KR20240167302A - Unmanned Maritime System and Ship having the same - Google Patents

Abstract

The present invention relates to an unmanned marine system, comprising: a pair of first rails installed at a predetermined length on one side of a deck in the longitudinal direction of a hull; a pair of second rails installed in a transverse direction of the hull so as to intersect the pair of first rails; an unmanned surface vehicle (UNV) arranged on a first bogie capable of moving along the pair of first rails; an unmanned submersible (UNV) arranged on a platform installed on the deck between the pair of second rails; a davit installed capable of moving along the pair of second rails; a first docking device for docking to the unmanned surface vehicle and launching or recovering the unmanned surface vehicle with the davit; And a second docking device for docking to the unmanned submersible and launching or recovering the unmanned submersible with the davit, wherein the davit is operated in a launching mode or a recovery mode to launch or recover the unmanned surface vehicle or the unmanned submersible using the first docking device or the second docking device.

Description

Unmanned Maritime System and Ship Having the Same {Unmanned Maritime System and Ship Having the Same}

The present invention relates to a marine unmanned system and a vessel including the same.

In general, unmanned maritime systems can be classified into unmanned systems, unmanned surface vehicle (USV) systems, and unmanned underwater vehicle (UUV) systems that can be used for various missions such as anti-submarine warfare, mine warfare, surveillance and reconnaissance, maritime intelligence investigation, and information operations.

These unmanned marine systems were developed for military purposes, but are gradually expanding to allow their operation on general commercial ships.

Unmanned surface vehicles and unmanned submersibles are frequently launched and recovered from ships to carry out their missions.

A technology related to marine unmanned systems is the Davit type Launch And Recovery System (LARS).

The existing recovery system was configured so that the davit frame could rotate but was not able to move, with the davit frame connected by a hinge between the davit frame and the deck.

In addition, existing davits are configured to be used only for recovery purposes and require a separate Mission Bay Handling System (MBHS).

In addition, when recovering an unmanned surface vehicle or an unmanned submersible, docking/undocking operations with the docking equipment are essential, and at this time, divers must be mobilized underwater to ensure smooth docking/undocking operations between the unmanned surface vehicle or unmanned submersible and the docking equipment. As a result, there have been many restrictions on underwater mobilization of divers in times of bad weather, such as bad weather, and as a result, not only has it been impossible to perform ocean recovery operations for unmanned surface vehicles or unmanned submersibles when necessary, but there have also been many difficulties in the proper operation of unmanned surface vehicles or unmanned submersibles.

The present invention has been created to solve the problems of the prior art as described above, and an object of the present invention is to provide a marine unmanned system and a vessel including the same, which can achieve unmanned recovery operations of unmanned surface vehicles or unmanned submersibles, thereby reducing recovery operation time and cost.

In addition, an object of the present invention is to provide a marine unmanned system that enables unmanned operation of docking equipment for recovery of an unmanned surface vehicle or unmanned submersible, and a ship including the same.

In addition, an object of the present invention is to provide a marine unmanned system and a ship including the same that enables integrated operation of recovery and mission bay handling systems of unmanned surface vehicles or unmanned submersibles.

According to one aspect of the present invention, a marine unmanned system comprises: a pair of first rails installed at a predetermined length on one side of a deck in the longitudinal direction of a hull; a pair of second rails installed in a transverse direction of the hull so as to intersect the pair of first rails; an unmanned surface vehicle (UNV) arranged on a first bogie capable of moving along the pair of first rails; an unmanned submersible (UNV) arranged on a platform installed on the deck between the pair of second rails; a davit installed capable of moving along the pair of second rails; a first docking device for docking to the unmanned surface vehicle and launching or recovering the unmanned surface vehicle with the davit; And a second docking device for docking to the unmanned submersible and launching or recovering the unmanned submersible with the davit, wherein the davit is operated in a launching mode or a recovery mode to launch or recover the unmanned surface vehicle or the unmanned submersible using the first docking device or the second docking device.

Specifically, the ship further comprises a pair of third rails installed at a predetermined length on the other side of the deck in the longitudinal direction of the hull, installed so as to intersect the pair of second rails; and a container-shaped package arranged on a second bogie capable of moving along the pair of third rails, wherein the container-shaped package can be launched or retrieved by the davit using the first docking equipment or the container transfer spreader.

Specifically, the davit may include: a pair of driving devices movably installed on each of the pair of second rails; a davit arm comprising a pair of support arms rotatably installed with respect to each of the pair of driving devices; and a lifting arm connecting the pair of support arms; a pair of first lifting wires installed on the lifting arms and connected to the first docking device or the second docking device; a pair of first winches winding the pair of first lifting wires; a pair of tilting units tilting the davit arms; and a pair of compensators installed opposite the pair of tilting units and suppressing shaking of the davit arms during the process of tilting the davit arms.

Specifically, the pair of tilting units may be a pair of cylinders installed to have a predetermined angle of inclination in the tilting direction of the davit arm, and each of the pair of cylinders may include a cylinder tube rotatably installed with respect to each of the pair of driving devices; and a cylinder rod rotatably installed with respect to each of the pair of support arms.

Specifically, the compensator is a spring type and can suppress shaking by applying tension to the davit arm during the process of the davit arm being tilted by the tilting unit.

Specifically, the first docking device may include a main frame connected to the pair of first lifting wires; an auxiliary frame installed at a predetermined angle of downward inclination from the main frame so as to surround the front of the unmanned surface vehicle; a first guide portion that holds one side of the unmanned surface vehicle; a second guide portion that holds the other side of the unmanned surface vehicle; a first gear portion that is fixedly installed to the main frame and allows the first guide portion and the second guide portion to slide left and right on the main frame; a second gear portion that is fixedly installed to the auxiliary frame and allows the first guide portion and the second guide portion to slide left and right on the auxiliary frame; a docking rod that is swingably installed on the main frame; and a locking device that is installed on the unmanned surface vehicle and fixes or detaches the docking rod.

Specifically, the first guide portion may include a first main guide arm that holds one side of the unmanned surface vehicle; a first auxiliary guide arm that extends upward from the middle of the first main guide arm and is bent inwardly to be connected to the first gear portion; and a second auxiliary guide arm that is bent inwardly from one end of the first main guide arm and is connected to the second gear portion, and the second guide portion may include a second main guide arm that holds the other side of the unmanned surface vehicle; a third auxiliary guide arm that extends upward from the middle of the second main guide arm and is bent inwardly to be connected to the first gear portion; and a fourth auxiliary guide arm that is bent inwardly from one end of the second main guide arm and is connected to the second gear portion.

Specifically, the first gear part includes: a first gear box fixedly installed to the main frame; a first pinion gear installed at the center of the first gear box; a first rack gear installed to extend a predetermined length from an end of the first auxiliary guide arm inserted into one side of the first gear box and gear-engaged with a lower portion of the first pinion gear; a second rack gear installed to extend a predetermined length from an end of the third auxiliary guide arm inserted into the other side of the first gear box and gear-engaged with an upper portion of the first pinion gear; a first spring connecting an end of the first rack gear to an inner surface of the other side of the first gear box; and a second spring connecting an end of the second rack gear to an inner surface of one side of the first gear box, wherein the second gear part includes: a second gear box fixedly installed to the auxiliary frame; a second pinion gear installed at the center of the second gear box; It may include a third rack gear that is installed so as to extend a certain length from an end of the second auxiliary guide arm inserted into one side of the second gear box and is gear-engaged with the lower portion of the second pinion gear; a fourth rack gear that is installed so as to extend a certain length from an end of the fourth auxiliary guide arm inserted into the other side of the second gear box and is gear-engaged with the upper portion of the second pinion gear; a third spring that connects a portion where the second auxiliary guide arm and the third rack gear are connected and an inner surface on one side of the second gear box; and a fourth spring that connects a portion where the fourth auxiliary guide arm and the fourth rack gear are connected and an inner surface on the other side of the second gear box.

Specifically, the first docking device further includes an actuator that rotates the first pinion gear, and the actuator is operated when the unmanned surface vehicle enters between the first main guide arm and the second main guide arm, and operation can be stopped when the unmanned surface vehicle completes entering between the first main guide arm and the second main guide arm.

Specifically, when the actuator is operated, the first gear unit causes the first pinion gear to receive the rotational force of the actuator and rotate in a first direction, and the first rack gear and the second rack gear move outward by the rotational force of the first pinion gear to push the first auxiliary guide arm and the third auxiliary guide arm so that the gap between the first main guide arm and the second main guide arm in the portion where the unmanned surface vehicle enters is maintained wider than the width of the unmanned surface vehicle, and the second gear unit causes the second pinion gear to rotate in a second direction opposite to the first direction by the force caused by the gap between the first main guide arm and the second main guide arm, and the third rack gear and the fourth rack gear move inward by the rotational force of the second pinion gear to pull the second auxiliary guide arm and the fourth auxiliary guide arm. The first main guide arm and the second main guide arm are maintained in a narrower state than the width of the unmanned surface vehicle, and the first main guide arm and the second main guide arm can maintain an oblique shape in which one side has a wider width than the width of the unmanned surface vehicle and the other side has a narrower width than the width of the unmanned surface vehicle through the operation of the first gear unit and the second gear unit.

Specifically, when the operation of the actuator is stopped, the first gear part causes the first pinion gear to be in an idle state, and the first pinion gear rotates in the second direction by the elastic force of the first spring and the second spring generated when the first rack gear and the second rack gear move outward, and the first rack gear and the second rack gear move inward by the rotational force of the first pinion gear, thereby pulling the first auxiliary guide arm and the third auxiliary guide arm so that the gap between the first main guide arm and the second main guide arm contracts, so that the first main guide arm and the second main guide arm hold both sides of the unmanned surface vehicle, and the second gear part causes the second pinion gear to rotate in the second direction by the elastic force of the third spring and the fourth spring generated when the third rack gear and the fourth rack gear move inward. The first pinion gear rotates in the first direction, and the third rack gear and the fourth rack gear move outward by the rotational force of the second pinion gear to push the second auxiliary guide arm and the fourth auxiliary guide arm so as to cause a gap between the first main guide arm and the second main guide arm to widen, so that the first main guide arm and the second main guide arm hold both sides of the unmanned surface vehicle, and the first main guide arm and the second main guide arm maintain a parallel form in which one side and the other side have the same width as the width of the unmanned surface vehicle by the operation of the first gear unit and the second gear unit, and hold both sides of the unmanned surface vehicle with the elastic force of the first spring and the second spring.

Specifically, the locking device includes a locking frame installed at the center of mass of the unmanned surface vehicle; and a pair of lockers installed on the locking frame to fix or detach the docking rod, wherein the docking rod has one end swingably installed on the main frame and a weight provided at the other end, and when the unmanned surface vehicle is aligned between the first guide portion and the second guide portion, the weight falls downward from the main frame and pushes and fixes the pair of lockers by falling inertia.

Specifically, when the launching mode of the unmanned surface vehicle is selected, the first bogie moves along the pair of first rails to a set position between the pair of second rails so as to align the unmanned surface vehicle with the first docking equipment at the set position, the pair of driving devices moves along the pair of second rails to the set position so as to align the davit to the first docking equipment, the pair of first winches release the pair of first lifting wires to connect them to the main frame, and when connected, wind the pair of first lifting wires to lift the unmanned surface vehicle with the first docking equipment at the set position, the pair of driving devices moves from the set position to the end of the pair of second rails, the pair of tilting units tilt the davit arms so as to cause the unmanned surface vehicle to leave the hull, and the A pair of first winches are operated to release the pair of first lifting wires until the unmanned surface vehicle touches the water surface, the locking device is operated to separate the docking rod, and the actuator is operated to separate the first main guide arm and the second main guide arm which hold both sides of the unmanned surface vehicle, so that the first docking equipment docked to the unmanned surface vehicle can be undocked from the unmanned surface vehicle.

Specifically, when the recovery mode of the unmanned surface vehicle is selected, the pair of first winches are operated to release the pair of first lifting wires connected to the first docking equipment so that the first docking equipment can be lowered to the water surface, the actuator is operated to separate the first main guide arm and the second main guide arm so that the unmanned surface vehicle can enter, the actuator stops operating so that the first main guide arm and the second main guide arm grab both sides of the unmanned surface vehicle when the entry of the unmanned surface vehicle is completed and aligned between the first main guide arm and the second main guide arm, the locking device is operated to fix the docking rod so that the first docking equipment is docked to the unmanned surface vehicle, and the pair of first winches are operated to wind the pair of first lifting wires so that the unmanned surface vehicle docked with the first docking equipment can be lowered to the hull. The pair of driving devices are operated to lift, and the pair of driving devices are operated to move along the pair of second rails to the set position and align the davit with the first bogie waiting at the set position, the pair of first winches are operated to release the pair of first lifting wires to separate the unmanned surface vehicle from the main frame until the unmanned surface vehicle is loaded onto the first bogie, the pair of driving devices are operated to move along the pair of second rails to the initial standby position, and the first bogie is operated to move along the pair of first rails to the initial standby position, so that the unmanned surface vehicle can be stored in a docked state with the first docking equipment.

Specifically, the second docking device comprises: a main frame connected to the pair of first lifting wires; an auxiliary frame connected to the main frame and installed so as to be spaced apart from the main frame by a predetermined distance; a second lifting wire connecting the center of the main frame and the center of the auxiliary frame; a second winch installed on the main frame and winding the second lifting wire; a pair of joint frames installed so as to connect both sides of the main frame and both sides of the auxiliary frame, and which secure the center between the main frame and the auxiliary frame when the second lifting wire is released and wound; a guide arm installed symmetrically with respect to the auxiliary frame and formed into a hemispherical shape corresponding to the upper shape of the unmanned submersible; a pair of hooking arms installed at the center of the auxiliary frame and installed so as to be extended to both sides at a predetermined angle and having elasticity; a hooking wire fixed to a portion where the pair of hooking arms are connected and inserted into rings provided at both ends of the pair of hooking arms to be connected in a triangular shape; And it may include a hooking rod that is installed so as to be able to be lifted at the center of mass of the unmanned submarine.

Specifically, each of the pair of joint frames is rotatably installed on each of the main frame and the auxiliary frame, and is configured such that at least one part thereof performs joint movement, and can be unfolded and folded when the second lifting wire is released and wound by the operation of the second winch.

Specifically, the hooking rod is installed so as to be embedded in the unmanned submersible, and when the unmanned submersible is in a recovery mode, the hook provided at an end thereof is raised from the unmanned submersible and, while the unmanned submersible advances, the hook is lowered when caught by the hooking wire connecting the pair of hooking arms, and the pair of hooking arms are lowered so that, when the hooking rod is lowered and the hooking wire is pulled, both ends of the pair of hooking arms come together toward the center and the guide arm is aligned with the upper surface of the unmanned submersible.

Specifically, the pair of hooking arms can be folded when pressed while both ends are brought together, and can be restored to their original shape when the hooking rod is raised or separated from the hooking rod.

Specifically, the hook may be a quick release hook that can be connected and disconnected from the hooking wire by remote operation.

Specifically, when the launching mode of the AUV is selected, the pair of driving devices operates to move along the pair of second rails to the position of the cradle and align the second docking equipment docked to the AUV, the pair of first winches release the pair of first lifting wires to connect them to the main frame, and when connected, the pair of first lifting wires are wound to lift the AUV to which the second docking equipment is docked, the pair of driving devices operates to move from the position of the cradle to the end of the pair of second rails, the pair of tilting units operates to tilt the davit arms to cause the AUV to leave the hull, the pair of first winches operates to release the pair of first lifting wires until the AUV is submerged, and the hooking rod operates to separate the hooking wires. By operating, the second docking equipment docked to the unmanned submersible can be undocking from the unmanned submersible.

Specifically, when the recovery mode of the AUV is selected, the pair of first winches are operated to release the pair of first lifting wires to which the second docking equipment is connected so that the second docking equipment can be lowered to the surface, the second winch is operated to release the second lifting wire so that the guide arm, the hooking arm, and the auxiliary frame on which the hooking wire is installed are submerged, the hooking rod is operated to ascend from the AUV, and the hooking rod is operated to descend when the hook provided at the end of the AUV is caught by the hooking wire connecting the pair of hooking arms while the AUV is moving forward, so that the guide arms are aligned with the upper surface of the AUV when both ends of the pair of hooking arms are brought to the center, and the second winch is operated to wind the second lifting wire so that the AUV to which the second docking equipment is docked can be pulled up to the surface, and the The first winch of the pair is operable to wind the first pair of lifting wires to lift the unmanned surface vehicle to which the second docking device is docked up to the hull, the pair of driving devices is operable to move along the second pair of rails to a position of the cradle and align the davit with the cradle, the pair of first winches is operable to release the first pair of lifting wires to separate the unmanned surface vehicle from the main frame until the unmanned surface vehicle is settled on the cradle, thereby storing the unmanned surface vehicle in a docked state, and the pair of driving devices is operable to move along the second pair of rails to an initial standby position.

A vessel according to another aspect of the present invention may include the marine unmanned system described above.

The marine unmanned system according to the present invention and the vessel including the same enable unmanned recovery operations through docking equipment for an unmanned surface vehicle and docking equipment for an unmanned submersible, thereby making it unnecessary to deploy a diver and enabling safer and more reliable docking/undocking operations to be performed without being affected by weather conditions such as bad weather.

In addition, the marine unmanned system according to the present invention and the vessel including the same can perform the recovery work of an unmanned surface vehicle or an unmanned submersible unmannedly, thereby increasing the utilization of the unmanned system and reducing the time/cost of the recovery work.

In addition, the marine unmanned system according to the present invention and the vessel including the same can reduce the risk of recovery work of an unmanned surface vehicle or unmanned submersible and increase work efficiency.

In addition, the marine unmanned system according to the present invention and the vessel including the same can enable recovery operations of various types of unmanned systems (unmanned surface vehicles or unmanned submersibles) with a single davit, as well as lifting of heavy objects such as container-type packages.

In addition, the marine unmanned system according to the present invention and the vessel including the same enable integrated operation of the recovery and mission bay handling systems of unmanned surface vehicles or unmanned submersibles, thereby increasing the space utilization of the vessel and reducing costs.

In addition, the marine unmanned system according to the present invention and the vessel including the same can efficiently deploy and retrieve manned/unmanned vessels on both sides of the vessel by integrating and operating the mission bay handling system.

FIG. 1 is a drawing for explaining an unmanned marine system equipped on a ship according to one embodiment of the present invention.
Figures 2 and 3 are drawings for explaining the davit of the present invention.
Figure 4 is a drawing for explaining the first docking device of the present invention.
Figures 5 (a) and (b) are drawings for explaining the first gear section and the second gear section of Figure 4 in a state where the actuator is in a stopped state.
Figures 6 (a) and (b) are drawings for explaining the first gear section and the second gear section of Figure 4 in the operating state of the actuator.
Figures 7 (a), (b), and (c) are drawings for explaining the alignment of an unmanned surface vehicle by the first guide section and the second guide section of the first docking equipment.
Figures 8 (a), (b), and (c) are drawings for explaining how the docking rod of the first docking device is fixed to the locking device.
Figures 9 (a), (b), (c), and (d) are drawings for explaining the launching process of an unmanned surface vehicle using the first docking equipment.
Figures 10 (a), (b), (c), and (d) are drawings for explaining the recovery process of an unmanned surface vehicle using the first docking equipment.
Figures 11 and 12 are drawings for explaining the second docking equipment of the present invention.
Figures 13 (a), (b), (c), (d), and (e) are drawings for explaining the docking process of an unmanned submersible using a second docking device.
Figures 14 (a), (b), (c), and (d) are drawings for explaining the launching process of an unmanned surface vehicle using a second docking device.
Figures 15 (a), (b), (c), and (d) are drawings for explaining the recovery process of an unmanned surface vehicle using a second docking device.

The purpose, specific advantages and novel features of the present invention will become more apparent from the following detailed description and preferred embodiments in conjunction with the accompanying drawings. In this specification, when adding reference numerals to components in each drawing, it should be noted that, as much as possible, the same components are given the same numerals even if they are shown in different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

FIG. 1 is a drawing for explaining an unmanned marine system equipped on a ship according to one embodiment of the present invention, and FIGS. 2 and 3 are drawings for explaining a davit of the present invention.

An unmanned marine system according to one embodiment of the present invention can be installed on a ship (10), and is implemented to enable integrated operation of a Launch And Recovery System (LARS) and a Mission Bay Handling System (MBHS) for various types of unmanned systems as well as heavy objects such as an unmanned surface vehicle (20), an unmanned submersible (30), a container-type package (40) mounted on a ship (10) with a single davit (50), and the like, and hereafter, the integrated operation of the Launch And Recovery System and the Mission Bay Handling System with a single davit (50) will be described, taking an unmanned surface vehicle (20), an unmanned submersible (30), and a container-type package (40) as examples.

In this embodiment, the term ship (10) may be used to encompass all marine structures that operate marine unmanned systems or launch and retrieve various marine vehicles.

Referring to FIGS. 1 to 3, an unmanned marine system according to one embodiment of the present invention can be installed on a ship (10).

The marine unmanned system comprises a pair of first rails (R1) installed at a certain length on one side of the deck (12) in the longitudinal direction of the hull (11), a pair of second rails (R2) installed in the transverse direction of the hull (11) so as to intersect the pair of first rails (R1), a pair of third rails (R3) installed at a certain length on the other side of the deck (12) in the longitudinal direction of the hull (11) but so as to intersect the pair of second rails (R2), an unmanned surface vehicle (20) placed on a first bogie (21) that can move along the pair of first rails (R1), an unmanned submersible (30) placed on a stand (31) installed on the deck (12) between the pair of second rails (R2), and a container-type vehicle placed on a second bogie (41) that can move along the pair of third rails (R3). It may include a package (40), a davit (50) that is installed to be movable along a pair of second rails (R2), a first docking device (60) for docking to an unmanned surface vehicle (20) or a container-type package (40) to launch or recover the unmanned surface vehicle (20) with the davit (50), and a second docking device (70) for docking to an unmanned submersible (30) to launch or recover the unmanned submersible (30) with the davit (50).

The unmanned surface vehicle (20) can perform a mission on the water without crew, and can be a small vessel that can be docked to the first docking device (60) and launched and recovered by a davit (50). The first docking device (60) can be configured to guide both sides of an object having a shape similar to a small vessel (a shape in which both sides are flat and parallel) on the water, as will be described later with reference to FIGS. 4 to 10.

The unmanned submersible (30) can perform missions underwater without crew, and can be a small submarine that can be docked to the second docking device (70) and launched and recovered by a davit (50). The second docking device (70) can be configured to guide the upper part of an object having a shape similar to a small submarine (cylindrical shape) underwater, as will be described later with reference to FIGS. 11 to 15.

A container-shaped package (40) can be launched or retrieved by a davit (50) using a commonly used container transport spreader (not shown).

In addition, the container-type package (40) has a flat and parallel shape on both sides similar to the unmanned surface vehicle (20), so it can be launched or recovered by a davit (50) using the first docking equipment (60) used for the unmanned surface vehicle (20).

The launching or recovery process of the container-type package (40) may be similar to the launching or recovery process of the unmanned surface vehicle (20), and will be understood as the launching or recovery process of the unmanned surface vehicle (20) described later, so a detailed description will be omitted in this embodiment.

A pair of first rails (R1) may be MBHS rails. In this embodiment, a pair of first rails (R1) are described as being installed to extend in one direction while crossing a pair of second rails (R2), but it is of course possible to extend in both directions based on a pair of second rails (R2).

A pair of second rails (R2) may be LARS rails. A pair of second rails (R2) may be installed with a width greater than that of an unmanned surface vehicle (20), an unmanned submersible vehicle (30), and a container-type package (40) so as to be able to transport them using a davit (50).

The pair of third rails (R3) may be MBHS rails. In this embodiment, the pair of third rails (R3) are described as being installed so as to extend in one direction while crossing the pair of second rails (R2), but it is to be understood that they may be installed so as to extend in both directions based on the pair of second rails (R2). The pair of third rails (R3) may be identical to or similar to the pair of first rails (R1).

The davit (50) can be operated by selecting a launching mode or a recovery mode from a controller (not shown) that controls and operates a marine unmanned system provided on a ship (10) to launch or recover an unmanned surface vehicle (20), an unmanned submersible (30), or a container-type package (40).

The davit (50) can be operated to launch or recover an unmanned surface vehicle (20), an unmanned submersible vehicle (30), or a container-type package (40) using the first docking device (60) or the second docking device (70) in the launching mode or the recovery mode, and can include a pair of driving devices (51), a davit arm (52), a pair of first lifting wires (54), a pair of first winches (55), a pair of tilting units (56), and a pair of compensators (57).

A pair of driving devices (51) can be movably installed on each of a pair of second rails (R2). A pair of driving devices (51) can be operated and stopped by a controller.

That is, a pair of driving devices (51) can be operated by selecting the launch mode or the recovery mode in the controller.

The davit arm (52) can be rotatably installed for each of a pair of driving devices (51). The davit arm (52) can be composed of a pair of support arms (521) and a lifting arm (522) connecting the pair of support arms (521).

Each of a pair of support arms (521) can be rotatably installed by each of a pair of driving devices (51) and the first hinge member (53).

A pair of first lifting wires (54) may be installed at a certain interval on the lifting arm (522). A pair of first lifting wires (54) may be connected to a first docking device (60) or a second docking device (70). A connecting means (not shown) may be provided at each end of a pair of first lifting wires (54). The connecting means may be a quick release hook type that can be connected and disconnected from the first docking device (60) or the second docking device (70) by remote operation.

A pair of first winches (55) can wind a pair of first lifting wires (54).

Each of a pair of first winches (55) may be installed on each of a pair of driving devices (51), but is not limited thereto and may of course be installed on a davit arm (52), etc.

A pair of first winches (55) can be operated by a controller to release and reel in a pair of first lifting wires (54).

A pair of tilting units (56) can tilt the davit arm (52).

A pair of tilting units (56) may be a pair of cylinders installed to have a certain angle of inclination in the tilting direction of the davit arm (52).

When a pair of tilting units (56) are a pair of cylinders, each of the pair of cylinders may include a cylinder tube (561) that is rotatably installed with respect to each of the pair of driving devices (51), and a cylinder rod (562) that is rotatably installed with respect to each of the pair of support arms (521).

The cylinder tube (561) is connected to a second hinge member (563) installed on each of a pair of driving devices (51) and can rotate with respect to each of the pair of driving devices (51) by the angle at which the davit arm (52) tilts.

The cylinder rod (562) is connected to a third hinge member (564) installed on each of a pair of support arms (521) and can rotate with respect to each of the pair of support arms (521) by the angle at which the davit arm (52) tilts.

A pair of compensators (57) can be installed opposite a pair of tilting units (56).

A pair of compensators (57) can suppress the shaking of the davit arm (52) during the tilting process of the davit arm (52).

The compensator (57) may be of a spring type and can suppress shaking by applying tension to the davit arm (52) during the process of the davit arm (52) being tilted by the tilting unit (56).

Below, the first docking device (60) of the present invention is described.

FIG. 4 is a drawing for explaining the first docking equipment of the present invention, (a) and (b) of FIG. 5 are drawings for explaining the first gear part and the second gear part of FIG. 4 in the state of the actuator being stopped, (a) and (b) of FIG. 6 are drawings for explaining the first gear part and the second gear part of FIG. 4 in the state of the actuator being operated, (a), (b) and (c) of FIG. 7 are drawings for explaining the alignment of the unmanned surface vehicle by the first guide part and the second guide part of the first docking equipment, (a), (b) and (c) of FIG. 8 are drawings for explaining the fixing of the docking rod of the first docking equipment to the locking device, (a), (b), (c) and (d) of FIG. 9 are drawings for explaining the launching process of the unmanned surface vehicle using the first docking equipment, and (a), (b), (c) and (d) of FIG. 10 are drawings for explaining the launching process of the unmanned surface vehicle using the first docking equipment. This is a drawing to explain the recovery process of an unmanned surface vehicle.

Referring to FIGS. 4 to 10, the first docking device (60) can dock or undocking with an unmanned surface vehicle (20) so as to launch or recover the unmanned surface vehicle (20), and may include a main frame (61), an auxiliary frame (62), a first guide unit (63), a second guide unit (64), a first gear unit (65), an actuator (66), a second gear unit (67), a docking rod (68), and a locking device (69). The first docking device (60) of the present embodiment may be a floating docking device.

The main frame (61) can be connected to a pair of first lifting wires (54).

The main frame (61) is a basic frame of the first docking device (60), and may be provided with a connecting means (not shown) for connection with a pair of first lifting wires (54), and an auxiliary frame (62), a first guide part (63), a second guide part (64), a first gear part (65), and a docking rod (68) may be installed. As will be described later, the first gear part (65) installed on the main frame (61) may be configured so that the first guide part (63) and the second guide part (64) can be slidably installed on the main frame (61).

The auxiliary frame (62) can be installed at a certain downward angle from the main frame (61) to surround the front part of the unmanned surface vehicle (20).

The auxiliary frame (62) may have a structure in which a plurality of frames are connected to be installed on the main frame (61) to surround the bow of the unmanned surface vehicle (20).

That is, the auxiliary frame (62) can be formed as a structure in which a plurality of frames are connected, such as an upper frame (621) that is horizontally connected to the front end of the main frame (61), a lower frame (622) that is installed to correspond to the bottom surface of the unmanned surface vehicle (20) and is parallel to the upper frame (621), and a connecting frame (623) that connects the upper frame (621) and the lower frame (622).

In the above, a first guide part (63), a second guide part (64), and a second gear part (67) can be installed on the lower frame (622). As will be described later, the second gear part (67) installed on the lower frame (622) can be configured so that the first guide part (63) and the second guide part (64) can be installed slidably on the lower frame (622).

The first guide unit (63) can be configured to hold one side of the unmanned surface vehicle (20) and can include a first main guide arm (631), a first auxiliary guide arm (632), and a second auxiliary guide arm (633).

The first main guide arm (631) may be a long, rod-shaped structure that can hold one side of the unmanned surface vehicle (20).

The first auxiliary guide arm (632) can be extended upward from the middle of the first main guide arm (631) and then bent inward to be connected to the first gear unit (65).

The first auxiliary guide arm (632) can be slidably connected to the first gear part (65).

The second auxiliary guide arm (633) can be bent inward from one end of the first main guide arm (631) and connected to the second gear unit (67).

The second auxiliary guide arm (633) can be slidably connected to the second gear part (67).

The second guide unit (64) can be configured to hold the other side of the unmanned surface vehicle (20) and can include a second main guide arm (641), a third auxiliary guide arm (642), and a fourth auxiliary guide arm (643).

The second main guide arm (641) may be a long, rod-shaped structure that can hold the other side of the unmanned surface vehicle (20).

The third auxiliary guide arm (642) can be extended upward from the middle of the second main guide arm (641) and then bent inward to be connected to the first gear unit (65).

The third auxiliary guide arm (642) can be slidably connected to the first gear part (65).

The fourth auxiliary guide arm (643) can be bent inward from one end of the second main guide arm (641) and connected to the second gear unit (67).

The fourth auxiliary guide arm (643) can be slidably connected to the second gear unit (67).

The first gear part (65) can be fixedly installed on the main frame (61), and the first guide part (63) and the second guide part (64) can be slid left and right on the main frame (61).

The first gear unit (65) may include a first gear box (651), a first pinion gear (652), a first rack gear (653), a second rack gear (654), a first spring (655), and a second spring (656), as shown in (a) of FIG. 5 and (a) of FIG. 6.

The first gearbox (651) can be fixedly installed on the main frame (61). The first gearbox (651) is fixedly installed on the main frame (61) so that the first guide part (63) and the second guide part (64) can slide with respect to the main frame (61).

The first pinion gear (652) can be installed in the center of the first gear box (651).

The first pinion gear (652) can rotate by receiving rotational force from the actuator (66).

The first pinion gear (652) is in an idle state when it does not receive rotational power from the actuator (66).

The first rack gear (653) can be installed so as to extend a certain length from the end of the first auxiliary guide arm (632) inserted into one side of the first gear box (651).

The first rack gear (653) can be gear-coupled with the lower portion of the first pinion gear (652).

The second rack gear (654) can be installed so as to extend a certain length from the end of the third auxiliary guide arm (642) inserted into the other side of the first gear box (651).

The second rack gear (654) can be gear-coupled with the upper portion of the first pinion gear (652).

The first spring (655) can be configured to connect the end of the first rack gear (653) and the inner surface of the other side of the first gear box (651).

The second spring (656) can be configured to connect the end of the second rack gear (654) and one inner surface of the first gear box (651).

An actuator (66) can be installed on the main frame (61) to rotate the first pinion gear (652). The actuator (66) can be operated and stopped by a controller.

