CN210455155U - Carrying and butt joint device between underwater vehicles - Google Patents
Carrying and butt joint device between underwater vehicles Download PDFInfo
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- CN210455155U CN210455155U CN201920891942.1U CN201920891942U CN210455155U CN 210455155 U CN210455155 U CN 210455155U CN 201920891942 U CN201920891942 U CN 201920891942U CN 210455155 U CN210455155 U CN 210455155U
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Abstract
The utility model provides a carry on interfacing apparatus between delivery ware under water is one kind and can make small-size manned delivery ware and large-scale delivery ware establish transportation channel and reliable mechanical connection under water to the recovery butt joint stage of delivery ware provides the supplementary carry on interfacing apparatus of machinery. The device comprises a carrying mechanism based on 'dead point' self-locking, a 'rod-cone' type butt joint mechanism and a butt joint skirt, and a dry type transportation channel is added on the basis of mechanical connection of the underwater vehicle through the optimization design of the specific structure and the installation arrangement of the device, so that the reliability and the automation degree of the small-sized underwater vehicle in carrying, recovering and laying stages are improved.
Description
Technical Field
The utility model relates to a carry on interfacing apparatus between delivery vessel under water for large-scale delivery vessel is to carrying on, transportation, butt joint and the cloth of small-size delivery vessel under water.
Background
With new marine affairs around the world, marine threats and the emergence of a new set of marine countries, the traditional marine order is changing. In order to deal with the increasingly diversified marine safety threats, the investment in marine equipment is more and more, and one attractive phenomenon is the re-growth of small underwater carrying equipment.
Small underwater carrying equipment is put into use during the second war, and the league and the contractual nations use frogman carrying equipment for penetration combat, which has a great influence on the sea warfare history. After the second major war, the research on frogman carrying equipment is very important in the United states, the Soviet Union and other countries. Many countries currently have small underwater vehicles, most typically in the united states and russia.
At present, small underwater vehicles in various countries are mostly applied to water areas with water depth less than 60 feet to execute tasks, so that the vehicles are small in size, short in range and capable of playing a better role by using a mother platform for delivery. At present, the small-sized underwater vehicles equipped in various countries are mostly wet vehicles, and can be delivered by ships, airplanes and submarines (considering the concealment requirement, the submarines are mostly adopted for delivery). During the course of executing tasks, the carrying personnel are in the seawater environment all the time, and most physical strength can be lost. Meanwhile, the wet carrier is not provided with an automatic recovery device, a diver is required to assist when the submarine is used for delivering and recovering, the process is complex, and the operation time is long. In consideration of the limitation of the existing wet type carrier, the dry type underwater small carrier is vigorously developed in all countries, and meanwhile, an automatic recovery system of the carrier is researched, so that the distribution and recovery efficiency of the carrier is improved.
The utility model relates to a small-size manned carrier carries on interfacing apparatus under water that is used for large-scale carrier under water to carrying on of small-size carrier, retrieve and lay, the device comprises carrying on mechanism and docking mechanism, install respectively on frog man carrier and the female platform of transportation, a mechanical butt joint for accomplishing between the two, the butt joint keeps and separates, accomplish the direction simultaneously and rectify, build the dry-type passageway, work such as sealed, make the carrying on transportation of carrier and lay the recovery process more stable, degree of automation is higher, application condition is wider.
Similar to the device provided by the patent, which is specially used for carrying and docking of the small-sized underwater manned carrier, can be searched in the Chinese patent library, but the structure composition and the behavior mode of the device are different from those of the patent. Chinese patent CN 108502129a provides a loadable device suitable for capturing and docking underwater moving targets. Unlike this patent, this patent includes that arm, guide housing catch unit, light source guide unit and docking unit, is different with the carrying mechanism and the docking mechanism of this patent. The design of the patent is that a manipulator is actively used for capturing an underwater target and the underwater target is moved to pass through a plug, so that butt-joint sockets equipped for the underwater moving target are mutually and accurately butted, and the design is different from a small-sized underwater vehicle which is actively butted with a large-sized vehicle and adopts a 'piggyback' and 'rod-cone' butt-joint locking mechanism. The patent aims at capturing a specific target, and is different from the patent used for carrying, transporting, butting and laying a small-sized carrier by a large-sized underwater carrier and establishing a channel connection.
Disclosure of Invention
The utility model aims at providing a carry on interfacing apparatus between delivery ware under water can make small-size manned delivery ware and large-scale delivery ware establish transfer passage and reliable mechanical connection under water to provide mechanical assistance's carry on interfacing apparatus in the recovery butt joint stage of delivery ware. Through the optimization design of the specific structure and the installation arrangement of the device, the reliability and the automation degree of the small underwater vehicle in the stages of carrying, recovering and distributing are improved.
The purpose of the utility model is realized like this: the carrying mechanism is at least 4 and is vertically arranged around the docking skirt, the rod cone type docking mechanisms are at least two and are positioned on the same straight line with the center of the docking skirt, the carrying mechanism provides all translation constraints and rotation constraints corresponding to the normal direction, and the rod cone type docking mechanism ensures the centering property of the docking skirt.
The utility model discloses still include such structural feature:
1. the carrying mechanism comprises a capturing frame arranged at the lower end of the small underwater vehicle, a locking trunnion arranged at the lower end of the capturing frame, a carrying base arranged on the large underwater vehicle, a crank arranged on the carrying base, a posture connecting rod hinged with the crank, a rocker hinged on the carrying base, a pre-tightening connecting rod hinged with the end part of the rocker, and a clamping jaw hinged on the carrying base, wherein the end part of the pre-tightening connecting rod is connected with the clamping jaw, the end part of the posture connecting rod is hinged at the middle position of the rocker, the crank is driven by a driving motor, and the locking trunnion is in contact with the carrying base and is matched with the clamping jaw to realize locking.
2. The driving end part of the crank is also provided with a manual operation interface structure.
3. And a disc spring group for providing pretightening force is arranged in the piston cylinder of the rocker.
4. The contact position of the carrying base and the locking trunnion is provided with a V-shaped guide groove.
5. The rod-cone type butt-joint mechanism comprises a rod assembly hinged with the small carrier, a posture connecting rod hinged with the rod assembly, a structural connecting rod hinged with the posture connecting rod, an action cylinder hinged with the structural connecting rod, and a receiving cone part arranged on the large carrier, wherein the structural cylinder and the structural connecting rod are both hinged on the small carrier, the rod assembly comprises a shell, a driving motor arranged on the shell, a synchronous belt mechanism arranged on the output end of the driving motor and the shell, a lead screw connected with a synchronous belt output belt wheel shaft, a slide block arranged on the lead screw, a piston rod fixedly connected with the slide block, and a ball head arranged at the end part of the piston rod, the receiving cone part comprises a cone-shaped receiving cover arranged on the large underwater carrier, an electromagnet arranged in the large underwater carrier, an electromagnetic action rod arranged in the middle of the electromagnet, a driving slide block arranged at the upper end part of the electromagnetic action rod, a, Three arc-shaped clamping jaws hinged on the large-scale carrier, inclined planes matched with the three arc-shaped clamping jaws in shape are arranged on the driving sliding block, and clamping springs are further arranged at the hinged positions of the arc-shaped clamping jaws and the large-scale carrier.
6. The electromagnet is electrified to attract the electromagnetic action rod to move upwards, the driving slide block moves upwards along with the electromagnet, the arc-shaped clamping jaw is driven to rotate inwards under the action of the inclined surface, and the ball head is locked; when the electromagnet is powered off, the electromagnetic action rod and the driving slide block lose driving force, the arc-shaped clamping jaw reversely rotates under the action of the clamping spring at the pin shaft, and the electromagnetic action rod and the driving slide block are driven to move downwards to return to an initial state while the ball head is released.
7. The number of the carrying mechanisms is four, every two of the carrying mechanisms are vertically arranged, and the number of the rod cone type butt joint mechanisms is two.
Compared with the prior art, the beneficial effects of the utility model are that: 1. the utility model provides an degree of automation is higher, and the better delivery ware butt joint structure under water of stability can carry out recovery, delivery and the cloth of delivery ware under the condition that does not need artifical direct intervention and put, has greatly reduced all kinds of restriction conditions that delivery ware was retrieved, was carried and was put under water. 2. The utility model discloses can establish dry-type transportation passageway between two carriers under water, accomplish personnel or article's mutual conveying. 3. The carrying device adopts a clamping jaw trunnion locking mode, the clamping jaw structure is composed of a connecting rod mechanism with a self-locking characteristic, and the dead point characteristic of the clamping jaw structure is utilized to realize reliable locking of the carrier. 4. The combined disc spring in the rocker can provide enough pretightening force, and the structural strength of the butt joint device in a locking state is ensured. 5. The device is also provided with a manual locking/unlocking interface, and can be manually operated by an operator when the driving motor fails, so that the locking can be released at the first time when the failure occurs, and the safety of the device is greatly improved. 6. The carrying base is provided with a small-size V-shaped guide groove at the contact part of the carrying base and the locking trunnion, and can provide extra guide capacity for the carrier during butt joint. 7. The butt joint device adopts a rod-cone structure, and can correct the position and the course of the carrier by utilizing a series of collision processes of a rod end ball head and a conical surface. 8. The link mechanism of hydraulic power can make "pole" subassembly withdraw to carrier bottom space under inoperative condition, has reduced the resistance of "pole" subassembly to the carrier navigation in-process.
Drawings
FIGS. 1a and 1b are schematic diagrams of the general structures of a carrying and docking device of a small underwater manned vehicle;
FIG. 2 is a schematic structural view of the mounting mechanism (with the mounting base removed);
FIG. 3 is a schematic structural view (complete connection) of a mounting process of a mounting mechanism;
FIG. 4 is a schematic structural view of the "rod" assembly (with parts of the housing removed);
FIG. 5 is a schematic structural view of the docking rod assembly retraction process;
FIG. 6 is a schematic diagram of the docking process of the docking mechanism of the "rod-cone" type;
fig. 7 is a schematic structural view of the docking skirt.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
With reference to fig. 1a to 7, the object of the present invention is achieved by: the carrying mechanism comprises at least four carrying bases, locking trunnions, a capturing frame, a crank rocker and a clamping jaw, the carrying bases are fixed on a butt deck on the upper portion of a transport mother boat through screws and located inside a fairing, a base serving as a carrying device provides support for a driving crank and each connecting rod, the upper end of each locking trunnion is connected with the capturing frame through a pin shaft, the crank rocker mechanism comprises a crank, a rocker, a posture connecting rod and a pre-tightening connecting rod, the crank and the rocker are connected with the carrying bases through screws, the posture connecting rod is connected with the crank and the rocker, the pre-tightening connecting rod is connected to one end of the rocker, and the clamping jaw is connected to the other end of the carrying bases and the pre-tightening connecting rod.
The 'rod-cone' type butt joint mechanism is composed of at least two groups of 'butt joint rod' devices and 'receiving cone' devices, the 'butt joint rod' devices are connected with a 'rod' assembly and a small underwater carrier through connecting rods, power is provided by an action cylinder to adjust postures, a driving motor is arranged inside the 'rod' assembly to drive a lead screw sliding block, the top of the 'rod' assembly is fixedly connected with a ball head structure, the 'receiving cone' devices are fixed on a transport mother boat, a main body of the 'cone' shaped receiving cover is provided with an electromagnet and an electromagnetic action rod, the bottom of the receiving cover is connected with a driving sliding block, three clamping jaws providing damping through clamping springs are arranged outside the sliding block, and the clamping jaws are hinged with the transport.
The docking skirt is a rigid integral docking skirt. The carrying base is provided with a manual operation interface outside the crank pin shaft. A small-size V-shaped guide groove is designed at the contact part of the carrying base and the locking trunnion. The capturing frame is fixedly connected with a large underwater vehicle. A large-rigidity disc spring group is arranged in the middle of the rocker. The acting cylinder of the butt joint rod device is driven by hydraulic pressure. And detachable protective covers are arranged outside the electromagnet and the electromagnetic action rod. The outside of the arc-shaped clamping jaw is provided with a detachable protective cover.
Namely, the utility model comprises a carrying mechanism based on dead point self-locking, a rod-cone type butt joint mechanism and a butt joint skirt.
