CN116142430A - Underwater load loading and releasing device - Google Patents

Underwater load loading and releasing device Download PDF

Info

Publication number
CN116142430A
CN116142430A CN202211431783.XA CN202211431783A CN116142430A CN 116142430 A CN116142430 A CN 116142430A CN 202211431783 A CN202211431783 A CN 202211431783A CN 116142430 A CN116142430 A CN 116142430A
Authority
CN
China
Prior art keywords
loading
rod
locking
guide
underwater
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211431783.XA
Other languages
Chinese (zh)
Inventor
张亮
陈玉龙
裴仁俊
鲁鹏
钟自鸣
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Yichang Testing Technique Research Institute
Original Assignee
Yichang Testing Technique Research Institute
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Yichang Testing Technique Research Institute filed Critical Yichang Testing Technique Research Institute
Priority to CN202211431783.XA priority Critical patent/CN116142430A/en
Publication of CN116142430A publication Critical patent/CN116142430A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
    • B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
    • B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
    • B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Ocean & Marine Engineering (AREA)
  • Placing Or Removing Of Piles Or Sheet Piles, Or Accessories Thereof (AREA)
  • Earth Drilling (AREA)

Abstract

The invention provides an underwater load loading and releasing device which can realize simplified loading of underwater load on an aircraft, ensure reliable loading and releasing and improve loading efficiency. The load release apparatus includes: a lock release mechanism and a loading mechanism; the loading mechanism is used for loading underwater loads; the locking release mechanism is used for locking and releasing of the loading mechanism, and comprises: a base, and a driving mechanism and an actuating mechanism which are arranged on the base. The underwater load loading and releasing device has a simple structure, can greatly simplify the loading process, does not need to use load for alignment and positioning in the assembly process, greatly reduces the loading and matching precision requirement, saves manpower and improves the efficiency; except the driving source, the rest are all pure mechanical transmission devices, so that the reliability is high, the environmental adaptability is good, and the use requirements of various environments can be met.

