RU2760757C1 - Diver transporter - Google Patents

Abstract

FIELD: watercrafts.

SUBSTANCE: invention relates to the field of diving equipment, specifically, to underwater vehicles for delivering the crew and the effective load to the area of diving operations, related to ensuring uninterrupted operation of underwater, bottom structures, including those intended for extraction of hydrocarbon minerals. The diver transporter (DT) comprises a body made of a fore compartment, a crew compartment, a removable payload compartment connected with the crew compartment by means of a companion compartment, an aft compartment. The body of the DT in the cross-section is made rectangular with smoothed corners. Autonomous unmanned submarines (AUS) are used on the DT as a payload, placed in the launching transporting containers placed in the removable payload compartment on the sides of the DT with the fore of the container facing forward in the direction of movement of the DT. The aft part of each launching transporting container for the AUS is secured on the body of the corresponding side of the DT by means of a hinge, configured for the fore of the launching transporting container overboard of the DT and secured in such a position for launching/receiving the AUS. The DT is equipped with identical fore and aft modular anchoring apparatuses installed in the corresponding compartments of the DT in the centreline plane thereof. The design of the modular anchoring apparatus is disclosed in detail.

EFFECT: improved performance indicators of the DT and increased efficiency of use thereof.

6 cl, 5 dwg

Description

The invention relates to the field of diving equipment, and specifically, to underwater vehicles of the permeable ("wet") type for the delivery of the crew and payload to the area of diving operations,

associated with ensuring the uninterrupted operation of underwater, bottom, including structures intended for the extraction of hydrocarbon minerals.

There are various designs of divers' transporters (hereinafter referred to as TV), which ensure the movement of divers and the delivery of goods under water. A well-known carrier of divers (RF patent for invention No. 2667113, published on September 14, 2018, bull. No. 26). This invention proposes a divers' transporter containing a torpedo-shaped body, in which hydroacoustic means are sequentially located from bow to stern, a bow trimming-equalizing tank, a bow motor-propulsion complex (DDC), made in the form of two propeller-driven propellers (VRK) left and right sides retracted into the hull niche. In the middle part of the hull there is an instrument compartment with the control system equipment and a control panel, a hinged fairing, a high-pressure air cylinder, a middle trim-equalizing tank, and a battery compartment. In the aft part of the hull, there is a stern DDC, made in the form of two VRKs on the left and right sides, retracted into the aft niche of the hull. In the aft part of the hull there is also a wet-type hangar for placing in it a payload in the form of an autonomous unmanned underwater vehicle, a cargo compartment, a stern trimming-equalizing system, a compartment with a harpoon-type anchor and a high-pressure air cylinder. The technical result consists in expanding the functionality of the divers' transporter.

The disadvantage of the known divers' transporter is its small size, unprotected crew, the divers lie on top of the transporter, are not protected by anything from the surrounding aggressive environment. The weight and volume of the payload are very small. The absence of a longitudinal supporting structure reduces the rigidity of the product necessary for holding and delivering cargo to the work area, which significantly reduces the efficiency of using this divers' transporter.

The analogue closest in technical essence to the claimed device is STIDD DRD (Submersible boats) selected as a prototype. -morskogo-specnaza-ssha- "Proteus" -sdv.html) "Proteus". TV "Proteus" belongs to the class of so-called underwater vehicles with two modes DMUV (Dual Mode Underwater Vehicle). That is, it can work either as a conventional SDV (SEAL Delivery Vehicle) with a pilot and navigator, or as a large displacement AUV LDUUV (Large Displacement Unmanned Underwater Vehicle).

TV "Proteus" consists of a carbon fiber composite body in the form of a body of revolution of low hydrodynamic resistance with X-shaped aft rudders. Five thrusters (4 thrusters and 1 sustainer) are driven by electric drives powered by a battery. Detection tools include a sonar system (GAS) with a circular view and a backlit television camera. The movement of the apparatus is provided by a propeller motor with a planetary reduction gear that rotates the propeller. The vehicle's maneuverability is provided by four tunnel-type thrusters (two are installed vertically and two horizontally) in the bow and stern. The buoyancy of the vehicle is regulated by ballast tanks located in the middle of the hull and by two equalizing (trim) tanks located in the bow and stern ends of the hull. Two rooms for transporting the crew (or cargo compartments) are interconnected by a vestibule, which allows the crew to move freely throughout the space inside the vehicle. The deck (in the aisle) has a hatch for performing special tasks (for example, launching AUV and TNLA). In the forward part of the compartment there are controls for the apparatus and dashboards (display panels). In the upper part of the hull there are sliding "lights" (hatches) intended for embarkation and disembarkation of the crew. There are also air cylinders and individual posts for connecting the crew's breathing system. A multi-beam obstacle detection sonar, a GPS receiver and four television cameras for monitoring the external situation are installed in the nose of the vehicle. AUV and TNPA are placed in two universal containers, which are attached to the carrier body from the outside.

The disadvantages of the known divers transporter are the presence of external universal containers installed on the body for AUV and TNLA, which worsen the running performance, as well as hydrodynamic and acoustic indicators when the transporter is moving. Lack of bow and stern anchors to keep the vehicle at the required depth relative to the ground. These disadvantages limit the functionality of the known diving transporter and reduce the efficiency of its use.

The proposed invention is based on the task to eliminate the indicated disadvantages and to provide an expansion of the functionality of the TV.

The problem is solved by the fact that in a divers' transporter containing a hull made of compartments, including a bow compartment, a crew compartment, a compartment dedicated to accommodating a removable payload in it, which, through a compartment - a vestibule, is connected to the crew compartment, and also a stern compartment, a propulsion and steering complex, including a propulsion unit installed in the aft compartment and four tunnel-type thrusters, which are installed one vertically and one horizontally in the fore and aft compartments, a crew life support complex with service facilities, ballast-trimming a system, basic systems for ensuring the functioning of a divers' transporter as part of a programmed control and navigation system, an energy supply system based on a battery module, a hydroacoustic communication system, a vision and radio communication system, a manual control system and information display ai, autonomous propulsion control systems. The body of the divers' transporter is rectangular in cross section with smoothed corners. AUVs placed in transport and launch containers are used as a payload on a divers carrier. Each transport and launch container AUV is located directly in the compartment of the removable payload on the sides of the divers' transporter with the forward part of the container forward in the direction of movement of the divers' transporter and coaxially to its diametrical plane, and the aft part of each transport and launch container AUV is hinged on the body of the corresponding side of the divers' transporter with the possibility of removing the bow of the transport and launch container overboard the divers' transporter and fixing it in this position for launching (receiving) the AUV. The divers 'transporter is equipped with bow and stern identical modular anchor devices installed in the fore and aft compartments of the divers' transporter in its diametrical plane, the modular anchor device is made of docked, with the possibility of detaching the hull and anchors. In the body of the anchor device there is a winch equipped with an electric drive, the drum of which is equipped with a cable, as well as guide pulleys for guiding the cable of the winch to the anchor. Inside the body, on its bottom along the longitudinal axis, a tide is made, in which a hole is made for the centering element of the armature, while electromagnets are placed on the bottom along its circumference from the tide to the vertical walls of the module body. The anchor is made of ferrimagnetic metal in the form of a cylindrical underwater bell, along the longitudinal axis of which, on the outer side of its horizontal wall, a centering element is made in the form of a cylindrical pin, the outer diameter of which is equal to the diameter of the centering hole of the body, and a free armature is rigidly fixed on the upper part of the anchor pin the end of the anchor winch cable. In addition, in the diametral plane of the body of the divers' transporter, in the aft and bow compartments, there are seats in which the modules of anchor devices are located with the possibility of releasing and raising the anchor.

