CN110217365B - Underwater carrying device - Google Patents
Underwater carrying device Download PDFInfo
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- CN110217365B CN110217365B CN201910562471.4A CN201910562471A CN110217365B CN 110217365 B CN110217365 B CN 110217365B CN 201910562471 A CN201910562471 A CN 201910562471A CN 110217365 B CN110217365 B CN 110217365B
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- buoyancy
- water inlet
- piston
- carrying device
- shell
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Load-Engaging Elements For Cranes (AREA)
Abstract
The invention discloses an underwater carrying device, which comprises a carrying device capable of being used for carrying objects; the method is characterized in that: the buoyancy device with positive buoyancy is also included, and the object carrier and the buoyancy device are fixedly connected or detachably connected; the carrier loaded with articles has negative buoyancy, and the negative buoyancy is the same as or similar to the positive buoyancy of the buoyancy device. The underwater carrying device can expand the task load carrying capacity of an underwater vehicle and expand the application range of the underwater carrying device.
Description
Technical Field
The invention belongs to the field of carrying equipment, and particularly relates to an underwater carrying device.
Background
An Unmanned Underwater Vehicle (abbreviated as UUV in English, the full name of which is also called as a 'diving robot' or an 'Underwater robot'), is an Unmanned device which sails Underwater by remote control or automatic control, is used for replacing a diver or a manned small submarine to carry out high-risk Underwater operation such as deep sea detection, lifesaving, mine removal and the like, and has the advantages of wide application and good application prospect.
The prior publication No. CN106741647B, entitled "anchoring device and method for UUV to reside on seabed", discloses a technical scheme for residing UUV on seabed to complete task. However, the UUV has the characteristics of high manufacturing cost and limited endurance; therefore, there is a high risk of the UUV staying on the seabed (e.g., it is difficult to ensure reliable recovery after long-term use, and the seabed environment is harsh and variable, which may adversely affect the operation of the UUV).
In order to avoid the above risks and reduce the development cost, the manufacturing difficulty and the manufacturing cost of the UUV body, and to make the performance of the UUV more convenient to improve and expand, a task module is configured outside the UUV body, so that a corresponding task module can be flexibly selected according to the actual application requirements to complete a task (for example, an underwater or seabed detection sensor, or a communication control module, etc.).
However, the UUV is in a zero-buoyancy state in water, the task module is in a negative-buoyancy state, and the buoyancy balance of the UUV can be damaged by directly loading the task module, so that the UUV is difficult to sail. Therefore, how to design an underwater object carrying device to enable a task module carried outside a UUV to keep a zero-buoyancy state, and meeting the navigation condition of the UUV is a technical problem needing to be considered and solved.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problems to be solved by the invention are as follows: how to provide a task module that can let the UUV outside carry self keeps zero buoyancy state, satisfies the essential condition's of UUV navigation with carrying thing device under water.
In order to solve the technical problems, the invention adopts the following technical scheme:
an underwater carrying device comprising a carrying device which can be used for carrying objects; the method is characterized in that:
the buoyancy device with positive buoyancy is also included, and the object carrier and the buoyancy device are fixedly connected or detachably connected; the carrier loaded with articles has negative buoyancy, and the negative buoyancy is the same as or similar to the positive buoyancy of the buoyancy device.
Compared with the prior art, the underwater carrying device has the advantages that the task module carried outside the UUV can be kept in a zero-buoyancy state, and necessary conditions of the UUV navigation are met, and the reasons are as follows:
because the buoyancy device with positive buoyancy is adopted to be connected with the object carrying device, and the positive buoyancy of the buoyancy device is the same as or similar to the negative buoyancy of the object carrying device after the task module is loaded; therefore, the underwater carrying device formed by the carrying device and the buoyancy device has the underwater negative buoyancy approaching zero, so that the underwater carrying device can be directly connected with the UUV without damaging the buoyancy state of the UUV, and the necessary conditions of the navigation of the UUV are met.
Drawings
Fig. 1 is a schematic structural view of the underwater cargo device of the present invention.
Fig. 2 is a schematic structural view of the underwater cargo device of the present invention.
Fig. 3 is a schematic structural view of the underwater cargo device of the present invention (most of the structure of the grip release mechanism is omitted).
Fig. 4 is a schematic structural view of the underwater cargo device of the present invention (the outer shell of the buoyant device is omitted).
Fig. 5 is an enlarged view at I in fig. 4.
Fig. 6 is a schematic structural view of a trigger mechanism portion.