Description

Underwater load loading and releasing device
Technical Field
The invention relates to a loading and releasing device, in particular to an underwater loading and releasing device, and belongs to the technical field of underwater unmanned aircrafts.
Background
For the underwater unmanned aircraft, the problems of loading, transferring, laying and the like of the underwater load on the aircraft are required; the existing loading and releasing devices are few in types and different in forms, the loading process is complex, the fault tolerance rate is low, time and labor are wasted, and the loading efficiency is seriously affected.
Disclosure of Invention
In view of the above, the present invention provides an underwater load loading and releasing device capable of realizing simplified loading of an underwater load on an aircraft, ensuring reliable loading and releasing, and improving loading efficiency.
The technical scheme of the invention is as follows: an underwater load-releasing apparatus comprising:
a loading mechanism for loading an underwater load;
the locking and releasing mechanism is used for locking and releasing the loading mechanism;
the lock release mechanism includes: a base and a driving mechanism and an executing mechanism which are arranged on the base;
the driving mechanism includes: a drive source and a slide bar; the driving source is used for driving the sliding rod to move longitudinally along the base; the sliding rod comprises a rod section A and a rod section B along the length direction; the thickness of the rod section B is larger than that of the rod section A;
the executing mechanism comprises: the device comprises a holding hook, a connecting rod and a guide rod; the two clasps are symmetrically hinged on two lateral sides of the lower end surface of the base; locking blocks extend inwards from the lower parts of the two longitudinal ends of the holding hook and are used for being matched with locking grooves on the loading mechanism;
one end of each connecting rod is hinged with the middle parts of the two clasps, and the other end of each connecting rod is hinged with two ends of a transversely arranged guide rod; the middle part of the guide rod is provided with a sliding block extending upwards; the sliding block stretches into the guide groove on the bottom surface of the base and is in sliding fit with the guide groove; the sliding block is provided with a guide hole, the sliding rod extends into the guide hole, and the upper end surface of the sliding rod is contacted with the bottom surface of the guide groove;
when the rod section B of the sliding rod is positioned in the guide hole, the lower end surface of the sliding rod is contacted with the inner bottom surface of the guide hole, the sliding rod is positioned in a locking position, and the locking block on the holding hook is limited in the locking groove; when the rod section A of the sliding rod is positioned in the guide hole, the sliding rod is in an unlocking position, and the clasping hook can be outwards opened.
On the basis of the scheme, further, the loading mechanism comprises: the bearing frame and the anchor ear; the loading mechanism is connected with the locking release mechanism through the locking grooves which are formed in the positions, corresponding to the four locking blocks, of the executing mechanism, on the loading frame;
and hoops for encircling underwater loads are respectively arranged at the two longitudinal ends of the bearing frame.
On the basis of the scheme, more than one limiting roller group is arranged on the bottom surface of the base longitudinally and used for limiting loading underwater load in place.
On the basis of the scheme, further, the inner bottom surface in the guide hole is provided with a roller, and when the sliding rod is positioned in a locking position, the lower end surface of the sliding rod section B is in contact with the roller.
On the basis of the scheme, the driving source is a hydraulic cylinder, an electric cylinder or a linear motor.
The beneficial effects are that:
(1) The underwater load loading and releasing device has a simple structure, can greatly simplify the loading process, does not need to use load for alignment and positioning in the assembly process, greatly reduces the loading and matching precision requirement, saves manpower and improves the efficiency; except the driving source, the rest are all pure mechanical transmission devices, so that the reliability is high, the environmental adaptability is good, and the use requirements of various environments can be met.
(2) The lower end face of the base is provided with two limiting roller groups for limiting underwater load loading, so that the underwater load loading device is safe and reliable, and the underwater load can be reliably loaded in place.
(3) The roller contacted with the slide bar is arranged on the inner bottom surface of the square guide hole of the guide bar, so that the sliding friction of the slide bar can be reduced, and the slide bar is guided.
Drawings
FIG. 1 is a schematic view of the structure of an underwater load-releasing apparatus of the present invention;
FIGS. 2 and 3 are schematic views of the structure of the lock release mechanism;
FIG. 4 is a schematic view of the structure of the base;
FIG. 5 is a schematic diagram of a driving mechanism;
FIG. 6 is a schematic diagram of an actuator;
fig. 7 is a schematic structural view of the loading mechanism.
Wherein: 1-locking release mechanism, 2-loading mechanism, 3-base, 4-driving mechanism, 5-actuating mechanism, 6-mounting frame, 7-driving mechanism mount pad, 8-spacing roller group, 9-guide slot, 10-driving source, 11-slide bar, 12-clasp, 13-connecting rod, 14-guide bar, 15-roller, 16-bearing frame, 17-steel belt, 18-locking screw; 19-underwater load.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples.