The task is also solved by the fact that:

- the battery module is located in the compartment of the removable payload;

- bow horizontal rudders are installed on the bow compartment from each side of the divers' transporter;

- a vertical stabilizer is installed on the stern compartment, on which stern rudders are installed;

- a hatch is made in the bottom of the passage compartment-vestibule;

- in the body of the divers' transporter, above the crew compartment and the compartment for the removable payload, movable lights are made.

Distinctive features of the proposed solution perform the following functional tasks to achieve the required technical result.

Equipping the TV with AUV transport and launch containers, installed inside the hull, with the possibility of taking the bow parts of the containers overboard the TV for launching (lifting) the AUV, made it possible, first of all, to improve the running characteristics of the TV.

Equipping the TV with bow and stern modular anchors allows the crew to more accurately fix the TV without moving at a given depth from the bottom and at a given point, taking into account the speed and direction of the current in the sea, convenient for the crew to perform work.

These essential features that distinguish TV from the prototype, together with the features common to it and the prototype, ensure the achievement of the claimed technical result. Distinctive features of the proposed TV improve its technical characteristics and expand its functionality and, thereby, increase its efficiency in use.

Based on the foregoing, it can be concluded that the set of essential features of the claimed invention has a causal relationship with the achieved technical result, i.e. thanks to this set of essential features of the invention, it became possible to solve the problem. Therefore, the claimed invention is new, has an inventive step and is usable.

The essence of the invention is illustrated by drawings, where:

- in Fig. 1 shows a longitudinal section of a diver's transporter;

- in Fig. 2 general view of the divers' transporter, top view;

- in Fig. 3 placement of AUV transport containers in the removable payload compartment on board the TV, side view;

- in Fig. 4 placement of AUV transport containers in the removable payload compartment on board the TV, top view;

- in Fig. 5 is a general sectional view of the anchor module.

The divers' transporter is made of a permeable (wet) type and contains a body made of compartments, including a bow compartment 1, a compartment 2 for the crew, a compartment 3 dedicated to accommodating a removable payload in it, which, by means of a compartment - vestibule 4, is connected to a compartment for the crew, as well as the aft compartment 5. The propulsion-steering complex TV, including the propulsion unit 6, installed in the aft compartment 5 and four thrusters 7, 8, 9, 10 of the tunnel type, which are installed one vertically and one horizontally in the bow and aft compartments, a crew life support complex with service facilities (not shown in the drawings), a ballast-trimming system (not shown in the drawings), basic systems for ensuring the functioning of a divers' transporter as part of a software control and navigation system, an energy supply system based on a battery module, hydroacoustic communication systems, technical vision and radio communication, manual control and information display systems, autonomous propulsion control systems. AUV 11 placed in transport and launch containers 12 are used as a payload on the divers 'transporter. The body of the divers' transporter is rectangular in cross section with smoothed corners. Each transport and launch container 12 for AUVs is located directly in the compartment 3 of the removable payload on the sides of the divers 'transporter with the forward part of the container forward along the movement of the divers' transporter and coaxially to its diametrical plane. on the body of the corresponding side of the divers 'transporter with the possibility of removing the bow of the transport and launch container overboard the divers' transporter and fixing it in this position for launching (receiving) the AUV. The removal of the bow of the transport and launch container 12 for the AUV overboard the TV is carried out by means of a threaded transmission installed on its transverse bulkhead and equipped with an electric drive, kinematically connected by a thrust to the transport and launch container. The divers 'transporter is equipped with bow and stern identical modular anchors 14, 15 installed in the fore and aft compartments of the divers' transporter in its diametrical plane. Each modular anchor device is made of docked, with the possibility of undocking, housing 16 and anchor 17. The housing 16 of the anchor device accommodates an electrically driven winch 18, the drum of which is equipped with a cable 19, as well as guide pulleys 20 for guiding the cable 19 of the winch 18 to the anchor 17. Inside the body, on its bottom along the longitudinal axis, a lug 21 is made, in which a hole 22 is made for the centering element 23 of the armature. Electromagnets 24 are placed on the bottom along its circumference from the tide 21 to the vertical walls of the module case 16. The anchor is made of ferrimagnetic metal in the form of a cylindrical underwater bell, along the longitudinal axis of which, on the outer side of its horizontal wall, a centering element 23 is made in the form of a cylindrical pin, the outer diameter of which is made equal to the diameter of the centering hole 22 of the housing, and the free end of the cable 19 of the winch 18 of the anchor device is rigidly fixed on the upper part of the anchor pin. In the diametral plane of the body of the divers' transporter in the aft and bow compartments 5, 1, there are seats in which the modules of anchor devices are located with the possibility of releasing and raising the anchor 17.