That is, the actuator (66) can be operated when the unmanned surface vehicle (20) enters between the first main guide arm (631) and the second main guide arm (641), and operation can be stopped when the unmanned surface vehicle (20) completes entering between the first main guide arm (631) and the second main guide arm (641).

The second gear part (67) can be fixedly installed on the auxiliary frame (62), and the first guide part (63) and the second guide part (64) can be slid left and right on the auxiliary frame (62).

The second gear unit (67) may include a second gear box (671), a second pinion gear (672), a third rack gear (673), a fourth rack gear (674), a third spring (675), and a fourth spring (676), as shown in (b) of FIG. 5 and (b) of FIG. 6.

The second gearbox (671) can be fixedly installed on the lower frame (622) of the auxiliary frame (62). The second gearbox (671) is fixedly installed on the auxiliary frame (62) so that the first guide part (63) and the second guide part (64) can slide with respect to the auxiliary frame (62).

The second pinion gear (672) can be installed in the center of the second gear box (671).

The second pinion gear (672) may receive rotational power indirectly rather than directly from the actuator (66), and may be configured to always maintain an idle state.

That is, when the first pinion gear (652) is rotated by the operation of the actuator (66), the second pinion gear (672) can rotate by receiving the rotational power from the first guide part (63) and the second guide part (64).

The third rack gear (673) can be installed so as to extend a certain length from the end of the second auxiliary guide arm (633) inserted into one side of the second gear box (671).

The third rack gear (673) can be gear-coupled with the lower portion of the second pinion gear (672).

The fourth rack gear (674) can be installed so as to extend a certain length from the end of the fourth auxiliary guide arm (643) inserted into the other side of the second gear box (671).

The fourth rack gear (674) can be gear-coupled with the upper portion of the second pinion gear (672).

The third spring (675) can be configured to connect the portion where the second auxiliary guide arm (633) and the third rack gear (673) are connected and one inner surface of the second gear box (671).

The fourth spring (676) can be configured to connect the portion where the fourth auxiliary guide arm (643) and the fourth rack gear (674) are connected and the inner surface of the other side of the second gear box (671).

In the above, when the actuator (66) is operated, the first gear part (65) rotates in the first direction by transmitting the rotational force of the actuator (66) to the first pinion gear (652), and the rotational force of the first pinion gear (652) causes the first rack gear (653) and the second rack gear (654) to move outward, thereby pushing the first auxiliary guide arm (632) and the third auxiliary guide arm (642) so that the gap between the first main guide arm (631) and the second main guide arm (641) in the section where the unmanned surface vehicle (20) enters is maintained wider than the width of the unmanned surface vehicle (20).

When the actuator (66) is operated, the second gear part (67) causes the first main guide arm (631) and the second main guide arm (641) to be separated by the first gear part (65), and the second pinion gear (672) rotates in a second direction opposite to the first direction by the force caused by the separation between the first main guide arm (631) and the second main guide arm (641), and the third rack gear (673) and the fourth rack gear (674) move inward by the rotational force of the second pinion gear (672), thereby pulling the second auxiliary guide arm (633) and the fourth auxiliary guide arm (643) so that the space between the first main guide arm (631) and the second main guide arm (641) is maintained in a narrower state than the width of the unmanned surface vehicle (20).

When the actuator (66) is operated as described above, the first main guide arm (631) and the second main guide arm (641) maintain an oblique shape in which the width on one side is wider than the width of the unmanned surface vehicle (20) and the width on the other side is narrower than the width of the unmanned surface vehicle (20) due to the operation of the first gear unit (65) and the second gear unit (67).

In addition, when the operation of the actuator (66) is stopped, the first gear part (65) causes the first pinion gear (652) to be in an idle state, and when the first rack gear (653) and the second rack gear (654) move outward during the operation of the actuator (66), the first pinion gear (652) rotates in the second direction by the elastic force of the first spring (655) and the second spring (656), and when the first rack gear (653) and the second rack gear (654) move inward by the rotational force of the first pinion gear (652), the first auxiliary guide arm (632) and the third auxiliary guide arm (642) are pulled, causing the gap between the first main guide arm (631) and the second main guide arm (641) to contract, so that the first main guide arm (631) and The second main guide arm (641) is configured to hold both sides of the unmanned surface vehicle (20).

When the operation of the actuator (66) is stopped, the second gear part (67) rotates the second pinion gear (672) in the first direction by the elastic force of the third spring (675) and the fourth spring (676) generated when the third rack gear (673) and the fourth rack gear (674) move inward during the operation of the actuator (66), and the third rack gear (673) and the fourth rack gear (674) move outward by the rotational force of the second pinion gear (672), thereby pushing the second auxiliary guide arm (633) and the fourth auxiliary guide arm (643) to cause a gap between the first main guide arm (631) and the second main guide arm (641), so that the first main guide arm (631) and the second main guide arm (641) of the unmanned surface vehicle (20) Make sure to hold both sides.

As described above, when the operation of the actuator (66) is stopped, the first main guide arm (631) and the second main guide arm (641) maintain a parallel shape with the width of one side and the width of the other side being the same as the width of the unmanned surface vehicle (20) by the operation of the first gear unit (65) and the second gear unit (67), and hold both sides of the unmanned surface vehicle (20) with the elastic force of the first spring (655) and the second spring (656).

The docking rod (68) can be swingably installed on the main frame (61).

The docking rod (68) is installed so as to be able to swing on one end of the main frame (61), and a weight can be installed on the other end.

The docking rod (68) can be fixed by pushing a pair of lockers (692) of the locking device (69) by the inertia of the falling weight as it falls down from the main frame (61) when the unmanned surface vehicle (20) is aligned between the first guide section (63) and the second guide section (64).

A locking device (69) can be installed on an unmanned surface vehicle (20).

The locking device (69) may be configured to secure or separate the docking rod (68) and may include a locking frame (691) and a pair of lockers (692).

The locking frame (691) can be installed at the center of mass of the unmanned surface vehicle (20).

A pair of lockers (692) are installed on the locking frame (691) and can fix or separate the docking rod (68).

The launching process of an unmanned surface vehicle (20) using the first docking equipment (60) configured as described above is explained with reference to (a), (b), (c), and (d) of FIG. 9.

First, when the launching mode of the unmanned surface vehicle (20) is selected by the controller, the first bogie (21) moves along the first pair of rails (R1) to a set position between the second pair of rails (R2), and operates to align the unmanned surface vehicle (20) docked with the first docking device (60) to the set position.

A pair of driving devices (51) operate to move along a pair of second rails (R2) to a set position to align the davit (50) with the first docking device (60).

A pair of first winches (55) release a pair of first lifting wires (54) to connect them to the main frame (61), and once connected, wind a pair of first lifting wires (54) to lift the unmanned surface vehicle (20) to which the first docking device (60) is docked.

A pair of driving devices (51) operate to move from a set position to the end of a pair of second rails (R2).

A pair of tilting units (56) tilt the davit arm (52) to allow the unmanned surface vehicle (20) to leave the hull (11).

A pair of first winches (55) operate to release a pair of first lifting wires (54) until the unmanned surface vehicle (20) reaches the water surface.

The locking device (69) operates to separate the docking rod (68).

The actuator (66) operates to separate the first main guide arm (631) and the second main guide arm (641) that hold both sides of the unmanned surface vehicle (20), thereby undocking the first docking equipment (60) docked to the unmanned surface vehicle (20) from the unmanned surface vehicle (20).

Through the above process, the launching work of the unmanned surface vehicle (20) can be completed.

The recovery process of an unmanned surface vehicle (20) using the first docking equipment (60) configured as described above is explained with reference to (a), (b), (c), and (d) of FIG. 10.

First, when the recovery mode of the unmanned surface vehicle (20) is selected by the controller, a pair of first winches (55) are operated to release a pair of first lifting wires (54) connected to the first docking device (60) so that the first docking device (60) is lowered to the water surface.

The actuator (66) operates to open the gap between the first main guide arm (631) and the second main guide arm (641) so that the unmanned surface vehicle (20) can enter.

When the unmanned surface vehicle (20) enters and is aligned between the first main guide arm (631) and the second main guide arm (641), the actuator (66) stops operating so that the first main guide arm (631) and the second main guide arm (641) grasp both sides of the unmanned surface vehicle (20).

The locking device (69) operates to secure the docking rod (68) to dock the first docking device (60) to the unmanned surface vehicle (20).

