Fixture for salvage of underwater vehicle

Abstract

The utility model discloses a clamp for salvaging an underwater navigation body, which comprises a control device, a lifting device, a floating device, a clamping device and a control device, the floating device is connected with the hoisting device; the alignment devices are symmetrically connected to the two ends of the lower portion of the floating device; the clamping devices are adjustably arranged below the floating devices respectively; and the rotating mechanism is arranged above the other end of the floating device. The clamping and salvaging device is good in clamping and salvaging effect, can be in butt joint with the underwater navigation body through the alignment device, and then floats on the sea surface through the buoy, so that the clamping device can better clamp the underwater navigation body, different salvaging tasks can be flexibly coped with, meanwhile, the integrity of the underwater navigation body can be well protected, and the salvaging efficiency is improved. By adjusting the relative position between the two clamping devices, the underwater navigation bodies with different lengths can be salvaged.

Description

Technical Field

[0001] This utility model relates to a salvage device, specifically a clamp for salvaging underwater vehicles, belonging to the field of vehicle salvage technology. Background Technology

[0002] Generally speaking, underwater vehicles refer to instruments or devices capable of underwater navigation, and can have various specific applications and forms. These underwater vehicles have different designs and applications, but their common characteristic is the ability to navigate and perform missions autonomously or under control in the underwater environment. The development and application of these technologies are of great significance to fields such as marine science, resource development, and national defense. After completing their missions underwater, underwater vehicles float on the sea surface and need to be salvaged. Salvage of underwater vehicles typically involves using a folding-arm crane on a ship to lift the salvage device and then using it to retrieve the underwater vehicle. Most underwater vehicles are cylindrical rotating structures, requiring careful attention to the lifting points during lifting, and care must be taken not to damage the surface of the underwater vehicle during the salvage process. In existing salvage technologies, underwater vehicles experience severe swaying during rough seas, making salvage difficult.

[0003] A search revealed that Chinese utility model patent CN 117465639 A discloses a multi-functional autonomous unmanned underwater vehicle, comprising a cabin (1), a float (2), and a position adjustment structure (3). The cabin (1) contains a space for an underwater robot and has an exit hatch (103). The float (2) is located outside the cabin (1) and is connected to the float (2) via the position adjustment structure (3). The position adjustment structure (3) can adjust the position of the float (2) along the height direction to facilitate the submersion or surfacing of the cabin (1). When the cabin (1) is submerged below the water surface, the underwater robot inside the cabin (1) can be deployed / retrieved. When the cabin (1) is afloat, it can navigate on the water surface. While the aforementioned patent applications enable the integration of unmanned underwater vehicles (UUVs) with underwater robots, and the addition of floats and position adjustment structures to the UUVs to allow for the deployment and retrieval of the underwater robots via hull submersion, the lack of corresponding clamping devices in these patents leads to difficulties in retrieval and unreliability during use. Furthermore, the complex structures and high costs of these patent applications hinder long-term widespread application and are generally quite inconvenient.

[0004] Therefore, the key to solving the above-mentioned technical problems lies in developing a safe, reliable, and convenient clamp for salvaging underwater vehicles. Utility Model Content

[0005] In view of the many defects and deficiencies in the above-mentioned background technology, this utility model has made improvements and innovations, aiming to provide a safe, practical, accurate and reliable clamp for underwater vehicle salvage. During the process of the lifting device lifting the floating device, there will be no large-scale deflection, so that the underwater vehicle remains stable during the lifting process, meeting the complex and ever-changing operational needs and improving salvage efficiency.

[0006] Another utility model objective is to achieve a good clamping and salvage effect. It can dock and position the underwater vehicle through the alignment device, and then float on the sea surface through the float, so that the clamping device can better clamp the underwater vehicle.

[0007] To solve the above problems and achieve the above-mentioned utility model objectives, this utility model provides a clamp for salvaging underwater vehicles, achieved through the following design structure and technical solution:

[0008] As an improvement to the clamp for salvaging underwater vehicles according to this utility model, it includes a control device and also includes:

[0009] Lifting device (1), used to lift the floating device (2);

[0010] A buoyancy device (2) is connected to a lifting device (1);

[0011] Alignment device (3) is symmetrically connected to the two ends below the buoy (2) and is used to dock the underwater vehicle (7) to be salvaged.

[0012] Clamping device (4), which is adjustablely installed below the buoyancy device (2) for clamping the underwater vehicle (7);

[0013] Rotating mechanism (6) is located above the other end of the buoyancy device (2) and is used to control the clamping operation of the two clamping devices (4).

[0014] As an improvement of the present invention, the lifting device (1) includes:

[0015] Lifting frame (11);

[0016] Mounting bracket (12) is fixedly connected to the four corners above the lifting frame (11) for connection with the extension arm on the ship;

[0017] The lifting motor (13) is installed in the middle of the upper part of the lifting frame (11);

[0018] Motor wheel (14) is mounted on the motor shaft of the lifting motor (13);

[0019] The transmission gear (15) is symmetrically rotated and connected to the middle of the lifting frame (11) at the end of the non-motor wheel (14), and the two transmission gears (15) are meshed and connected.

[0020] The outer rope pulley (16) is rotatably connected to the four corners above the lifting frame (11);

[0021] The winding assembly (17) is symmetrically connected to both ends of the lifting motor (13);

[0022] Among them, the motor wheel (14) is connected to one of the winding components (17) via the transmission belt (18), and the two transmission gears (15) are respectively engaged with the winding components (17) at the corresponding ends.