On the divers carrier also:

- the battery module 27 is located in the compartment 3 of the replaceable payload;

- on the bow compartment 1, from each side of the divers' transporter, bow horizontal rudders 28 are installed;

- a vertical stabilizer 29 is installed on the aft compartment 5, on which aft horizontal rudders 30 are installed;

- a hatch is made in the bottom of the passage compartment-vestibule 4 (not shown in the drawings);

- in the body of the divers' transporter, above the crew compartment 2 and compartment 3 of the removable payload, movable lights are made (not shown in the drawings).

The drawings additionally indicate:

31 - the body of the divers transporter

32 - TV supporting body structure

33 - aft vertical rudder

34 - front transverse, vertical bulkhead of the compartment of the replaceable payload TV

35 - threaded gear installed on the TV transverse bulkhead

36 - electric drive of the threaded transmission installed on the TV transverse bulkhead

37 - rigid thrust connecting the threaded gear with the nose of the AUV transport and launch container.

In the body 31 of the divers' transporter, a supporting body structure 32 is placed, which connects all the compartments of the TV.

A divers transporter with a crew follows a given route in a given depth range, both under the control of the crew in a semi-automatic (manual) mode, and in an automatic mode. The unmanned divers' transporter operates in an autonomous mode according to a given program and delivers cargo automatically.

The diving transporter works as follows.

The divers' transporter is launched by crane from the shore or from the ship. The crew, in diving gear, takes their places in compartment 2 for transporting the crew. The TV helmsman-operator, upon a signal from the control panel of the crew compartment 2, makes a signboard for the divers' transporter without a stroke using a trim-equalizing system. Then the transporter brings the divers to the specified depth and course, according to the route. Control of the divers' transporter on the move in terms of heading, speed and depth is carried out automatically in accordance with a given program or manually by the operator. Control signals are received from the control panel from the crew compartment 2. During the movement of the divers' transporter, the hydroacoustic means operate in the mode of ensuring navigation safety and illumination of the underwater environment. After the divers' transporter arrives at the desired point of the given area, the helmsman-operator, through the control panel of the crew compartment 2, enters the necessary data about the mission from the mission library into the AUV control system and, according to the work plan and tasks, launches the AUV from the transport and launch containers 12. Depending depending on the situation, the TV helmsman-operator has the opportunity to enter the task program into the AUV control system at any stage of the divers' transporter's route along the route and to launch the AUV at the desired point for its further independent movement to the specified area to perform the planned work program. The launch of the AUV from the transport-launch containers 12 is carried out as follows. At the command of the TV steering operator from the control panel of the divers' transporter, a signal is sent to the electric drive 36 of the threaded gear 35, which, by means of rigid rods 37, deploys the transport and launch container 12 on the pivot hinge 13 overboard the TV so that the bow of the container 12 is carried overboard the TV into position for launching the AUV and is fixed. The AUV is launched by the operator's command or according to the mission in automatic mode. At the end of the launch of the AUV, the container 12 by means of a threaded gear 35 is pulled into its original position - into the compartment 3 of the replaceable payload, i.e. inside the TV. Transport and launch containers 12 AUVs on the left and right sides of the TV can launch AUVs independently of each other, and from each transport and launch container separately.