Fig. 7 is a schematic structural view of a portion of the clamp release mechanism (omitting the mount and one of the pair of mounting plates that is located above).
Labeled as:
1 carrying device;
2, buoyancy device:
a housing: 211 cylindrical section, 212 end cap, 213 plug for sealing,
the water inlet opening mechanism comprises: 221 piston, 222 connecting rod, 223 tension spring, 224 push-pull block, 225 hook; a trigger mechanism: 226 limit parts (2261 fixed part, 2262 limit part), 227 limit nails (2271 push block);
3, clamping and releasing mechanism:
31 clamped piece (311 clamped part);
controllable gripper jaw: 32 clamping blocks (321 clamping parts);
33 locking columns, 34 locking blocks (341 convex columns and 342 limiting grooves), middle limiting blocks (351 connecting parts and 352 limiting parts), 36 installation plates and 37 electromagnets;
clamping fine adjustment mechanism: 38 adjusting the screw;
39 mounting a base.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
A first embodiment, as shown in fig. 1 to 7:
an underwater loading device comprises a loading device 1 capable of loading articles;
the buoyancy device 2 with positive buoyancy is further included, and the object carrier 1 and the buoyancy device 2 are fixedly connected or detachably connected; the carrier 1 loaded with articles has a negative buoyancy which is the same as or similar to the positive buoyancy of the buoyant device 2.
The above-mentioned underwater with carrying the advantage that the thing device has is "can let the outside task module who carries of UUV self keep zero buoyancy state, satisfies the prerequisite of UUV navigation", the reason is:
because the buoyancy device with positive buoyancy is adopted to be connected with the object carrying device, and the positive buoyancy of the buoyancy device is the same as or similar to the negative buoyancy of the object carrying device after the task module is loaded; therefore, the underwater carrying device formed by the carrying device and the buoyancy device has the underwater negative buoyancy approaching zero, so that the underwater carrying device can be directly connected with the UUV without damaging the buoyancy state of the UUV, and the necessary condition of the UUV for normal navigation is met.
The whole object carrier 1 is of a cylinder-shaped structure, end plates are arranged at two ends of the cylinder-shaped structure, and a loading port for loading objects is formed in the cylinder-shaped structure.
The object carrier 1 with a cylindrical structure has the advantages of simple structure, easy manufacture, low cost and high structural strength.
In addition, carry thing ware 1 and be the barrel structure, also be convenient for install buoyancy 2 respectively at the both ends of carrying thing ware 1 barrel structure, can make the centroid of carrying the thing device with under water that comprises carrying thing ware 1 and buoyancy 2 more be close to geometric center like this to can help making the carry install outside the unmanned underwater vehicle with carrying the thing device wholly can be more steady.
In practice, the carrier 1 is preferably cylindrical. This makes the carrier 1 have the advantages that: 1. the bearing capacity is stronger, the device is more suitable for being used in an underwater high-pressure environment, and the loading is more reliable; 2. the water resistance is smaller; 3. clamping by the clamping jaw is easy to adopt, and releasing by loosening the clamping jaw is also convenient to complete.
At least one of the end plates at two ends of the cylindrical structure of the object carrier 1 is detachably fixed and assembled, and the detachable end plate forms the loading port after being detached.
The loading port has a simple structure and is easy to process and manufacture; and the reliable sealing of the joint is easily realized by adopting a sealing ring or a sealing gasket, the sealing difficulty is low, and the reliable carrying of the carrier 1 is better ensured.
The carrier 1 can be fixedly arranged outside the unmanned underwater vehicle through the clamping and releasing mechanism 3.
Therefore, the containing cabin and the cabin door for containing the underwater carrying device are not required to be arranged in the unmanned underwater vehicle, the structural design of the unmanned underwater vehicle is simplified, the cost is saved, and the manufacturing cost is reduced.
Wherein, the buoyancy device 2 comprises a shell and a water inlet opening mechanism;
the shell is fixedly connected with the object carrier 1 and is positioned outside the object carrier 1; a closed cavity is formed in the shell, or the shell and the surface of the object carrying device 1 are enclosed to form the closed cavity;
the surface of the shell is provided with a water inlet hole which is communicated with the closed cavity, and the shell is provided with the water inlet opening mechanism; the water inlet opening mechanism can enable the water inlet hole to be in a blocking state when the cargo carrying device 1 is loaded outside the unmanned underwater vehicle, and enables the water inlet hole to be opened when the cargo carrying device 1 is about to separate from the unmanned underwater vehicle.
The above-described buoyant device 2 has the advantage of "accommodating multiple task module application modes".
According to the scheme, when the repeatedly applicable task load is loaded, the object carrier 1 is not separated from the unmanned underwater vehicle, the water inlet opening mechanism does not work, and the object carrier can be completely recycled after the task is finished; when the disposable work task module or the seabed resident module is loaded, the object carrier 1 is separated from the unmanned underwater vehicle, the water inlet opening mechanism opens the water inlet hole, so that the closed cavity is filled with seawater, and the whole underwater object carrying device consisting of the object carrier 1 and the buoyancy device 2 is in negative buoyancy and sinks to the seabed.
Wherein the housing comprises a cylindrical section 211 and an end cap 212; one axial end of the cylindrical section 211 is a fixed mounting end for connecting with the carrier 1, and the other end is fixed with the end cover 212.
The shell structure of the buoyancy device 2 has the advantages of simple structure, small water resistance and large bearing pressure.
Wherein, the shape of the end cover 212 is a convex curved surface structure.
The end cap 212 is configured to provide a streamlined water-facing end structure to further help reduce water resistance during axial navigation of the buoyant apparatus 2.
The end cap 212 is provided with a through hole, and a sealing plug 213 is fixedly arranged at the through hole.
The arrangement of the plug 213 for perforation and sealing facilitates the adoption of the sealing detection device to detect the sealing property of the closed cavity inside the buoyant device 2 through the perforation, thereby better ensuring the reliability of the buoyant device 2.
In practice, the sealing plug 213 may be replaced by a one-way valve that is unidirectionally conducted from outside to inside, so that the air tightness detection is facilitated, and the nitrogen gas is supplied through the one-way valve, so as to adjust the positive buoyancy of the buoyancy device 2 more flexibly and better adapt to the object carriers 1 with various negative buoyancy.
Wherein the perforations are located at the apex of the end cap 212 in the convex direction.
The advantages of adopting the perforation arrangement position are as follows:
1. the drilling processing is convenient;
2. the position is located at the foremost end of the whole end cover 212 in the water facing direction, so that fluid flowing through the position is not easy to generate turbulent flow, and the stability of the buoyancy device 2 in the axial navigation process is improved.
The end face of the end cover 212 is provided with a circle of cylindrical insertion section protruding outwards along the axial direction, the end cover 212 is inserted into the cylindrical section 211 through the insertion section, assembling holes fixedly connected through screws are arranged in the radial direction between the insertion section and the cylindrical section 211, and the assembling holes are arranged at intervals along the circumferential direction;
the outer side surface of the insertion section of the end cover 212 is concavely provided with at least one annular groove sleeved with a sealing ring.
The assembly structure of the end cover 212 and the cylindrical section 211 has the advantages of simple assembly and good sealing effect.
The surface of the carrier 1 is provided with a circle of convex cylindrical insertion section, the end cover 212 is inserted into the cylindrical section 211 through the insertion section, and assembling holes fixedly connected through screws are arranged in the radial direction between the insertion section and the cylindrical section 211 and are arranged at intervals in the circumferential direction;
the outer side surface of the insertion section of the end cover 212 is concavely provided with at least one annular groove sleeved with a sealing ring.
Similarly, the assembly structure between the buoyant device 2 and the object carrying device 1 has the advantages of simple assembly and good sealing effect.
Wherein, the water inlet opening mechanism comprises a piston 221, an elastic piece and a piston 221 stopping structure;
the piston 221 is slidably and hermetically inserted into a water inlet hole arranged on the shell of the buoyant device 2, and the elastic element is arranged inside the shell of the buoyant device 2 and applies an acting force which can be separated from the water inlet hole to the piston 221; the piston 221 blocking structure blocks the piston 221 when the carrier 1 is loaded outside the unmanned underwater vehicle, and eliminates the blocking of the piston 221 when the carrier 1 is about to be or is being detached from the unmanned underwater vehicle, and enables the piston 221 to move out and open the water inlet hole under the action of the elastic member.
The water inlet opening mechanism has the advantages that:
1. simple structure, no need of electric energy drive
The water inlet opening mechanism has fewer components, so the structure is simpler, the manufacture is easy, and the manufacturing cost is reduced; meanwhile, the water pressure formed by the pistons 221 which are installed along the same straight line and have the same size is counteracted, the elastic part can open the structure for plugging the water inlet position by the piston 221 with smaller force, the electric energy is not consumed, and the reliability is high.
