Disassembly and assembly auxiliary equipment for underwater vehicle and use method of disassembly and assembly auxiliary equipment

Abstract

The invention discloses disassembly and assembly auxiliary equipment for an underwater vehicle and a use method of the disassembly and assembly auxiliary equipment, the disassembly and assembly of a large underwater vehicle can be realized on the premise of single-person operation, the manpower is saved, and the installation accuracy can be ensured at the same time; the supporting moving seats are used for fixedly mounting the underwater vehicle to be dismounted, and the auxiliary dismounting ring is fixed to the surface of the underwater vehicle to be dismounted and used as a power assisting device for dismounting the underwater vehicle to be dismounted. The supporting device is used for supporting different cabin sections of the underwater vehicle, the stability of the underwater vehicle to be disassembled can be ensured through cooperation of the supporting moving base and the guide rails, all the cabin sections of the underwater vehicle to be disassembled can be effectively supported, disassembling is convenient, manpower is greatly saved, and the working efficiency is improved. By means of the device, the underwater vehicle can be disassembled and assembled on the premise that one person operates the device.

Description

Technical Field

[0001] The invention belongs to the field of marine engineering, and in particular relates to a disassembly and assembly auxiliary device for an underwater vehicle and a use method thereof. Background Art

[0002] Marine resources are abundant, and the exploration and development of marine resources is a key area of ​​competition in today's era. Among them, underwater vehicles AUV, as one of the main branches of underwater robots, play an irreplaceable role in the exploration and development of marine resources, marine environment observation and other fields. They can also be used for national defense and military purposes such as underwater reconnaissance, intelligence collection, and underwater attacks. With the rapid development of AUV related technologies, underwater vehicles of various models and sizes have appeared today, among which small and medium-sized rotating underwater vehicles with a length of 3m or less and a diameter of 500mm or less are the main ones. They are widely manufactured and used due to their small size, low noise, and easy operation.

[0003] Underwater vehicles are generally composed of multiple compartments distributed along the axis, such as the main control compartment, battery compartment, and mechanical arm compartment. Each compartment has a certain degree of independence and is structurally connected to each other, using flanges, threads, etc. to fix. However, as mentioned above, the weight of small and medium-sized AUVs generally ranges from 100kg to 500kg and their appearances vary. Since there is currently no universal underwater vehicle disassembly and assembly equipment, the bearing, fixing, and connection operations during disassembly and assembly are quite difficult. At present, it mainly relies on existing complex lifting structures or manual handling, which consumes manpower and has a low safety factor, and it is difficult to complete with less manpower. Summary of the invention

[0004] The purpose of the present invention is to provide a disassembly and assembly auxiliary device for underwater vehicles and a method of using the same, so as to overcome the problem that the prior art lacks tools for effective disassembly and assembly of underwater vehicles.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows: A disassembly and assembly auxiliary device for underwater vehicles comprises an auxiliary disassembly and assembly ring, a supporting movable seat and a supporting workbench. The supporting workbench is provided with a guide rail, and a plurality of supporting movable seats can be slidably arranged on the guide rail. The supporting movable seat is used for fixing and installing the underwater vehicle to be disassembled. The auxiliary disassembly and assembly ring is fixed to the surface of the underwater vehicle to be disassembled, and is used as an assisting device for disassembling the underwater vehicle to be disassembled.

[0006] Preferably, the guide rails provided on the supporting workbench are linear guide rails.

[0007] Preferably, the auxiliary disassembly ring includes two disassembly ring bodies spliced ​​to form an annular structure, a rear adjustment positioning rod is provided on the disassembly ring body, the adjustment positioning rod is threadedly connected to the disassembly ring body, the adjustment positioning rod can rotate on the disassembly ring body, and a pressing plate is provided at the end of the adjustment positioning rod.

[0008] Preferably, the supporting movable seat includes a supporting seat bottom, a sliding block capable of sliding on a guide rail is provided at the bottom of the supporting seat bottom; a clamping support portion for clamping and fixing different sections of the underwater vehicle to be disassembled is provided on the supporting seat bottom, a vertical guide rail is provided on the supporting seat bottom, a guide rod is provided at the bottom of the clamping support portion, and the guide rod at the bottom of the clamping support portion is inserted into the vertical guide rail of the supporting seat bottom.

[0009] Preferably, a support adjustment device is provided between the bottom of the clamping support portion and the bottom of the support seat.

[0010] Preferably, a linear bearing is arranged in the vertical guide rail of the support base bottom.

[0011] Preferably, the clamping support portion includes a clamping base and a clamping cover plate, one end of the clamping base and one end of the clamping cover plate are hingedly connected via a hinge portion, and the other end of the clamping base and the other end of the clamping cover plate are locked via a locking structure.

[0012] Preferably, a guide rail clamp for locking the supporting movable seat is provided on the supporting workbench.

[0013] Preferably, it also includes a locking and adjusting mechanism fixed on the supporting workbench, the locking and adjusting mechanism adopts a screw structure, a positioning piece is provided on the locking and adjusting mechanism, and a connecting part that can be connected to the supporting movable seat is provided at the end of the positioning piece.

[0014] An underwater vehicle installation method for the above-mentioned underwater vehicle disassembly and assembly auxiliary equipment includes the following steps: fixing different cabin sections on different clamping support parts respectively, then preliminarily adjusting the height of the cabin section on the clamping support part, then moving different support seat bottoms to make the cabin sections close together, and then adjusting the height of the cabin section on the clamping support part to make the cabin sections coaxial, and then using the support seat bottom to dock and fix the cabin sections to complete the installation of the underwater vehicle.

[0015] Compared with the prior art, the present invention has the following beneficial technical effects: The present invention provides an auxiliary disassembly and assembly device for underwater vehicles, which can realize the disassembly and assembly of large underwater vehicles under the premise of single-person operation, save manpower and ensure the accuracy of installation at the same time, and multiple supporting movable seats can be slidably arranged on the guide rail, the supporting movable seats are used for fixing and installing the underwater vehicle to be disassembled, and the auxiliary disassembly and assembly ring is fixed to the surface of the underwater vehicle to be disassembled, and is used as an auxiliary device for disassembling the underwater vehicle to be disassembled. The present application utilizes multiple supporting movable seats as the supporting structure of the underwater vehicle to be disassembled, which is used to support different compartments of the underwater vehicle, and the cooperation of the supporting movable seats and the guide rail can ensure the stability of the underwater vehicle to be disassembled, and can effectively support the various compartments of the underwater vehicle to be disassembled, which greatly saves manpower. The device of the present application can realize the disassembly and assembly of the underwater vehicle under the premise of one person's operation.

[0016] Preferably, each compartment is moved to a suitable position using a support base; the structure is simple, and the position height of the support structure of different compartments can be adjusted using the support base bottom to adapt to the installation support of each compartment.

[0017] Preferably, a locking adjustment mechanism is used to complete the docking and compression between the compartments using less force. At the same time, the positioning and fixing design of the device is a quick-release structure, which is convenient for frequent position changes during disassembly and assembly, and a screw is used for connection or splitting, which is easy to disassemble. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 The present invention is a schematic diagram of the three-dimensional structure of a disassembly and assembly auxiliary device for an underwater vehicle according to an embodiment of the present invention.

[0019] Figure 2 Schematic diagram of the auxiliary disassembly and assembly ring structure in an embodiment of the present invention.

[0020] Figure 3 It is a schematic diagram of the installation structure of the supporting movable seat in an embodiment of the present invention.

[0021] Figure 4 It is a schematic diagram of the three-dimensional structure of the supporting movable seat installation in an embodiment of the present invention.

[0022] In the figure, 1. auxiliary disassembly and assembly ring; 2. adjustment positioning rod; 3. pressure plate; 4. threaded pair; 5. disassembly and assembly ring body; 6. support moving seat; 7. hinged part; 8. clamping base; 9. support seat bottom; 10. anti-skid and anti-wear pad; 11. positioning plate; 12. locking adjustment mechanism; 13. guide rod; 14. support adjustment device; 15. spring lock; 16. linear bearing; 17. support workbench; 18. guide rail; 19. guide rail clamp; 20. slider; 21. underwater vehicle to be disassembled and assembled; 22. clamping cover plate. DETAILED DESCRIPTION

[0023] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0024] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0025] like Figure 1 As shown, the present invention provides an auxiliary disassembly and assembly device for underwater vehicles, which can realize the disassembly and assembly of large underwater vehicles under the premise of single-person operation, saving manpower and ensuring the accuracy of installation. Specifically, it includes an auxiliary disassembly and assembly ring 1, a supporting movable seat 6 and a supporting workbench 17. The supporting workbench 17 is provided with a guide rail 18, and a plurality of supporting movable seats 6 can be slidably arranged on the guide rail 18. The supporting movable seat 6 is used to fix and install the underwater vehicle 21 to be disassembled. The auxiliary disassembly and assembly ring 1 is fixed to the surface of the underwater vehicle 21 to be disassembled, and is used to perform As an assisting device for disassembling an underwater vehicle 21 to be disassembled, the present application utilizes a plurality of supporting movable seats 6 as a supporting structure for the underwater vehicle 21 to be disassembled, and is used to support different compartments of the underwater vehicle. The cooperation between the supporting movable seats 6 and the guide rails 18 can ensure the stability of the underwater vehicle 21 to be disassembled, and can effectively support the compartments of the underwater vehicle 21 to be disassembled, making disassembly easier and greatly saving manpower. The device of the present application can be used to complete the disassembly and assembly of the underwater vehicle 21 under the premise of one person's operation.

[0026] In the specific implementation of the present application, the guide rail 18 provided on the supporting workbench 17 is a linear guide rail, which is used as a supporting sliding structure for supporting the movable seat 6 to avoid the occurrence of lateral collision.

[0027] like Figure 2As shown, the auxiliary disassembly ring 1 includes two disassembly ring bodies 5 spliced ​​to form an annular structure, and a rear adjustment positioning rod 2 is arranged on the disassembly ring body 5. The adjustment positioning rod 2 and the disassembly ring body 5 are threadedly connected. The adjustment positioning rod 2 can rotate on the disassembly ring body 5, and a pressing piece 3 is arranged at the end of the adjustment positioning rod 2. The pressing piece 3 is used to contact the surface of the cabin section of the underwater vehicle 21. The adjustment positioning rod 2 is stepped, and one end of the adjustment positioning rod 2 passes through the threaded hole on the disassembly ring body 5; the connection between the adjustment positioning rod 2 and the disassembly ring body 5 is locked with an inner and outer double nut.

[0028] Specifically, the two disassembly ring bodies 5 are connected by a thread pair 4 , and threaded holes are provided at both ends of the disassembly ring body 5 for adjusting the connection by the thread pair 4 .

[0029] In the specific implementation of the present application, the pressing sheet 3 adopts an arc-shaped structure.

[0030] Specifically, the supporting movable seat 6 includes a supporting seat bottom 9, a sliding block is provided at the bottom of the supporting seat bottom 9, and can slide on the guide rail 18; a clamping support portion is provided on the supporting seat bottom 9, and the clamping support portion is used to clamp and fix different sections of the underwater vehicle 21 to be disassembled, a vertical guide rail is provided on the supporting seat bottom 9, and a guide rod 13 is provided at the bottom of the clamping support portion, and the guide rod 13 at the bottom of the clamping support portion is inserted into the vertical guide rail of the supporting seat bottom 9, and the clamping support portion can move vertically under the action of the guide rod 1, and the height of the clamping support portion on the supporting seat bottom 9 is adjusted by providing a vertical guide rail, so as to effectively support the section of the underwater vehicle 21 to be disassembled. A support adjustment device 14 is provided between the bottom of the clamping support part and the support seat bottom 9, and the height of the clamping support part is adjusted by the support adjustment device 14; during installation, different cabin sections are fixed on different clamping support parts respectively, and then the height of the cabin section on the clamping support part is preliminarily adjusted, and then the different support seat bottoms 9 are moved to make the cabin sections close, and then the height of the cabin section on the clamping support part is adjusted to make the cabin sections coaxial, and then the cabin sections are docked and fixed by the support seat bottom 9, and the installation of the underwater vehicle 21 can be completed; the application result is simple, time-saving and labor-saving, and avoids the problem of difficulty in alignment and operation in the process of hoisting using different hoisting structures; and during disassembly, the underwater vehicle 21 to be disassembled is hoisted to the top of the support moving seat 6, and then the height of each support seat bottom 9 is adjusted, and at least one support seat bottom 9 is set for different cabin sections to contact and fix its bottom, and then the connection between the sections is carried out, and the support base 9 is used to move each cabin section to a suitable position; the structure is simple, and the position height of the support structure of different cabin sections can be adjusted by the support seat bottom 9 to adapt to the installation support of each cabin section.

[0031] In the specific implementation of the present application, a linear bearing 16 is arranged in the vertical guide rail of the support base 9, which is used to cooperate with the guide rod 13 at the bottom of the clamping support part to avoid the problem of uneven force on the guide rod 13 at the bottom of the clamping support part. In order to ensure the stability of the vertical transmission of the clamping support part on the support base 9, multiple rows of vertical guide rails are arranged on the support base 9, and a linear bearing 16 is arranged in each vertical guide rail to improve the stability of the clamping support part.

[0032] In the specific implementation of the present application, the support adjustment device 14 adopts a hydraulic support device, such as Figure 3 , Figure 4 As shown, a support mounting hole is provided on the support seat bottom 9, a hydraulic support device is provided in the support mounting hole, a hydraulic rod of the hydraulic support device is connected to the clamping support portion, and the hydraulic support device is used to provide support adjustment power for the clamping support portion.

[0033] Specifically, in the embodiment of the present application, the clamping support is used to clamp each section of the underwater vehicle 21. Therefore, the clamping part on the clamping support adapts to the surface shape of each section of the underwater vehicle 21 to ensure the stability of the clamping. The present application takes the cylindrical underwater vehicle 21 structure as an example for explanation. Figure 2 , Figure 3 As shown, the clamping support portion includes a clamping base 8 and a clamping cover plate 22, one end of the clamping base 8 and one end of the clamping cover plate 22 are hingedly connected via a hinge portion 7, the other end of the clamping base 8 and the other end of the clamping cover plate 22 are locked via a locking structure 15, and a clamping space for clamping each compartment is formed between the clamping base 8 and the clamping cover plate 22; in order to prevent the clamping base 8 and the clamping cover plate 22 from causing damage to the surfaces of each compartment of the underwater vehicle 21, anti-skid and anti-wear pads 10 are provided on the inner walls of the clamping base 8 and the clamping cover plate 22; the anti-skid and anti-wear pads 10 are specifically made of rubber pads.

[0034] Specifically, Figure 3 As shown, the locking structure 15 adopts a spring locking structure or a bolt locking structure; the spring locking structure is used for installation, which is quick and convenient; the bolt locking structure has good locking stability and can make the adjustment opening structure of the clamping base 8 and the clamping cover 22 larger.

[0035] In the specific implementation mode of this application, Figure 1 As shown, a guide rail clamp 19 is provided on the support workbench 17, which is used to lock the support movable seat 6, so as to ensure the stability of the support movable seat 6 supporting the underwater vehicle 21 during the disassembly and assembly process. Specifically, a slider 20 is provided at the bottom of the support movable seat 6, and the guide rail clamp 19 can be connected to the slider 20 at the bottom of the support movable seat 6 to achieve the purpose of restricting the movement of the slider.

[0036] In a specific embodiment of the present application, guide rail clamps are provided at both ends of the guide rail 18 to play a limiting role.

[0037] In a specific embodiment of the present application, the length of the underwater vehicle 21 to be disassembled is less than 5000 mm, the diameter of the underwater vehicle 21 is between 100 mm and 500 mm, and the overall mass does not exceed 600 kg.

[0038] The support workbench 17 is provided with a plurality of guide rail fixing holes, in which the guide rails 18 are fixed. The portion where the support movable seat 6 is fixedly connected to the underwater vehicle 21 has a topologically optimized lightweight shape, which reduces weight while ensuring support strength.

[0039] It also includes a locking adjustment mechanism 12 fixed on the support workbench 17. The locking adjustment mechanism 12 adopts a screw structure. A positioning piece 11 is provided on the locking adjustment mechanism 12. The end of the positioning piece 11 is provided with a connecting portion that can be connected to the support moving seat 6. The support moving seat 6 is provided with a connecting groove. The connecting portion of the positioning piece 11 is arranged in the connecting groove of the support moving seat 6. Specifically, a plurality of locking adjustment mechanisms 12 are arranged on the support workbench 17, and each locking adjustment mechanism 12 drives a corresponding support moving seat 6. The locking adjustment mechanism 12 includes a rotating support portion fixed on the support workbench 17, a transmission screw that can rotate relative to the rotating support portion is provided on the rotating support portion, and a transmission portion that can rotate with the transmission screw is provided on the transmission screw. The positioning piece 11 is fixed on the transmission portion and can move following the rotation of the transmission portion relative to the transmission screw.

[0040] Specifically, the positioning piece 11 adopts an I-shaped structure, and an I-shaped groove is provided on the side wall supporting the movable seat 6 .

[0041] Based on the above-mentioned disassembly and assembly auxiliary equipment for underwater vehicles, the present application describes the installation process of a vehicle with a three-section cabin structure, which specifically includes the following steps: S1, place all the clamping support parts on the three support movable seats 6 in the highest position; position the first cabin section on the first support movable seat 6, fix it by the clamping support part, and use the guide rail clamp 19 to fix the first support movable seat 6; S2, the second compartment is positioned and fixed on the second supporting movable seat 6 in the same way: S3, push the second support movable seat to make it close to the first support movable seat until it is in initial contact, and use the two I-shaped positioning pieces 11 on the two locking adjustment mechanisms 12 to insert them into the grooves on the first and second support seats respectively, and press the interfaces of the two cabins together through the locking adjustment mechanism 12 to complete the assembly of the first and second cabins; S4, the third cabin section is positioned and fixed on the third supporting movable seat, and the third cabin section is assembled with the first two cabin sections in the same way; during the assembly process, the support adjusting device 14 is used to adjust the cabin section height on the supporting movable seat 6.

[0042] In a specific implementation manner of the present application, for an underwater vehicle with multiple cabin sections, the present application uses multiple supporting movable seats 6 to install and fix each cabin section, and utilizes a supporting seat structure that can be adjusted up and down to facilitate the alternating movement of the supporting seats when assembling robots with more than three sections, thereby realizing the installation and disassembly of the multi-section cabin.

[0043] The disassembly process is the opposite of the assembly process and will not be described in detail here.

[0044] During the assembly process, the auxiliary disassembly ring 1 can be used to rotate the cabin section to adjust the position, and its use includes the following steps: S11: Put the disassembly ring body 5 of the auxiliary disassembly ring on the compartment section whose position needs to be adjusted, and lock the butterfly thread pair 4 on the connecting plane; S12: By adjusting the rotation of the positioning rod 2, the cabin section is initially located at the center of the auxiliary ring, so that the arc-shaped pressing sheet 3 fits the outer wall of the cabin section; S13: Adjust the positioning rod 2 to press the arc-shaped pressing sheet 3 to ensure that sufficient friction is provided; S14: Lock and adjust the double nuts on the positioning rod 2; S15: Apply force to the semicircular ring body 5 for disassembling the ring body by adjusting the positioning rod 2 to rotate or adjust the position of the cabin section.

[0045] The present invention adopts the design of supporting and moving seat 6 to complete the positioning and fixing of underwater vehicle 21 to be disassembled, and the lifting mechanism allows the underwater vehicle 21 to be fine-tuned; the locking and adjusting mechanism 12 can complete the docking and pressing between the compartments by using less force, and the positioning and fixing design of the device is a quick-release structure, which is convenient for frequent replacement during the disassembly and assembly process; there is a gap between the disassembly and assembly ring body 5 of the auxiliary disassembly and assembly ring 1 and the pressing sheet, which can be applied to AUVs of various diameters; multiple groups of guide rail positioning holes are provided on the disassembly and assembly platform, and can be increased according to the actual AUV size, which can be applied to AUVs of various diameters; the lifting, pressing and other working processes of the present invention all use mechanical substitution or labor-saving design, which greatly saves manpower. According to the implementation method provided by the present invention, the disassembly and assembly of the AUV can be achieved under the premise of one person's operation; the structure is simple and the manufacturing cost is low.