As shown in FIG. 1a and FIG. 1b, the utility model discloses totally including being no less than 4 groups carry on mechanism I, be no less than 2 groups "pole-awl" formula docking mechanism II and butt joint skirt III.
As shown in fig. 2 and 3, the inside of the middle carrying mechanism i of the present invention is composed of a crank 1, an attitude connecting rod 2, a rocker 3, a disc spring set 4, a claw 5, a pre-tightening connecting rod 6, a manual operation interface structure 7, a locking trunnion 8, a capturing frame 9, a carrying base 10, and the like. The crank 1 is driven by a driving motor, is connected to the carrying base 10 through a screw and a bearing, can rotate around a pin shaft of the crank and is responsible for providing power for locking of the whole carrying mechanism; the rocker 3 is also connected to the carrying base 10 through a screw and a bearing and can rotate around a pin shaft of the rocker; the attitude connecting rod 2 is connected with the crank 1 and the rocker 3, and the crank 1, the connecting rod 3 and the carrying base form a crank-rocker mechanism together for controlling the angle of the rocker 3; the jack catch 5 is indirectly connected with the rocker 3 and the carrying base 10 and can rotate around a pin shaft at the joint of the jack catch and the carrying base 10; the disc spring group 4 is arranged in a piston cylinder of the rocker 3 and is responsible for providing pretightening force for the clamping jaw 5; the locking trunnion 8 is connected to the capturing frame 9 through a screw and a pin shaft and can rotate around the pin shaft of the capturing frame, and the capturing frame 9 is fixedly connected with the small underwater vehicle through the screw; the carrying base 10 is fixedly connected with a mother boat (large carrier) through screws; a manual operation interface structure 7 is provided on the outside of the crank 1 for manually driving the crank 1 in special situations. The carrying base 10 is designed with a small-size V-shaped guide groove at the contact part with the locking trunnion 8, so as to provide a guide function for the locking trunnion 8 to smoothly enter the shaft groove. When the underwater vehicle works (taking the process of recovering and establishing mechanical connection of a small underwater vehicle as an example), the claw 5 is kept in an initial opening state under the common control of the crank 1, the attitude connecting rod 2, the rocker 3 and the pre-tightening connecting rod 6 due to the driving of a driving motor connected with the crank 1; the locking trunnion 8 and the capturing frame 9 slowly descend along with the small underwater vehicle, and the locking trunnion 8 enters the designated position of the shaft groove under the combined action of the small-size V-shaped guide groove of the carrying base 10 and the rotation of the locking trunnion around the pin shaft; the driving motor drives the crank 1 to rotate, the posture of the rocker 3 is adjusted through the posture connecting rod 2, the clamping jaw 5 is further enabled to rotate around the pin shaft of the clamping jaw, the locking trunnion 8 is locked under the action of pre-tightening force provided by the disc spring group 4, meanwhile, the crank 1 and the posture connecting rod 2 form a straight line, the mechanism is located at the dead point position of the four-bar mechanism, and the mechanism can be reliably kept in a locking state. The unlocking process is the reverse of the locking process.
As shown in fig. 4, the inside of the "rod" component of the "rod-cone" docking mechanism is composed of a driving motor 11, a belt wheel 12, a synchronous cog belt 13, a slider 14, a lead screw 15, a piston rod 16 and a ball head 17. The driving motor is positioned in the 'rod' component and fixedly connected with the shell, belt wheels 12 are installed at the output end, and the two belt wheels 12 are driven by a synchronous toothed belt 13; the load part of the belt wheel 12 is a lead screw 15, and the lead screw 15 is connected with the shell through a bearing and can rotate around the axis of the lead screw in two directions; the sliding block 14 is connected to the lead screw 15 through threads and can move up and down along the axis of the lead screw 15 under the rotation of the lead screw; the piston rod 16 is fixedly connected with the sliding block 14, the ball head 17 is fixedly connected with the piston rod 16, and the piston rod 16 and the ball head 17 can move up and down along with the sliding block 14. Under the working state, the driving motor 11 rotates, the output end belt wheel 12 drives the synchronous toothed belt 13 and the load end belt wheel 12 to rotate, the load end belt wheel 12 drives the lead screw 15 to rotate around the axis of the lead screw, the lead screw 15 rotates to drive the sliding block 14 which is in threaded matching connection with the lead screw 15 to move along the axis of the lead screw 15, and the piston rod 16 and the ball head 17 which are fixedly connected with the sliding block 14 move along with the sliding block and generate the power of the rod assembly.