The embodiment provides an underwater load loading and releasing device, which can greatly simplify the loading process and improve the loading efficiency.
As shown in fig. 1, the underwater load-releasing apparatus includes: a lock release mechanism 1 and a loading mechanism 2; wherein the loading mechanism 2 is used for loading the underwater load 19; the lock release mechanism 1 is used for locking and releasing the loading mechanism 2.
As shown in fig. 2 and 3, the lock release mechanism 1 includes: a base 3, a driving mechanism 4 and an executing mechanism 5;
the base 3 is a mounting frame of the driving mechanism 4 and the executing mechanism 5; the locking and releasing mechanism 1 is arranged on the underwater carrying platform through a base 3; the driving mechanism 4 is used for driving the actuating mechanism 5 to act, and the actuating mechanism 5 is used for realizing loading and releasing of the underwater load 19.
As shown in fig. 4, the base 3 includes: the device comprises a mounting frame 6, a driving mechanism mounting seat 7, a limiting roller 8 and a guide groove 9; the longitudinal direction of the base 3 is a longitudinal direction, and the width direction is a transverse direction (left-right direction); the base 3 is bilaterally symmetrical along its longitudinal central axis. The mounting frame 6 is of a welding structure, a driving mechanism mounting seat 7 is arranged in the center of one longitudinal end of the mounting frame, and the end part of the fixed end of the driving source 10 in the driving mechanism 4 is hinged and fixed on the driving mechanism mounting seat 7; the two limiting roller groups 8 are symmetrically arranged at the central positions of the two longitudinal ends of the base 3 respectively through brackets and used for limiting the underwater load 19, and in the example, each limiting roller group 8 comprises two limiting rollers arranged transversely; the guide slot 9 is located at the very center of the base 3 for vertical guiding of the actuator 5. The downward extending length of the limit roller group 8 is larger than the downward extending length of the driving mechanism mounting seat 7 and the guide groove 9.
As shown in fig. 5, the driving mechanism 4 includes: a drive source 10 and a slide bar 11; the driving source 10 may be a hydraulic cylinder, an electric cylinder or a linear motor; the driving source 10 is arranged along the longitudinal direction of the base 3, the fixed end of the driving source is hinged on the driving mechanism mounting seat 7 of the base 3, and the telescopic end of the driving source is connected with the sliding rod 11; the sliding rod 11 has a smooth transition structure, specifically: the upper end face of the sliding rod 11 is of a planar structure, the lower end face of the sliding rod 11 is of a smooth transition step structure, namely, the sliding rod comprises a smaller thickness section (a rod section A) and a larger thickness section (a rod section B) along the length direction of the sliding rod 11, the rod section A and the rod section B are in smooth transition through inclined planes, namely, a rod section C with gradually increased thickness is arranged between the rod section A and the rod section B; the rod section A of the slide rod 11 is connected with the telescopic end of the driving source 10. The slide bar 11 is used for controlling the guide bar 14 to move up and down; specific: when the slide bar 11 is in the unlocking position, the guide bar 14 can move up and down along the guide groove 9; when the slide bar 11 is in the locked position, the guide bar 14 cannot move up and down along the guide slot 9.
As shown in fig. 6, the actuator 5 is a multi-link hinge symmetrical structure, and the actuator 5 is mounted at the bottom of the base 3 and is symmetrical left and right along the longitudinal central axis of the base 3. The actuator 5 includes: the device comprises a holding hook 12, a connecting rod 13, a guide rod 14 and a roller 15; the two clasps 12 are symmetrically arranged on two lateral sides of the lower end surface of the base 3 respectively; the lower parts of the two longitudinal ends of the holding hook 12 are inwards extended to form a bulge which is used as a locking block and is matched with a locking groove on the loading mechanism 2; each clasp 12 is provided with two sets of hinge holes, the hinge hole at the upper end being hinged to the base 3 (the hinge axis here being arranged in the longitudinal direction of the base 3), the hinge hole in the middle lug being provided for the hinge with the connecting rod 13 (the hinge axis here being also arranged in the longitudinal direction of the base 3).
Preferably, the centre of gravity of the clasp 12 is located inside its hinge axis hinged to the base 3, whereby when a double force of the underwater load 19 and the loading mechanism 2 acts on the clasp 12, the clasp 12 is able to generate a moment of turning outwards about the hinge axis, forcing the clasp 12 to open.
One end of each connecting rod 13 is hinged with a hinge hole on a support lug at the middle part of the longitudinal direction of each holding hook 12, and the other end of each connecting rod is hinged with two ends of a guide rod 14 which is transversely arranged. The middle part of the guide rod 14 is provided with a strip-shaped bulge which is upwards along the vertical direction, and the strip-shaped bulge is used as a sliding block to extend into the guide groove 9 at the center of the bottom of the base 3 and is in sliding fit with the guide groove 9. A guide square hole is formed in the sliding block in the middle of the guide rod 14 and used for guiding the sliding rod 11, and the guide square hole is formed in the middle of the guide rod: the slide bar 11 passes through the mounting bracket of the limit roller group 8 and then stretches into the guide square hole, and the upper end surface of the slide bar 11 is contacted with the bottom surface of the guide groove 9.