[0023] As a further improvement of the present invention, the winding assembly (17) includes:

[0024] An outer rotating shaft (171) is rotatably mounted on a lifting frame (11);

[0025] The inner rope pulley (172) is connected to both ends of the outer rotating shaft (171);

[0026] External gear (173) is connected to external shaft (171);

[0027] The wire rope (174) is fixedly connected to the inner rope pulley (172). The wire rope (174) passes around the outer rope pulley (16) and is connected to the buoyancy device (2) through the upper ring (175).

[0028] The outer drive wheel (176) is connected to the outer shaft (171) at the drive connection end of the drive belt (18);

[0029] Among them, the lifting motor (13) is connected to the control equipment, and the two external gears (173) are respectively meshed with the transmission gears (15) at the corresponding ends.

[0030] As a further improvement of the present invention, the buoyancy device (2) includes:

[0031] Main frame (21);

[0032] The lower ring (22) is connected to the four corners above the main frame (21) and is used to connect with the upper ring (175) to complete the connection work.

[0033] Floats (23) are symmetrically connected to both sides of the main frame (21);

[0034] Guide rail brackets (24) are coaxially mounted above the main frame (21);

[0035] Sliding guide rails (25) are installed on both sides above each guide rail frame (24);

[0036] A rotating shaft (27) is rotatably mounted in the middle of the lower part of each guide rail frame (24), and a keyway (271) is provided on the rotating shaft (27).

[0037] As a further improvement of the present invention, the alignment device (3) is symmetrically connected below both ends of the main frame (21), and the alignment device (3) includes:

[0038] Vertical sliding columns (31) are symmetrically connected to both sides of the end of the main frame (21) via connecting plates (34);

[0039] Angle plate (32), the upper end of which is connected to the lower ends of two vertical sliding columns (31);

[0040] Angle spring (33) is sleeved on the outside of the vertical slide column (31). One end of the angle spring (33) is connected to the retaining ring at the bottom of the vertical slide column (31), and the other end of the angle spring (33) is connected to the connecting plate (34).

[0041] One end of the connecting plate (34) is fixedly connected to the main frame (21), and the other end of the connecting plate (34) is provided with a connecting plate through hole. The vertical sliding column (31) is sleeved in the connecting plate through hole. The corner plate (32) has an overall "V" shaped structure, and the inner wall of the corner plate (32) is also provided with a protective pad.

[0042] As a further improvement of the present invention, the clamping device (4) includes:

[0043] The sliding frame (41) is sleeved on the sliding guide rail (25), the adjusting rod (26) and the rotating shaft (27);

[0044] Claw seat (42), the claw seat (42) is connected to the lower end of the sliding frame (41);

[0045] The gripper (43) is symmetrically rotated and connected to both ends of the gripper seat (42);

[0046] A clamping drive assembly is mounted on a sliding frame (41) and is used to drive the opening and closing of the grippers (43).

[0047] As a further improvement of the present invention, the sliding frame (41) includes:

[0048] The sliding mounting base has through holes for the rotating shaft on both sides of its lower part.

[0049] Sliding guide sleeves are connected to the inside of both ends of the sliding mounting base and are used to install sliding guides (25).

[0050] Adjusting rod sleeve (411) is connected to the sliding mounting seat in the middle of the lower part of the two sliding guide sleeves. The adjusting rod sleeve (411) has an internal thread section, which is used to form a threaded transmission with the external thread section on the adjusting rod (26).

[0051] The two ends of the claw seat (42) are fixedly connected to clamping shafts (421);

[0052] The grippers (43) are rotatably connected to the gripping shaft (421);

[0053] Among them, the upper two ends of the gripper (43) are symmetrically provided with sliding grooves, and the inner wall of the gripper (43) is connected with a protective pad.

[0054] As a further improvement of the present invention, the clamping drive assembly includes:

[0055] An internal keyed bevel gear (44) is rotatably connected to the through hole of the rotating shaft at one end of the sliding mounting base. A key is provided on the internal keyed bevel gear (44), and the internal keyed bevel gear (44) and the rotating shaft (27) are slidably mounted through the keyway (271).

[0056] Side bracket (45) is symmetrically connected to both ends of the lower opening of the sliding mounting base;

[0057] Side adjustment rods (46) are rotatably connected to each side frame (45);

[0058] Side sliding column (47), the side sliding column (47) is slidably connected to each sliding groove;

[0059] Side slider (48) is located between two grooves on the upper part of the two jaws (43), and the side slider (48) is fixedly connected to the side sliding column (47) at both ends. The side slider (48) and the side adjusting rod (46) form a threaded transmission connection.

[0060] Side bevel gears (49) are connected to the non-rotational connection ends of the side adjusting rods (46);

[0061] The internal key bevel gear (44) is meshed with the side bevel gears (49) on both sides.

[0062] As a further improvement of the present invention, the rotating mechanism (6) includes:

[0063] A motor clamping frame (61) is mounted above the other end of the main frame (21);

[0064] A clamping motor (62) is mounted on a clamping motor frame (61);

[0065] A motor clamping wheel (63) is mounted on the output shaft of a motor clamping machine (62);

[0066] A rotating wheel (64) is mounted on a rotating shaft (27);

[0067] An inner drive belt (65) surrounds the motor clamping wheel (63) and the shaft wheel (64);

[0068] The clamping motor (62) is connected to the control device.

[0069] As a further improvement of the present invention, it also includes an adjustment mechanism (5), which is located above one end of the buoyancy device (2) and is used to adjust the distance between the two clamping devices (4).