2. The piston 221 preventing structure is easily implemented
The piston 221 blocking structure capable of achieving the above-described function has many schemes (for example, an electrically controlled structure or a mechanical structure, see the examples below, respectively), and is implemented by a mechanical structure, so that the occurrence of failure due to insufficient power can be avoided, and the operation reliability is higher.
Wherein the water inlet hole faces the outer surface of the clamping and releasing mechanism 3 or the outer surface of the unmanned underwater vehicle;
the outer surface of the clamping release mechanism 3 or the surface of the outer surface of the unmanned underwater vehicle, which is opposite to the water inlet hole, forms a stopping structure of the piston 221.
The advantage of adopting above-mentioned structure is:
1. the piston 221 is abutted and limited by directly utilizing the outer surface of the clamping and releasing mechanism 3 or the unmanned underwater vehicle, so that the structure that the water inlet opening mechanism maintains the water inlet hole in a blocking state is simplest.
2. When the object carrying device 1 is separated from the unmanned underwater vehicle, the outer end of the piston 221 rod exerts thrust outwards under the action of elastic force, so that the speed of separation between the underwater object carrying device and the unmanned underwater vehicle is increased, and the advantages are achieved: firstly, the collision between the two can be avoided, the respective action or posture can be influenced, and a better protection effect can be achieved; secondly, the interval between the water inlet hole and the unmanned underwater vehicle can be rapidly increased, the water inlet efficiency at the water inlet hole is increased, the buoyancy change of the buoyancy device 2 is accelerated, and the underwater object carrying device can sink more rapidly.
Two water inlet holes are formed in the shell in a penetrating mode along the same linear direction, two pistons 221 are correspondingly arranged in the two water inlet holes, and the two pistons 221 are fixedly connected together through a connecting rod 222.
The advantage of adopting above-mentioned structure is that the water pressure that piston 221 bore along same straight line direction, size the same can offset each other, and the influence that does not have the water pressure is opened the mechanism that intakes will be more reliable.
Meanwhile, the above two water inlet holes and the two pistons 221 matched structures can further accelerate the water inlet speed inside the shell of the buoyancy device 2, so that the acceleration buoyancy device 2 is changed from positive buoyancy to negative buoyancy, and faster sinking action is realized.
Wherein, the elastic element is a tension spring 223;
a tension spring 223 hooking structure is arranged in the shell of the buoyant device 2, and the tension spring 223 hooking structure comprises a push-pull block 224 and a hooking piece 225;
a push-pull block 224 which protrudes outwards along the radial direction of the connecting rod 222 is fixed on the connecting rod 222 between the two pistons 221, and a hook-pull hole is arranged on the end surface of the push-pull block in a penetrating way;
a hook hanger 225 corresponding to the hook pulling hole is fixedly arranged on the inner side surface of the shell of the buoyant device 2;
the tension spring 223 is generally in a stretched shape, and both ends of the tension spring are hooked between the hook 225 and the hook hole of the push-pull block 224, so that the connecting rod 222 has a pushing force directed to the stopper structure of the piston 221.
Similarly, the elastic piece and the arrangement structure thereof have the advantages of simple structure and easy assembly.
Two tension spring 223 hook structures are distributed at intervals in the circumferential direction of the connecting rod 222 between the two pistons 221, so that the tension springs 223 hooked on the two tension spring 223 hook structures are distributed on the left side and the right side of the connecting rod 222 in a splayed shape.
The advantage of adopting above-mentioned structure is:
1. the structure is simple, the processing is easy, and the assembly and the arrangement are easy.
2. The acting force of the elastic part on the connecting rod 222 can be effectively increased, the water pressure and the outward resistance of the piston 221 can be better overcome, and the piston 221 can be reliably separated from the water inlet hole.
The water inlet opening mechanism further comprises a trigger mechanism, the trigger mechanism is used for opening carrying equipment in the object carrier 1, and the trigger mechanism comprises a limiting piece 226, a limiting nail 227 and a compression spring;
the limiting member 226 has a fixing portion 2261 and a limiting portion 2262, the fixing portion 2261 is formed by radially outwardly protruding a position of the connecting rod 222, which is close to the carrier 1, in a circumferential direction, the fixing portion 2261 is formed by extending the fixing portion 2261 in a direction opposite to the direction in which the piston 221 moves, the limiting portion 2262 is integrally in a plate-shaped structure, a strip-shaped limiting hole extending along the length direction of the connecting rod 222 is arranged on the limiting portion 2262, and one end of the strip-shaped limiting hole, which is far away from the fixing portion 2261 in the length direction, is an open end;
the whole limiting nail 227 is of a cylindrical structure, one section of the limiting nail 227 in the length direction of the cylinder is a limiting section in the buoyant device 2, and the other section of the limiting nail 227 is a triggering section in the carrier 1; the limiting section penetrates through the strip-shaped limiting hole, and the outer end of the limiting section is abutted against and limited by the inner side surface of the limiting part 2262;
the contact section of the limit nail 227 is sleeved with the compression spring, the outer end of the contact section radially extends outwards to form a push block 2271, and the compression spring is pressed against the push block 2271 and the inner side surface of the object carrier 1, so that the limit nail 227 has an acting force pushing towards the contact section along the self cylindrical direction.