A pair of first winches (55) operate to lift the unmanned surface vehicle (20) docked with the first docking device (60) up to the hull (11) by winding a pair of first lifting wires (54).

A pair of driving devices (51) move along a pair of second rails (R2) to a set position and operate to align the davit (50) with the first bogie (21) waiting at the set position.

A pair of first winches (55) operate to release a pair of first lifting wires (54) to separate the unmanned surface vehicle (20) from the main frame (61) until it is loaded onto the first bogie (21).

A pair of driving devices (51) operate to move along a pair of second rails (R2) to the initial standby position.

The first bogie (21) operates to move along a pair of first rails (R1) to the initial standby position, thereby storing the unmanned surface vehicle (20) in a docked state with the first docking equipment (60).

Through the above process, the recovery operation of the unmanned surface vehicle (20) can be completed.

Below, the second docking device (70) of the present invention is described.

FIGS. 11 and 12 are drawings for explaining the second docking equipment of the present invention, (a), (b), (c), (d), and (e) of FIGS. 13 are drawings for explaining the docking process of an unmanned submersible using the second docking equipment, (a), (b), (c), and (d) of FIGS. 14 are drawings for explaining the launching process of an unmanned surface vehicle using the second docking equipment, and (a), (b), (c), and (d) of FIGS. 15 are drawings for explaining the recovery process of an unmanned surface vehicle using the second docking equipment.

Referring to FIGS. 11 to 15, the second docking device (70) can dock or undocking with an unmanned submersible (30) so as to launch or recover the unmanned submersible (30), and may include a main frame (71), an auxiliary frame (72), a second lifting wire (73), a second winch (74), a pair of joint frames (75), a guide arm (76), a pair of hooking arms (77), a hooking wire (78), and a hooking rod (79). The second docking device (70) of the present embodiment may be a semi-submersible docking device.

The main frame (71) can be connected to a pair of first lifting wires (54).

The main frame (71) may be equipped with a connecting means (not shown) for connection with a pair of first lifting wires (54), and a second winch (74) and a pair of joint frames (75) may be installed.

The auxiliary frame (72) is connected to the main frame (71) and can be installed at a certain distance from the main frame.

The auxiliary frame (72) is a frame that is submerged underwater when the unmanned submersible (30) is in recovery mode. A guide arm (76) and a pair of hooking arms (77) for guiding and aligning the unmanned submersible (30) for docking can be installed, and a second lifting wire (73) and a pair of joint frames (75) for connecting to the main frame (71) can also be installed.

The second lifting wire (73) can connect the center of the main frame (71) and the center of the auxiliary frame (72).

The second winch (74) is installed on the main frame (71) and can wind the second lifting wire (73).

The second winch (74) can be operated by the controller to release and reel in the second lifting wire (73).

A pair of joint frames (75) can be installed to connect both sides of the main frame (71) and both sides of the auxiliary frame (72).

A pair of joint frames (75) can serve to maintain the center between the main frame (71) and the auxiliary frame (72) when releasing and winding the second lifting wire (73).

Each of a pair of joint frames (75) is rotatably installed on each of the main frame (71) and the auxiliary frame (72), and at least one part can be configured to perform joint movement.

That is, a pair of joint frames (75) can be unfolded and folded when the second lifting wire (73) is released and wound by the operation of the second winch (74).

The guide arm (76) is installed symmetrically around the auxiliary frame (72), and may be formed in a hemispherical shape corresponding to the upper shape of the unmanned submersible (30).

The guide arm (76) can be implemented in various shapes, such as a rib shape with multiple frames, to guide the unmanned submarine (30).

A pair of hooking arms (77) may be installed at the center of the auxiliary frame (72), but may be installed so as to extend to both sides at a certain angle. The pair of hooking arms (77) may be formed of a material having elasticity.

As shown in (a) to (d) of FIG. 13, when the unmanned underwater vehicle (30) is in recovery mode, a hooking rod (79) raised from the unmanned underwater vehicle (30) is connected to a hooking wire (78), and when the hooking rod (79) is lowered and the hooking wire (78) is pulled, the two ends of the pair of hooking arms (77) come together in the center, so that the guide arm (76) is aligned with the upper surface of the unmanned underwater vehicle (30).

In addition, a pair of hooking arms (77) can be folded when pressed while both ends are brought together, and can be restored to their original shape when the hooking rod (79) is raised or separated from the hooking rod (79).

The hooking wire (78) is fixed to the part where a pair of hooking arms (77) are connected, and can be connected in a triangular shape by being inserted into a ring provided on both ends of a pair of hooking arms (77).

The hooking rod (79) can be installed so as to be able to ascend and descend to the center of mass of the unmanned submersible (30).

The hooking rod (79) can be installed so as to be embedded in the unmanned submarine (30).

The hooking rod (79) can be raised from the unmanned submersible (30) in the recovery mode of the unmanned submersible (30) and can be lowered when the hook (791) provided at the end is caught by the hooking wire (78) connecting a pair of hooking arms (77) while the unmanned submersible (30) is moving forward. Here, the hook (791) can be a quick release hook that can be connected and disconnected from the hooking wire (78) by remote operation.

The launching process of an unmanned submarine (30) using the second docking equipment (70) configured as described above is described with reference to (a), (b), (c), and (d) of FIG. 14.

First, when the launch mode of the unmanned submersible (30) is selected by the controller, a pair of driving devices (51) are operated to move along a pair of second rails (R2) to the position of the stand (31) and align it with the second docking device (70) docked to the unmanned submersible (30).

A pair of first winches (55) release a pair of first lifting wires (54) to connect them to the main frame (71), and once connected, wind a pair of first lifting wires (54) to lift the unmanned submersible (30) to which the second docking device (70) is docked.

A pair of driving devices (51) operate to move from the position of the stand (31) to the end of a pair of second rails (R2).

A pair of tilting units (56) tilt the davit arm (52) to allow the unmanned submarine (30) to leave the hull (11).

A pair of first winches (55) operate to release a pair of first lifting wires (54) until the unmanned submersible (30) is submerged in water.

The hooking rod (79) operates to separate the hooking wire (78) and undocking the second docking equipment (70) docked to the unmanned submersible (30) from the unmanned submersible (30).

Through the above process, the launching operation of an unmanned submarine (30) can be completed.

The recovery process of an unmanned submarine (30) using the second docking equipment (70) configured as described above is described with reference to (a), (b), (c), and (d) of FIG. 15.

First, when the recovery mode of the unmanned submersible (30) is selected by the controller, a pair of first winches (55) are operated to release a pair of first lifting wires (54) connected to the second docking device (70) so that the second docking device (70) is lowered to the surface.

The second winch (74) operates to release the second lifting wire (73) so that the auxiliary frame (72) with the guide arm (76), hooking arm (77), and hooking wire (78) installed is submerged in water.

The hooking rod (79) is operated to rise from the unmanned submersible (30).

The hooking rod (79) is operated to descend when it is hooked on the hooking wire (78) connecting a pair of hooking arms (77) to a hook (791) provided at the end while the unmanned submersible (30) is moving forward, so that both ends of the pair of hooking arms (77) come together in the center and the guide arm (76) is aligned with the upper surface of the unmanned submersible (30).

The second winch (74) operates to pull up the unmanned submersible (30) docked with the second docking device (70) to the surface by winding the second lifting wire (73).

A pair of first winches (55) operate to lift an unmanned surface vehicle (20) docked with a second docking device (70) to the hull (11) by winding a pair of first lifting wires (54).

A pair of driving devices (51) operate to move along a pair of second rails (R2) to the position of the stand (31) and align the davit (50) to the stand (31).

A pair of first winches (55) are operated to release a pair of first lifting wires (54) to separate the unmanned underwater vehicle (30) from the main frame (71) until the unmanned underwater vehicle (30) is secured on the stand (31), thereby storing the unmanned underwater vehicle (30) in a docked state with the second docking device (70).

A pair of driving devices (51) operate to move along a pair of second rails (R2) to the initial standby position.

Through the above process, the recovery operation of the unmanned submarine (30) can be completed.

In the above, the present invention has been described focusing on the embodiments of the present invention, but this is only an example and does not limit the present invention, and those with ordinary knowledge in the field to which the present invention pertains will understand that various combinations or modifications and applications not illustrated in the embodiments are possible without departing from the essential technical contents of the present embodiments. Accordingly, technical contents related to modifications and applications that can be easily derived from the embodiments of the present invention should be interpreted as being included in the present invention.

