A fixture apparatus for underwater vehicle launch testing

Abstract

The application discloses a clamp device for underwater vehicle launching test, which comprises a whole frame, two lifting clamping platforms, two groups of tension springs, two groups of telescopic locking support mechanisms and two driving mechanisms; the two lifting clamping platforms are arranged on the inner sides of the two closed surfaces of the whole frame respectively and are opposite to each other; the two driving mechanisms are connected with the lifting clamping platforms one by one respectively and are used for driving the two lifting clamping platforms to move towards each other; the two groups of tension springs are arranged between the lifting clamping platforms and the corresponding sides of the whole frame one by one; and the two groups of telescopic locking support mechanisms are arranged between the lifting clamping platforms and the corresponding sides of the whole frame one by one, and the length of each group of telescopic locking support mechanisms can be telescoped and locked; the application can save labor cost and improve the success rate of test.

Description

Technical Field

[0001] This invention belongs to the field of underwater vehicle testing technology, specifically relating to a clamping device for underwater vehicle launch testing. Background Technology

[0002] During the development of underwater vehicles, self-propulsion tests of the model are required. These tests necessitate that the vehicle achieve a good initial navigation state, meaning it should remain as stationary as possible from its launch position. However, in typical tests, underwater vehicles are not always able to achieve an ideal upright buoyancy due to limitations. Furthermore, environmental factors such as wind and waves can cause the vehicle to exhibit various motions, including heeling, tailing, heading deviation, swaying, and pitching. These motions can cause the vehicle to deviate from its intended trajectory during the initial stages of navigation when speed is low and rudder effectiveness is poor, leading to test failure.

[0003] In typical testing, the head or tail of the aircraft is often raised or lowered manually using a bent bar or other tools to achieve a brief period of stillness during the initial stage of flight. Once the propulsion system starts up and the rotation speed increases, the tools are quickly removed. This method requires a high level of skill from the operator, is labor-intensive, and has a high error rate. Summary of the Invention

[0004] In view of this, the present invention provides a clamping device for underwater vehicle launch tests, which can save labor costs and improve the success rate of the test.

[0005] This invention is achieved through the following technical solution:

[0006] A clamping device for launching tests of underwater vehicles includes: an integral frame, two lifting clamping platforms, two sets of tension springs, two sets of telescopic locking support mechanisms, and two drive mechanisms;

[0007] The overall frame is a frame structure with two closed sides at the top and bottom and the remaining sides open. The two lifting clamping platforms are respectively set on the inner sides of the two closed sides of the overall frame, and their positions are opposite.

[0008] Two drive mechanisms are connected to the lifting clamping platforms one-to-one, and are used to drive the two lifting clamping platforms to move towards each other.

[0009] Two sets of tension springs are installed one-to-one between the lifting clamping platform and the corresponding side of the overall frame;

[0010] Two sets of telescopic locking support mechanisms are installed one-to-one between the lifting clamping platform and the corresponding side of the overall frame. The length of each set of telescopic locking support mechanisms can be extended and locked.

[0011] When the telescopic locking support mechanism is locked, the length of the telescopic locking support mechanism is locked, and the telescopic locking support mechanism supports the corresponding lifting clamping platform, so that the distance between the two lifting clamping platforms is fixed, thereby achieving the clamping of the underwater vehicle; at this time, the tension springs are all under tension.

[0012] When the telescopic locking support mechanism is unlocked, the telescopic locking support mechanism can extend and retract; under the action of the tension spring, the two lifting clamping platforms compress the telescopic locking support mechanism and move apart, releasing the clamping of the underwater vehicle.

[0013] Furthermore, the overall frame is a hexahedral frame structure, with two opposite sides of the overall frame being outwardly convex arc-shaped surfaces; let the two closed surfaces of the overall frame be the top and bottom surfaces, let the sides containing the arc-shaped surfaces be the front and back surfaces respectively, and the remaining two sides be the left and right surfaces.

[0014] Each telescopic locking support mechanism includes two telescopic locking support components; one telescopic locking support component is located at the front end and the other telescopic locking support component is located at the rear end, respectively supporting the front and rear ends of the corresponding lifting clamping platform;

[0015] Each telescopic locking support assembly includes a telescopic support frame and two guide locking assemblies; the two guide locking assemblies are arranged vertically opposite each other, with one guide locking assembly set on the lifting clamping platform and the other guide locking assembly set on the overall frame. The length direction of the guide locking assemblies is along the left and right direction. The guide locking assemblies are used to guide and lock the top and bottom ends of the telescopic support frame, respectively.

[0016] Furthermore, each guide locking assembly includes gear guide locking assembly I, gear guide locking assembly II, and two gear linkages;

[0017] Gear guide locking assembly I and gear guide locking assembly II are arranged opposite each other, and the length direction of both gear guide locking assembly I and gear guide locking assembly II is along the left and right direction;

[0018] Two gear connecting rods are arranged side by side between gear guide locking assembly I and gear guide locking assembly II, with the length direction of the gear connecting rods along the front-to-back direction;

[0019] Gear guide locking assembly I and gear guide locking assembly II can lock the position of the gear connecting rod; when unlocking, the gear connecting rod can reciprocate along the length direction of gear guide locking assembly I and gear guide locking assembly II;

[0020] The telescopic support frame includes two connecting rods of the same length, which are pinned together at the middle. The two top ends of the two connecting rods of each telescopic support frame are pinned to the middle ends of the two gear connecting rods of the corresponding guide locking assembly. This allows the two top ends of the telescopic support frame to move along the length direction of gear guide locking assembly I and gear guide locking assembly II when the telescopic support frame moves up and down.

[0021] The two bottom ends of the two connecting rods of each telescopic support frame are respectively pinned to the middle of the two gear connecting rods of the corresponding guide locking assembly; so that when the telescopic support frame moves up and down, the two bottom ends of the telescopic support frame can move along the length direction of gear guide locking assembly I and gear guide locking assembly II respectively.

[0022] Furthermore, each guide locking assembly includes a gear guide locking assembly I, a gear guide locking assembly II, and a gear linkage;

[0023] Gear guide locking assembly I and gear guide locking assembly II are arranged opposite each other, and the length direction of both gear guide locking assembly I and gear guide locking assembly II is along the left and right direction;

[0024] The gear connecting rod is positioned between gear guide locking assembly I and gear guide locking assembly II, with the length of the gear connecting rod along the front-to-back direction.

[0025] Gear guide locking assembly I and gear guide locking assembly II can lock the position of the gear connecting rod; when unlocking, the gear connecting rod can reciprocate along the length direction of gear guide locking assembly I and gear guide locking assembly II;

[0026] The telescopic support frame includes two connecting rods of the same length, which are pinned together at the middle.

[0027] Each telescopic support frame has two connecting rods with two top ends. One top end is pinned to the middle of the corresponding gear connecting rod, and the other top end is pinned to the corresponding integral frame or lifting platform. This ensures that when the telescopic support frame moves up and down, one top end of the telescopic support frame remains stationary, while the other top end can move along the length direction of gear guide locking assembly I and gear guide locking assembly II.

[0028] Each telescopic support frame has two bottom ends on its two connecting rods. One bottom end is pinned to the middle of the corresponding gear connecting rod, and the other bottom end is pinned to the corresponding integral frame or lifting platform. This ensures that when the telescopic support frame moves up and down, one bottom end of the telescopic support frame remains stationary, while the other bottom end can move along the length of the gear guide locking assembly I and the gear guide locking assembly II.

[0029] Furthermore, the top and bottom ends of the telescopic support frame that are pinned to the gear connecting rod are vertically aligned, and the top and bottom ends of the corresponding overall frame or lifting platform that are pinned to the gear connecting rod are vertically aligned.

[0030] Furthermore, the gear connecting rod includes gear structure I, gear structure II, and connecting slide rod;

[0031] Gear structure I is housed within gear guide locking assembly I. Gear structure I can move along the length of gear guide locking assembly I, and gear guide locking assembly I can lock the position of gear structure I.

[0032] Gear structure II is installed inside gear guide locking assembly II. Gear structure II can move along the length direction of gear guide locking assembly II, and gear guide locking assembly II can lock the position of gear structure II.

[0033] Gear structure I and gear structure II are coaxially opposite each other. One end of the connecting slide rod is coaxially connected to gear structure I, and the other end of the connecting slide rod is coaxially connected to gear structure II. Gear structure I and gear structure II rotate synchronously, which can drive the connecting slide rod to roll along the length direction of gear guide locking assembly I and gear guide locking assembly II. The middle part of the connecting slide rod is pinned to the end of the corresponding connecting rod.

[0034] Furthermore, the gear guide locking assembly I includes a guide support I, a moving guide rail I, a fixed guide rail I, and a moving guide rail drive mechanism I;

[0035] The guide support I is a tubular structure with a rectangular cross-section. The length of the guide support I is along the left and right direction. An axial through groove I is provided on the side of the guide support I facing the gear guide locking assembly II for the passage of the connecting slide rod. Let the two side plates on the guide support I adjacent to the side plate where the axial through groove I is located be side plate AⅠ and side plate BⅠ, respectively.

[0036] Fixed guide rail I is set on the inner wall of side plate BⅠ inside guide support I; a guide bar I along the length direction is set in the middle of the surface of fixed guide rail I facing side plate AⅠ, and racks ⅠⅠ are set on both sides of guide bar I;

[0037] The movable guide rail I is set on the inner wall of the AⅠ side plate inside the guide support I; the surface of the movable guide rail I facing the BⅠ side plate is provided with racks I and II along the length direction;

[0038] Gear structure I is a gear with an annular groove I in the middle along the axial direction; the annular groove I of gear structure I cooperates with the guide bar I of fixed guide rail I; the gear of gear structure I can mesh with the rack II of fixed guide rail, and the gear of gear structure I can also mesh with the rack III of moving guide rail I; the guide bar I can limit the axial movement of gear structure I; the moving guide rail drive mechanism I is set on the guide support I and connected to the moving guide rail I, and is used to control the moving guide rail I to move to the position in the direction of fixed guide rail I or to move to the position away from fixed guide rail I.

[0039] When the moving guide rail I moves to the position of the fixed guide rail I, the moving guide rail I and the fixed guide rail I simultaneously engage with the gear structure I, limiting the gear structure I and locking the gear structure I.

[0040] When the moving guide rail I moves to its position away from the fixed guide rail I, space is left between the moving guide rail I and the fixed guide rail I for the gear structure I to roll, so that the gear structure I can roll along the moving guide rail I or the fixed guide rail I, thereby unlocking the gear structure I.

[0041] Furthermore, the moving guide rail drive mechanism I includes a motor I, two or more moving guide rail support rods I, and a drive linkage I;

[0042] Two or more movable guide rail support rods I are arranged parallel to each other between the BⅠ side plate of the movable guide rail I and the guide support I. One end of each movable guide rail support rod I is hinged to the movable guide rail I, and the other end is hinged to the guide support I.

[0043] Let the side plate opposite to the side plate containing the axial through groove I on the guide support I be the CI side plate. The motor I is set on the outer wall of the CI side plate. The output shaft of the motor I passes through the CI side plate and is fixedly connected to one end of the drive linkage I. The other end of the drive linkage I is hinged to the moving guide rail. This makes the moving guide rail I, the moving guide rail support I, the drive linkage I, and the guide support I form a four-bar linkage structure. The motor I drives the drive linkage I to rotate, so that the moving guide rail I can move into position in the direction of the fixed guide rail I or move into position away from the fixed guide rail I.

