aligning the magnet; 14. a magnetic slider; 15. a hoist cable retracting mechanism; 16. hoisting cables; 17. an elastic protection member; 18. an electric hook; 19. a baffle piston cylinder; 20. a hydraulic pump; 21. a water inlet of the ship body; 22. a water outlet of the ship body; 23. a water pipe; 24. the pump drives the motor.

Detailed Description

The invention is further described with reference to the following figures and examples.

It is to be understood that the following detailed description is exemplary and is intended to provide further explanation of the invention as claimed. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.

In the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only terms of relationships determined for convenience of describing structural relationships of the parts or elements of the present invention, and are not intended to refer to any parts or elements of the present invention, and are not to be construed as limiting the present invention.

In the present invention, terms such as "fixedly connected", "connected", and the like are to be understood in a broad sense, and mean either a fixed connection or an integrally connected or detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.

As shown in fig. 1 and 2, the recovery device of the underwater vehicle driven by water pressure comprises a recovery device hull, a hull connecting truss 6, a machine body baffle 5, a movable hanger 12, a cable retraction jack 15, an electric lifting hook 18, a magnetic slider 14, a contraposition magnet 13, a water pressure pump 20, a pump driving motor 24, an integrated valve block 7, a baffle piston cylinder 19, a left baffle electromagnetic valve 8, a right baffle electromagnetic valve 9, a hanger electromagnetic valve 10 and the like. Wherein:

the recovery device hull is a catamaran type formed by two split hulls 3 arranged in parallel, has the advantages of good stability, flexible movement and the like, and has stronger wind wave bearing capacity than a monohull ship under the condition of keeping higher navigation speed. The propeller propellers 4 are arranged at the stern part of each split hull 3, the independent propulsion and forward and backward travelling capabilities are realized, the travelling speed of the hull can be adjusted, and the fine adjustment of the direction of the hull is realized through the differential motion or the forward and backward motion of the two propeller propellers 4.

The recovery unit hull comprises two split hulls 3 which are provided with streamline shapes and are arranged in parallel left and right, a propeller 4 is arranged at the stern part of each split hull 3, and a protective shell is arranged outside each propeller 4 to prevent the underwater vehicle 1 from being damaged by scratches. The hull connecting truss 6 is connected between the two split hulls 3, and the lower ends of the two sides of the hull connecting truss 6 are respectively welded with the split hulls 3, so that the left and right split hulls 3 can be stably and firmly connected.

Two suspension rails 11 which are longitudinally arranged are arranged on the hull connecting truss 6, a movable hanging bracket 12 which can move longitudinally along the suspension rails 11 is connected to the outer part of the suspension rails 11, and the movable hanging bracket 12 is used for hoisting and tensioning the underwater vehicle 1 so as to enable the underwater vehicle to be tightly connected with a recovery device. The lower end of the movable hanger 12 is provided with a cable retraction jack 15 which is a cable winch. The end of the hoist cable 16 is connected with an electric hook 18, and the hoist cable 16 is retracted and tensioned by the hoist cable retracting mechanism 15. The cable retraction mechanism 15 is used to retract the cable 16 and adjust the position of an electric hook 18 provided at the end of the cable 16.

The inside hollow sealed cell body structure that is of hanger rail 11, the cell body is embedded to have the magnetic slide 14 of taking sealed sliding ring, and cell body structure both ends are equipped with the inlet outlet, can pour into the sea water, and magnetic slide 14 moves to both sides along with both ends water pressure change.

The movable hanger 12 is provided with an alignment magnet 13 which has a magnetic pole opposite to that of the magnetic slider 14; the magnetic slider 14 is made of a ferromagnetic material, and is attracted to the alignment magnet with opposite magnetic poles, so as to drive the movable hanger 12 to move longitudinally.

As shown in FIG. 3, two magnetic lock buckles 18-2 which can be controlled by switching on and off power supply are arranged on the electric hook 18. A spring 18-3 and an electromagnet 18-1 are arranged in the magnetic lock buckle 18-2, and when the electromagnet 18-1 is powered off, the spring 18-3 pushes the magnetic lock buckle 18-2 out, so that the end faces of the two magnetic lock buckles 18-2 are tightly attached to each other and are mutually occluded through the tooth mouths of the magnetic lock buckle 18-2, and rolling displacement is prevented. When the hanging ring 2 of the underwater vehicle needs to be hooked, the electromagnet 18-1 arranged in the magnetic lock buckle 18-2 is electrified, and the magnetic lock buckle 18-2 is reversely sucked back, so that a larger distance is generated between the end surfaces of the two magnetic lock buckles 18-2. The position of the movable cradle 12 and the cable retraction mechanism 15 and the length of the cable 16 are adjusted so that the electric hook 18 is moved to both sides of the submersible vessel suspension ring 2. After the electric lifting hook 18 is in place, the electromagnet 18-1 is powered off, the magnetic lock buckle 18-2 is ejected out under the action of the spring 18-3, the end face of the magnetic lock buckle 18-2 is attached again and meshed with each other through the tooth mouth, and the connection of the electric lifting hook 18 of the recovery device and the hoisting ring 2 of the underwater vehicle is completed.

Each split hull 3 is provided with a hull guide rail, and the hull guide rail is movably provided with a plurality of body baffles 5 for clamping the underwater vehicle 1 so that the underwater vehicle does not laterally displace. The machine body baffle 5 is an L-shaped support, one end of the machine body baffle is movably connected with a ship body guide rail on the split ship body 3, the other end of the machine body baffle faces the other split ship body 3, and an elastic protection piece 17 is arranged on the vertical surface of the end of the machine body baffle and can not damage the machine body shell of the underwater vehicle when the underwater vehicle 1 is clamped.

A baffle piston cylinder 19 is arranged in each split hull 3, and the rear end of the engine body baffle 5 is connected with a piston rod of the baffle piston cylinder 19. The baffle piston cylinder 19 in the left split hull 3 is connected with the left baffle electromagnetic valve 8, the baffle piston cylinder 19 in the right split hull 3 is connected with the right baffle electromagnetic valve 9, and high-pressure seawater is injected into the baffle piston cylinders 19 on the left and right sides by changing the conduction positions of the left baffle electromagnetic valve 8 and the right baffle electromagnetic valve 9 so as to drive the machine body baffles 5 on the left and right sides to respectively move in parallel towards the inner side and the outer side of the split hull 3 on the left and right sides.

The electric hook 18 and the underwater vehicle 1 can realize cross movement of relative positions by means of longitudinal movement of the movable hanger 12 and transverse movement of the body baffle 5;

the bottom of the left split hull 3 is provided with a hull water inlet 21 for sucking seawater; the bottom of the right split hull 3 is provided with a hull water outlet 22 for discharging seawater.

A pump driving motor 24 and a hydraulic pump 20 which are connected with each other are arranged in the left split hull 3, the water inlet end of the hydraulic pump 20 is communicated with a hull water inlet 21 of the left split hull 3 through a water pipe 23, the water outlet end of the hydraulic pump 20 is communicated with the water inlet end of an integrated valve block 7 arranged on the hull connection truss 6 through the water pipe 23, and the water outlet end of the integrated valve block 7 is communicated with a hull water outlet 22 of the right split hull 3 through the water pipe 23; the hydraulic pump 20 can suck seawater through a water inlet 21 of the ship body, pressurize the seawater, and convey high-pressure seawater to the integrated valve block 7, and the integrated valve block 7 discharges the seawater used by the hydraulic drive system in a circulating mode through a water outlet 22 of the ship body.

The integrated valve block 7 is provided with 3 electromagnetic hydraulic valves which are respectively a hanger electromagnetic valve 10, a left baffle electromagnetic valve 8 and a right baffle electromagnetic valve 9; the 3 electromagnetic water pressure valves are four-position three-way electromagnetic valves, the working principle is similar to that of a hydraulic three-position four-way valve, and the electromagnetic water pressure valves have the characteristics of water tightness and corrosion resistance; the hanger electromagnetic valve 10 is used for controlling the switching on and off and switching of water inlet and outlet loops at two ends of a hollow sealed groove body structure in the hanger rail; the left baffle electromagnetic valve 8 is used for controlling the opening and closing and switching of a water inlet and outlet loop of the baffle piston cylinder 19 in the left split hull 3; the right baffle electromagnetic valve 9 is used for controlling the on-off and switching of a water inlet and outlet loop of the baffle piston cylinder 19 in the split hull 3 on the right side.

A distribution and recovery operation method of a hydraulic driven underwater vehicle specifically comprises the following steps:

1. laying operation

After the recovery device carries the underwater vehicle to a target sea area, the recovery device stops sailing;

starting a hydraulic pump in the ship body, sucking seawater by the hydraulic pump through a water inlet of the ship body, and conveying the pressurized high-pressure seawater to an integrated valve block;

and controlling the left baffle electromagnetic valve to move to the left position, and enabling high-pressure seawater to enter a rod cavity of a baffle piston cylinder in the left split hull to enable the left body baffle to move to the tail end limiting position towards the left side of the left split hull. The right baffle electromagnetic valve moves to the left position, and high-pressure seawater enters a rod cavity of a baffle piston cylinder in the split hull on the right side, so that the right body baffle moves to the tail end limiting position towards the right side of the split hull on the right side;

and controlling the left baffle electromagnetic valve and the right baffle electromagnetic valve to move to the middle position, and respectively sealing the water inlet of the baffle piston cylinder in the left split ship body and the water inlet of the baffle piston cylinder in the right split ship body to ensure that the machine body baffles on the two sides are tightly attached to the split ship bodies on the two sides and keep still.