As shown in fig. 5, the "docking lever" device is composed of a structural link 18, an action cylinder 19, a posture link 20, and a "lever" component assembly 21. The structure connecting rod 18 and the 'rod' component assembly 21 are hinged with the small underwater vehicle, the posture connecting rod 20 is connected with the structure connecting rod 18 and the 'rod' component assembly 21 and forms a four-bar linkage mechanism, the action cylinder 19 is driven by hydraulic pressure and is hinged with the structure connecting rod 18, and the structure connecting rod 18 is driven by the length change of the action cylinder 19. When the underwater vehicle is in a non-working state, the action cylinder 19 is contracted under hydraulic drive to drive the structure connecting rod 18 to rotate towards the small underwater vehicle, and the 'rod' component 21 also rotates towards the small underwater vehicle through the transmission of the attitude connecting rod 20, so that the effect of recovering the 'rod' component and reducing the running resistance under the non-working state is achieved; when the device works, the action cylinder 19 extends under the hydraulic drive, and finally the rod component 21 extends outwards, and the structure connecting rod 18 and the posture connecting rod 20 are in a linear state and reach a position 'dead point', so that the stability of the 'butt-joint rod' device during butt joint is ensured.
As shown in fig. 6, the "receiving cone" device is composed of an electromagnetic action rod 22, an electromagnet 23, a driving slider 24, an arc-shaped claw 25, a "cone" shaped receiving cover 26, a claw housing 27 and an electromagnetic housing 28. The electromagnet 23 is fixedly connected with a transport mother boat (large carrier), the electromagnetic action rod 22 passes through the electromagnet 23 and is additionally provided with a limiting plate at the lower end of the rod part, the driving slide block 24 is fixedly connected at the top of the electromagnetic action rod 22, 3 arc-shaped clamping jaws 25 are uniformly distributed at 60 degrees and are fixedly connected with the transport mother boat (large carrier) through pin shafts, the clamping springs are arranged at the pin shafts for providing damping, the conical receiving cover 26 is fixedly connected with the transport mother boat (large carrier) through a lower support structure, the clamping jaw shell 27 and the electromagnet shell 28 are used for protecting the electromagnetic action rod 22, the electromagnet 23, the driving slide block 24 and the arc-shaped clamping jaws 25, and together with it are concealed inside the transport parent boat fairing, a "cone" shaped receiving shroud 26 is located above the "receiving cone" device and mounted outside the transport parent boat fairing, able to provide guidance when the "receiving cone" device is docked with the "docking bar" device. When the device works, the butt joint rod falls, the ball head 17 reaches a designated position under the guiding action of the conical receiving cover 26, the electromagnet 23 is electrified to attract the electromagnetic action rod 22 to move upwards, the slide block 24 is driven to move upwards, the arc-shaped clamping jaw 25 is driven to rotate inwards under the action of the inclined surface, and the ball head 17 is locked; when the lock is unlocked, the electromagnet 24 is powered off, the electromagnetic action rod 22 and the driving slider 24 lose driving force, the arc-shaped claw 25 reversely rotates under the action of the snap spring at the pin shaft, and the electromagnetic action rod 22 and the driving slider 24 are driven to move downwards to return to an initial state while the ball head 17 is opened.
As shown in fig. 7, the docking skirt is a rigid integrated docking skirt 29, which is fixedly connected and sealed with the small underwater vehicle through bolts; when in butt joint, the butt joint skirt 29 covers the cabin door of the transport mother boat under the action of the carrying mechanism and the rod-cone butt joint mechanism and is sealed by a sealing ring.