The action process of the trigger mechanism is as follows:
when the cargo carrier 1 is about to be or is separated from the unmanned underwater vehicle, the piston 221 stopping structure eliminates the stopping of the piston 221, and the acting force of the elastic part enables the connecting rod 222 to push the piston 221 to be separated from the water inlet hole;
meanwhile, the connecting rod 222 drives the limiting piece 226 to move, and finally the limiting section of the limiting nail 227 moves out of the strip-shaped limiting hole of the limiting piece 226 and the limiting is removed; then, the limit pin 227 moves in the direction of the touch section along the column direction under the action of the compression spring and can be used for triggering and opening a switch on the carrying device.
Therefore, the triggering mechanism and the piston 221 move to form linkage without consuming electric energy, the structure is skillfully arranged, and the carrying equipment on the carrier 1 can be accurately turned on.
In practice, as shown in the figure, the fixing portion 2261 of the limiting member 226 is preferably in the shape of a circular plate, and the limiting portion 2262 is preferably in the shape of a cylinder. This can make the locating part 226 overall structure intensity higher, and spacing is more reliable.
Wherein the clamping release mechanism 3 comprises a clamped piece 31 and a controllable clamping claw;
the clamped piece 31 is a strip-shaped block structure along the length direction of the underwater carrying device, the clamped piece 31 is used for being fixed on the outer surface of the underwater carrying device, the top end of the clamped piece 31 is a clamped part 311, the clamped part 311 is provided with two clamped bulges which are opposite to each other in the direction vertical to the length direction of the underwater carrying device, and the outer convex surface of each clamped bulge is a strip-shaped convex arc surface along the length direction of the underwater carrying device;
the controllable clamping jaw is used for being fixedly installed on the unmanned underwater vehicle and comprises a pair of clamping blocks 32, the clamping blocks 32 are transversely arranged, and two limiting grooves for two clamped bulges of the clamped part 311 of the clamped piece 31 to fall into are formed in opposite side surfaces of a clamping part 321 of the clamping blocks 32.
When the unmanned underwater vehicle navigates underwater, if the clamping and releasing mechanism 3 enables the unmanned underwater vehicle to be far away from the underwater carrying device, the surfaces of the unmanned underwater vehicle and the underwater carrying device can be fully contacted with fluid, so that the water resistance is easily larger, and the condition that the underwater carrying device is not stably carried is caused.
In this scheme, adopt above-mentioned centre gripping release mechanism 3's advantage to be "can make unmanned underwater vehicle and under water draw close as far as possible with carrying between the thing device, reduce the water resistance", the reason is:
the structure that the clamped piece 31 is matched with the pair of clamping blocks 32 which are transversely arranged enables the distance between the unmanned underwater vehicle and the underwater object carrying device to be only close to the thickness of the clamping blocks 32, so that the distance between the unmanned underwater vehicle and the underwater object carrying device is the minimum, the unmanned underwater vehicle and the underwater object carrying device are closer, water resistance is reduced, disturbance force of the water resistance on the clamped underwater object carrying device is reduced, and therefore hanging of the underwater object carrying device on the unmanned underwater vehicle is more stable.
A connecting hole is arranged on the top surface of the clamped piece 31 in a penetrating way, a threaded hole corresponding to the connecting hole is arranged on the outer surface of the underwater carrying device, and the clamped piece 31 is assembled through a connecting screw which is arranged in the connecting hole and the threaded hole; and at least 2 connecting holes are arranged in the length direction of the clamped piece 31.
The assembling structure of the clamped piece 31 has the advantages of simple structure and reliable assembly.
Wherein, the connecting hole is a countersunk hole into which the head of the connecting screw can sink.
Therefore, the situation that the head of the connecting screw collides with the controllable clamping claw and changes the posture of the underwater carrying device in the releasing process of the underwater carrying device is avoided; thereby better ensuring the smooth progress of the release.