When the rod section B of the slide rod 11 is positioned in the guide square hole on the slide block in the middle of the guide rod 14, the slide rod 11 is positioned in a locking position; at this time, the upper end surface of the slide bar 11 contacts with the bottom surface of the guide groove 9, the lower end surface contacts with the roller 15 arranged on the bottom surface in the guide square hole, and the roller 15 can reduce the sliding friction of the slide bar 11 and guide the slide bar 11.
When the driving source 10 drives the slide bar 11 to extend outwards, so that the bar section A of the slide bar 11 is positioned in the guide square hole on the slide block in the middle of the guide bar 14, the slide bar 11 is in an unlocking position; at this time, the upper end surface of the slide bar 11 contacts with the bottom surface of the guide groove 9, a space is reserved between the lower end surface and the roller 15, and the slide block in the middle of the guide bar 14 can move upwards along the guide groove 9 until the lower end surface of the slide bar 11 contacts with the roller 15.
As shown in fig. 7, the loading mechanism 2 is used for loading of a submerged load 19; comprising the following steps: a carrier 16, a hoop and a locking screw 18. The bearing frame 16 is used for installing the loading mechanism 2 on the locking and releasing mechanism 1 to realize loading of the underwater load 19; specific: the bearing frame 16 is a rectangular frame, locking grooves are respectively arranged at positions on the bearing frame 16 corresponding to the four locking blocks on the actuating mechanism 5, and when the locking blocks are inserted into the locking grooves at the corresponding positions, the loading mechanism 2 and the locking release mechanism 1 are connected. When the slide bar 11 is in the unlocking position, the clasping hook 12 can outwards turn over under the action of the gravity of the underwater load 19, so that the locking block leaves the locking groove, and the loading mechanism 2 and the locking release mechanism 1 are disconnected.
Hoops with openings are respectively arranged at the two longitudinal ends of the bearing frame 16 and are used for encircling the underwater load 19; in the embodiment, an annular steel belt 17 with an opening is used as a hoop, and after the steel belt 17 surrounds an underwater load 19 through the opening, the steel belt 17 is connected with two ends of the opening through a locking screw 18 to lock the underwater load 19.
The loading process of the device on the underwater load 19 is as follows:
initially, the slide bar 11 is in the locked position; when the underwater load 19 is required to be loaded, the driving source 10 stretches out to push the sliding rod 11 to the minimum height (namely, push the sliding rod 11 to the position that the rod section A of the sliding rod is positioned in a guide square hole on a sliding block in the middle of the guide rod 14), at the moment, the sliding rod 11 is in an unlocking position, and the two clasps 12 can rotate outwards around the hinging shaft between the clasps and the base 3 to be opened; in this process, the guide bar 14 moves upward, and in the process of moving the guide bar 14 upward, the slider in the middle moves upward along the guide groove 9 to guide the movement of the guide bar 14.
Then the four locking blocks on the two clasps 12 are inserted into the locking grooves at the corresponding positions on the carrying frame 16 of the loading mechanism 2; the driving source 10 withdraws the slide bar 11, and when the slide bar 11 is pulled to move to the maximum height position (namely, the slide bar 11 is pushed to the position that the bar section B of the slide bar is positioned in the guide square hole on the slide block in the middle of the guide bar 14), the upper end and the lower end of the slide bar 11 are respectively contacted with the bottom surface of the guide groove 9 and the roller 15; the clasps 12 are locked and can not be opened outwards any more, and loading of the loading mechanism 2 is completed.
Then loosening a locking screw 18 at the opening of the steel belt 17 on the loading mechanism 2, unlocking the steel belt 17, and lifting an underwater load 19 to be in contact with a limit roller 8 on the locking and releasing mechanism 1 through a lifting platform; finally, the steel belt 17 on the loading mechanism 2 is tensioned around the underwater load 19, and the locking screw 18 is locked, so that the loading of the underwater load 19 is completed.
The release process of the device to the underwater load 19 is:
firstly, the driving source 10 stretches out to push 11 the slide bar to the minimum height (namely, push 11 the slide bar to the position that the bar section A is positioned in a guide square hole on a slide block in the middle part of the guide bar 14), so that the clasping hook 12 has the degree of freedom of opening outwards; the double forces of the underwater load 19 and the loading mechanism 2 act on the clasping hook 12 to generate outward overturning moment, so that the clasping hook 12 is forced to open, and the delivery of the underwater load 19 is completed.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.

