RU2685498C1 - Device for capture of floating halyard by autonomous unmanned underwater vehicle - Google Patents

Abstract

FIELD: machine building.SUBSTANCE: invention relates to means of capturing floating facilities in sea, mainly, autonomous unmanned underwater vehicles (AUUV) for their subsequent lifting to board of providing ship. Gripping device is rigidly installed in nose part of underwater vehicle body in its centerline plane and is oriented forward along underwater vehicle movement. Gripping mechanism is equipped with electric drive and comprises housing, in upper part of which, with possibility of rotation, on axle double-arm lever is installed, and along longitudinal axis of housing, in its lower part, running screw and guide are installed parallel to each other. On the lead screw connected to the electric drive there is a sliding nut with the possibility of linear movement along the guide. Running nut is pivotally connected to lower arm of lever and in its every end permanent magnet is installed, and end contactless position sensors of running nut are installed on body respectively. Catching element is made on the upper arm of the lever in the form of a hook equipped with a fishing float catcher made in the form of an elongated plate repeating the loop contour of the fore end of the AUUV hull. On the side surfaces of the hook there installed on the axis are pendulums in the form of shaped plates, in the lower part of which fixed permanent magnets are fixed, and on the housing there are end contact-free sensors of position of the pendulum pendulums. Gripping means is integrated into control system of AUUV.EFFECT: reduced risk of damage to AUUV, higher reliability of operation and exclusion of direct participation in the operation of capturing AUUV crew members providing ship.1 cl, 10 dwg

Description

The invention relates to the capture of ships in the sea, mainly autonomous uninhabited underwater vehicles (AUV) for subsequent lifting them aboard the supporting vessel.

The small-sized ANPA “Hugin-3000” is known (G.Yu. Illarionov, KS Sidenko, L.Yu. Bocharov, Threat from the Depth: 21st Century. - Khabarovsk: Khabarovsk Regional Printing Plant, - 2011. 197, ill. pp. 198-200), in which for its capture is provided a detachable floating nose connected to the ANP by means of a lifting head with positive buoyancy. To perform the capture operation, the nose part is shot away from the vehicle a few meters to the side and serves as a buoy connected with an AUV lifting rod. The operator shoots a pneumatic harpoon attached to the winch cable of the launching device from the side of the supporting ship. The harpoon hook hooks onto the lifting arm of the ANP, freely floating between the ANP and its fired nose. Then the AUV for the lifting cable is drawn into the gangway, the gangway is raised and retracted aboard.

The disadvantages of this technical solution include the fact that in order to carry out the harpoon throwing technology, the supporting vessel needs to approach the emerged AUV at a distance of 50-100 meters. When the sea is above 5 points, there is a high probability of damage by the harpoon of the AUV hull and the equipment installed on it, as well as the need to make multiple attempts to hook the lifting cable with a harpoon. The operation requires the direct participation of a person (group of people). In addition, subsequent launches of the AUV require additional manipulations: fueling the file into the vehicle and installing it in place of the bow. It should also be attributed to the main disadvantages and the low reliability of the technical means due to the sharp limitation of its application with increasing sea waves, the need for complex maneuvering of the supporting vessel to carry out the aimed spear and the need for the attendants to participate in deck operations to capture and accept AUVs.

Also known is an autonomous, uninhabited underwater vehicle “SeaCat” (http://www.seacat-auv.com/), on the case of which a gripping means in the form of a single-paw bracket is rigidly mounted in its center plane. The single-pawl bracket end attached to the AUVP body is made in the form of an elongated and protruding lug protruding element angled upward from the longitudinal axis of the body to form a gap between the surface of the body and the protrusion to ensure the passage of the floating grip head directly into the one-paw bracket.