[0070] The buoyancy device (2) also includes an adjusting rod (26), the two ends of which are rotatably connected to the main frame (21), and the two ends of the adjusting rod (26) are respectively threadedly connected to the adjusting rod sleeve (411) at the corresponding ends. The two ends of the adjusting rod (26) are provided with external thread sections, and the thread directions of the external thread sections at both ends are opposite.

[0071] The adjustment mechanism (5) includes:

[0072] Adjustable motor frame (51), the adjustable motor frame (51) is installed above one end of the main frame (21);

[0073] Adjustment motor (52) is mounted on adjustment motor frame (51);

[0074] Adjusting motor gear (53) is mounted on the output shaft of adjusting motor (52);

[0075] Adjustment gear (54) is mounted on adjustment rod (26) and is meshed with adjustment motor gear (53);

[0076] Among them, the regulating motor (52) is connected to the control equipment.

[0077] The beneficial effects of this utility model compared with the prior art are:

[0078] 1. The lifting device and the floating device of this utility model are connected by four steel wire ropes and are wound synchronously by four outer rope pulleys, so that the lifting device will not deflect significantly during the process of lifting the floating device, and the underwater vehicle will remain stable during the lifting process.

[0079] 2. The buoyancy device provided by this utility model can dock and position with the underwater vehicle through the alignment device, and then float on the sea surface through the float, so that the clamping device can better clamp the underwater vehicle and the clamping and salvage effect is good.

[0080] 3. The relative position between the two clamping devices provided in this utility model can be adjusted by the adjustment device to realize the salvage of underwater vehicles of different lengths;

[0081] 4. The grippers of this utility model are equipped with protective pads, which can prevent damage to the surface of the underwater vessel during the salvage process, and at the same time effectively improve the uniformity of clamping, and increase the stability and safety of the clamping device.

[0082] 5. The corner plate of this utility model is V-shaped, and the inner wall of the corner plate is connected with an anti-slip pad, which allows the underwater vehicle to be docked to slide naturally into the V-shaped groove of the corner plate, thereby achieving automatic alignment, improving positioning accuracy, effectively improving work efficiency, and the anti-slip pad can protect the integrity of the surface of the underwater vehicle.

[0083] 6. The lifting device (1) of this utility model is ingeniously designed. It can drive the four steel wire ropes on the lifting frame to be raised or lowered by a single lifting motor, which simplifies the operation process, improves safety, enhances work efficiency, and can adapt to different working conditions.

[0084] 7. This utility model allows for the manual adjustment of the relative position between the two clamping devices to determine the salvage position of the underwater vehicle's lifting point.

[0085] 8. The connection structure between the rotating mechanism (6) and the clamping device (4) of this utility model is novel. The clamping work of the two clamping devices (4) on the underwater vehicle can be realized by one clamping motor (62). Attached Figure Description

[0086] The specific embodiments of this utility model will be further described in detail below with reference to the accompanying drawings, wherein:

[0087] Figure 1 This is one of the schematic diagrams showing the usage state of this utility model;

[0088] Figure 2 This is one of the overall structural schematic diagrams of this utility model;

[0089] Figure 3 This is one of the schematic diagrams showing the connection relationship between the buoyancy device (2), the adjustment mechanism (5), and the rotation mechanism (6) of this utility model;

[0090] Figure 4 This is the second schematic diagram showing the connection relationship between the buoyancy device (2), the adjustment mechanism (5), and the rotation mechanism (6) of this utility model;

[0091] Figure 5 This is one of the structural schematic diagrams of the lifting device (1) component of this utility model;

[0092] Figure 6 This is one of the schematic diagrams showing the partial connection relationships of this utility model;

[0093] Figure 7 This is one of the schematic diagrams showing the connection relationship between the clamping device (4) component and the rotating shaft (27) of this utility model;

[0094] Figure 8 This is one of the partial structural schematic diagrams of the clamping device (4) of this utility model;

[0095] Figure 9 This is the second schematic diagram of the usage state of this utility model;

[0096] Figure 10 This is the second schematic diagram of the overall structure of this utility model;

[0097] Figure 11 This is the third schematic diagram showing the connection relationship between the buoyancy device (2), the adjustment mechanism (5), and the rotation mechanism (6) of this utility model;

[0098] Figure 12 This is the fourth schematic diagram showing the connection relationship between the buoyancy device (2), the adjustment mechanism (5), and the rotation mechanism (6) of this utility model;

[0099] Figure 13 This is the second structural schematic diagram of the lifting device (1) component of this utility model;

[0100] Figure 14 This is the second schematic diagram of the partial connection relationship of this utility model;

[0101] Figure 15 This is the second schematic diagram showing the connection relationship between the clamping device (4) component and the rotating shaft (27) of this utility model;

[0102] Figure 16 This is the second partial structural schematic diagram of the clamping device (4) of this utility model;

[0103] Figure 17 This is a schematic diagram of the overall embodiment of the utility model in use;

[0104] In the figure, the following labels are used: 1—lifting device, 11—lifting frame, 12—mounting frame, 13—lifting motor, 14—motor wheel, 15—transmission gear, 16—outer rope wheel, 17—winding assembly, 171—outer shaft, 172—inner rope wheel, 173—outer gear, 174—wire rope, 175—upper ring, 176—outer drive wheel, 18—transmission belt;

[0105] 2—Floating device, 21—Main frame, 22—Lower ring, 23—Float, 24—Guide rail frame, 25—Sliding guide rail, 26—Adjusting rod, 27—Rotating shaft, 271—Keyway;