As shown in fig. 1 and 3, each set of carrying mechanisms I limits the movement in the vertical direction and one horizontal direction, and four sets of carrying mechanisms I are arranged vertically in pairs, so that all translation constraints and rotation constraints in the normal direction corresponding to the translation constraints can be provided; the centers of the two groups of rod-cone type docking mechanisms II and the docking skirt III are positioned on the same straight line, so that the centering performance of the docking skirt is ensured.
Before the butt joint worker starts working, the clamping jaws of the carrying device I are in an open state, the rod-cone type butt joint mechanism II is recovered in the small underwater carrier, and the piston rod 16 is located in a state with the shortest extending length. When the butt joint operation is started, the rod-cone butt joint mechanism II is driven by hydraulic pressure to extend outwards to reach a working position, the piston rod 16 extends to the maximum position under the action of the driving motor 11 and the lead screw slider mechanism and slowly descends along with the small underwater vehicle; after the bulb 17 reaches the designated position under the guiding action of the cone-shaped receiving cover 26, the cone-receiving device is electrified, the arc-shaped clamping jaw 25 locks the bulb, the piston rod 16 contracts to enable the small underwater vehicle to continuously descend until the locking trunnion 8 of the carrying mechanism reaches the designated position under the guiding action of the small-size V-shaped guide groove of the carrying base 10, the clamping jaw 5 rotates under the structural action of the crank rocker and mechanically fixes the locking trunnion 8, and meanwhile, the butt-joint skirt 29 covers the cabin door of the transportation mother ship to form sealing, establish mechanical connection and finish butt-joint work. The laying work of the small underwater vehicle is opposite to the flow.
To sum up, the utility model provides a carry on interfacing apparatus between delivery ware is one kind and can make small-size manned delivery ware and large-scale delivery ware establish transportation channel and reliable mechanical connection under water to the recovery butt joint stage of delivery ware provides mechanical assistance carries on interfacing apparatus. The device comprises a carrying mechanism based on 'dead point' self-locking, a 'rod-cone' type butt joint mechanism and a butt joint skirt, and a dry type transportation channel is added on the basis of mechanical connection of the underwater vehicle through the optimization design of the specific structure and the installation arrangement of the device, so that the reliability and the automation degree of the small-sized underwater vehicle in carrying, recovering and laying stages are improved.
Claims (10)
1. The utility model provides a carry on interfacing apparatus between underwater vehicle which characterized in that: the carrying mechanism is at least 4 and is vertically arranged around the docking skirt, the rod cone type docking mechanisms are at least two and are positioned on the same straight line with the center of the docking skirt, the carrying mechanism provides all translation constraints and rotation constraints corresponding to the normal direction, and the rod cone type docking mechanism ensures the centering property of the docking skirt.
2. The docking device for carrying between underwater vehicles according to claim 1, wherein: the carrying mechanism comprises a capturing frame arranged at the lower end of the small underwater vehicle, a locking trunnion arranged at the lower end of the capturing frame, a carrying base arranged on the large underwater vehicle, a crank arranged on the carrying base, a posture connecting rod hinged with the crank, a rocker hinged on the carrying base, a pre-tightening connecting rod hinged with the end part of the rocker, and a clamping jaw hinged on the carrying base, wherein the end part of the pre-tightening connecting rod is connected with the clamping jaw, the end part of the posture connecting rod is hinged at the middle position of the rocker, the crank is driven by a driving motor, and the locking trunnion is in contact with the carrying base and is matched with the clamping jaw to realize locking.
3. The docking device for carrying between underwater vehicles according to claim 2, wherein: the driving end part of the crank is also provided with a manual operation interface structure.
4. The docking device for carrying between underwater vehicles as claimed in claim 2 or 3, wherein: and a disc spring group for providing pretightening force is arranged in the piston cylinder of the rocker.
5. The docking device for carrying between underwater vehicles as claimed in claim 4, wherein: the contact position of the carrying base and the locking trunnion is provided with a V-shaped guide groove.