10: Ship 11: Hull
12: Deck 20: Unmanned Surface Vehicle
21: 1st vehicle 30: Unmanned submarine
31: Stand 40: Container type package
41: 2nd bogie 50: davit
51: Driving gear 52: Davit arm
521: Support arm 522: Lifting arm
53; first hinge member 54; first lifting wire
55: 1st winch 56: Tilting unit (cylinder)
561: Cylinder tube 562: Cylinder rod
563: First hinge member (53) 564: Second hinge member
57: Compensator 60: 1st docking device
61: Mainframe 62: Auxiliaryframe
621: Upper frame 622: Lower frame
623: connecting frame 63: first guide section
631: 1st main guide arm 632: 1st auxiliary guide arm
633: Second auxiliary guide arm 64: Second guide section
641: 2nd main guide arm 642: 3rd auxiliary guide arm
643: 4th auxiliary guide arm 65: 1st gear
651: 1st gearbox 652: 1st pinion gear
653: 1st rack gear 654: 2nd rack gear
655: 1st spring 656: 2nd spring
66: Actuator 67: Second gear
671: 2nd gearbox 672: 2nd pinion gear
673: 3rd rack gear 674: 4th rack gear
675: 3rd spring 676: 4th spring
68: Docking rod 69: Locking device
691: Locking frame 692: Locker
70: Second docking device 71: Mainframe
72: Auxiliary frame 73: Second lifting wire
74: 2nd winch 75: Joint frame
76: Guide arm 77: Hooking arm
78: Hooking wire 79: Hooking rod
791: Hook R1: 1st rail
R2: 2nd rail R3: 3rd rail

Claims (22)