[0044] Furthermore, each lifting clamping platform includes a lifting platform and two or more clamping mechanisms; wherein, the lifting platform is located inside the closed surface of the overall frame, and the two or more clamping mechanisms are located inside the lifting platform; the clamping mechanisms of the two lifting clamping platforms are vertically opposite each other.

[0045] Each clamping mechanism includes a mounting plate and two grippers mounted on the mounting plate, with an adjustable angle between the two grippers.

[0046] Furthermore, several round holes are provided on the surface of the lifting platform.

[0047] Furthermore, the clamping device also includes two or more guide bases and guide rods corresponding to each guide base;

[0048] The guide bases are respectively set on the outside of the closed surface of the overall frame. After the guide rods pass through the corresponding guide bases and the closed surface of the overall frame, they are fixedly connected to the corresponding lifting and clamping mechanisms.

[0049] Beneficial effects:

[0050] (1) Before the underwater vehicle is launched, the clamping device of the present invention drives the two lifting clamping platforms to move towards each other through the drive mechanism. The tension spring is under tension and the telescopic locking support mechanism is locked, so that the two lifting clamping platforms can stably clamp the underwater vehicle. When the underwater vehicle is launched, the telescopic locking support mechanism is unlocked, and the two lifting clamping platforms are rapidly retracted under the tension of the tension spring, quickly releasing the clamping of the underwater vehicle. This not only provides a stable attitude for the underwater vehicle, but also does not affect the subsequent test. This allows the underwater vehicle to obtain a brief static state in the early stage of the voyage, ensuring the smooth progress of the test.

[0051] (2) Each telescopic locking support mechanism in this invention includes two telescopic locking support components; one telescopic locking support component is located at the front end and the other telescopic locking support component is located at the rear end, which can achieve stable support for the lifting clamping platform and stable clamping of the underwater vehicle.

[0052] (3) The ends of the telescopic support frame of the present invention are respectively connected to the corresponding gear connecting rods. The gear connecting rods are guided and limited by gear guide locking component I and gear guide locking component II to realize the telescopic support frame in the vertical direction, thereby realizing the locking of the telescopic support frame at any length and meeting the clamping requirements of underwater vehicles of different diameters.

[0053] (4) When unlocking, the gear structure I can move along the movable guide rail I and the fixed guide rail I. When locking, the movable guide rail I can move to the fixed guide rail I under the driving action of the movable guide rail drive mechanism I, thereby realizing the locking of the gear structure I at any position. Furthermore, it can realize the locking of the telescopic support frame at any length, meeting the clamping requirements of underwater vehicles of different diameters.

[0054] (5) The lifting and clamping platforms of the present invention all include a lifting platform and a clamping mechanism. The clamping mechanism helps to clamp the underwater vehicle more stably and keep it in the static state required for the test.

[0055] Moreover, the angle between the two grippers of the clamping mechanism is adjustable, further meeting the requirements of underwater vehicles of different diameters.

[0056] (6) The lifting platform of the present invention is provided with several round holes, which helps to reduce water resistance and facilitates the rapid retraction of the lifting platform.

[0057] (7) The overall frame of the present invention is also provided with a guide base. The guide rods pass through the closed surfaces of the corresponding guide bases and the closed surfaces of the overall frame, and are then fixedly connected to the corresponding lifting and clamping platforms. The guide rods and guide bases can guide the clamping and quick unlocking of the underwater vehicle; on the one hand, they ensure the accuracy of the clamping angle of the underwater vehicle, and on the other hand, they further prevent the pitching motion of the lifting and clamping platform during retraction from affecting the launch of the underwater vehicle. Attached Figure Description

[0058] Figure 1 This is an isometric view of the clamping device;

[0059] Figure 2 This is a front view of the clamping device;

[0060] Figure 3 This is a side view of the clamping device;

[0061] Figure 4 This is a schematic diagram of the guide locking component;

[0062] Figure 5 This is an isometric view of the internal structure of the guide support I of the guide locking assembly;

[0063] Figure 6 This is an isometric view of the internal structure of the guide support II of the guide locking assembly;

[0064] Among them, 1-integral frame, 2-lifting platform, 3-clamping mechanism, 4-guide rod, 5-guide base, 6-tension spring, 7-hydraulic cylinder, 8-telescopic support rod, 9-round hole, 10-guide locking assembly, 11-guide support I, 12-moving guide rail I, 13-fixed guide rail I, 14-gear structure I, 15-motor I, 16-guide support II, 17-moving guide rail II, 18-fixed guide rail II, 19-gear structure II, 20-connecting slide rod, 21-connecting rod; 22-moving guide rail support rod I, 24-drive connecting rod I, 25-guide bar I; 26-moving guide rail support rod II, 27-drive connecting rod II, 28-guide bar II, 29-motor II. Detailed Implementation

[0065] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0066] Example 1:

[0067] This embodiment provides a clamping device for underwater vehicle launch tests, see attached document. Figure 1-3It includes: an overall frame 1, two lifting clamping platforms, two sets of tension springs 6, two sets of telescopic locking support mechanisms and two drive mechanisms;

[0068] The overall frame 1 is a frame structure with two closed sides on the top and bottom and the remaining sides open. The two lifting clamping platforms are respectively set on the inner sides of the two closed sides of the overall frame 1, and their positions are opposite.

[0069] Two sets of tension springs 6 are arranged one-to-one between the lifting clamping platform and the corresponding side of the overall frame 1. Each set of tension springs 6 includes one or more tension springs 6. One end of each tension spring 6 is connected to the lifting clamping platform, and the other end is connected to the corresponding side of the overall frame.

[0070] Two sets of telescopic locking support mechanisms are installed one-to-one between the lifting clamping platform and the corresponding side of the overall frame 1. The length of each set of telescopic locking support mechanisms can be extended and locked.

[0071] Two drive mechanisms are connected to the lifting clamping platforms one-to-one, and are used to drive the two lifting clamping platforms to move towards each other.

[0072] When the telescopic locking support mechanism is locked, the length of the telescopic locking support mechanism is locked, and the telescopic locking support mechanism supports the corresponding lifting clamping platform, so that the distance between the two lifting clamping platforms is fixed, thereby achieving the clamping of the underwater vehicle; at this time, the tension springs 6 are all under tension.

[0073] When the telescopic locking support mechanism is unlocked, the telescopic locking support mechanism can extend and retract; under the action of the tension spring 6, the two lifting clamping platforms compress the telescopic locking support mechanism and move apart, releasing the clamping of the underwater vehicle.

[0074] Before the underwater vehicle is launched, the clamping device provided in this embodiment drives two lifting clamping platforms to move towards each other via a drive mechanism. The tension spring is under tension, and the telescopic locking support mechanism locks the platform, enabling the two lifting clamping platforms to stably clamp the underwater vehicle. When the underwater vehicle is launched, the telescopic locking support mechanism is released, and the two lifting clamping platforms retract rapidly under the tension of the tension spring 6, quickly releasing the clamp on the underwater vehicle. This not only provides a stable attitude for the underwater vehicle but also does not affect subsequent tests, allowing the underwater vehicle to achieve a brief period of stillness during the initial stage of navigation.

[0075] In one specific embodiment, the driving mechanism adopts a hydraulic cylinder 7, which includes a cylinder body and a piston rod. The two cylinder bodies are respectively fixed on the outside of the two closed surfaces of the overall frame 1. The closed surfaces of the overall frame 1 are provided with through holes. Each piston rod is opposite to the corresponding through hole. Under hydraulic drive, the piston rod can abut against the lifting clamping platform on the corresponding side through the through hole, so that the two lifting clamping platforms move towards each other. When the two lifting clamping platforms clamp the underwater vehicle in place, the piston rod retracts to the initial position.

[0076] The overall frame 1 is a hexahedral frame structure. The two opposite sides of the overall frame 1 are convex arc surfaces. Let the two closed surfaces of the overall frame 1 be the top surface and the bottom surface, let the sides where the arc surfaces are located be the front and the back respectively, and the other two sides be the left and right surfaces.

[0077] Each telescopic locking support mechanism includes two or more telescopic locking support components; in a specific embodiment, each telescopic locking support mechanism uses two telescopic locking support components, one telescopic locking support component is located at the front end and the other telescopic locking support component is located at the rear end, respectively supporting the front end and rear end of the corresponding lifting clamping platform;

[0078] Each telescopic locking support assembly includes a telescopic support frame 8 and two guide locking assemblies; the two guide locking assemblies are arranged vertically opposite each other, wherein one guide locking assembly is set on the lifting clamping platform and the other guide locking assembly is set on the overall frame 1, and the length direction of the guide locking assemblies is along the left and right direction; the guide locking assemblies are used to guide and lock the end of the telescopic support frame 8.

[0079] See appendix Figure 4 Each guide locking assembly includes gear guide locking assembly I, gear guide locking assembly II, and two gear linkages;

[0080] Gear guide locking assembly I and gear guide locking assembly II are arranged opposite each other, and the length direction of both gear guide locking assembly I and gear guide locking assembly II is along the left and right direction;

[0081] Two gear connecting rods are arranged side by side between gear guide locking assembly I and gear guide locking assembly II, with the length direction of the gear connecting rods along the front-to-back direction;

[0082] Gear guide locking assembly I and gear guide locking assembly II can lock the position of the gear connecting rod; when unlocking, the gear connecting rod can reciprocate along the length direction of gear guide locking assembly I and gear guide locking assembly II;

[0083] The telescopic support frame 8 includes two connecting rods 21 of the same length, which are pinned together at the middle. The two top ends of the two connecting rods 21 of each telescopic support frame 8 are pinned to the middle ends of the two gear connecting rods of the corresponding guide locking assembly. This allows the two top ends of the telescopic support frame 8 to move along the length direction of the gear guide locking assembly I and the gear guide locking assembly II when the telescopic support frame 8 moves up and down.

[0084] The two bottom ends of the two connecting rods 21 of each telescopic support frame 8 are respectively pinned to the middle of the two gear connecting rods of the corresponding guide locking assembly; so that when the telescopic support frame 8 moves up and down, the two bottom ends of the telescopic support frame 8 can move along the length direction of the gear guide locking assembly I and the gear guide locking assembly II respectively.

[0085] When unlocking, due to the drive mechanism or the tension of the spring, and the hinge in the middle of the two connecting rods 21, the two ends of the top of the two connecting rods 21 of the telescopic support frame 8 can only move towards or away from each other along the length direction of the gear guide locking assembly I and the gear guide locking assembly II. The two ends of the bottom of the two connecting rods 21 of the telescopic support frame 8 also move towards or away from each other along the length direction of the gear guide locking assembly I and the gear guide locking assembly II, thereby realizing the extension and retraction of the telescopic support frame 8 in the vertical direction.

[0086] See appendix Figure 4 and attached Figure 5 The gear connecting rod includes gear structure I 14, gear structure II 19, and connecting slide rod 20;

[0087] Gear structure I14 is disposed within gear guide locking assembly I. Gear structure I14 can move along the length direction of gear guide locking assembly I, and gear guide locking assembly I can lock the position of gear structure I14.

[0088] Gear structure II 19 is disposed within gear guide locking assembly II. Gear structure II 19 can move along the length direction of gear guide locking assembly II, and gear guide locking assembly II can lock the position of gear structure II 19.

[0089] Gear structure I 14 and gear structure II 19 are coaxially opposite each other. One end of the connecting slide rod 20 is coaxially connected to gear structure I 14, and the other end of the connecting slide rod 20 is coaxially connected to gear structure II 19. Gear structure I 14 and gear structure II 19 rotate synchronously, which can drive the connecting slide rod 20 to roll along the length direction of gear guide locking assembly I and gear guide locking assembly II. The middle part of the connecting slide rod 20 is pin-connected to the end of the corresponding connecting rod 21.

[0090] See appendix Figure 4 and attached Figure 5The gear guide locking assembly I includes a guide support I11, a moving guide rail I12, a fixed guide rail I13, and a moving guide rail drive mechanism I;

[0091] The guide support I11 is a tubular structure with a rectangular cross-section. The length of the guide support I11 is along the left and right direction. An axial through groove I is provided on the side of the guide support I11 facing the gear guide locking assembly II for the passage of the connecting slide rod 20. Let the two side plates on the guide support I11 adjacent to the side plate where the axial through groove I is located be side plate AⅠ and side plate BⅠ, respectively.

[0092] Fixed guide rail I13 is set on the inner wall of side plate BⅠ inside guide support I11; a guide bar I25 along the length direction is provided in the middle of the surface of fixed guide rail I13 facing side plate AⅠ, and racks IⅠ are provided on both sides of guide bar I25.

[0093] The movable guide rail I12 is set on the inner wall of the AⅠ side plate inside the guide support I11; the surface of the movable guide rail I12 facing the BⅠ side plate is provided with a rack IⅡ along the length direction;

[0094] Gear structure I14 is a gear with an annular groove I in the middle along the axial direction; the annular groove I of gear structure I14 cooperates with the guide bar I25 of the fixed guide rail I13; the gear of gear structure I14 can mesh with the rack I1 of the fixed guide rail 13, and the gear of gear structure I1 can also mesh with the rack I2 of the moving guide rail I12; the guide bar I25 can limit the axial movement of gear structure I14; the moving guide rail drive mechanism I is set on the guide support I11 and connected to the moving guide rail I12, and is used to control the moving guide rail I12 to move into position in the direction of the fixed guide rail I13 or to move into position away from the fixed guide rail I13;

[0095] When the moving guide rail I12 moves to the position of the fixed guide rail I13, both the moving guide rail I12 and the fixed guide rail I13 simultaneously engage with the gear structure I14, limiting the position of the gear structure I14 and locking it. When the moving guide rail I12 moves to the position away from the fixed guide rail I13, space is left between the moving guide rail I12 and the fixed guide rail I13 for the gear structure I14 to roll, allowing the gear structure I14 to roll along either the moving guide rail I12 or the fixed guide rail I13, thereby unlocking the gear structure I14.

[0096] See appendix Figure 5 The moving guide rail drive mechanism I includes a motor I15, two or more moving guide rail support rods I22 and a drive link I24;

[0097] Two or more movable guide rail support rods I22 are arranged parallel to each other between the BⅠ side plates of the movable guide rail I12 and the guide support I11. One end of each movable guide rail support rod I22 is hinged to the movable guide rail I12, and the other end is hinged to the guide support I11.

[0098] Let the side plate on the guide support I11 opposite to the side plate where the axial through groove I is located be the CI side plate. The motor I15 is set on the outer wall of the CI side plate. The output shaft of the motor I15 passes through the CI side plate and is fixedly connected to one end of the drive link I24. The other end of the drive link I24 is hinged to the moving guide rail 12. This makes the moving guide rail I12, the moving guide rail support I22, the drive link I124 and the guide support I11 form a four-bar linkage structure. The motor I15 drives the drive link I24 to rotate, so that the moving guide rail I12 can move to the position in the direction of the fixed guide rail I13 or move to the position away from the fixed guide rail I13.

[0099] See appendix Figure 4 and attached Figure 6 The gear guide locking assembly II includes a guide support II 16, a moving guide rail II 17, a fixed guide rail II 18, and a moving guide rail drive mechanism II;

[0100] The guide support II16 is a tubular structure with a rectangular cross-section. The length of the guide support II16 is along the left and right direction. An axial through groove II is provided on the side of the guide support II16 facing the gear guide locking assembly I, for passing through the connecting slide rod 20. Let the two side plates on the guide support II16 adjacent to the side plate where the axial through groove II is located be side plate AⅡ and side plate BⅡ, respectively.

[0101] Fixed guide rail II18 is installed inside guide support II16 and is installed along side plate BⅡ; a guide bar II28 is installed in the middle of the width direction of the surface of fixed guide rail II18 facing side plate AⅡ, and racks IIⅠ are installed on both sides of guide bar II28.

[0102] The movable guide rail II17 is installed inside the guide support II16 and is installed along the AII side plate; the surface of the movable guide rail II17 facing the BII side plate is provided with a rack IIII along the length direction.

[0103] Gear structure II19 is a gear with an annular groove II in the middle along the axial direction; the annular groove II of gear structure II19 cooperates with the guide bar II28 of fixed guide rail II18; the gear of gear structure 11 can mesh with the rack II1 of fixed guide rail 13, and the gear of gear structure 11 can also mesh with the rack II2 of movable guide rail II17; the guide bar II28 can axially limit gear structure II19.

[0104] The moving guide rail drive mechanism II is mounted on the guide support II16 and connected to the moving guide rail II17. It is used to control the moving guide rail II17 to move into position in the direction of the fixed guide rail II18 or to move into position away from the fixed guide rail II18.

[0105] When the moving guide rail II17 moves to the position of the fixed guide rail II18, both the moving guide rail II17 and the fixed guide rail II18 simultaneously engage with the gear structure II19, limiting the position of the gear structure II19 and locking it. When the moving guide rail II17 moves to the position away from the fixed guide rail II18, space is left between the moving guide rail II17 and the fixed guide rail II18 for the gear structure II19 to roll, allowing the gear structure II19 to roll along either the moving guide rail II17 or the fixed guide rail II18, thereby unlocking the gear structure II19.

[0106] See appendix Figure 5 The moving guide rail drive mechanism II includes a motor II29, two or more moving guide rail support rods II26, and a drive link II27;

[0107] Two or more movable guide rail support rods II26 are arranged parallel to each other between the BⅡ side plates of the movable guide rail II17 and the guide support II16. One end of each movable guide rail support rod II26 is hinged to the movable guide rail II17, and the other end is hinged to the guide support II16.

[0108] Let the side plate on the guide support II16 opposite to the side plate where the axial through groove I is located be the CⅡ side plate. The motor II29 is set on the outer wall of the CⅡ side plate. The output shaft of the motor II29 passes through the CⅡ side plate and is fixedly connected to one end of the drive link II27. The other end of the drive link II27 is hinged to the moving guide rail 12. This makes the moving guide rail II17, the moving guide rail support II26, the drive link II124 and the guide support II16 form a four-bar linkage structure. The motor II29 drives the drive link II27 to rotate, so that the moving guide rail II17 can move to the position in the direction of the fixed guide rail II18 or move to the position away from the fixed guide rail II18.

[0109] Each lifting and clamping platform 3 includes a lifting platform 2 and two or more clamping mechanisms 3; wherein, the lifting platform 2 is located inside the closed surface of the overall frame 1, and the two or more clamping mechanisms 3 are located inside the lifting platform 2; the clamping mechanisms 3 of the two lifting and clamping platforms are positioned vertically opposite each other to clamp the aircraft; by setting the clamping mechanisms, the stability of the clamping is ensured.

[0110] Each clamping mechanism includes a mounting plate and two grippers mounted on the mounting plate. The angle between the two grippers is adjustable to accommodate vehicles of different diameters.

[0111] The surface of the lifting platform 2 is provided with several round holes to reduce water resistance and ensure the rapid retraction of the lifting platform when the underwater vehicle is launched.

[0112] Clamping principle:

[0113] Before the underwater vehicle is launched, motor I15 in each telescopic locking support mechanism drives the moving guide rail I12 to move away from the fixed guide rail I13 and into position, releasing the lock on gear structure I14; motor II29 in each telescopic locking support mechanism drives the moving guide rail II17 to move away from the fixed guide rail II18 and into position, releasing the lock on gear structure II19.

[0114] Adjust the piston rod of hydraulic cylinder 7 to extend, so that the upper and lower lifting platforms 2 move towards each other, and the clamping mechanism 3 clamps the underwater vehicle;

[0115] In each telescopic locking support mechanism, motor I15 drives the moving guide rail I12 to move towards the fixed guide rail I13, thus locking the gear structure I14; in each telescopic locking support mechanism, motor II29 drives the moving guide rail II17 to move towards the fixed guide rail II18, thus locking the gear structure II19; that is, the vertical length of the telescopic support frame 8 is locked, the position of the lifting platform 3 relative to the overall frame I is fixed, and the underwater vehicle is clamped; then the piston rod of the hydraulic cylinder 7 is adjusted to retract.

[0116] Release principle:

[0117] In each telescopic locking support mechanism, motor I15 drives the moving guide rail I12 to move away from the fixed guide rail I13 and into position, releasing the lock on gear structure I14; in each telescopic locking support mechanism, motor II29 drives the moving guide rail II17 to move away from the fixed guide rail II18 and into position, releasing the lock on gear structure II19; the upper and lower lifting platforms 2 move apart under the action of tension spring 6, quickly releasing the clamping limit on the underwater vehicle, allowing the underwater vehicle to launch, thus ensuring the smooth conduct of the underwater vehicle launch test.

[0118] Example 2:

[0119] Based on Example 1, this embodiment further includes a clamping device for underwater vehicle launch testing, comprising: two or more guide bases and guide rods corresponding to the guide bases.

[0120] The guide bases are respectively set on the outside of the closed surface of the overall frame 1. The guide rods pass through the corresponding guide bases and the closed surface of the overall frame 1, and are fixedly connected to the corresponding lifting and clamping platforms. The tension spring 6 is sleeved on the guide rod.

[0121] The guide rod and guide base enable the underwater vehicle to be clamped and unlocked quickly; on the one hand, it ensures the accuracy of clamping the underwater vehicle, and on the other hand, it further prevents the pitching motion of the lifting clamping platform during retraction from affecting the launch of the underwater vehicle.

[0122] Example 3:

[0123] Based on Embodiment 1, this embodiment provides a clamping device for underwater vehicle launch testing. Unlike Embodiment 1, each guide locking assembly 1 includes a gear guide locking assembly I, a gear guide locking assembly II, and a gear connecting rod.

[0124] Gear guide locking assembly I and gear guide locking assembly II are arranged opposite each other, and the length direction of both gear guide locking assembly I and gear guide locking assembly II is along the left and right direction;

[0125] The gear connecting rod is positioned between gear guide locking assembly I and gear guide locking assembly II, with the length of the gear connecting rod along the front-to-back direction.

[0126] Gear guide locking assembly I and gear guide locking assembly II can lock the position of the gear connecting rod; when unlocking, the gear connecting rod can reciprocate along the length direction of gear guide locking assembly I and gear guide locking assembly II;

[0127] The telescopic support frame 8 includes two connecting rods 21 of the same length, and the two connecting rods 21 are pinned together in the middle.

[0128] Each telescopic support frame 8 has two connecting rods 21 with two top ends. One top end is pinned to the middle of the corresponding gear connecting rod, and the other top end is pinned to the corresponding integral frame or lifting platform. This ensures that when the telescopic support frame 8 moves up and down, one top end of the telescopic support frame 8 remains stationary, while the other top end can move along the length direction of the gear guide locking assembly I and the gear guide locking assembly II.

[0129] Each telescopic support frame 8 has two bottom ends on its two connecting rods 21. One bottom end is pinned to the middle of the corresponding gear connecting rod, and the other bottom end is pinned to the corresponding integral frame or lifting platform. This ensures that when the telescopic support frame 8 moves up and down, one bottom end of the telescopic support frame 8 remains stationary, while the other bottom end can move along the length of the gear guide locking assembly I and the gear guide locking assembly II.

[0130] Furthermore, the top and bottom ends of the telescopic support frame 8, which are respectively pinned to the gear connecting rod, are vertically aligned, and the two ends pinned to the corresponding overall frame or lifting platform are vertically aligned.

[0131] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A clamping device for launching tests of underwater vehicles, characterized in that, include: The overall frame consists of two lifting clamping platforms, two sets of tension springs, two sets of telescopic locking support mechanisms, and two drive mechanisms. The overall frame is a hexahedral frame structure with two closed sides and the remaining sides open. The two opposite sides of the overall frame are convex arc surfaces. The two lifting clamping platforms are respectively set on the inner sides of the two closed surfaces of the overall frame, and their positions are opposite. Two drive mechanisms are connected to the lifting and clamping platforms one-to-one, and are used to drive the two lifting and clamping platforms to move towards each other. The drive mechanism is a hydraulic cylinder, which includes a cylinder body and a piston rod. The two cylinder bodies are fixedly installed on the outside of the two closed surfaces of the overall frame. The closed surfaces of the overall frame are provided with through holes. Each piston rod is opposite to the corresponding through hole. Under hydraulic drive, the piston rod can abut against the lifting and clamping platform on the corresponding side through the through hole, so that the two lifting and clamping platforms move towards each other. When the two lifting and clamping platforms clamp the underwater vehicle in place, the piston rod retracts to the initial position. Two sets of tension springs are installed one-to-one between the lifting clamping platform and the corresponding side of the overall frame; Two sets of telescopic locking support mechanisms are installed one-to-one between the lifting clamping platform and the corresponding side of the overall frame. The length of each set of telescopic locking support mechanisms can be extended and locked. Each set of telescopic locking support mechanisms includes two telescopic locking support components, one telescopic locking support component is located at the front end and the other telescopic locking support component is located at the rear end, which respectively support the front end and the rear end of the corresponding lifting clamping platform. When the telescopic locking support mechanism is locked, the length of the telescopic locking support mechanism is locked, and the telescopic locking support mechanism supports the corresponding lifting clamping platform, so that the distance between the two lifting clamping platforms is fixed, thereby achieving the clamping of the underwater vehicle; at this time, the tension springs are all under tension. When the telescopic locking support mechanism is unlocked, the telescopic locking support mechanism can extend and retract; under the action of the tension spring, the two lifting clamping platforms compress the telescopic locking support mechanism and move apart, releasing the clamping of the underwater vehicle.

2. The clamping device for underwater vehicle launch testing as described in claim 1, characterized in that, Let the two closed surfaces of the overall frame be the top and bottom surfaces, the sides where the curved surface is located be the front and back surfaces, and the other two sides be the left and right surfaces; Each telescopic locking support assembly includes a telescopic support frame and two guide locking assemblies; the two guide locking assemblies are arranged vertically opposite each other, with one guide locking assembly set on the lifting clamping platform and the other guide locking assembly set on the overall frame. The length direction of the guide locking assemblies is along the left and right direction. The guide locking assemblies are used to guide and lock the top and bottom ends of the telescopic support frame, respectively.

3. The clamping device for underwater vehicle launch testing as described in claim 2, characterized in that, Each guide locking assembly includes gear guide locking assembly I, gear guide locking assembly II, and two gear linkages; Gear guide locking assembly I and gear guide locking assembly II are arranged opposite each other, and the length direction of both gear guide locking assembly I and gear guide locking assembly II is along the left and right direction; Two gear connecting rods are arranged side by side between gear guide locking assembly I and gear guide locking assembly II, with the length direction of the gear connecting rods along the front-to-back direction; Gear guide locking assembly I and gear guide locking assembly II can lock the position of the gear connecting rod; when unlocking, the gear connecting rod can reciprocate along the length direction of gear guide locking assembly I and gear guide locking assembly II; The telescopic support frame includes two connecting rods of the same length, which are pinned together at the middle. The two top ends of the two connecting rods of each telescopic support frame are pinned to the middle ends of the two gear connecting rods of the corresponding guide locking assembly. This allows the two top ends of the telescopic support frame to move along the length direction of gear guide locking assembly I and gear guide locking assembly II when the telescopic support frame moves up and down. The two bottom ends of the two connecting rods of each telescopic support frame are respectively pinned to the middle of the two gear connecting rods of the corresponding guide locking assembly; so that when the telescopic support frame moves up and down, the two bottom ends of the telescopic support frame can move along the length direction of gear guide locking assembly I and gear guide locking assembly II respectively.

4. The clamping device for underwater vehicle launch testing as described in claim 2, characterized in that, Each guide locking assembly includes gear guide locking assembly I, gear guide locking assembly II, and a gear linkage; Gear guide locking assembly I and gear guide locking assembly II are arranged opposite each other, and the length direction of both gear guide locking assembly I and gear guide locking assembly II is along the left and right direction; The gear connecting rod is positioned between gear guide locking assembly I and gear guide locking assembly II, with the length of the gear connecting rod along the front-to-back direction. Gear guide locking assembly I and gear guide locking assembly II can lock the position of the gear connecting rod; when unlocking, the gear connecting rod can reciprocate along the length direction of gear guide locking assembly I and gear guide locking assembly II; The telescopic support frame includes two connecting rods of the same length, which are pinned together at the middle. Each telescopic support frame has two connecting rods with two top ends. One top end is pinned to the middle of the corresponding gear connecting rod, and the other top end is pinned to the corresponding integral frame or lifting platform. This ensures that when the telescopic support frame moves up and down, one top end of the telescopic support frame remains stationary, while the other top end can move along the length direction of gear guide locking assembly I and gear guide locking assembly II. Each telescopic support frame has two bottom ends on its two connecting rods. One bottom end is pinned to the middle of the corresponding gear connecting rod, and the other bottom end is pinned to the corresponding integral frame or lifting platform. This ensures that when the telescopic support frame moves up and down, one bottom end of the telescopic support frame remains stationary, while the other bottom end can move along the length of the gear guide locking assembly I and the gear guide locking assembly II. Furthermore, the top and bottom ends of the telescopic support frame that are pinned to the gear connecting rod are vertically aligned, and the top and bottom ends of the corresponding overall frame or lifting platform that are pinned to the gear connecting rod are vertically aligned.

5. A clamping device for underwater vehicle launch testing as described in claim 3 or 4, characterized in that, The gear connecting rod includes gear structure I, gear structure II, and connecting slide rod; Gear structure I is housed within gear guide locking assembly I. Gear structure I can move along the length of gear guide locking assembly I, and gear guide locking assembly I can lock the position of gear structure I. Gear structure II is housed within gear guide locking assembly II. Gear structure II can move along the length of gear guide locking assembly II, and gear guide locking assembly II can lock the position of gear structure II. Gear structure I and gear structure II are coaxially opposite each other. One end of the connecting slide rod is coaxially connected to gear structure I, and the other end of the connecting slide rod is coaxially connected to gear structure II. Gear structure I and gear structure II rotate synchronously, which can drive the connecting slide rod to roll along the length direction of gear guide locking assembly I and gear guide locking assembly II. The middle part of the connecting slide rod is pinned to the end of the corresponding connecting rod.

6. The clamping device for underwater vehicle launch testing as described in claim 5, characterized in that, The gear guide locking assembly I includes a guide support I, a moving guide rail I, a fixed guide rail I, and a moving guide rail drive mechanism I; The guide support I is a tubular structure with a rectangular cross-section. The length of the guide support I is along the left and right direction. An axial through groove I is provided on the side of the guide support I facing the gear guide locking assembly II for the passage of the connecting slide rod. Let the two side plates on the guide support I adjacent to the side plate where the axial through groove I is located be side plate AⅠ and side plate BⅠ, respectively. Fixed guide rail I is set on the inner wall of side plate BⅠ inside guide support I; a guide bar I along the length direction is set in the middle of the surface of fixed guide rail I facing side plate AⅠ, and racks ⅠⅠ are set on both sides of guide bar I; The movable guide rail I is set on the inner wall of the AⅠ side plate inside the guide support I; the surface of the movable guide rail I facing the BⅠ side plate is provided with racks I and II along the length direction; Gear structure I is a gear with an annular groove I in the middle along the axial direction; the annular groove I of gear structure I cooperates with the guide bar I of fixed guide rail I; the gear of gear structure I can mesh with the rack II of fixed guide rail, and the gear of gear structure I can also mesh with the rack III of movable guide rail I; the guide bar I can limit the axial movement of gear structure I; the movable guide rail drive mechanism I is set on the guide support I and connected to the movable guide rail I, and is used to control the movable guide rail I to move to the position in the direction of fixed guide rail I or to move to the position away from fixed guide rail I. When the moving guide rail I moves to the position of the fixed guide rail I, the moving guide rail I and the fixed guide rail I simultaneously engage with the gear structure I, limiting the gear structure I and locking the gear structure I. When the moving guide rail I moves to its position away from the fixed guide rail I, space is left between the moving guide rail I and the fixed guide rail I for the gear structure I to roll, so that the gear structure I can roll along the moving guide rail I or the fixed guide rail I, thereby unlocking the gear structure I.

7. The clamping device for underwater vehicle launch testing as described in claim 6, characterized in that, The moving guide rail drive mechanism I includes a motor I, two or more moving guide rail support rods I, and a drive linkage I; Two or more movable guide rail support rods I are arranged parallel to each other between the BⅠ side plate of the movable guide rail I and the guide support I. One end of each movable guide rail support rod I is hinged to the movable guide rail I, and the other end is hinged to the guide support I. Let the side plate opposite to the side plate containing the axial through groove I on the guide support I be the CI side plate. The motor I is set on the outer wall of the CI side plate. The output shaft of the motor I passes through the CI side plate and is fixedly connected to one end of the drive linkage I. The other end of the drive linkage I is hinged to the moving guide rail I. This makes the moving guide rail I, the moving guide rail support I, the drive linkage I and the guide support I form a four-bar linkage structure. The motor I drives the drive linkage I to rotate, so that the moving guide rail I can move into position in the direction of the fixed guide rail I or move into position away from the fixed guide rail I.

8. A clamping device for underwater vehicle launch testing as described in any one of claims 1-4, characterized in that, Each lifting clamping platform includes a lifting platform and two or more clamping mechanisms; wherein, the lifting platform is located inside the closed surface of the overall frame, and the two or more clamping mechanisms are located inside the lifting platform; the clamping mechanisms of the two lifting clamping platforms are vertically opposite each other; Each clamping mechanism includes a mounting plate and two grippers mounted on the mounting plate, with an adjustable angle between the two grippers.

9. The clamping device for underwater vehicle launch testing as described in claim 8, characterized in that, The surface of the lifting platform has several round holes.

10. A clamping device for underwater vehicle launch testing as described in any one of claims 1-4, characterized in that, It also includes two or more guide bases and guide rods that correspond one-to-one with the guide bases; The guide bases are respectively set on the outside of the closed surface of the overall frame. After the guide rods pass through the corresponding guide bases and the closed surface of the overall frame, they are fixedly connected to the corresponding lifting and clamping mechanisms.

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