6. The embarkation docking device between underwater vehicles according to claim 1, 2 or 3, characterized in that: the rod-cone type butt-joint mechanism comprises a rod assembly hinged with the small carrier, a posture connecting rod hinged with the rod assembly, a structural connecting rod hinged with the posture connecting rod, an action cylinder hinged with the structural connecting rod, a receiving cone part arranged on the large carrier, wherein the action cylinder and the structural connecting rod are both hinged on the small carrier, the rod assembly comprises a shell, a driving motor arranged on the shell, a synchronous belt mechanism arranged on the output end of the driving motor and the shell, a lead screw connected with a synchronous belt output belt wheel shaft, a slide block arranged on the lead screw, a piston rod fixedly connected with the slide block and a ball head arranged at the end part of the piston rod, the receiving cone part comprises a conical receiving cover arranged on the large underwater carrier, an electromagnet arranged in the large underwater carrier, an electromagnetic action rod arranged in the middle of the electromagnet, a driving slide block arranged at the upper end part of the electromagnetic action rod, a positioning mechanism arranged on, Three arc-shaped clamping jaws hinged on the large-scale carrier, inclined planes matched with the three arc-shaped clamping jaws in shape are arranged on the driving sliding block, and clamping springs are further arranged at the hinged positions of the arc-shaped clamping jaws and the large-scale carrier.
7. The docking device for carrying between underwater vehicles as claimed in claim 5, wherein: the rod-cone type butt-joint mechanism comprises a rod assembly hinged with the small carrier, a posture connecting rod hinged with the rod assembly, a structural connecting rod hinged with the posture connecting rod, an action cylinder hinged with the structural connecting rod, a receiving cone part arranged on the large carrier, wherein the action cylinder and the structural connecting rod are both hinged on the small carrier, the rod assembly comprises a shell, a driving motor arranged on the shell, a synchronous belt mechanism arranged on the output end of the driving motor and the shell, a lead screw connected with a synchronous belt output belt wheel shaft, a slide block arranged on the lead screw, a piston rod fixedly connected with the slide block and a ball head arranged at the end part of the piston rod, the receiving cone part comprises a conical receiving cover arranged on the large underwater carrier, an electromagnet arranged in the large underwater carrier, an electromagnetic action rod arranged in the middle of the electromagnet, a driving slide block arranged at the upper end part of the electromagnetic action rod, a positioning mechanism arranged on, Three arc-shaped clamping jaws hinged on the large-scale carrier, inclined planes matched with the three arc-shaped clamping jaws in shape are arranged on the driving sliding block, and clamping springs are further arranged at the hinged positions of the arc-shaped clamping jaws and the large-scale carrier.
8. The docking device for carrying between underwater vehicles according to claim 6, wherein: the electromagnet is electrified to attract the electromagnetic action rod to move upwards, the driving slide block moves upwards along with the electromagnet, the arc-shaped clamping jaw is driven to rotate inwards under the action of the inclined surface, and the ball head is locked; when the electromagnet is powered off, the electromagnetic action rod and the driving slide block lose driving force, the arc-shaped clamping jaw reversely rotates under the action of the clamping spring at the pin shaft, and the electromagnetic action rod and the driving slide block are driven to move downwards to return to an initial state while the ball head is released.
9. The embarkation docking device between underwater vehicles according to claim 1, 2 or 3, characterized in that: the number of the carrying mechanisms is four, every two of the carrying mechanisms are vertically arranged, and the number of the rod cone type butt joint mechanisms is two.
10. The docking device for carrying between underwater vehicles according to claim 8, wherein: the number of the carrying mechanisms is four, every two of the carrying mechanisms are vertically arranged, and the number of the rod cone type butt joint mechanisms is two.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920891942.1U CN210455155U (en) | 2019-06-14 | 2019-06-14 | Carrying and butt joint device between underwater vehicles |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920891942.1U CN210455155U (en) | 2019-06-14 | 2019-06-14 | Carrying and butt joint device between underwater vehicles |
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| CN210455155U true CN210455155U (en) | 2020-05-05 |
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| CN201920891942.1U Active CN210455155U (en) | 2019-06-14 | 2019-06-14 | Carrying and butt joint device between underwater vehicles |
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| CN (1) | CN210455155U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294091A (en) * | 2019-06-14 | 2019-10-01 | 哈尔滨工程大学 | A kind of carrying docking facilities between underwater research vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110294091A (en) * | 2019-06-14 | 2019-10-01 | 哈尔滨工程大学 | A kind of carrying docking facilities between underwater research vehicle |
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