The operation of capturing the APSA SeaCat and lifting it on board the supporting vessel is carried out by means of a ship-loading crane, at the operator’s commands, with the direct participation of the vessel’s crew. Previously, the free end of the cable of the crane is equipped with a self-locking hook, to the nose of which is attached a floating gripping halyard, and its other end is held on board the vessel by members of the crew participating in the operation. At the operator's command, the crane is put into operation and its boom is carried (turned) overboard of the supporting vessel until the end of the cargo boom with a self-locking hook hanging on its cargo cable is located at least 5 meters from the ship’s side. Then, at the operator's command, a self-locking hook, attached to the end of the cargo cable, is lowered, fixes its position in close proximity to the surface of the water and holds it in that position. At the same time, the crew members lower the floating gripping halyard onto the water surface from the self-locking hook to the hull of the vessel and hold it in this position. Further, the operator directs the AUV in a surface position along the course of the supporting vessel between the self-locking hook hanging on the cargo cable. Moving in such a course, the ANP swims under a floating gripping rope lying on the surface of the water, which is captured by the gripping element - the projection of the ANP and through the slot in the single-leg brace, the gripping arm falls inside the single-leg bracket. The capture of the ANP is carried out and its movement is stopped. Then, the crew of the vessel manually, by means of a gripping halyard, draw the spout of a self-locking hook inside the one-paw bracket, and then the whole hook. With the end of the AUV suspension operation on a self-locking hook, it automatically closes and AUV is lifted aboard the support vessel with a crane.

The disadvantages of this known gripping device are that for the capture and subsequent lifting of the ANP on board the supporting vessel, it is necessary to position the ANP in the immediate vicinity of the supporting vessel with the help of the ANP propulsion device and its thruster. A sea disturbance of more than 3 points already represents significant inconvenience for the crew: there is a risk of damaging the AUV about the ship’s board, the operator has difficulty in visual control of the AUV capture operation and its lifting aboard the ship, and the crew in terms of positioning the halyard and AUV capture for the halyard halyard and the ANP suspension for the self-locking hook for lifting the AUV on board the vessel.

Thus, the use of a gripping device installed on the ANPA SeaCat, in general, reduces the reliability of the operation to capture and lift the AUV on board the supporting vessel while increasing sea waves, the need for the operator to perform complex maneuvers by the AUV itself, and the need for deck operations to capture and lift AUV on board the vessel.

The presence of such deficiencies in the well-known technical devices determines the urgency and the need to develop a new constructive solution for capturing and lifting underwater vehicles aboard the supporting vessel.

The basis of the invention is the task to create an automated device for capturing a floating halyard installed directly on the ANPA and integrating it into the ANP control system, reducing the risk of damage to the ANPA during the operation of its capture on the floating halyard under sea conditions, increasing the reliability of the ANPA capture operation on a floating halyard under similar conditions and the exclusion of direct participation in the AUV capture operation of the crew of the support vessel.

The task is solved by the fact that in the device for capturing a floating halyard an autonomous, uninhabited underwater vehicle containing a gripping means provided with a gripping element, which is rigidly mounted on the hull of the underwater vehicle in its diametrical plane, and its gripping element is oriented forward along the movement of the underwater vehicle, while the gripping device is installed in the bow part of the underwater vehicle, integrated into its control system and made in the form of a gripping a mechanism comprising a housing, in the upper part of which, with the possibility of rotation, a double-arm lever is installed on the axis, and along the longitudinal axis of the housing, in its lower part, the lead screw and guide are installed parallel to each other, and on the driving screw connected to the electric drive, the running nut is linearly movable along the guide, while the running nut is pivotally connected to the lower arm of the lever and a permanent magnet is installed at each of its ends, and endlessly mounted on the body respectively Actual position sensors of the running nut, the gripping element is made on the upper arm of the lever in the form of a hook, the end of which is equipped with a float hatch, made in the form of an elongated plate that follows the contour of the bow of the underwater vehicle, on the side surfaces of the hook on the axis are mounted pendulums in the form of figured plates, in the lower part of which permanent magnets are fixed, and end contactless sensors of hook pendulum position are respectively installed on the case.

Figured plates of pendulums are made in the form of a curved plate, repeating the shape of a hook.