After the machine body baffles on the two sides move left and right and are opened, the underwater vehicle breaks away from the constraint of the machine body baffles and floats on the sea surface;

the electric lifting hook is opened, the electric lifting hook is separated from the lifting ring of the underwater vehicle, and the underwater vehicle is separated from the recovery device and sails independently to be far away from the recovery device;

the hoisting cable retracting mechanism tightens the hoisting cable and lifts the electric lifting hook;

the gallows solenoid valve moves to the left side position, and high-pressure sea water gets into the front end of the hanger rail inside seal cell body structure on left and right sides, and the inside magnetism slider of cell body receives the water pressure to promote and removes to the rear side, receives counterpoint magnet opposite poles and attracts the effect mutually, and portable gallows also removes to the rear side. When the magnetic slider moves to the tail end limiting position, the movable hanging bracket also stops moving.

The electromagnetic valve of the hanger moves to the middle position to seal the water inlets at the two ends of the internal sealing groove body structure of the hanger rails at the left side and the right side, so that the movable hanger can keep still at the rear part of the truss of the recovery device.

2. Recovery operation

After the underwater vehicle is operated, the underwater vehicle floats out of the water surface, the recovery device reaches the target sea area where the underwater vehicle is located, and the underwater vehicle sails at a low speed until the underwater vehicle is placed between the body baffles of the two split hulls, and then the sailing is stopped;

starting a hydraulic pump in the split hull, sucking seawater by the hydraulic pump through a water inlet of the hull, and conveying the pressurized high-pressure seawater to the integrated valve block;

and controlling the left baffle electromagnetic valve to move to the right, and enabling high-pressure seawater to enter a rodless cavity of the baffle piston cylinder in the split hull on the left side, so that the body baffle on the left side moves to the right side of the hull. The right baffle electromagnetic valve moves to the right, and high-pressure seawater enters a rodless cavity of the baffle piston cylinder in the split hull on the right, so that the hull baffle on the right moves to the left side of the hull.

After the underwater vehicle is propped and clamped by the left engine body baffle and the right engine body baffle, the left baffle electromagnetic valve and the right baffle electromagnetic valve are controlled to move to the middle position to respectively seal a water inlet of the baffle piston cylinder in the left split ship body and a water inlet of the baffle piston cylinder in the right split ship body, and the left engine body baffle and the right engine body baffle stop moving and keep the existing positions still.

The electromagnetic valve of the hanger moves to the right, high-pressure seawater enters the rear ends of the hanger rail internal sealing groove body structures on the left side and the right side, the magnetic slide block inside the groove body is pushed by water pressure to move to the front side and is attracted by opposite magnetic poles of the aligning magnets, and the movable hanger also moves to the front side. When the movable hanger moves to the position above the hanging ring of the underwater vehicle, the electromagnetic valve of the hanger moves to the middle position to seal the water pipes at the two ends of the internal sealing groove body structure of the hanger rails at the left side and the right side, and the movable hanger stops moving and keeps the existing position still.

The hoisting cable retracting mechanism releases the hoisting cable, and an electric lifting hook at the tail end of the hoisting cable hooks a lifting ring of the underwater vehicle.

Through the case position of adjusting gallows solenoid valve, left baffle solenoid valve and left baffle solenoid valve, can control the position that portable gallows, left organism baffle and the organism baffle on right side were located, make electric hook and underwater vehicle can realize the cross removal of relative position with the help of the longitudinal movement that portable gallows formed and the lateral shifting that the organism baffle formed, carry out accurate counterpoint, satisfy the accuracy requirement that lifts by crane of retrieving the operation.

And adjusting the position of the electric lifting hook, and after the electric lifting hook hooks a lifting ring of the underwater vehicle, tightening the lifting cable by the lifting cable retracting mechanism and lifting the electric lifting hook.

The length of the suspension cable is adjusted to enable the underwater vehicle to be under the combined action of three forces, namely the clamping force of the machine body baffles on the two sides of the ship body and the pulling force of the electric lifting hook, to form a stable and fixed connection mode with the ship body, and the locked position does not move relatively.

And (4) completing the recovery operation of the underwater vehicle, and returning the underwater vehicle carried by the recovery device to the shore base.

It should be understood that parts of the specification not set forth in detail are well within the prior art. Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.