An underwater load loading and releasing device

Abstract

The present invention provides an underwater load loading and releasing device, which can realize the simplified loading of underwater loads on a vehicle, ensure reliable loading and releasing, and improve the loading efficiency. The loading and releasing device includes: a locking and releasing mechanism and a loading mechanism; the loading mechanism is used for loading underwater loads; the locking and releasing mechanism is used for locking and releasing the loading mechanism, and includes: a base and a driving mechanism and an actuating mechanism installed on the base. The underwater load loading and releasing device of the present invention has a simple structure, can greatly simplify the loading process, and does not require the load to be aligned and positioned during the assembly process, greatly reducing the requirements for the loading matching accuracy, saving manpower and improving efficiency at the same time; except for the driving source, the rest are pure mechanical transmission devices, with high reliability and good environmental adaptability, and can meet the usage requirements of various environments.

Description

Technical Field

[0001] The present invention relates to a loading and releasing device, and particularly to an underwater payload loading and releasing device, belonging to the technical field of underwater unmanned vehicles. Background Art

[0002] For underwater unmanned vehicles, problems such as loading, transferring, and deploying underwater payloads on the vehicle exist; the existing loading and releasing devices are few in variety, different in form, and the loading process is complex, with a low error tolerance, time-consuming and laborious, seriously affecting the loading efficiency. Summary of the Invention

[0003] In view of this, the present invention provides an underwater payload loading and releasing device, which can simplify the loading of underwater payloads on the vehicle, ensure reliable loading and releasing, and improve the loading efficiency.

[0004] The technical solution of the present invention is: an underwater payload loading and releasing device, comprising:

[0005] A loading mechanism for loading underwater payloads;

[0006] A locking and releasing mechanism for locking and releasing the loading mechanism;

[0007] The locking and releasing mechanism comprises: a base and a driving mechanism and an execution mechanism mounted on the base;

[0008] The driving mechanism comprises: a driving source and a sliding rod; the driving source is used to drive the sliding rod to move longitudinally along the base; the sliding rod includes a rod section A and a rod section B along the length direction; the thickness of the rod section B is greater than the thickness of the rod section A;

[0009] The execution mechanism comprises: a hook, a connecting rod, and a guiding rod; two hooks are symmetrically hinged on the transverse sides of the lower end surface of the base; locking blocks extend inward from the lower parts of the longitudinal two ends of the hook, for cooperating with the locking grooves on the loading mechanism;

[0010] One ends of two connecting rods are respectively hinged to the middle parts of the two hooks, and the other ends are respectively hinged to the two ends of a horizontally arranged guiding rod; a sliding block extends upward in the middle of the guiding rod; the sliding block extends into the guiding groove on the bottom surface of the base and is in sliding fit with the guiding groove; a guiding hole is opened on the sliding block, the sliding rod extends into the guiding hole, and the upper end surface of the sliding rod contacts the bottom surface of the guiding groove;

[0011] When the rod section B of the sliding rod is located in the guiding hole, the lower end surface of the sliding rod contacts the inner bottom surface of the guiding hole, and the sliding rod is in the locked position, limiting the locking block on the hook in the locking groove; when the rod section A of the sliding rod is located in the guiding hole, the sliding rod is in the unlocked position, and the hook can open outward.

[0012] On the basis of the above solution, further, the loading mechanism includes: a carrier and a hoop; locking grooves are respectively arranged at positions on the carrier corresponding to the four locking blocks on the actuating mechanism. When the locking blocks are inserted into the locking grooves at the corresponding positions, the connection between the loading mechanism and the locking and releasing mechanism is realized;

[0013] Hoops for surrounding the underwater load are respectively arranged at the longitudinal two ends of the carrier.

[0014] On the basis of the above solution, further, one or more limiting roller groups are arranged longitudinally on the bottom surface of the base for limiting when the underwater load is loaded in place.

[0015] On the basis of the above solution, further, rollers are arranged on the inner bottom surface of the guiding hole. When the sliding rod is in the locked position, the lower end surface of the rod section B of the sliding rod contacts the rollers.

[0016] On the basis of the above solution, further, the driving source is a hydraulic cylinder, an electric cylinder or a linear motor.

[0017] Beneficial effects:

[0018] (1) The underwater load loading and releasing device of the present invention has a simple structure, can greatly simplify the loading process, and does not require the load to be aligned and positioned during the assembly process, greatly reducing the requirement for the loading fit accuracy, saving manpower and improving efficiency at the same time; except for the driving source, the rest are pure mechanical transmission devices, with high reliability and good environmental adaptability, and can meet the use requirements of various environments.

[0019] (2) Two limiting roller groups are arranged on the lower end surface of the base for limiting when the underwater load is loaded, which is safe and reliable and can ensure that the underwater load can be reliably loaded in place.

[0020] (3) The rollers contacting the sliding rod are arranged on the inner bottom surface of the guiding square hole of the guiding rod, which can reduce the sliding friction of the sliding rod and guide the sliding rod. Description of the drawings

[0021] Figure 1 It is a schematic structural diagram of the underwater load loading and releasing device of the present invention;

[0022] Figure 2 And Figure 3 It is a schematic structural diagram of the locking and releasing mechanism;

[0023] Figure 4 It is a schematic structural diagram of the base;

[0024] Figure 5 It is a schematic structural diagram of the driving mechanism;

[0025] Figure 6 It is a schematic structural diagram of the actuating mechanism;

[0026] Figure 7 It is a schematic structural diagram of the loading mechanism.

[0027] Wherein: 1 - locking and releasing mechanism, 2 - loading mechanism, 3 - base, 4 - driving mechanism, 5 - executing mechanism, 6 - mounting frame, 7 - driving mechanism mounting seat, 8 - limit roller set, 9 - guiding groove, 10 - driving source, 11 - sliding rod, 12 - hook, 13 - connecting rod, 14 - guiding rod, 15 - roller, 16 - bearing frame, 17 - steel belt, 18 - locking screw; 19 - underwater load. Specific embodiments

[0028] The present invention will be further described in detail below with reference to the accompanying drawings and embodiments.

[0029] This embodiment provides an underwater load loading and releasing device, which can greatly simplify the loading process and improve the loading efficiency.

[0030] As Figure 1 shown, the underwater load loading and releasing device includes: a locking and releasing mechanism 1 and a loading mechanism 2; wherein the loading mechanism 2 is used for loading the underwater load 19; the locking and releasing mechanism 1 is used for locking and releasing the loading mechanism 2.

[0031] As Figure 2 and Figure 3 shown, the locking and releasing mechanism 1 includes: a base 3, a driving mechanism 4 and an executing mechanism 5;

[0032] The base 3 is an installation frame for the driving mechanism 4 and the executing mechanism 5; the locking and releasing mechanism 1 is installed on the underwater vehicle platform through the base 3; the driving mechanism 4 is used to drive the executing mechanism 5 to act, and the executing mechanism 5 is used to realize the loading and releasing of the underwater load 19.

[0033] As Figure 4 shown, the base 3 includes: a mounting frame 6, a driving mechanism mounting seat 7, limit rollers 8 and a guiding groove 9; taking the length direction of the base 3 as the longitudinal direction and the width direction as the transverse direction (left - right direction); the base 3 is symmetric about its longitudinal central axis. The mounting frame 6 is a welded structure, and a driving mechanism mounting seat 7 is installed at the central position of one longitudinal end thereof. The end 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; two limit roller sets 8 are symmetrically installed at the central positions of both longitudinal ends of the base 3 through brackets for limiting the underwater load 19. In this example, each limit roller set 8 includes two limit rollers arranged along the transverse direction; the guiding groove 9 is located at the exact center position of the base 3 for the vertical guiding of the executing mechanism 5. The length of the limit roller set 8 extending downward is greater than the lengths of the driving mechanism mounting seat 7 and the guiding groove 9 extending downward.

[0034] As Figure 5As shown in the figure, the driving mechanism 4 includes a driving source 10 and a sliding rod 11; the driving source 10 can be a hydraulic cylinder, an electric cylinder or a linear motor; the driving source 10 is arranged longitudinally along the base 3, its fixed end is hinged on the driving mechanism mounting seat 7 of the base 3, and the telescopic end is connected to the sliding rod 11; the sliding rod 11 has a smooth transition structure. Specifically: the upper end surface of the sliding rod 11 is a flat structure, and the lower end surface is a stepped structure with a smooth transition. That is, along the length direction of the sliding rod 11, it includes a smaller thickness section (designated as rod section A) and a larger thickness section (designated as rod section B), and the rod section A and the rod section B are smoothly transitioned through an inclined surface, that is, there is a rod section C with an increasing thickness between the rod section A and the rod section B; the rod section A of the sliding rod 11 is connected to the telescopic end of the driving source 10. The sliding rod 11 is used to control the up and down movement of the guide rod 14; specifically: when the sliding rod 11 is in the unlocked position, the guide rod 14 can move up and down along the guide groove 9; when the sliding rod 11 is in the locked position, the guide rod 14 cannot move up and down along the guide groove 9.