A pair of first rails installed at a certain length on one side of the deck in the longitudinal direction of the hull;
A pair of second rails installed transversely along the hull so as to intersect the pair of first rails;
An unmanned surface vehicle placed on a first bogie capable of moving along the first pair of rails;
An unmanned submersible placed on a cradle installed on the deck between the pair of second rails;
A davit movably installed along the above pair of second rails;
A first docking device for docking to the unmanned surface vehicle and launching or recovering the unmanned surface vehicle with the davit; and
Including a second docking device for docking to the above unmanned underwater vehicle and launching or recovering the above unmanned underwater vehicle with the davit,
The above davit is,
An unmanned marine system that operates in launching mode or recovery mode and launches or recovers the unmanned surface vehicle or the unmanned submersible using the first docking equipment or the second docking equipment. In the first paragraph,
A pair of third rails installed on the other side of the deck in the longitudinal direction of the hull to a certain length and installed so as to intersect with the pair of second rails; and
Further comprising a container-shaped package placed on a second bogie that can move along the above pair of third rails,
The above container-type package,
An unmanned marine system that is launched or recovered by the davit using the first docking equipment or the container transfer spreader. In the first paragraph, the davit,
A pair of driving devices movably installed on each of the above pair of second rails;
A davit arm comprising a pair of support arms rotatably installed for each of the above pair of driving devices, and a lifting arm connecting the pair of support arms;
A pair of first lifting wires installed on the above lifting arm and connected to the first docking device or the second docking device;
A pair of first winches for winding the first pair of lifting wires;
A pair of tilting units for tilting the above-mentioned davit arm;
An unmanned marine system, comprising a pair of compensators installed opposite to the pair of tilting units and configured to suppress the shaking of the davit arm during the process of the davit arm being tilted. In the third paragraph, the pair of tilting units,
A pair of cylinders installed to have a certain angle of inclination in the tilting direction of the above-mentioned davit arm,
Each of the above pair of cylinders,
A cylinder tube rotatably installed for each of the above pair of driving devices; and
An unmanned marine system comprising a cylinder rod rotatably installed on each of the above pair of support arms. In the third paragraph, the compensator,
It is a spring type,
An unmanned marine system that applies tension to the davit arm to prevent shaking during the process of the davit arm being tilted by the tilting unit. In the third paragraph, the first docking device,
A main frame connected to the first pair of lifting wires;
An auxiliary frame installed at a certain downward angle from the main frame to surround the front part of the unmanned surface vehicle;
A first guide section that holds one side of the above unmanned surface vehicle;
A second guide section that holds the other side of the above unmanned surface vehicle;
A first gear part fixedly installed on the main frame and allowing the first guide part and the second guide part to slide left and right on the main frame;
A second gear part fixedly installed on the auxiliary frame and allowing the first guide part and the second guide part to slide left and right on the auxiliary frame;
A docking rod that is swingably installed on the main frame; and
An unmanned marine system, which is installed on the unmanned surface vehicle and includes a locking device for fixing or detaching the docking rod. In the sixth paragraph, the first guide part,
A first main guide arm that holds one side of the above unmanned surface vehicle;
A first auxiliary guide arm extending upward from the middle of the first main guide arm and then bent inward to be connected to the first gear portion; and
It includes a second auxiliary guide arm that is bent inwardly from one end of the first main guide arm and connected to the second gear portion.
The above second guide section,
A second main guide arm that holds the other side of the above unmanned surface vehicle;
A third auxiliary guide arm extending upward from the middle of the second main guide arm and then bent inward to be connected to the first gear portion; and
A marine unmanned system including a fourth auxiliary guide arm that is bent inwardly from one end of the second main guide arm and connected to the second gear unit. In the seventh paragraph, the first gear part,
A first gearbox fixedly installed on the above main frame;
A first pinion gear installed in the center of the first gearbox;
A first rack gear is installed so as to extend a certain length from an end of the first auxiliary guide arm inserted into one side of the first gear box and is gear-engaged with the lower portion of the first pinion gear;
A second rack gear is installed so as to extend a certain length from an end of the third auxiliary guide arm inserted into the other side of the first gear box, and is gear-engaged with the upper portion of the first pinion gear;
A first spring connecting the end of the first rack gear and the inner surface of the other side of the first gear box; and
Including a second spring connecting the end of the second rack gear and one inner surface of the first gear box,
The above second gear part,
A second gearbox fixedly installed on the above auxiliary frame;
A second pinion gear installed in the center of the second gear box;
A third rack gear is installed so as to extend a certain length from an end of the second auxiliary guide arm inserted into one side of the second gear box and is gear-engaged with the lower portion of the second pinion gear;
A fourth rack gear is installed so as to extend a certain length from an end of the fourth auxiliary guide arm inserted into the other side of the second gear box, and is gear-engaged with the upper portion of the second pinion gear;
A third spring connecting the part where the second auxiliary guide arm and the third rack gear are connected and one inner surface of the second gear box; and
A marine unmanned system including a fourth spring connecting a portion where the fourth auxiliary guide arm and the fourth rack gear are connected and the inner surface of the other side of the second gear box. In the 8th paragraph, the first docking device,
Further comprising an actuator for rotating the first pinion gear,
The above actuator,
It is operated when the above unmanned surface vehicle enters between the first main guide arm and the second main guide arm,
A marine unmanned system, wherein operation is stopped when the above unmanned surface vehicle enters between the first main guide arm and the second main guide arm. In Article 9,
When the above actuator is operated,
The above first gear part,
The first pinion gear receives the rotational force of the actuator and rotates in the first direction, and the first rack gear and the second rack gear move outward by the rotational force of the first pinion gear, thereby pushing the first auxiliary guide arm and the third auxiliary guide arm, so that the gap between the first main guide arm and the second main guide arm in the section where the unmanned surface vehicle enters is maintained wider than the width of the unmanned surface vehicle.
The above second gear part,
The second pinion gear rotates in a second direction opposite to the first direction by the force generated by the gap between the first main guide arm and the second main guide arm, and the third rack gear and the fourth rack gear move inward by the rotational force of the second pinion gear, thereby pulling the second auxiliary guide arm and the fourth auxiliary guide arm so that the gap between the first main guide arm and the second main guide arm is maintained in a narrower state than the width of the unmanned surface vehicle.
The above first main guide arm and the above second main guide arm,
An unmanned marine system that maintains a diagonal shape in which one side has a wider width than the width of the unmanned surface vehicle and the other side has a narrower width than the width of the unmanned surface vehicle by the operation of the first gear unit and the second gear unit. In Article 10,
When the above actuator stops operating,
The above first gear part,
When the first pinion gear is in an idle state and the first rack gear and the second rack gear move outward, the first pinion gear rotates in the second direction by the elastic force of the first spring and the second spring, and the first rack gear and the second rack gear move inward by the rotational force of the first pinion gear, thereby pulling the first auxiliary guide arm and the third auxiliary guide arm to cause the space between the first main guide arm and the second main guide arm to contract, so that the first main guide arm and the second main guide arm hold both sides of the unmanned surface vehicle.
The above second gear part,
The second pinion gear rotates in the first direction by the elastic force of the third spring and the fourth spring generated when the third rack gear and the fourth rack gear move inward, and the third rack gear and the fourth rack gear move outward by the rotational force of the second pinion gear, thereby pushing the second auxiliary guide arm and the fourth auxiliary guide arm to widen the gap between the first main guide arm and the second main guide arm so that the first main guide arm and the second main guide arm hold both sides of the unmanned surface vehicle.
The above first main guide arm and the above second main guide arm,
An unmanned marine system in which the widths of one side and the other side are maintained in a parallel shape equal to the width of the unmanned surface vehicle by the operation of the first gear unit and the second gear unit, and both sides of the unmanned surface vehicle are held by the elastic force of the first spring and the second spring. In the sixth paragraph, the locking device,
A locking frame installed at the center of mass of the above unmanned surface vehicle; and
A pair of lockers installed on the above locking frame to fix or separate the docking rod,
The above docking rod is,
An unmanned marine system, wherein one end is swingably installed on the main frame, a weight is provided on the other end, and when the unmanned surface vehicle is aligned between the first guide section and the second guide section, the weight falls downward from the main frame and pushes and fixes the pair of lockers by the inertia of the fall. In Article 9,
When the launch mode of the above unmanned surface vehicle is selected,
The above first bogie moves along the above pair of first rails to a set position between the above pair of second rails, and operates to align the unmanned surface vehicle with the above first docking equipment docked to the set position.
The above pair of driving devices are operated to move along the above pair of second rails to the above set position to align the davit with the above first docking device,
The above pair of first winches release the above pair of first lifting wires to connect them to the main frame, and when connected, wind the above pair of first lifting wires to lift the unmanned surface vehicle to which the above first docking equipment is docked.
The above pair of driving devices are operated to move from the above set position to the end of the above pair of second rails,
The above pair of tilting units operate to tilt the davit arm so that the unmanned surface vehicle leaves the hull.
The above pair of first winches are operated to release the above pair of first lifting wires until the unmanned surface vehicle reaches the water surface,
The above locking device operates to separate the docking rod,
The above actuator operates to separate the first main guide arm and the second main guide arm that hold both sides of the unmanned surface vehicle, thereby undocking the first docking equipment docked to the unmanned surface vehicle from the unmanned surface vehicle. In Article 13,
When the recovery mode of the above unmanned surface vehicle is selected,
The above pair of first winches are operated to release the above pair of first lifting wires connected to the above first docking equipment so that the above first docking equipment is lowered to the water surface.
The above actuator operates to open the gap between the first main guide arm and the second main guide arm so that the unmanned surface vehicle can enter.
The above actuator stops operating so that the first main guide arm and the second main guide arm grasp both sides of the unmanned surface vehicle when the unmanned surface vehicle has entered and is aligned between the first main guide arm and the second main guide arm.
The above locking device operates to secure the docking rod to dock the first docking equipment to the unmanned surface vehicle,
The above pair of first winches operate to wind the above pair of first lifting wires to lift the unmanned surface vehicle to which the first docking equipment is docked up to the hull.
The above pair of driving devices are operated to move along the above pair of second rails to the above set position and align the davit with the first bogie waiting at the above set position.
The above pair of first winches are operated to release the above pair of first lifting wires to separate the unmanned surface vehicle from the main frame until the unmanned surface vehicle is loaded onto the above first bogie,
The above pair of driving devices are operated to move along the above pair of second rails to the initial standby position,
A marine unmanned system in which the first bogie is operated to move along the first pair of rails to the initial standby position, thereby storing the unmanned surface vehicle in a docked state with the first docking equipment. In the third paragraph, the second docking device,
A main frame connected to the first pair of lifting wires;
An auxiliary frame connected to the main frame and installed at a certain distance from the main frame;
A second lifting wire connecting the center of the main frame and the center of the auxiliary frame;
A second winch installed on the above main frame and winding the second lifting wire;
A pair of joint frames installed to connect both sides of the main frame and both sides of the auxiliary frame, and to maintain the center between the main frame and the auxiliary frame when releasing and winding the second lifting wire;
A guide arm formed in a hemispherical shape corresponding to the upper shape of the unmanned submarine and installed symmetrically around the auxiliary frame;
A pair of elastic hooking arms installed at the center of the above auxiliary frame and extended to both sides at a certain angle;
A hooking wire that is fixed to the part where the above pair of hooking arms are connected and is inserted into a ring provided on both ends of the above pair of hooking arms and connected in a triangular shape; and
An unmanned marine system including a hooking rod that is installed to be able to ascend and descend at the center of mass of the unmanned submersible. In the 15th paragraph, each of the pair of joint frames,
Each of the main frame and the auxiliary frame is rotatably installed, and at least one part is configured to perform joint movement.
A marine unmanned system that unfolds and folds when the second lifting wire is released and wound by the operation of the second winch. In the 15th paragraph, the hooking rod,
It is installed to be embedded in the above unmanned submarine, and when the unmanned submarine is in recovery mode, it ascends from the unmanned submarine and when the unmanned submarine moves forward, the hook provided at the end is caught by the hooking wire connecting the pair of hooking arms, and descends.
The above pair of hooking arms,
A marine unmanned system, wherein when the hooking rod is lowered and the hooking wire is pulled, the ends of the pair of hooking arms come together to the center, thereby aligning the guide arm to the upper surface of the unmanned submersible. In the 17th paragraph, the pair of hooking arms,
An unmanned marine system that folds when pressed while both ends are gathered, and returns to its original shape when the hooking rod is raised or separated from the hooking rod. In the 17th paragraph, the hook,
A marine unmanned system, which is a quick release hook that can be connected and disconnected from the above-mentioned hooking wire by remote operation. In Article 15,
When the launch mode of the above unmanned submarine is selected,
The above pair of driving devices are operated to move along the above pair of second rails to the position of the cradle and align with the second docking equipment docked to the unmanned submersible,
The above pair of first winches release the above pair of first lifting wires to connect them to the main frame, and when connected, wind the above pair of first lifting wires to operate the second docking equipment to lift the docked unmanned submersible.
The above pair of driving devices are operated to move from the position of the above stand to the end of the above pair of second rails,
The above pair of tilting units operate to tilt the davit arm so that the unmanned submersible leaves the hull.
The above pair of first winches are operated to release the above pair of first lifting wires until the AUV is submerged,
The above hooking rod is an unmanned marine system that operates to separate the hooking wire, thereby undocking the second docking equipment docked to the unmanned submersible from the unmanned submersible. In Article 20,
When the recovery mode of the above unmanned submarine is selected,
The above pair of first winches are operated to release the above pair of first lifting wires connected to the above second docking equipment so that the above second docking equipment is lowered to the water surface.
The above second winch operates to release the second lifting wire so that the guide arm, the hooking arm, and the auxiliary frame with the hooking wire installed are submerged in water.
The above hooking rod is operated to rise from the unmanned submersible,
The above hooking rod is operated to descend when the hook provided at the end of the unmanned submersible is caught by the hooking wire connecting the pair of hooking arms while the unmanned submersible is moving forward, so that the ends of the pair of hooking arms come together in the center and the guide arm is aligned with the upper surface of the unmanned submersible.
The above second winch operates to wind the second lifting wire to pull the unmanned submersible docked with the second docking equipment to the surface.
The above pair of first winches operate to wind the above pair of first lifting wires to lift the unmanned surface vehicle to which the second docking equipment is docked up to the hull.
The above pair of driving devices are operated to move along the above pair of second rails to the position of the stand and align the davit with the stand,
The first pair of winches are operated to release the first pair of lifting wires to separate the unmanned submersible from the main frame until the unmanned submersible is secured on the cradle, thereby allowing the second docking device to store the unmanned submersible in a docked state.
A marine unmanned system in which the above pair of driving devices operates to move along the above pair of second rails to the initial standby position. A vessel equipped with the marine unmanned system according to any one of Articles 1 to 21.

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