DEVICE FOR CAPTURE OF FLOATING HALYARD BY AUTONOMOUS UNMANNED UNDERWATER VEHICLE Russian patent published in 2019 - IPC B63B27/16 B66C13/02 

FIELD: machine building.

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

EFFECT: reduced risk of damage to AUUV, higher reliability of operation and exclusion of direct participation in the operation of capturing AUUV crew members providing ship.

1 cl, 10 dwg