Claims (5)

1. An underwater load-releasing apparatus, comprising:
a loading mechanism for loading an underwater load;
the locking and releasing mechanism is used for locking and releasing the loading mechanism;
the lock release mechanism includes: a base and a driving mechanism and an executing mechanism which are arranged on the base;
the driving mechanism includes: a drive source and a slide bar; the driving source is used for driving the sliding rod to move longitudinally along the base; the sliding rod comprises a rod section A and a rod section B along the length direction; the thickness of the rod section B is larger than that of the rod section A;
the executing mechanism comprises: the device comprises a holding hook, a connecting rod and a guide rod; the two clasps are symmetrically hinged on two lateral sides of the lower end surface of the base; locking blocks extend inwards from the lower parts of the two longitudinal ends of the holding hook and are used for being matched with locking grooves on the loading mechanism;
one end of each connecting rod is hinged with the middle parts of the two clasps, and the other end of each connecting rod is hinged with two ends of a transversely arranged guide rod; the middle part of the guide rod is provided with a sliding block extending upwards; the sliding block stretches into the guide groove on the bottom surface of the base and is in sliding fit with the guide groove; the sliding block is provided with a guide hole, the sliding rod extends into the guide hole, and the upper end surface of the sliding rod is contacted with the bottom surface of the guide groove;
when the rod section B of the sliding rod is positioned in the guide hole, the lower end surface of the sliding rod is contacted with the inner bottom surface of the guide hole, the sliding rod is positioned in a locking position, and the locking block on the holding hook is limited in the locking groove; when the rod section A of the sliding rod is positioned in the guide hole, the sliding rod is in an unlocking position, and the clasping hook can be outwards opened.
2. An underwater load release apparatus as in claim 1, wherein the loading mechanism comprises: the bearing frame and the anchor ear; the loading mechanism is connected with the locking release mechanism through the locking grooves which are formed in the positions, corresponding to the four locking blocks, of the executing mechanism, on the loading frame;
and hoops for encircling underwater loads are respectively arranged at the two longitudinal ends of the bearing frame.
3. An underwater load release as claimed in claim 1 or 2, wherein the base bottom surface is provided with more than one set of limit rollers longitudinally for limiting the loading of the underwater load in place.
4. An underwater load as claimed in claim 1 or claim 2 wherein the inner bottom surface of the guide aperture is provided with rollers with which the lower end surface of the slide bar section B contacts when the slide bar is in the locked position.
5. An underwater load as claimed in claim 1 or claim 2 wherein the drive source is a hydraulic cylinder, an electric cylinder or a linear motor.
CN202211431783.XA 2022-11-16 2022-11-16 Underwater load loading and releasing device Pending CN116142430A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211431783.XA CN116142430A (en) 2022-11-16 2022-11-16 Underwater load loading and releasing device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211431783.XA CN116142430A (en) 2022-11-16 2022-11-16 Underwater load loading and releasing device

Publications (1)

Publication Number Publication Date
CN116142430A true CN116142430A (en) 2023-05-23

Family

ID=86353290

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211431783.XA Pending CN116142430A (en) 2022-11-16 2022-11-16 Underwater load loading and releasing device

Country Status (1)

Country Link
CN (1) CN116142430A (en)

Similar Documents

Publication Publication Date Title
US11958378B2 (en) Movable platform for replacing battery and quick replacing system
US8430229B2 (en) Lifting device for a conveyor system a conveyor system and a method
CN109421576B (en) Carrying trolley
KR100671069B1 (en) Transferring mechanism, movable probe card transferring apparatus, probe device, and method for transferring a probe card into a probe apparatus
CN112299288B (en) Lifting limiting device
CN214734185U (en) Novel initiative telescopic system and automatic handling equipment
CN116142430A (en) Underwater load loading and releasing device
CN110289238B (en) Wafer frame box horizontal moving device and wafer feeding system
KR102172473B1 (en) Jig assembly for mounting power supply cable to overhead hoist transport
CN217229117U (en) Material changing device
CN217350549U (en) Lifting AGV capable of self-adapting to motion guide error
CN210340219U (en) Lifting limiting device
KR20210011960A (en) Substrate holding device
CN210337881U (en) Battery attaches together AGV
JPH11297792A (en) External installation type load port device in semiconductor manufacturing device
CN208647852U (en) Carrier transports vehicle moving mechanism and carrier transfer car(buggy) transfer device
CN112141912B (en) Pull plate assembly, crane boom and crane
CN115570590B (en) Clamping mechanism and manipulator
CN216127256U (en) Unmanned aerial vehicle battery replacement robotic arm
CN115258532B (en) Horizontal plate collecting and conveying device
CN218448311U (en) Battery box bottom plate installation frock and battery device equipment
CN219278464U (en) Four-way shuttle car lifting reversing device and four-way shuttle car
CN216036667U (en) Sliding device with locking function and storage robot
CN215047560U (en) Winding tool for traction motor spool
CN114655903B (en) Automatic lifting device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination