An underwater carrying and releasing device

Abstract

The present invention provides an underwater carrying and releasing device, which can repeatedly carry and release loads, is convenient to load, and can achieve low-noise release of loads. It includes: a release mechanism and a carrying mechanism; the carrying mechanism is used to carry underwater loads; the release mechanism includes: a base frame, a hydraulic cylinder, a hook, a limit component and a support wheel; a hook is arranged on each of the two lateral sides at the bottom of the base frame, and the upper end of the hook is rotatably connected to the base frame through a hook pin shaft; both longitudinal ends of the lower part of the hook extend inwards to form hook bodies for hooking the carrying mechanism; a set of limit components is arranged on the base frame for each hook to limit the outward opening angle and the inward retracting angle when the hook rotates around the hook pin shaft; when the hook retracts to the in-place position, the carrying mechanism is hooked by its hook body; the hydraulic cylinder is used to drive the hook to open outwards or retract inwards; support wheels are installed at the lower parts of the two lateral ends of the base frame through support wheel pin shafts for radially limiting the load when carrying the load.

Description

Technical Field

[0001] The present invention relates to a carrying and releasing device, specifically to an underwater carrying and releasing device, belonging to the technical field of UUV equipment. Background Art

[0002] When a payload is carried and released underwater by a UUV, currently, the explosion bolt method is mainly used to achieve the carrying and releasing of the payload. The explosion bolt involves pyrotechnics and has certain dangers. At the same time, there are problems such as non-reusability, high cost, inconvenient loading operation, and loud release noise. Summary of the Invention

[0003] In view of this, the present invention provides an underwater carrying and releasing device that can repeatedly carry and release the payload, is convenient to load, and can achieve low-noise release of the payload.

[0004] The technical solution of the present invention is: an underwater carrying and releasing device, comprising: a releasing mechanism and a carrying mechanism;

[0005] The carrying mechanism is used for carrying the underwater payload;

[0006] The releasing mechanism is used for locking and releasing the carrying mechanism, and comprises: a base frame, a hydraulic cylinder, a hook, a limiting component, and a supporting wheel;

[0007] Let the longitudinal direction of the base frame be the direction parallel to the axial direction of the payload; on the transverse two sides at the bottom of the base frame, one hook is arranged on each side. The upper end of the hook is rotationally connected to the base frame through a longitudinally arranged hook pin shaft; both longitudinal ends of the lower part of the hook extend inwards to form hook bodies for hooking the carrying mechanism;

[0008] On the base frame, a set of limiting components is arranged for each hook to limit the outward opening angle and the inward retracting angle when the hook rotates around the hook pin shaft; when the hook retracts in place, the carrying mechanism is hooked by its hook body;

[0009] The ear rings at both axial ends of the hydraulic cylinder are respectively hinged to the two hooks through hydraulic cylinder pin shafts for driving the hooks to open outwards or retract inwards;

[0010] At the lower parts of the two transverse ends of the base frame, supporting wheels are installed through supporting wheel pin shafts for radially limiting the payload when carrying the payload.

[0011] On the basis of the above solution, further, the hook surface of the hook body of the hook is an arc surface with the center on the axis of the hook pin shaft.

[0012] On the basis of the above solution, further, the limiting component includes four limiting blocks. On two opposite inner surfaces of the base frame in the longitudinal direction, one limiting block is arranged on the outer side of each of the hook catches for limiting the outward opening angle of the hook catches.

[0013] On two opposite inner surfaces of the base frame in the longitudinal direction, one limiting block is also arranged on the inner side of each of the hook catches for limiting the inward retracting angle of the hook catches.

[0014] On the basis of the above solution, further, the two limiting blocks located on the inner side of the hook catches and the end faces opposite to the hook catches have a flat section and an inclined section inclined inward. When the hook catches retract inward, they retract inward along the inclined section to a position where they abut against the flat end, so that the hook catches are clamped between the two corresponding inner limiting blocks.

[0015] On the basis of the above solution, further, the carrying mechanism includes: a hoop belt, a support beam and a positioning pin;

[0016] The hoop belt is used to surround and lock the load, and the two hoop belts are arranged in parallel along the axial direction of the load;

[0017] The tops of the two hoop belts are connected by two support beams arranged in parallel. When the hook catches retract to the in-place position, the hook bodies of the two hook catches respectively hook the two support beams.

[0018] On the basis of the above solution, further, the hook body of the hook catch extends forward with a connecting section having a toothed upper surface, and the bottom surface of the support beam is a toothed surface and an arc surface that cooperate with the surface of the hook body.

[0019] On the basis of the above solution, further, a rubber pad is arranged on the inner circumferential surface of the hoop belt.

[0020] On the basis of the above solution, further, a positioning pin is arranged at a set position on the inner circumferential surface of the hoop belt, and the load has a positioning hole that cooperates with the positioning pin.

[0021] On the basis of the above solution, further, the hoop belt includes: a transfer hoop belt and a locking hoop belt;

[0022] Both the transfer hoop belt and the locking hoop belt are semi-circular structures, and the two transfer hoop belts are connected by two support beams arranged in parallel; one end of the transfer hoop belt is pin-connected to the locking hoop belt through a pin shaft, and the other end is fixedly connected to the locking hoop belt through a fastener after carrying the load.

[0023] On the basis of the above solution, further, buffer blocks are fixed on the upper end faces at both longitudinal ends of each support beam.

[0024] Beneficial effects:

[0025] (1) The underwater loading and releasing device of the present invention can repeatedly load and release loads, with convenient loading and low-noise release of loads achievable.

[0026] (2) In the underwater loading and releasing device of the present invention, the hook surface of the lower hook body of the hook is an arc surface, and the center of the arc surface is located on the center line of the hook pin of the hook. When loading a load, the force on the hook can always point to the center of rotation gravity, that is, the center of the hook pin, avoiding the generation of torque and improving the force on the hydraulic cylinder.

[0027] (3) The front end of the upper surface of the hook body of the hook is serrated, and the bottom surface of the support beam is serrated to fit the surface of the hook body. When loading a load, the axial displacement of the loading mechanism relative to the releasing mechanism can be restricted.

[0028] (4) In the loaded state, the hook is limited by the inner limit block to avoid swinging; at the same time, the limit block clamps the hook tightly, and can also buffer the impact brought by the load, improving the force on the hydraulic cylinder.

[0029] (5) Buffer blocks are fixed on the upper end surfaces at both longitudinal ends of each support beam, which can achieve buffer limiting between the releasing mechanism and the loading mechanism when loading a load, ensuring the safety of the loading process.

[0030] (6) The inner circumferential surface of the adapter hoop belt is provided with a positioning pin, and the load has a positioning hole cooperating with it. When loading the load, the load can be positioned. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 and Figure 2 are schematic structural diagrams of the underwater loading and releasing device of the present invention;

[0032] Figure 3 and Figure 4 are schematic structural diagrams of the releasing mechanism;

[0033] Figure 5 are schematic structural diagrams of the loading mechanism;

[0034] Figure 6 are schematic structural diagrams of the adapter hoop belt assembly.

[0035] Wherein: 1 - releasing mechanism, 2 - loading mechanism, 3 - base frame, 4 - hydraulic cylinder, 5 - hook, 6 - limit block, 7 - hook pin, 8 - hydraulic cylinder pin, 9 - wheel support pin, 10 - wheel support, 11 - adapter hoop belt assembly, 12 - buffer block, 13 - positioning pin, 14 - rubber pad, 15 - locking hoop belt, 16 - adapter hoop, 17 - support beam, 18 - load. DETAILED DESCRIPTION OF THE INVENTION

[0036] The present invention will be further described in detail below with reference to the drawings and embodiments.

[0037] This embodiment provides an underwater loading and releasing device that can repeatedly load and release a payload and can achieve low-noise release of the payload.

[0038] As Figure 1 and Figure 2 shown, the underwater loading and releasing device includes: a releasing mechanism 1 and a loading mechanism 2; wherein the loading mechanism 2 is used to load the payload 18; the releasing mechanism 1 is used for locking and releasing the loading mechanism 2.

[0039] As Figure 3 and Figure 4 shown, the releasing mechanism 1 includes: a base frame 3, a hydraulic cylinder 4, a hook 5, a limit block 6, a hook pin shaft 7, a hydraulic cylinder pin shaft 8, a support wheel pin shaft 9 and a support wheel 10; the releasing mechanism 1 is fixed to the UUV frame through the base frame 3; the base frame 3 is a welded structure, and the longitudinal direction of the base frame 3 is the direction parallel to the axial direction of the cylindrical payload 18, and the transverse direction is the direction perpendicular to the longitudinal direction in the horizontal plane; two hooks 5 are respectively arranged on the two lateral sides below the base frame 3, and the two hooks 5 are symmetrically arranged along the longitudinal central axis of the base frame 3; the upper end of the hook 5 is pin-connected to the base frame 3 through the hook pin shaft 7, and the axial direction of the hook pin shaft 7 is parallel to the axial direction of the cylindrical payload 18; that is, the hook pin shaft 7 is arranged longitudinally along the base 3, and its two axial ends are supported on the base 3, and the upper end of the hook 5 is rotatably connected to the hook pin shaft 7, so that the hook 5 can rotate around the axis of the hook pin shaft 7.

[0040] On the inner end surface of the base frame 3, a set of limit members is arranged at the position corresponding to each hook 5 for limiting the rotation angle of the hook 5 around the hook pin shaft 7; in this example, each set of limit members includes four limit blocks 6, which are grouped in pairs and are respectively used for limiting the outward opening angle and the inward retracting angle of the hook 5; specifically: on the two opposite inner surfaces of the base frame 3 in the longitudinal direction, a limit block 6 is arranged on the outer side of each hook 5, and the position of the limit block 6 determines the outward opening angle of the hook 5, and the two outer limit blocks 6 limit the opening angle of the hook 5 from its two longitudinal ends. Similarly, on the two opposite inner surfaces of the base frame 3 in the longitudinal direction, a limit block 6 is arranged on the inner side of each hook 5, and the position of the limit block 6 determines the inward retracting angle of the hook 5, and the two inner limit blocks 6 limit the inward retracting angle of the hook 5 from its two longitudinal ends. In the loaded state,

[0041] Preferably, in this example, the two inner limit blocks 6 have a plane section and an inwardly inclined slope section at the end face opposite to the hook 5. When the hook 5 is retracted inward, it is retracted inward along the slope section to a position that contacts the plane end. At this time, the hook 5 is clamped between the two inner limit blocks 6 corresponding thereto, and the hook 5 is clamped by the two limit blocks (at this time, the longitudinal ends of the hook 5 are clearance-matched with the limit blocks 6 on the corresponding side). As a result, when the device is in a loading state, the hook 5 is limited by the limit blocks 6 to avoid swinging, while buffering the impact caused by the load and improving the force on the hydraulic cylinder.

[0042] The earrings at both axial ends of the hydraulic cylinder 4 are hinged to the hook 5 through the hydraulic cylinder pin 8; when the piston rod of the hydraulic cylinder 4 is retracted, the hook 5 is driven to close inward around the hydraulic cylinder pin 8 to a position in contact with the inner limit block 6, and it is in the loading state at this time; when the piston rod of the hydraulic cylinder 4 is extended, the hook 5 is driven to open outward around the hydraulic cylinder pin 8 to a position in contact with the outer limit block 6, and it is in the releasing state at this time.

[0043] The hydraulic cylinder 4 can be a double extension hydraulic cylinder or a single extension hydraulic cylinder; when a double extension hydraulic cylinder is used, the piston shafts at both ends of the axial direction are respectively hinged to the hooks 5 at the corresponding ends through the hydraulic cylinder pin 8. When the hydraulic cylinder 4 is working, the piston shafts at both ends of the hydraulic cylinder 4 are synchronously extended and retracted, thereby synchronously pushing the two hooks 5 to open or retract synchronously. When a single extension hydraulic cylinder is used, its piston shaft is hinged to the hook 5 at one end through the hydraulic cylinder pin 8, and the cylinder end is hinged to the hook 5 at the other end through the hydraulic cylinder pin 8; when the hydraulic cylinder 4 is working, its piston shaft is extended and retracted, driving the hook 5 connected to the piston shaft to open or retract; when the hook 5 connected to the piston shaft is opened or retracted into place (i.e., it contacts the limit block 6 at the corresponding position), the piston shaft cannot move, which will cause the cylinder end to move relative to the piston shaft, thereby driving the hook 5 connected to the cylinder end to open or retract into place.

[0044] A support wheel mounting frame is provided at the lower part of the two lateral ends of the base frame 3, and a support wheel pin shaft 9 is provided on the support wheel mounting frame, and the axial direction of the support wheel pin shaft 9 is along the longitudinal direction of the base 3; the support wheel 10 is hinged to the support wheel pin shaft 9, and the support wheel 10 is mainly used to limit the radial displacement of the load 18.

[0045] Both longitudinal ends of the lower part of the hook 5 extend inward with a hook body, and the hook surface of the hook body (i.e., the upper surface of the structure) is an arc surface with the center on the center line of the hook pin 7. Therefore, when carrying a load, the force on the hook 5 can always be directed to the center of rotation, i.e., the center of the hook pin 7, thereby avoiding the generation of torque and improving the force on the hydraulic cylinder 4.

[0046] At the same time, a connecting section with a toothed upper surface extends forward from the hook body of the holding hook 5, which is used to cooperate with the toothed portion at the corresponding position of the carrying mechanism 2, and can limit the axial displacement of the carrying mechanism 2 when carrying a load.

[0047] like Figure 5 andFigure 6 As shown in Figure 6 , the carrying mechanism 2 includes: an adapter hoop assembly 11, a buffer block 12, a positioning pin 13, a rubber pad 14, and a locking hoop 15;

[0048] The adapter hoop assembly 11 is a welded structure and includes: an adapter hoop 16 and a support beam 17; the adapter hoop 16 is a semi-circular ring structure, and the two adapter hoops 16 are connected (welded together) by two support beams 17 arranged in parallel. Specifically: the two support beams 17 are symmetrically welded to the adapter hoop 16. The two support beams 17 correspond to the two hooks 5 one by one, and the bottom surface of the support beam 17 has a tooth shape and an arc surface that perfectly fit the upper surface of the hook body of the corresponding hook 5. When carrying a load, the hook 5 hooks the support beam 17 through the hook body.

[0049] The locking hoop 15 is also a semi-circular ring structure, and the two locking hoops 15 correspond to the two adapter hoops 16 one by one; one end of the adapter hoop 16 is pin-connected to the locking hoop 15 through a pin shaft, and the other end is fixedly connected to the locking hoop 15 through a screw. After the locking hoop 15 and the adapter hoop 16 are butted, a complete circular hoop is formed to hold the load 18 tightly. Rubber pads 14 are pasted on the inner circumferential surfaces of both the locking hoop 15 and the adapter hoop 16. Before loading the load 18, the screw connection end of the adapter hoop 16 and the locking hoop 15 is in a disconnected state, so that the locking hoop 15 can rotate around the pin shaft connected to the adapter hoop 16 to open the hoop; after loading the load 18, the adapter hoop 16 and the locking hoop 15 are locked by screws, and then the load 18 is tightened by the hoop.

[0050] Buffer blocks 12 are fixed to the upper end surfaces at both longitudinal ends of each support beam 17 for buffering and limiting between the release mechanism 1 and the carrying mechanism 2 when carrying a load.

[0051] In addition, a positioning pin 13 is provided in the middle of the inner circumferential surface of the adapter hoop 16, and the load 18 has a positioning hole that matches it. Thus, when loading the load 18, the load 18 can be positioned through the cooperation of the positioning pin 13 and the positioning hole.

[0052] The specific working process of this underwater carrying and releasing device is as follows:

[0053] When loading the load 18: Install the carrying mechanism 2 on the load 18 (i.e., tighten the load 18 with the hoop of the carrying mechanism 2); then control the hydraulic cylinder 4 to act, extend the piston rod to open the two hooks 5; lift the carrying mechanism 2 carrying the load 18 to directly below the release mechanism 1 so that the load 18 is close to the support wheels 10. Then control the hydraulic cylinder 4 to act, retract the piston rod to close the two hooks 5, and hook the support beam 17 through the hook body to complete the loading.

[0054] When releasing the load 18, the control hydraulic cylinder 4 is actuated to extend the piston rod, causing the two holding hooks 5 to open, and the load 18 (including the carrying mechanism 2) disengages from the release mechanism 1 under the action of gravity, completing the release.

[0055] This underwater carrying and releasing device can repeatedly carry and release loads, with a relatively low usage cost, and has the characteristics of convenient loading, reliable carrying, and low release noise, and can meet the requirements for carrying and releasing various loads in a narrow installation space.

[0056] Although the present invention has been described in detail above with general descriptions and specific embodiments, 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 carrying and releasing device, characterized in that, Including: A release mechanism and a carrying mechanism; The carrying mechanism is used to carry an underwater load; The release mechanism is used for locking and releasing the carrying mechanism, and includes: a base frame, a hydraulic cylinder, a hook, a limiting component and a supporting wheel; Let the longitudinal direction of the base frame be the direction parallel to the axial direction of the load; on the two lateral sides of the bottom of the base frame, a hook is arranged on each side, and the upper end of the hook is rotationally connected to the base frame through a longitudinally arranged hook pin shaft; at both longitudinal ends of the lower part of the hook, a hook body extends inward for hooking the carrying mechanism; On the base frame, a set of limiting components is arranged for each hook to limit the outward opening angle and the inward retracting angle when the hook rotates around the hook pin shaft; when the hook retracts in place, the carrying mechanism is hooked by its hook body; The ear rings at both axial ends of the hydraulic cylinder are respectively hinged to two hooks through hydraulic cylinder pin shafts for driving the hooks to open outward or retract inward; Supporting wheels are installed at the lower parts of the two lateral ends of the base frame through supporting wheel pin shafts for radially limiting the load when carrying the load.

2. The underwater carrying and releasing device according to claim 1, wherein The hook surface of the hook body of the hook is an arc surface with the center on the axis of the hook pin shaft.

3. The underwater carrying and releasing device according to claim 1 or 2, characterized in that The limiting component includes four limiting blocks. On the two inner surfaces of the base frame that are longitudinally opposite, a limiting block is arranged on the outer side of each hook for limiting the outward opening angle of the hook; On the two inner surfaces of the base frame that are longitudinally opposite, a limiting block is also arranged on the inner side of each hook for limiting the inward retracting angle of the hook.

4. The underwater carrier release device according to claim 3, characterized in that, The two limiting blocks located on the inner side of the hook and the end surfaces opposite to the hook have a flat section and an inwardly inclined inclined section. When the hook retracts inward, it retracts inward along the inclined section until it touches the flat end, so that the hook is clamped between the two corresponding inner limiting blocks.

5. The underwater carrier release device according to claim 1 or 2, characterized in that, The carrying mechanism includes: a hoop, a support beam and a positioning pin; The hoop is used to surround and lock the load, and the two hoops are arranged in parallel along the axial direction of the load; The tops of the two hoops are connected by two parallel support beams. When the hook retracts in place, the hook bodies of the two hooks respectively hook the two support beams.

6. The underwater carrier release device according to claim 5, characterized in that, The hook body of the hook extends forward with a connecting section whose upper surface is serrated, and the bottom surface of the support beam is serrated and arc-shaped that matches the surface of the hook body.

7. The underwater carrier release device according to claim 5, wherein A rubber pad is arranged on the inner circumferential surface of the hoop.

8. The underwater carrying and releasing device according to claim 5, characterized in that, A positioning pin is arranged at a set position on the inner circumferential surface of the hoop, and the load has a positioning hole that matches the positioning pin.

9. The underwater carrier release device according to claim 5, characterized in that, The hoop includes: a transfer hoop and a locking hoop; Both the transfer hoop and the locking hoop are semi-circular structures, and the two transfer hoops are connected by two parallel support beams; one end of the transfer hoop is pin-connected to the locking hoop through a pin shaft, and the other end is fixedly connected to the locking hoop through a fastener after carrying the load.

10. The underwater carrying and releasing device according to claim 5, characterized in that, Buffer blocks are fixed on the upper end surfaces of both longitudinal ends of each support beam.

Images