The clamping release mechanism 3 further comprises a trigger, a locking column 33, a locking block 34, a middle limiting block and a pair of mounting flat plates 36;
the locking block 34, the middle limiting block and the pair of clamping blocks 32 are respectively rotatably arranged at the position between the pair of mounting flat plates 36 through pin shafts;
the whole locking block 34 is in a long strip shape, a pin shaft is arranged in the middle of the locking block 34 in the length direction, one end of the locking block 34 in the length direction is provided with a transverse convex column 341, the outer end of the convex column 341 abuts against the side face of the locking column 33 and is limited, a trigger is used for triggering the locking column 33 to act and eliminating the limitation on the convex column 341, and a limiting groove 342 is arranged at the position, which is the same as the convex column 341, of the other end of the locking block 34 in the length direction in the circumferential direction;
the middle limiting block is provided with a connecting part 351 and a limiting part 352, the connecting part 351 is integrally E-shaped and flat, the limiting part 352 is long-strip-shaped, one end of the limiting part 352 is connected with the side end of the E-shaped part of the connecting part 351, which is far away from the opening, and the other end of the limiting part 352 is positioned in the limiting groove 342; a pin shaft is arranged at the joint of the connecting part 351 and the limiting part 352;
the pair of clamping blocks 32 are of a parallel and spaced strip-shaped structure, and one ends of the pair of clamping blocks 32 in the length direction are in one-to-one correspondence through fixed vertical pin shafts and can be inserted into two open grooves of the E-shaped connecting part 351 of the middle limiting block in a sliding manner; and the pin on one clamping block 32 of the pair of clamping blocks 32 is located at the other end in the length direction of the clamping block, and the pin on the other clamping block 32 is located at the middle position in the length direction of the clamping block.
The operation principle of the above-described grip release mechanism 3 is:
when the locking column 33 is not moved, the locking block 34 and the middle stopper are kept limited and not moved, and the clamping parts 321 of the pair of clamping blocks 32 are kept clamped close to each other, so that the clamping function can be realized.
When release is needed, the trigger part enables the locking column 33 to retract, the limiting positions of the locking block 34 and the middle limiting block are released and can rotate around the pin shaft respectively, and after the middle limiting block rotates, the clamping parts 321 of the pair of clamping blocks 32 are opened immediately and release is completed.
As can be seen from the above operation principle, the above-described grip release mechanism 3 has the following advantages:
1. because the clamping is realized by keeping the locking column 33 still, the releasing is quickly finished by triggering the locking column 33 to retreat. Therefore, the clamping and releasing operations are simple and reliable.
2. The whole structure is more light and handy
All interlock spare are strip massive structure, so whole quality can be more light and handy, helps realizing better losing the heavy effect.
The trigger is an electromagnet with a moving iron core returning after being electrified, and the moving iron core of the electromagnet forms the locking column 33.
The electromagnet has a small structure and reliable action, and the movable iron core of the electromagnet is directly utilized to form the locking column 33 to form locking, so that the structure is more compact.
Wherein, the middle part of each length direction of the pair of clamping blocks 32 is bent.
Therefore, the structural strength of each clamping block 32 can be improved, and the connection part can be better guaranteed to be opposite to two open grooves of the E-shaped flat block-shaped connecting part 351 of the middle limiting block through bending processing, so that the matching precision is guaranteed.
The clamping release mechanism 3 further includes a clamping fine adjustment mechanism, the clamping fine adjustment mechanism includes an adjusting screw 38, a threaded hole is formed in the side wall of the limiting groove 342 of the locking block 34 in a penetrating manner, a stud of the adjusting screw 38 is screwed in the threaded hole and can penetrate through the threaded hole, and after penetrating through the threaded hole, the stud can abut against the end of the limiting portion 352 of the middle limiting block in the limiting groove 342 to achieve fine adjustment.
After the clamping fine adjustment mechanism is adopted, the rotation degree of the middle limiting block can be adjusted through the adjusting screw 38, and further the distance between the clamping parts 321 of the pair of clamping blocks 32 is adjusted, so that fine adjustment of clamping force is realized; so that a better clamping effect can be obtained.
The pair of mounting plates 36 are located at the periphery of each pin shaft, and each mounting plate has a plurality of hollowed-out portions.
This significantly reduces the weight of the pair of mounting plates 36, resulting in a better weight reduction.
The clamping release mechanism 3 further comprises an installation seat 39, and a clamping jaw installation space for the controllable clamping jaw to be integrally installed and fixed is concavely arranged at the bottom of the installation seat 39.