[0106] 3—Alignment device; 31—Vertical sliding column; 32—Angle plate; 33—Angle plate spring; 34—Connecting plate;

[0107] 4—Clamping device, 41—Sliding frame, 411—Adjusting rod sleeve, 42—Claw seat, 421—Clamping shaft, 43—Claw, 44—Internal key bevel gear, 45—Side frame, 46—Side adjusting rod, 47—Side sliding column, 48—Side slider, 49—Side bevel gear;

[0108] 5—Adjustment mechanism, 51—Adjustment motor frame, 52—Adjustment motor, 53—Adjustment motor gear, 54—Adjustment gear;

[0109] 6—Rotating mechanism; 61—Motor clamping frame; 62—Motor clamping; 63—Motor clamping wheel; 64—Rotating shaft wheel; 65—Inner transmission belt;

[0110] 7—Underwater vehicle. Detailed Implementation

[0111] To make the technical means, inventive features, objectives, and effects of this utility model readily understandable, the technical solution of this utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features in the embodiments of this application can be combined with each other. The present utility model will now be described in detail with reference to the accompanying drawings and embodiments.

[0112] As per the instruction manual Figure 1 To the instruction manual Figure 17 The clamp shown is for salvaging underwater vehicles, including control equipment, and further comprising:

[0113] Lifting device 1, used to lift the floating device 2;

[0114] Floating device 2, which is connected to lifting device 1;

[0115] Alignment device 3 is symmetrically connected to the two ends below the buoyancy device 2 and is used to dock the underwater vehicle 7 to be salvaged.

[0116] Clamping device 4 is adjustablely disposed below buoyancy device 2 and is used to clamp underwater vehicle 7.

[0117] Rotating mechanism 6 is located above the other end of the buoyancy device 2 and is used to control the clamping operation of the two clamping devices 4.

[0118] Furthermore, such as Figure 2 and Figure 10 As shown, the lifting device 1 includes:

[0119] Lifting frame 11;

[0120] Mounting bracket 12 is fixedly connected to the four upper corners of lifting frame 11 for connection with the extension arm on the ship;

[0121] The lifting motor 13 is installed at the upper center of the lifting frame 11;

[0122] Motor wheel 14 is mounted on the motor shaft of lifting motor 13;

[0123] The transmission gear 15 is symmetrically rotatably connected to the middle of the lifting frame 11 at the non-motor wheel 14 end, and the two transmission gears 15 are meshed together.

[0124] The outer rope pulleys 16 are rotatably connected to the four corners above the lifting frame 11.

[0125] The winding assembly 17 is symmetrically connected to both ends of the lifting motor 13;

[0126] The motor wheel 14 is connected to one of the winding components 17 via a transmission belt 18, and the two transmission gears 15 are respectively engaged with the winding components 17 at their respective ends.

[0127] Specifically, such as Figures 2 to 5 As shown, the winding assembly 17 includes:

[0128] The outer rotating shaft 171 is rotatably mounted on the lifting frame 11.

[0129] Inner rope pulley 172, the inner rope pulley 172 is connected to both ends of the outer rotating shaft 171;

[0130] External gear 173 is connected to external rotating shaft 171;

[0131] The wire rope 174 is fixedly connected to the inner rope wheel 172. The wire rope 174 passes around the outer rope wheel 16 and is connected to the buoyancy device 2 through the upper ring 175.

[0132] The outer drive wheel 176 is connected to the outer rotating shaft 171 at the drive connection end of the drive belt 18.

[0133] The hoisting motor 13 is connected to the control equipment, and the two external gears 173 are respectively meshed with the transmission gears 15 at the corresponding ends.

[0134] Furthermore, such as Figure 3 and Figure 4 as well as Figure 11 As shown, the buoyancy device 2 includes:

[0135] Main frame 21;

[0136] Lower ring 22 is connected to the four upper corners of the main frame 21, and is used to connect with the upper ring 175 to complete the connection work.

[0137] Floats 23 are symmetrically connected to both sides of the main frame 21;

[0138] Guide rail bracket 24 is coaxially mounted above the main frame 21;

[0139] Sliding guide rails 25 are respectively installed on both sides above each guide rail frame 24;

[0140] A rotating shaft 27 is rotatably mounted in the middle of the lower part of each guide rail frame 24, and a keyway 271 is provided on the rotating shaft 27.

[0141] In this utility model, there are a total of four guide rail brackets 24, which are arranged along the length of the main frame 21; keyways 271 are formed at both ends of the rotating shaft 27.

[0142] Furthermore, such as Figure 6 As shown, the alignment device 3 is symmetrically connected to the lower ends of the main frame 21. The alignment device 3 includes:

[0143] Vertical sliding columns 31 are symmetrically connected to both sides of the end of the main frame 21 via connecting plates 34.

[0144] Angle plate 32, the upper end of which is connected to the lower ends of two vertical sliding columns 31;

[0145] Angle spring 33 is sleeved on the outside of vertical slide column 31. One end of angle spring 33 is connected to the retaining ring at the bottom of vertical slide column 31, and the other end of angle spring 33 is connected to connecting plate 34.

[0146] One end of the connecting plate 34 is fixedly connected to the main frame 21, and the other end of the connecting plate 34 is provided with a connecting plate through hole, and the vertical sliding column 31 is fitted into the connecting plate through hole; the corner plate 32 has an overall "V" shaped structure, and the inner wall of the corner plate 32 is also provided with a protective pad.

[0147] Furthermore, such as Figure 7 and Figure 15 As shown, the clamping device 4 includes:

[0148] The sliding frame 41 is sleeved on the sliding guide rail 25, the adjusting rod 26 and the rotating shaft 27;

[0149] Claw seat 42 is connected to the lower end of sliding frame 41;

[0150] The gripper 43 is symmetrically rotatably connected to both ends of the gripper seat 42;

[0151] A clamping drive assembly is mounted on the sliding frame 41 and is used to drive the opening and closing of the grippers 43.

[0152] Specifically, such as Figure 7 As shown, the sliding frame 41 includes:

[0153] The sliding mounting base has through holes for the rotating shaft on both sides of its lower part.

[0154] Sliding guide sleeves are connected to the inside of both ends of the upper part of the sliding mounting base and are used to install the sliding guide 25.

[0155] Adjusting rod sleeve 411 is connected to the sliding mounting seat in the middle of the lower part of the two sliding guide sleeves. The adjusting rod sleeve 411 has an internal thread section, which is used to form a threaded transmission with the external thread section on the adjusting rod 26.

[0156] The two ends of the claw seat 42 are fixedly connected to the clamping shaft 421;

[0157] The grippers 43 are rotatably connected to the gripping shaft 421;

[0158] The upper two ends of the gripper 43 are symmetrically provided with sliding grooves, and the inner wall of the gripper 43 is connected with a protective pad.

[0159] In this invention, the internal thread section inside the adjusting rod sleeve 411 is adapted to the corresponding adjusting rod 26; the protective pad is a rubber pad.

[0160] More specifically, such as Figure 7 and Figure 8 As shown, the clamping drive assembly includes:

[0161] The internal keyed bevel gear 44 is rotatably connected to the through hole of the rotating shaft at one end of the sliding mounting base. The internal keyed bevel gear 44 is provided with a key, and the internal keyed bevel gear 44 and the rotating shaft 27 are slidably mounted through the keyway 271.

[0162] Side bracket 45, symmetrically connected to both ends of the lower opening of the sliding mounting base;

[0163] Side adjustment rods 46 are rotatably connected to each side frame 45;

[0164] Side sliding column 47, which is slidably connected to each sliding groove;

[0165] Side slider 48 is located between two sliding grooves on the upper part of the two grippers 43, and the side slider 48 is fixedly connected to the side sliding posts 47 at both ends. The side slider 48 and the side adjusting rod 46 form a threaded transmission connection.

[0166] Side bevel gear 49, which is connected to the non-rotational connection end of side adjusting rod 46;

[0167] The internal key bevel gear 44 is meshed with the side bevel gears 49 on both sides.

[0168] In this utility model, the side adjusting rod 46 is a screw or lead screw, and the side slider 48 has a threaded section inside that is adapted to the side adjusting rod 46.

[0169] Furthermore, such as Figure 3 As shown, the rotating mechanism 6 includes:

[0170] A motor clamping frame 61 is mounted on top of the other end of the main frame 21;

[0171] A clamping motor 62 is mounted on a clamping motor frame 61.

[0172] A motor clamping wheel 63 is mounted on the output shaft of a motor clamping wheel 62.

[0173] Rotating wheel 64 is mounted on rotating shaft 27;

[0174] An inner drive belt 65 surrounds the motor clamping wheel 63 and the shaft wheel 64.

[0175] The clamping motor 62 is connected to the control device.

[0176] Furthermore, such as Figure 3 and Figure 11 As shown, it also includes an adjustment mechanism 5, which is located above one end of the buoyancy device 2 and is used to adjust the distance between the two clamping devices 4.

[0177] The buoyancy device 2 also includes an adjusting rod 26, the two ends of which are rotatably connected to the main frame 21, and the two ends of the adjusting rod 26 are respectively threadedly connected to the corresponding adjusting rod sleeves 411. The two ends of the adjusting rod 26 are provided with external thread sections, and the thread directions of the external thread sections at both ends are opposite.

[0178] Adjustment mechanism 5 includes:

[0179] Adjustment motor frame 51 is installed above one end of main frame 21;

[0180] Adjustment motor 52 is mounted on adjustment motor frame 51;

[0181] Adjusting motor gear 53 is mounted on the output shaft of adjusting motor 52;

[0182] Adjusting gear 54 is mounted on adjusting rod 26 and meshes with adjusting motor gear 53;

[0183] The regulating motor 52 is connected to the control equipment.

[0184] In this invention, the adjusting rod 26 is a screw shaft or lead screw shaft with a round shaft in the middle and threaded sections at both ends.

[0185] In this invention, the control device is a programmable logic controller, a PLC, or a PC, used to monitor and control the operation of this invention in real time. Alternatively, the control device can be any existing device or product available on the market that can achieve the functions of this invention.

[0186] In summary, a more specific embodiment of this utility model is as follows:

[0187] Before using the above-mentioned design structure for underwater vehicle salvage, the operator only needs to manually or through appropriate handling equipment move the completed salvage device to the designated working location for use.

[0188] Example 1

[0189] Before use, the operator controls the rotating mechanism 6 to open the two grippers 43 through the control equipment, and at the same time manually adjusts the distance between the two clamping devices 4 to meet the lifting point position of the underwater vehicle 7 as much as possible.

[0190] In use, the operator first securely connects the mounting frame 12 to the extension arm on the ship. Then, the operator uses the control equipment to connect the four steel wire ropes 174 of the lifting device 1 to the four corners of the floating device 2, so that the floating device 2 remains stable during the lifting process. When the lifting device 1 is working, the lifting motor 13 rotates, driving the motor wheel 14 to rotate. The motor wheel 14 drives the outer drive wheel 176 to rotate through the transmission belt 18, thereby driving the outer rotating shaft 171 connected to the outer drive wheel 176 to rotate the inner rope wheel 172 and the outer gear 173. The outer gear 173 drives the transmission gear 15 meshing with it to rotate. The transmission gear 15 drives another transmission gear 15 to rotate, and then the other transmission gear 15 drives another outer gear 173 meshing with it to rotate. Finally, the four inner rope wheels 172 are simultaneously wound up or rotated, thereby driving the floating device 2 to descend through the steel wire ropes 174 under the control of the lifting motor 13.

[0191] Then, the positioning device 3 uses the angle plate 32 to initially position the underwater vehicle 7 on the water surface. On the sea surface, the underwater vehicle 7 floating on the sea surface has a large swaying amplitude and is not easy to catch. When the main frame 21 is suspended on the water surface by the steel wire rope 174, the angle plate 32 first contacts the underwater vehicle 7 on the sea surface to facilitate its initial positioning. As the entire main frame 21 descends, after the float 23 contacts the water surface, the angle plate 32 is pushed upward by the underwater vehicle 7, the vertical sliding column 31 slides along the connecting plate 34 on the main frame 21, and the angle plate spring 33 is compressed.

[0192] Then, after the float 23 falls to the water surface, the clamping motor 62 is controlled by the control equipment to rotate, which drives the clamping motor wheel 63 to rotate. This drives the rotating shaft wheel 64 to rotate through the inner transmission belt 65. The rotating shaft wheel 64 drives the rotating shaft 27 to rotate. At the same time, the rotating shaft 27 drives the inner key bevel gear 44, which is engaged with it, to rotate through the key. The inner key bevel gear 44 drives the side bevel gears 49 on both sides to rotate. The side bevel gears 49 drive the side adjusting rod 46 connected to them to rotate. This causes the side adjusting rod 46 to drive the side slider 48 to slide outward. This causes the gripper 43 to rotate relative to the clamping rotating shaft 421 through the side sliding column 47 connected to the side slider 48. The underwater vehicle 7 is clamped by the protective pads on the inner side of the two clamping rotating shafts 421 and the gripper 43. After the two clamping devices 4 firmly clamp the underwater vehicle 7;

[0193] Next, the operator uses the control equipment to control the lifting device 1 to lift the buoy 2. At the same time, the underwater vehicle 7 is also lifted along with the buoy 2. After the underwater vehicle 7 is lifted to the designated position, the underwater vehicle 7 can be rotated to the designated placement position on the ship by rotating the extension arm. Then, the lifting device 1 is used to control the lifting device to lower the underwater vehicle 7 to the designated placement position on the ship.

[0194] Finally, the control equipment is used to control the rotating mechanism 6 to open the two grippers 43, thus completing the salvage operation of the underwater vehicle 7.

[0195] Finally, as time goes by, once all the underwater vehicles 7 to be salvaged have been recovered, the operators only need to clean and repair the various components of this invention, and then transport it to the designated tool storage warehouse using appropriate handling equipment for storage, so that it can be reused next time.

[0196] Example 2

[0197] This embodiment 2 is basically the same as embodiment 1. The only difference is that, based on embodiment 1, this utility model also includes an adjustment mechanism 5. The adjustment mechanism 5 is set above one end of the buoyancy device 2 and is used to adjust the distance between the two clamping devices 4.

[0198] The buoyancy device 2 also includes an adjusting rod 26, the two ends of which are rotatably connected to the main frame 21, and the two ends of the adjusting rod 26 are respectively threadedly connected to the corresponding adjusting rod sleeves 411. The two ends of the adjusting rod 26 are provided with external thread sections, and the thread directions of the external thread sections at both ends are opposite.

[0199] Adjustment mechanism 5 includes:

[0200] Adjustment motor frame 51 is installed above one end of main frame 21;

[0201] Adjustment motor 52 is mounted on adjustment motor frame 51;

[0202] Adjusting motor gear 53 is mounted on the output shaft of adjusting motor 52;

[0203] Adjusting gear 54 is mounted on adjusting rod 26 and meshes with adjusting motor gear 53;

[0204] The regulating motor 52 is connected to the control equipment.

[0205] Because of the adjustment mechanism 5 designed with the above-mentioned structure, this utility model can flexibly cope with different salvage tasks, while also protecting the integrity of the underwater vehicle. The relative position between the two clamping devices can be adjusted to salvage underwater vehicles of different lengths. At the same time, the protective pads on the grippers can prevent damage to the surface of the underwater vehicle during the salvage process.

[0206] During work:

[0207] Before use, the operator first sets the two grippers 43 to the open state;

[0208] In use, the operator first securely connects the mounting frame 12 to the extension arm on the ship. Then, the operator uses the control equipment to connect the four steel wire ropes 174 of the lifting device 1 to the four corners of the floating device 2, so that the floating device 2 remains stable during the lifting process. When the lifting device 1 is working, the lifting motor 13 rotates, driving the motor wheel 14 to rotate. The motor wheel 14 drives the outer drive wheel 176 to rotate through the transmission belt 18, thereby driving the outer rotating shaft 171 connected to the outer drive wheel 176 to rotate the inner rope wheel 172 and the outer gear 173. The outer gear 173 drives the transmission gear 15 meshing with it to rotate. The transmission gear 15 drives another transmission gear 15 to rotate, and then the other transmission gear 15 drives another outer gear 173 meshing with it to rotate. Finally, the four inner rope wheels 172 are wound up at the same time, so that the floating device 2 is lowered through the steel wire ropes 174 under the control of the lifting motor 13.

[0209] Then, the positioning device 3 uses the angle plate 32 to initially position the underwater vehicle 7 on the water surface. On the sea surface, the underwater vehicle 7 floating on the sea surface has a large swaying amplitude and is not easy to catch. When the main frame 21 is suspended on the water surface by the steel wire rope 174, the angle plate 32 first contacts the underwater vehicle 7 on the sea surface to facilitate its initial positioning. As the entire main frame 21 descends, after the float 23 contacts the water surface, the angle plate 32 is pushed upward by the underwater vehicle 7, the vertical sliding column 31 slides along the connecting plate 34 on the main frame 21, and the angle plate spring 33 is compressed.

[0210] Next, after the float 23 falls to the water surface, the control equipment controls the adjustment motor 52 to rotate, which in turn drives the adjustment motor gear 53 to rotate, thereby driving the adjustment gear 54 and the adjustment rod 26 to rotate. This causes the two sliding frames 41 to slide along the sliding guide rail 25 and the rotating shaft 27 respectively, thereby moving the gripper 43 and adjusting the distance between the two gripping devices 4. When the distance between the two gripping devices 4 reaches the desired gripping position for the underwater vehicle 7 to be salvaged,

[0211] Then, the clamping motor 62 is controlled by the control device to rotate, which drives the clamping motor wheel 63 to rotate. This drives the rotating shaft wheel 64 to rotate via the inner transmission belt 65. The rotating shaft wheel 64 drives the rotating shaft 27 to rotate. At the same time, the rotating shaft 27 drives the inner key bevel gear 44, which is engaged with it, to rotate via the key. The inner key bevel gear 44 drives the side bevel gears 49 on both sides to rotate. The side bevel gears 49 drive the side adjusting rod 46 connected to them to rotate. This causes the side adjusting rod 46 to drive the side slider 48 to slide outward. This causes the gripper 43 to rotate relative to the clamping rotating shaft 421 via the side sliding column 47 connected to the side slider 48. The underwater vehicle 7 is clamped by the protective pads on the inner sides of the two clamping rotating shafts 421 and the gripper 43. After the two clamping devices 4 firmly clamp the underwater vehicle 7;

[0212] Next, the operator uses the control equipment to control the lifting device 1 to lift the buoy 2. At the same time, the underwater vehicle 7 is also lifted along with the buoy 2. After the underwater vehicle 7 is lifted to the designated position, the underwater vehicle 7 can be rotated to the designated placement position on the ship by rotating the extension arm. Then, the lifting device 1 is used to control the lifting device to lower the underwater vehicle 7 to the designated placement position on the ship.

[0213] Finally, the control equipment is used to control the rotating mechanism 6 to open the two grippers 43, thus completing the salvage operation of the underwater vehicle 7.

[0214] Finally, as time goes by, once all the underwater vehicles 7 to be salvaged have been recovered, the operators only need to clean and repair the various components of this invention, and then transport it to the designated tool storage warehouse using appropriate handling equipment for storage, so that it can be reused next time.

[0215] Finally, it should be noted that the above description is merely a preferred embodiment of this utility model and is not intended to limit the utility model in any other way. Any person skilled in the art may make changes or modifications to the above-disclosed technical content to create equivalent embodiments. However, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of this utility model without departing from its technical solution shall still fall within the protection scope of this utility model.

Claims

1. A clamp for salvaging underwater vehicles, comprising control equipment, characterized in that, Also includes: Lifting device (1), used to lift the floating device (2); A buoyancy device (2) is connected to a lifting device (1); Alignment device (3) is symmetrically connected to the two ends below the buoy (2) and is used to dock the underwater vehicle (7) to be salvaged. Clamping device (4), which is adjustablely installed below the buoyancy device (2) for clamping the underwater vehicle (7); Rotating mechanism (6) is located above the other end of the buoyancy device (2) and is used to control the clamping operation of the two clamping devices (4).

2. The clamp for salvaging underwater vehicles according to claim 1, characterized in that, The lifting device (1) includes: Lifting frame (11); Mounting bracket (12) is fixedly connected to the four corners above the lifting frame (11) for connection with the extension arm on the ship; The lifting motor (13) is installed in the middle of the upper part of the lifting frame (11); Motor wheel (14) is mounted on the motor shaft of the lifting motor (13); The transmission gear (15) is symmetrically rotated and connected to the middle of the lifting frame (11) at the end of the non-motor wheel (14), and the two transmission gears (15) are meshed and connected. The outer rope pulley (16) is rotatably connected to the four corners above the lifting frame (11); The winding assembly (17) is symmetrically connected to both ends of the lifting motor (13); Among them, the motor wheel (14) is connected to one of the winding components (17) via the transmission belt (18), and the two transmission gears (15) are respectively engaged with the winding components (17) at the corresponding ends.

3. A clamp for salvaging underwater vehicles according to claim 2, characterized in that, The winding assembly (17) includes: An outer rotating shaft (171) is rotatably mounted on a lifting frame (11); The inner rope pulley (172) is connected to both ends of the outer rotating shaft (171); External gear (173) is connected to external shaft (171); The wire rope (174) is fixedly connected to the inner rope pulley (172). The wire rope (174) passes around the outer rope pulley (16) and is connected to the buoyancy device (2) through the upper ring (175). The outer drive wheel (176) is connected to the outer shaft (171) at the drive connection end of the drive belt (18); Among them, the lifting motor (13) is connected to the control equipment, and the two external gears (173) are respectively meshed with the transmission gears (15) at the corresponding ends.

4. A clamp for salvaging underwater vehicles according to claim 1, characterized in that, The buoyancy device (2) includes: Main frame (21); The lower ring (22) is connected to the four corners above the main frame (21) and is used to connect with the upper ring (175) to complete the connection work; Floats (23) are symmetrically connected to both sides of the main frame (21); Guide rail brackets (24) are coaxially mounted above the main frame (21); Sliding guide rails (25) are installed on both sides above each guide rail frame (24); A rotating shaft (27) is rotatably mounted in the middle of the lower part of each guide rail frame (24), and a keyway (271) is provided on the rotating shaft (27).

5. A clamp for salvaging underwater vehicles according to claim 1, characterized in that, The alignment device (3) is symmetrically connected below both ends of the main frame (21), and the alignment device (3) includes: Vertical sliding columns (31) are symmetrically connected to both sides of the end of the main frame (21) via connecting plates (34); Angle plate (32), the upper end of which is connected to the lower ends of two vertical sliding columns (31); Angle spring (33) is sleeved on the outside of the vertical slide column (31). One end of the angle spring (33) is connected to the retaining ring at the bottom of the vertical slide column (31), and the other end of the angle spring (33) is connected to the connecting plate (34). One end of the connecting plate (34) is fixedly connected to the main frame (21), and the other end of the connecting plate (34) is provided with a connecting plate through hole. The vertical sliding column (31) is sleeved in the connecting plate through hole. The corner plate (32) has an overall "V" shaped structure, and the inner wall of the corner plate (32) is also provided with a protective pad.

6. A clamp for salvaging underwater vehicles according to claim 1, characterized in that, The clamping device (4) includes: The sliding frame (41) is sleeved on the sliding guide rail (25), the adjusting rod (26) and the rotating shaft (27); Claw seat (42), the claw seat (42) is connected to the lower end of the sliding frame (41); The gripper (43) is symmetrically rotated and connected to both ends of the gripper seat (42); A clamping drive assembly is mounted on a sliding frame (41) and is used to drive the opening and closing of the grippers (43).

7. A clamp for salvaging underwater vehicles according to claim 6, characterized in that, The sliding frame (41) includes: The sliding mounting base has through holes for the rotating shaft on both sides of its lower part. Sliding guide sleeves are connected to the inside of both ends of the sliding mounting base and are used to install sliding guides (25). Adjusting rod sleeve (411) is connected to the sliding mounting seat in the middle of the lower part of the two sliding guide sleeves. The adjusting rod sleeve (411) has an internal thread section. The two ends of the claw seat (42) are fixedly connected to clamping shafts (421); The grippers (43) are rotatably connected to the gripping shaft (421); Among them, the upper two ends of the gripper (43) are symmetrically provided with sliding grooves, and the inner wall of the gripper (43) is connected with a protective pad.

8. A clamp for salvaging underwater vehicles according to claim 6, characterized in that, The clamping drive assembly includes: An internal keyed bevel gear (44) is rotatably connected to the through hole of the rotating shaft at one end of the sliding mounting base. A key is provided on the internal keyed bevel gear (44), and the internal keyed bevel gear (44) and the rotating shaft (27) are slidably mounted through the keyway (271). Side bracket (45) is symmetrically connected to both ends of the lower opening of the sliding mounting base; Side adjustment rods (46) are rotatably connected to each side frame (45); Side sliding column (47), the side sliding column (47) is slidably connected to each sliding groove; Side slider (48) is located between two grooves on the upper part of the two jaws (43), and the side slider (48) is fixedly connected to the side sliding column (47) at both ends. The side slider (48) and the side adjusting rod (46) form a threaded transmission connection. Side bevel gears (49) are connected to the non-rotational connection ends of the side adjusting rods (46); The internal key bevel gear (44) is meshed with the side bevel gears (49) on both sides.

9. A clamp for salvaging underwater vehicles according to claim 1, characterized in that, The rotating mechanism (6) includes: A motor clamping frame (61) is mounted above the other end of the main frame (21); A clamping motor (62) is mounted on a clamping motor frame (61); A motor clamping wheel (63) is mounted on the output shaft of a motor clamping machine (62); A rotating wheel (64) is mounted on a rotating shaft (27); An inner drive belt (65) surrounds the motor clamping wheel (63) and the shaft wheel (64); The clamping motor (62) is connected to the control device.

10. A clamp for salvaging underwater vehicles according to claim 1, characterized in that, It also includes an adjustment mechanism (5), which is located above one end of the buoyancy device (2) and is used to adjust the distance between the two clamping devices (4); The buoyancy device (2) also includes an adjusting rod (26), the two ends of which are rotatably connected to the main frame (21), and the two ends of the adjusting rod (26) are respectively threadedly connected to the adjusting rod sleeve (411) at the corresponding ends. The two ends of the adjusting rod (26) are provided with external thread sections, and the thread directions of the external thread sections at both ends are opposite. The adjustment mechanism (5) includes: Adjustable motor frame (51), the adjustable motor frame (51) is installed above one end of the main frame (21); Adjustment motor (52) is mounted on adjustment motor frame (51); Adjusting motor gear (53) is mounted on the output shaft of adjusting motor (52); Adjustment gear (54) is mounted on adjustment rod (26) and is meshed with adjustment motor gear (53); Among them, the regulating motor (52) is connected to the control equipment.

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