Rescue underwater vehicle for submarine crew salvaging including from under ice surface

FIELD: transport.

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

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

8 cl, 2 dwg

The invention relates to the field of shipbuilding, and more particularly to underwater vehicle, designed to rescue people from disaster underwater objects under water, including under the ice.

Famous rescue underwater vehicle (SPA), including chamber of the suction connecting flange. To ensure docking specified flange with coaming-site emergency underwater object, whose plane is inclined to the horizon is tilting apparatus using differently (credifinance) system.

All known SPA this angle reaches 40...45 deg. However, according to modern requirements necessary to ensure the dock at an angle of inclination coaming-site emergency underwater object to the horizon to 60 degrees (Goldovsky B. I. current status and forecast of development of deep-water rescue apparatus // Marine intelligent technologies, 2011, No. 4 (14), p.3-6).

The slope of the rescue submersible at such angle with differently (credifinance) system leads to an increase in displacement apparatus 3...4%, which correspondingly increases the cost of the apparatus and the cost of the carrier vessel SPA. In addition, most of the increase in the displacement unit is impossible because of the limitations on transportation and lifting his weight.

On submarine rescue vehicles, ispolzuemykh from surface ships-carriers, docking with alarm submarine at angles coaming-site to the horizon over 40...45 degrees is achieved by using a rotary camera suction or replacing part of the camera with suction inclined connecting flange (Goldovsky B. I. current status and forecast of development of deep-water rescue apparatus // Marine intelligent technologies, 2011, No. 4 (14), p.3-6).

However, submarine rescue vehicles used with underwater speakers, the use of such cameras sucker impossible due to the design features of a submarine carrier SPA.

The aim of the invention is to improve the reliability of the docking rescue underwater vehicle with emergency underwater object, including under the ice, due to the elimination of these drawbacks while maintaining the support of the apparatus on an underwater object in the process of fixing the grip.

This goal is achieved due to the fact that the manipulator to secure the grip is installed in the chamber of the suction, forming together with the winch pulling device for fastening and tightening. When this extension grip for the bottom plane of the mating flange camera suction should be not less than the value defined by the desired angle of inclination of the apparatus by pulling on the expression:

$$\Delta 1P\ge R_F\cdot Sin{\alpha }_P+\mathrm{0,1}$$,

where$$\Delta 1_P$$- the value of the extension of the capture device over the bottom plane of the mating flange (m);

R_F- the radius of the outer lower edge of the mating flange camera suction (m);

α_P=(α_CPα_F) - the angle of inclination of the apparatus at pulling;

α_CP- the greatest angle of inclination of the plane of the coaming-site to the horizon;

α_F- maximum angle of inclination of the plane of the mating flange to the horizon provided by other technical means of the apparatus (in particular, due to differently (credifinance) system).

To limit the size of the device fastening and tightening, for example, includes winch pull and manipulator, the number of degrees of freedom of the manipulator can be limited to the value of four. With the same purpose, the highest value of the extension grip for the bottom plane of the mating flange camera suction may be limited to a value determined by the device parameters fastening and tightening, and the restrictions imposed by the elements SPA and its hatch, the expression:

,

where Δ1_MO- the maximum required amount of extension of the capture device over the bottom plane of the mating flange (m);

R_F- the radius of the outer lower edge of the mating flange camera suction (m);

T - allowable maximum thrust device (kN)

T=min (T_MINDS; T_SS);

T_MINDS- maximum traction device (kN)

T_SS- thrust, valid terms and conditions of the safety elements of the rescue hatch, which is attached to the capture device (kN)

D - displacement underwater rescue apparatus (kN)

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

Device for fastening and tightening placed in the chamber of the suction device, functioning as a fastening and tightening of the grip may be made in the form of threefold power manipulator, consisting of three rods of variable length, two of which are power - are located along the camera axis of the sucker and the upper ends hinged to the structural body of the device or camera suction in affect, the, to the hinges have been posted from the camera axis of the sucker, and the line passing through the axes of the two hinges is parallel to the main plane of the device, the lower ends pivotally connected at one point and connected with a movable gripper, and third pull - management - is the maximum perpendicular to the plane formed by the power rods, and one end fixed to the structural body of the device or camera suction, and the other end hinged to one of the power rods.

If the machine hydraulic system traction variable-length can be made in the form of cylinders. At the same time to reduce the size of the device in the off position when securing the nomination gripping plane of the mating flange traction power can be made telescopic repeated action.