The arrangement of the mounting base 39 can better cover the controllable clamping claws, and the clamping and releasing reliability of the controllable clamping claws is better ensured.
The mounting seat 39 is a strip-shaped structure for carrying the object under water, and two ends of the mounting seat 39 in the length direction are streamline structures.
In this way, the water resistance of the mounting seat 39 and the gripper jaws can be reduced even further.
The clamping claw mounting space is positioned in the middle of the mounting seat 39 in the strip length direction; the lower surfaces of two ends of the mounting seat 39 in the strip-shaped length direction are in contact with the outer surface of the underwater carrying device in a fitting manner.
The mounting seat 39 has the advantages that:
1. the underwater carrying device is more stable and reliable to carry through the structure that the lower surfaces of the two ends of the mounting seat 39 in the strip-shaped length direction are in contact with the outer surface of the underwater carrying device in a fit mode.
2. The piston 221 blocking structure can be formed by the surface of the mounting seat 39, which is attached to the underwater carrying device, directly, so that the functions of the mounting seat 39 are expanded, and the structure of the piston 221 blocking structure is simplified.
Another embodiment, not shown:
the present embodiment is different from the first embodiment in that:
in practice, the detachable connection between the carrier 1 and the buoyancy device 2 can be realized by adopting the following structure:
the buoyancy device 2 can be magnetically attracted, the object carrying device 1 is provided with a controllable electromagnet, and the buoyancy device 2 and the object carrying device 1 are fixedly attracted together through the electromagnetic force generated by the electromagnet arranged on the object carrying device 1; before the UUV needs to throw the unloading device 1, the power supply of the electromagnet is controlled to be cut off, so that the loading device 1 is separated from the buoyancy device 2, and then the UUV throws the unloading device 1, and the loading device 1 sinks under the action of self negative buoyancy.
Another embodiment, not shown:
the present embodiment is different from the first embodiment in that:
in practice, the water inlet opening mechanism may be disposed outside the housing, for example, the water inlet opening mechanism includes an elastic push rod mounted on an outer surface of the grip release mechanism 3 or an outer surface of the unmanned underwater vehicle, and an outer end of the elastic push rod blocks the water inlet hole under the action of an elastic force.
Another embodiment, not shown:
the present embodiment is different from the first embodiment in that:
in practice, the piston 221 stopping structure may be a controllable electromagnet arranged inside the outer shell of the buoyancy device 2, and the controllable electromagnet is provided with a movable iron core capable of retracting; when the carrier 1 is loaded outside the unmanned underwater vehicle, the outer end of the movable iron core of the controllable electromagnet extends into a limiting hole arranged in the radial direction of the piston 221 to prevent the piston 221 from acting; when the cargo carrier 1 is about to be separated from the unmanned underwater vehicle or is being separated from the unmanned underwater vehicle, the movable iron core of the electromagnet acts to eliminate the blockage of the piston 221, so that the piston 221 moves out under the action of the elastic piece and opens the water inlet hole.
Another embodiment, not shown:
the present embodiment is different from the first embodiment in that:
the elastic piece is a pressure spring;
a pushing block protruding outwards along the radial direction of the connecting rod 222 is fixed on the connecting rod 222 between the two pistons 221; the compression spring is sleeved on a section of the connecting rod 222 which is far away from the piston 221 stopping structure in the length direction, and the compression spring is pressed between the pushing block and the inner side surface of the shell of the buoyant device 2.
The elastic piece and the arrangement structure thereof have the advantages of simple structure and easy assembly.
Another embodiment, not shown:
the present embodiment is different from the first embodiment in that:
the pair of clamping blocks 32 are in a scissor-fork type structure, when the clamped part 311 of the clamped piece 31 is clamped, the force application handles of the scissor-fork type structure are splayed and fixedly connected through an electromagnet with a retractable movable iron core, the electromagnet acts and enables the movable iron core to retract and drives the force application handles of the scissor-fork type structure to be folded, and therefore the other side of the scissor-fork type structure is opened and release is completed.
The above is only a preferred embodiment of the present invention, and it should be noted that several modifications and improvements made by those skilled in the art without departing from the technical solution should also be considered as falling within the scope of the claims.