Modular anchors are used to accomplish certain tasks.

Anchors 14,15 work as follows.

The TV steering operator through the TV control system control panel turns on the anchor devices for descent. Power is supplied to the electric drive of the winch 18. Simultaneously with the power supply to the electric drive, power is removed from the electromagnet 24 holding the anchor 17. Through the guide pulleys 20, the cable 19 of the winch 18 begins to unwind and the anchor is lowered to the required depth and fixes the TV at a given depth relative to the ground. Thus, using the anchor devices, the TV is in a state of no motion at a given depth from the bottom and at a given point, which allows the TV crew to complete the tasks assigned to it.

Thus, the proposed design of a divers' transporter with transport and launch containers for AUVs located inside the hull and equipped with anchor modules makes it possible to expand the functionality of the TV, which increases the efficiency

fulfillment of assigned tasks for divers.

Claims (6)

1. A divers' transporter, containing a hull made of compartments, including a bow compartment, a crew compartment, a compartment allocated for placing a removable payload in it, which is connected by means of a compartment - a vestibule to the crew compartment, as well as a stern compartment, propelling -steering system, including a propulsion unit installed in the aft compartment and four tunnel-type thrusters, which are installed one vertically and one horizontally in the fore and aft compartments, a crew life support complex with service facilities, a ballast-trimming system, basic support systems functioning of a divers' transporter as part of a programmed control and navigation system, an energy supply system based on a battery module, a hydroacoustic communication system, a vision and radio communication system, a manual control and information display system, an autonomous motion control system autonomous unmanned underwater vehicles (AUVs) located in transport and launch containers are used as a payload on the divers 'transporter, characterized in that the body of the divers' transporter is rectangular in cross section with smoothed corners, and each transport and launch container AUV placed directly in the compartment of the removable payload on the sides of the divers' transporter with the forward part of the container forward in the direction of movement of the divers' transporter and coaxially to its diametrical plane, and the aft part of each transport and launch container of the AUV by means of a hinge is attached to the body of the corresponding side of the divers' transporter with the possibility of removing the forward part for transport - the launching container overboard the divers 'transporter and fixing it in this position for launching / receiving the AUV, and the divers' transporter itself is equipped with bow and stern identical modular anchor devices The modular anchor device is made of docked hull and anchor with the possibility of undocking the hull and anchors, installed in the bow and aft compartments of the divers' transporter in its diametrical plane, the winch equipped with an electric drive is located in the anchor device housing, the drum of which is equipped with a cable, as well as guide pulleys for guiding the winch cable to the anchor, inside the body, on its bottom along the longitudinal axis, a tide is made, in which a hole is made for the centering element of the armature, while electromagnets are placed on the bottom along its circumference from the tide to the vertical walls of the module body, the anchor is made of ferromagnetic metal in the form of a cylindrical underwater bell a form, along the longitudinal axis of which on the outer side of its horizontal wall, a centering element is made in the form of a cylindrical pin, the outer diameter of which is equal to the diameter of the centering hole of the body, and the free end is rigidly fixed on the upper part of the armature pin of the winch cable of the anchor device, in addition, in the diametrical plane of the body of the divers' transporter in the stern and bow compartments, there are seats in which the modules of the anchor devices are located with the possibility of releasing and raising the anchor. 2. The divers' transporter according to claim 1, characterized in that the battery module is located in the compartment of the removable payload. 3. The divers 'transporter according to claim 1, characterized in that on the bow compartment, on each side of the divers' transporter, bow horizontal rudders are installed. 4. The divers' transporter according to claim 1, characterized in that a vertical stabilizer is installed on the stern compartment, on which stern rudders are installed. 5. The divers' transporter according to claim 1, characterized in that a hatch is made in the bottom of the passage compartment-vestibule. 6. A divers 'transporter according to claim 1, characterized in that sliding lights are made in the divers' transporter body above the crew compartment and the payload compartment.

Images