Claims

1. A disassembly and assembly auxiliary device for underwater vehicles, characterized in that: The invention comprises an auxiliary disassembly ring (1), a supporting movable seat (6) and a supporting workbench (17); a guide rail (18) is arranged on the supporting workbench (17); a plurality of supporting movable seats (6) are slidably arranged on the guide rail (18); the supporting movable seats (6) are used to fix and install an underwater vehicle (21) to be disassembled; the auxiliary disassembly ring (1) is fixed to the surface of the underwater vehicle (21) to be disassembled and is used as a power assist device for disassembling the underwater vehicle (21) to be disassembled.

2. The disassembly and assembly auxiliary equipment for underwater vehicles according to claim 1, characterized in that: The guide rail (18) arranged on the supporting workbench (17) adopts a linear guide rail.

3. The disassembly and assembly auxiliary equipment for underwater vehicles according to claim 1, characterized in that: The auxiliary disassembly ring (1) comprises two disassembly ring bodies (5) spliced ​​together to form an annular structure, an adjustment positioning rod (2) is provided on the disassembly ring body (5), the adjustment positioning rod (2) is threadedly connected to the disassembly ring body (5), the adjustment positioning rod (2) can rotate on the disassembly ring body (5), and a pressing sheet (3) is provided at the end of the adjustment positioning rod (2).

4. The disassembly and assembly auxiliary equipment for underwater vehicles according to claim 1, characterized in that: The supporting movable seat (6) comprises a supporting seat bottom (9), the bottom of the supporting seat bottom (9) being provided with a sliding block capable of sliding on a guide rail (18); the supporting seat bottom (9) being provided with a clamping support portion for clamping and fixing different sections of the underwater vehicle (21) to be disassembled, the supporting seat bottom (9) being provided with a vertical guide rail, the bottom of the clamping support portion being provided with a guide rod (13), and the guide rod (13) at the bottom of the clamping support portion being inserted into the vertical guide rail of the supporting seat bottom (9).

5. The disassembly and assembly auxiliary equipment for underwater vehicles according to claim 4, characterized in that: A support adjustment device (14) is provided between the bottom of the clamping support portion and the bottom of the support seat (9).

6. The disassembly and assembly auxiliary equipment for underwater vehicles according to claim 4, characterized in that: A linear bearing (16) is arranged in the vertical guide rail of the support seat bottom (9).

7. The disassembly and assembly auxiliary equipment for underwater vehicles according to claim 4, characterized in that: The clamping support portion comprises a clamping base (8) and a clamping cover plate (22); one end of the clamping base (8) and one end of the clamping cover plate (22) are hingedly connected via a hinge portion (7); and the other end of the clamping base (8) and the other end of the clamping cover plate (22) are locked via a locking structure (15).

8. The disassembly and assembly auxiliary equipment for underwater vehicles according to claim 1, characterized in that: A guide rail clamp (19) for locking the supporting movable seat (6) is provided on the supporting workbench (17).

9. The disassembly and assembly auxiliary equipment for underwater vehicles according to claim 1, characterized in that: It also includes a locking adjustment mechanism (12) fixed on the supporting workbench (17), the locking adjustment mechanism (12) adopts a screw structure, a positioning piece (11) is provided on the locking adjustment mechanism (12), and a connecting portion capable of being connected to the supporting movable seat (6) is provided at the end of the positioning piece (11).

10. An underwater vehicle installation method based on the underwater vehicle disassembly and assembly auxiliary device according to claim 1, characterized in that: The method comprises the following steps: fixing different cabin sections on different clamping support parts respectively, then preliminarily adjusting the height of the cabin sections on the clamping support parts, then moving different support base bottoms (9) to bring the cabin sections closer together, then adjusting the height of the cabin sections on the clamping support parts to make the cabin sections coaxial, and then docking and fixing the cabin sections using the support base bottom (9) to complete the installation of the underwater vehicle (21).

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