[0035] As Figure 6 shown, the actuating mechanism 5 is a multi-link articulated symmetric structure. The actuating mechanism 5 is installed at the bottom of the base 3 and is symmetric about the longitudinal central axis of the base 3. The actuating mechanism 5 includes: a hook 12, a connecting rod 13, a guide rod 14 and a roller 15; two hooks 12 are respectively symmetrically arranged on the transverse sides of the lower end surface of the base 3; the lower parts of the longitudinal two ends of the hook 12 extend inwards to form protrusions, serving as locking blocks, for cooperating with the locking grooves on the loading mechanism 2; each hook 12 is provided with two groups of hinge holes. The upper hinge hole is hinged to the base 3 (the hinge shaft here is arranged longitudinally along the base 3), and the hinge hole on the longitudinal middle ear is used for hinging with the connecting rod 13 (the hinge shaft here is also arranged longitudinally along the base 3).

[0036] Preferably, the center of gravity of the hook 12 is located inside the axis of the hinge shaft where it is hinged to the base 3. Thus, when the underwater load 19 and the double gravity of the loading mechanism 2 act on the hook 12, the hook 12 can generate a moment to turn outwards around this hinge shaft, forcing the hook 12 to open.

[0037] One end of the two connecting rods 13 is respectively hinged to the hinge holes on the longitudinal middle ears of the two hooks 12, and the other end is respectively hinged to the two ends of the laterally arranged guide rod 14. The middle part of the guide rod 14 has a strip-shaped protrusion extending upwards in the vertical direction. This strip-shaped protrusion serves as a slider and extends into the guide groove 9 at the center position of the bottom of the base 3, and is in sliding fit with the guide groove 9. A guide square hole is opened on the slider in the middle of the guide rod 14 for guiding the sliding rod 11. Specifically: the sliding rod 11 passes through the mounting bracket of the limit roller group 8 and then extends into the guide square hole, and the upper end surface of the sliding rod 11 contacts the bottom surface of the guide groove 9.

[0038] When the rod segment B of the slide bar 11 is located inside the guiding square hole on the middle slider of the guiding rod 14, the slide bar 11 is in the locked position; at this time, the upper end face of the slide bar 11 contacts the bottom surface of the guiding groove 9, and the lower end face contacts the roller 15 arranged on the inner bottom surface of the guiding square hole. The arrangement of the roller 15 can reduce the sliding friction of the slide bar 11 and guide the slide bar 11.

[0039] When the driving source 10 drives the slide bar 11 to extend outwards so that its rod segment A is located inside the guiding square hole on the middle slider of the guiding rod 14, the slide bar 11 is in the unlocked position; at this time, the upper end face of the slide bar 11 contacts the bottom surface of the guiding groove 9, and there is a gap between the lower end face and the roller 15. The slider in the middle of the guiding rod 14 can move upwards along the guiding groove 9 until the lower end face of the slide bar 11 contacts the roller 15.

[0040] As Figure 7 shown, the loading mechanism 2 is used for loading the underwater load 19; it includes: a carrier frame 16, a hoop and a locking screw 18. The carrier frame 16 is used to install the loading mechanism 2 onto the locking and releasing mechanism 1 to achieve the loading of the underwater load 19; specifically: the carrier frame 16 is a rectangular frame, and locking grooves are respectively arranged at positions on the carrier frame 16 corresponding to the four locking blocks on the actuator 5. When the locking blocks are inserted into the locking grooves at the corresponding positions, the connection between the loading mechanism 2 and the locking and releasing mechanism 1 is realized. When the slide bar 11 is in the unlocked position, the hook 12 can turn outwards under the action of the gravity of the underwater load 19, so that the locking blocks leave the locking grooves, thereby disconnecting the connection between the loading mechanism 2 and the locking and releasing mechanism 1.

[0041] Hoops with openings are respectively arranged at the longitudinal two ends of the carrier frame 16 for surrounding the underwater load 19; in this example, an annular steel belt 17 with an opening is used as the hoop. After the steel belt 17 surrounds the underwater load 19 through the opening, the two ends of the opening are connected by the locking screw 18 to realize the locking of the underwater load 19.

[0042] The loading process of the device for the underwater load 19 is as follows:

[0043] Initially, the slide bar 11 is in the locked position; when it is necessary to load the underwater load 19, the driving source 10 performs an extending action to push the slide bar 11 to the minimum height (that is, to push the slide bar 11 until its rod segment A is located inside the guiding square hole on the middle slider of the guiding rod 14). At this time, the slide bar 11 is in the unlocked position, and the two hooks 12 can rotate outwards around their hinge axes with the base 3 to open; during this process, the guiding rod 14 moves upwards. During the upward movement of the guiding rod 14, the slider in the middle of it moves upwards along the guiding groove 9 to guide the movement of the guiding rod 14.