Claims (5)
1. An underwater carrying device comprising a carrying device which can be used for carrying objects; the method is characterized in that:
the buoyancy device with positive buoyancy is also included, and the object carrier and the buoyancy device are fixedly connected or detachably connected; the object carrier loaded with the objects is in negative buoyancy, and the negative buoyancy is the same as or similar to the positive buoyancy of the buoyancy device;
the object carrier can be fixedly arranged outside the unmanned underwater vehicle through a clamping and releasing mechanism;
the buoyancy device comprises a shell and a water inlet opening mechanism;
the shell is fixedly connected with the carrier and is positioned outside the carrier; the inner part of the shell is provided with a closed cavity, or the surface of the shell and the surface of the object carrying device are enclosed to form the closed cavity;
the surface of the shell is provided with a water inlet hole which is communicated with the closed cavity, and the shell is provided with the water inlet opening mechanism; the water inlet opening mechanism can enable the water inlet hole to be in a blocking state when the cargo carrying device is loaded outside the unmanned underwater vehicle, and enables the water inlet hole to be opened when the cargo carrying device is about to be separated from the unmanned underwater vehicle or is separated from the unmanned underwater vehicle;
wherein, the water inlet opening mechanism comprises a piston, an elastic piece and a piston stopping structure;
the piston is slidably and hermetically inserted in a water inlet arranged on the shell of the buoyancy device, and the elastic element is arranged in the shell of the buoyancy device and applies an acting force which can be separated from the water inlet to the piston; the piston stopping structure stops the piston when the cargo carrying device is loaded outside the unmanned underwater vehicle, eliminates the stopping of the piston when the cargo carrying device is about to or is separated from the unmanned underwater vehicle, and enables the piston to move out under the action of the elastic element and open the water inlet hole;
wherein the water inlet hole faces the outer surface of the clamping release mechanism or the outer surface of the unmanned underwater vehicle;
and the outer surface of the clamping and releasing mechanism or the surface of the outer surface of the unmanned underwater vehicle, which is opposite to the water inlet hole, forms the piston stopping structure.
2. The underwater cargo device of claim 1, wherein: the whole object carrying device is of a cylinder-shaped structure, end plates are arranged at two ends of the cylinder-shaped structure, and a loading port for loading objects is formed in the cylinder-shaped structure.
3. The underwater cargo device of claim 2, wherein: at least one of the end plates at two ends of the cylindrical structure of the object carrier is detachably and fixedly assembled, and the detachable end plate forms the loading port after being detached.
4. The underwater cargo device of claim 1, wherein: the housing comprises a cylindrical section and an end cap; one axial end of the cylindrical section is a fixed mounting end used for being connected with an object carrying device, and the other end of the cylindrical section is fixed with the end cover.
5. The underwater cargo device of claim 4, wherein: the shape of the end cover is a convex curved surface structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910562471.4A CN110217365B (en) | 2019-06-26 | 2019-06-26 | Underwater carrying device |
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| CN201910562471.4A CN110217365B (en) | 2019-06-26 | 2019-06-26 | Underwater carrying device |
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| CN110217365B true CN110217365B (en) | 2021-07-23 |
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| CN113830273B (en) * | 2021-10-22 | 2022-08-09 | 重庆前卫科技集团有限公司 | Water inlet device and mounting structure thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| AU2003251461A1 (en) * | 2002-07-30 | 2004-02-23 | Single Buoy Moorings Inc | Floating lowering and lifting device |
| GB2496608B (en) * | 2011-11-15 | 2014-06-18 | Subsea 7 Ltd | Launch and recovery techniques for submersible vehicles and other payloads |
| GB2517173A (en) * | 2013-08-13 | 2015-02-18 | Saab Seaeye Ltd | Charge deployment system for ordnance neutralisation |
| CN104192286B (en) * | 2014-09-22 | 2016-11-23 | 哈尔滨工程大学 | Fast uniform control method after a kind of underwater unmanned vehicle load delivery |
| CN104443320B (en) * | 2014-09-28 | 2016-10-19 | 中国船舶重工集团公司第七一〇研究所 | Spring piston type buoyancy compensation device under water |
| CN105923590B (en) * | 2016-06-23 | 2018-12-14 | 江苏科技大学 | A kind of underwater vertical transporting equipment and method |
| CN107021194B (en) * | 2017-05-16 | 2019-09-03 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | The power tool library and its docking facilities that ROV underwater wet-type modularization changes the outfit |
| CN207292351U (en) * | 2017-10-12 | 2018-05-01 | 上海遨拓深水装备技术开发有限公司 | A kind of scalability T5 ROV work baskets |
| CN208498771U (en) * | 2018-04-12 | 2019-02-15 | 中国计量大学 | A kind of separable load cabin of Autonomous Underwater Vehicle |
| CN109774903B (en) * | 2018-12-31 | 2021-05-07 | 中国船舶重工集团公司第七一0研究所 | Underwater separation controller |
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