The specified set of distinctive essential features of the claimed device for capturing a floating file by an autonomous, uninhabited underwater vehicle, characterizing the constructive implementation of the specified device and the functional connections of these structural elements, made it possible to create a workable automated device for capturing a floating file and the possibility of its integration into the underwater vehicle management system.

Such a constructive implementation of the device for capturing a floating file allowed the process of capturing the latter through the underwater vehicle itself, following the operator’s commands from the supporting vessel, while carrying out visual control or automatically using a program embedded in the control system of the underwater vehicle and excluding the direct participation of crew members from the process of capturing a floating halyard.

Placing the device to capture the floating halyard on the nose of the hull of the underwater vehicle increases the reliability of the process of hijacking the floating halyard under sea conditions by increasing the probability of hitting the floating halyard against the catch hook, since the nose of the underwater vehicle and the floating halyard are in close proximity , almost simultaneously, work out their position on the surface of the water in conditions of sea excitement. This is also facilitated by the float hanger installed at the tip of the gripping hook, made in the form of an elongated plate that follows the contour of the bow of the underwater vehicle contour if this synchronization between the position of the nasal tip of the underwater vehicle and the position of the floating halyard on the surface of the sea in the conditions of increasing unrest.

Since the procedure of docking and capture of a floating halyard by an underwater vehicle floating on the surface of the sea is carried out at a considerable distance from the supporting vessel in conditions where one end of the floating halyard with a buoy at the end is released from its side and towed by a small course stretched into one line, the risk of damage to the underwater apparatus when performing such a capture halyard.

In practice, there are circumstances when it is more expedient to dock and capture a floating halyard with a submersible device from a supporting vessel that is in drift. In this case, one end of the floating halyard with a buoy at the end is also released from the board of the supporting vessel, and the sea current and wind carry the halyard from the vessel to a considerable distance, pulling the halyard at the sea surface almost in one line. Therefore, the procedure of docking and capture of a floating halyard is also carried out at a great distance from the vessel, and the risk of damage to the underwater vehicle is eliminated even in the conditions of sea state.

Based on the above, it can be concluded that the set of essential features of the claimed invention has a causal relationship with the achieved technical result, i.e. thanks to this set of essential features of the invention, it became possible to solve the problem. These essential features distinguishing the claimed device for capturing the floating halyard of the underwater vehicle from the prototype, together with features common to it and the prototype, ensure the achievement of the stated technical result in all cases covered by the scope of legal protection.

The invention is illustrated by drawings, where:

- in fig. 1 shows a general view of a device for capturing a floating file, side view.

- in fig. 2 shows a general view of a device for capturing a floating file-view from below.

- in fig. 3 shows a longitudinal section of a device for capturing a floating file;

- in fig. 4 shows a general view of a device for capturing a floating file - top view.

- in fig. 5 shows a device for capturing a floating halyard mounted in the forward part of the hull of an underwater vehicle;

- in fig. 6. Pictures of the stages of the sea tests of the device for capturing a floating halyard mounted on the underwater vehicle are shown.

A device for capturing a floating file with an autonomous, unmanned underwater vehicle is rigidly installed in the forward part of the underwater vehicle body in its diametrical plane and made in the form of a gripping mechanism that includes the housing 1. In the upper part of the housing 1 it can be rotated, on the axis 2 there is a double-arm lever 3, and along the longitudinal axis of the housing 1, in its lower part, the lead screw 4 and the guide 5 are installed parallel to each other, and on the lead screw 4 connected to the electric actuator 6, the running nut 7 is placed with Stu linear movement along the rail 5. A running nut 7 is pivotally connected to the lower lever arm 3 and at each end thereof mounted permanent magnet 8. On the housing 1 are respectively mounted terminal proximity sensors 9 of the spindle nut 7.

The gripping element is made on the upper arm of the lever 3 in the form of a hook 10, the end of which is provided with a float hatch 11, made in the form of an elongated plate that follows the contour of the bow of the underwater vehicle. On the side surfaces of the hook 10 on the axis 12 are mounted pendulums 13 in the form of figured plates, in the lower part of which permanent magnets 14 are fixed, and end-contactless sensors 15 of the position of the pendulums 10 of the hook are mounted on the housing 1.

Such a constructive execution of the device for capturing a floating halyard ANP allowed to integrate it into the control system of the underwater vehicle and perform the capture process by means of the latter at the command of the operator from the board of the supporting vessel or in automatic mode according to the program embedded in the control system of the underwater vehicle.

Additionally, the drawings show:

16 - underwater vehicle;

17 - floating halyard.

The operation of the device for capturing the floating file by the underwater vehicle is carried out as follows.

At the operator’s command, the floating halyard 17, the free end of which is provided with a float, is brought down from the board of the supporting vessel to the specified length and towed. The operator is commanded to move to the underwater vehicle located on the surface of the water across the floating halyard 17 and the signal to open the gripping mechanism. The actuator 6 is activated, which rotates the spindle screw 4 until the nut 7 reaches the extreme position (the end sensor 9 will work). In this case, the hook 10 will take a vertical position (position "open") (Fig. 6a). The pendulum 13 under the action of gravity will go into the working position and abut the protrusion of the housing 1 mechanism. Next, the device crosses the docking halyard 17, which then hits the target of the hook 10 (Fig. 6b) (in case of agitation, the catcher 11 of the floating halyard prevents the floating halyard from slipping over the vehicle). Further, the device continues to move and the floating halyard 17 at the same time deflects the pendulums 13 (or one pendulum depending on the angle at which the underwater vehicle crosses the floating halyard 17). At a certain angle of deflection of the pendulum 13, the magnet 14 mounted on it acts on the magnetic sensor 15 of the pendulum position 13. To prevent false alarms if the pendulum 13 is accidentally momentarily deflected (wave, foreign objects), a certain time of the pendulum magnet 13 acting on the magnetic sensor 15 (time during which the underwater vehicle moves, pulling the floating halyard 17) with a hook 10 (Fig. 6c). After a predetermined time has elapsed, the block (not shown) of the drive control 6 sends a signal to close the hook 10, turns on the drive 6, rotates the spindle 4, moves the nut 7, moves the hook 10 to the closed position (Fig. 6d). The nut 7 moves until the end of the proximity sensor 9 triggers, and the hook occupies the extreme position “closed” (Fig. 6e). Capturing a floating halyard, the underwater vehicle stops its movement and then the necessary operations to lift it on board the supporting vessel are performed.

In the course of laboratory and marine tests, the operability of the device for capturing a floating halyard by an autonomous uninhabitable floating halyard was confirmed and the task was accomplished, and, consequently, the necessary technical result was achieved.

Claims (1)

A device for capturing a floating file with an autonomous, unmanned underwater vehicle, comprising a gripping means provided with a gripping element, which is rigidly mounted on the hull of the underwater device in its diametrical plane, and its gripping element is oriented forward in the direction of movement of the underwater vehicle, characterized in that the gripping means is installed in the nose part of the hull of the underwater vehicle, integrated into its control system and made in the form of a gripping mechanism equipped with an electric drive, containing The upper part of which has a double-arm lever rotatably on the axis, and a lead screw and a guide along the longitudinal axis of the body in the lower part of the body are installed parallel to each other, and a running nut is placed on the driving screw connected to the actuator with the possibility of linear movement along the guide, while the running nut is pivotally connected to the lower arm of the lever and a permanent magnet is installed at each of its ends, and end-contact proximity sensors of the stroke are installed on the body, respectively the new nut, the gripping element is made on the upper arm of the lever in the form of a hook, the end of which is equipped with a floating hatch, made in the form of an elongated plate that follows the contour of the bow of the underwater vehicle, on the side surfaces of the hook on the axis are mounted pendulums in the form of figured plates, the lower part of which is fixed permanent magnets, and the end contactless sensors of the position of the pendulums of the hook are respectively installed on the case.

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