[0044] Then, insert the four locking blocks on the two holding hooks 12 into the locking slots at the corresponding positions on the carrier 16 of the loading mechanism 2; the driving source 10 retracts the sliding rod 11. When the sliding rod 11 is pulled to the maximum height position (i.e., the rod section B of the sliding rod 11 is pushed into the guiding square hole on the middle slider of the guiding rod 14), at this time, the upper and lower ends of the sliding rod 11 are respectively in contact with the bottom surface of the guiding groove 9 and the roller 15; the holding hooks 12 are locked and cannot be opened outward anymore, and the loading of the loading mechanism 2 is completed.

[0045] Then, loosen the locking screw 18 at the opening of the steel belt 17 on the loading mechanism 2, untie the steel belt 17, and lift the underwater load 19 to contact with the limiting roller 8 on the locking and releasing mechanism 1 through the lifting platform; finally, wind the steel belt 17 on the loading mechanism 2 around the underwater load 19 and tighten it, and lock the locking screw 18 to complete the loading of the underwater load 19.

[0046] The release process of the device for the underwater load 19 is as follows:

[0047] First, the driving source 10 performs an extending action, pushing the sliding rod 11 to the minimum height (i.e., the rod section A of the sliding rod 11 is pushed into the guiding square hole on the middle slider of the guiding rod 14), so that the holding hooks 12 have the freedom to open outward; the double gravity of the underwater load 19 and the loading mechanism 2 acts on the holding hooks 12, generating an outward turning moment, forcing the holding hooks 12 to open, and completing the delivery of the underwater load 19.

[0048] Although the present invention has been described in detail with general descriptions and specific embodiments above, based on the present invention, some modifications or improvements can be made, which are obvious to those skilled in the art. Therefore, these modifications or improvements made without departing from the spirit of the present invention all fall within the scope of protection required by the present invention.

Claims

1. An underwater load loading and releasing device, characterized in that, it includes: a loading mechanism for loading underwater loads; a locking and releasing mechanism for locking and releasing the loading mechanism; The locking and releasing mechanism includes: a base and a driving mechanism and an actuating mechanism mounted on the base; The driving mechanism includes: a driving source and a sliding rod; the driving source is used to drive the sliding rod to move longitudinally along the base; the sliding rod includes a rod section A and a rod section B along its length direction; the thickness of the rod section B is greater than that of the rod section A; The actuating mechanism includes: a hook, a connecting rod and a guide rod; two hooks are symmetrically hinged on the transverse sides of the lower end face of the base; locking blocks extend inwardly from the lower parts of the longitudinal ends of the hooks for cooperating with the locking grooves on the loading mechanism; One ends of the two connecting rods are respectively hinged to the middle parts of the two hooks, and the other ends are respectively hinged to the two ends of the laterally arranged guide rod; a slider extends upwardly in the middle of the guide rod; the slider extends into the guide groove on the bottom surface of the base and is slidably matched with the guide groove; a guide hole is formed in the slider, the sliding rod extends into the guide hole, and the upper end surface of the sliding rod contacts the bottom surface of the guide groove; When the rod section B of the sliding rod is located in the guide hole, the lower end surface of the sliding rod contacts the inner bottom surface of the guide hole, and the sliding rod is in the locked position, limiting the locking block on the hook in the locking groove; when the rod section A of the sliding rod is located in the guide hole, the sliding rod is in the unlocked position, and the hook can open outward.

2. The underwater load loading and releasing device according to claim 1, characterized in that, the loading mechanism includes: a carrier and a hoop; locking grooves are respectively arranged at positions on the carrier corresponding to the four locking blocks on the actuating mechanism. When the locking blocks are inserted into the locking grooves at the corresponding positions, the connection between the loading mechanism and the locking and releasing mechanism is realized; Hoops for surrounding the underwater load are respectively arranged at the longitudinal ends of the carrier.

3. The underwater load loading and releasing device according to claim 1 or 2, characterized in that, one or more limit roller groups are arranged longitudinally on the bottom surface of the base for limiting the underwater load when it is loaded in place.

4. The underwater load loading and releasing device according to claim 1 or 2, characterized in that, rollers are arranged on the inner bottom surface of the guide hole. When the sliding rod is in the locked position, the lower end surface of the rod section B of the sliding rod contacts the rollers.

5. The underwater load loading and releasing device according to claim 1 or 2, characterized in that, the driving source is a hydraulic cylinder, an electric cylinder or a linear motor.

Images