In the absence of the apparatus of the hydraulic system, traction variable-length can be performed in a pair of "screw-nut" with electric drive. At the same time to reduce the size of the device in the off position when securing the nomination gripping plane of the mating flange traction power can be made multi-steps.

To reduce the contact pressure at the point of contact of the mating flange plane coaming-site when pulling up outside under the edge of the mating flange camera suction can be performed rounded.

The invention is illustrated by figure 1, which presents underwater vehicle before the beginning of the slope due to pull-UPS, and figure 2, which presents the scheme of the parameters that determine the extension of the gripping plane of the mating flange camera suction at the same time.

Submersible housing 1 has a camera of suction 2 with connecting flange 3. Inside the chamber of the suction posted by the fixing device and pull-UPS, including the grip 4, which is connected with two power rods of variable length 5, and traction control variable-length 6, which is connected with one of the rods 5. Capture 4 fixed element and rescue Luke 7 coaming-site 8 emergency underwater object 9.

Submersible provides boarding the plane coaming-site 8 external outer edge of the mating flange 3 camera suction 2. In this position, the fixing of the grip 4 per item and rescue Luke 7 by changing the length of the rods 5 and 6. However, changing the length of the rod 5 moves capture in the plane of the angle formed by these rods, and the change in length of pull 6 to rotate the specified plane around the axis formed by the hinge mounting of the upper ends of the rods 5, in General, ensuring the capture moving in three-dimensional space.

After fixing the grip 4 is p is dahiana inward camera suction by reducing the length of the rods 5. When this occurs, the increase of the inclination of the apparatus 1, rotating around the touch points of the mating flange plane coaming-pad 3 to the contact planes of the mating flange of the chamber of the suction and coaming-site 8.

Calculations show that for rescue underwater vehicles with displacement of up to 55 t may be provided for coupling with the coaming area emergency underwater object, inclined to the horizon at an angle of 60 degrees.

This increases the reliability of docking while maintaining the convenience and perform the necessary operations without increasing the displacement of the device when using the camera sucker simple design (cylindrical, not turning), allowing to work with the underwater medium.

1. Rescue underwater vehicle, comprising a housing, a camera suction with the tool to tighten the grip and the arm to secure the grip on the underwater object, characterized in that the optical drive is installed in the suction chamber, together with means for tightening the gripping device fastening and tightening and securing the nomination gripping the bottom plane of the mating flange camera suction is not less than the value defined by the desired angle of inclination of the apparatus by pulling up.

2. Rescue underwater apparatus according to claim 1, characterized in that means what about the pull is made in the form of a winch cable connected to the grip, and the number of degrees of freedom of the manipulator device fastening and tightening is assumed to be at least four.

3. Rescue underwater apparatus according to claim 1, characterized in that the highest value of the extension grip for the bottom plane of the mating flange camera suction is limited to the value defined by the settings of the device fastening and tightening restrictions imposed by elements of the rescue hatch, according to the expression:
$$\Delta 1_{PN}=R_f^2\cdot T/(D\cdot h)+\mathrm{0,1}$$,
where Δ1_MO- the maximum required amount of extension of the capture device over the bottom plane of the mating flange (m);
R_F- the radius of the outer lower edge of the mating flange camera suction (m);
T - allowable maximum thrust device (kN);
T=min (T_MINDS; T_SS);
T_MINDS- maximum traction device (kN);
T_SS- thrust, valid terms and conditions of the safety elements of the rescue hatch, which is attached to the capture device (kN);
D - displacement underwater rescue apparatus (kN);
h is the initial metacentric height apparatus referred to were the ine D (m).

4. Rescue underwater apparatus according to claim 1, characterized in that the fixing device and the pull is made in the form of a threefold power manipulator, consisting of three rods of variable length, two of which are power - are located along the camera axis of the sucker and the upper ends hinged to the structural body of the device or camera suction so that the hinges have been posted from the camera axis of the sucker, and the line passing through the axis of the hinges, is parallel to the main plane of the device, the lower ends pivotally connected at one point and connected with a movable gripper, and third pull - management - is the maximum perpendicular to the plane formed by the power rods, and one end fixed to the structural body of the device or camera suction, the other end hinged to one of the power rods.

5. Rescue underwater apparatus according to claim 4, characterized in that the thrust variable-length made in the form of hydraulic cylinders and power thrust made telescopic repeated action.

6. Rescue underwater apparatus according to claim 4, characterized in that the thrust variable-length made in the form of a pair of screw-nut with electric drive and power thrust made multi-steps.

7. Rescue underwater apparatus according to claim 1, characterized in that the lower edge with Kovachevo flange camera suction is made rounded.