An underwater electric-driven lifting hook device

Abstract

The present invention relates to an underwater electric-driven lifting hook device, comprising a driving motor, a motor sealing cover, an adapter shaft, a stroke conversion block, a mounting frame, a load-bearing beam and a hook; the driving motor is located in the motor sealing cover, and both are fixed in the aircraft, the driving motor is fixed to one side of the stroke conversion block through the adapter shaft, the other side of the stroke conversion block is an inclined surface with a groove, and is connected to the hook through the mounting frame, and the mounting frame can slide along the groove; the load-bearing beam is fixed inside the aircraft, located on the other side of the stroke conversion block, and the load-bearing beam is provided with a groove along the radial direction of the aircraft; the driving motor drives the stroke conversion block to reciprocate along the axis direction of the underwater aircraft, the stroke conversion block is used to convert its own displacement along the axial direction of the aircraft into the displacement of the mounting frame along the radial direction of the aircraft, and drives the hook to reciprocate along the groove, and the bottom of the hook can be limited at the top of the groove and protrude from the aircraft. The present invention performs actions by the driving motor to control the protrusion and concealment of the hook.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and in particular to an underwater electric-driven lifting hook device. Background Art

[0002] At present, the deployment and recovery of most underwater vehicles are achieved by directly hooking the fixed hook on the back of the vehicle with a sling. As an appendage on the vehicle, the fixed hook not only increases the overall resistance, but also affects the normal operation in some special working modes, such as requiring that there should be no protruding appendages when the vehicle is recovered into the carrying platform. Some hook devices can also be hidden within the baseline of the vehicle, and the hook device can be controlled to protrude or hide through simple manual operation. For example, a hook device for underwater vehicles invented by Wu Xiong et al. (CN117657368A) consists of a trigger mechanism and an actuator, which can protrude the hook from the baseline or hide it in the baseline as needed. When it is necessary to protrude the baseline, the hook is ejected by pressing the trigger mechanism; when it is necessary to hide in the baseline, the hook is pushed to rotate 90° and the degree of freedom is restricted.

[0003] The current hook device is suitable for manned underwater vehicles. As unmanned and autonomous vehicles become more and more advanced, their applicability decreases. There are two main deficiencies in the previous hook devices: one is that the fixed hook cannot be hidden outside the vehicle as an appendage, which is not only unfavorable for resistance but also protrudes from the baseline; the other is the hidden hook device, which requires manual operation to switch the hook between the protruding and hidden states. Summary of the invention

[0004] In view of this, the present invention provides an underwater electric-driven lifting hook device, which controls the protrusion and concealment of the hook by driving a motor to execute actions.

[0005] The present invention is achieved through the following technical solutions: an underwater electric-driven lifting hook device, comprising a driving motor, a motor sealing cover, a motor mounting seat, an adapter shaft, a stroke conversion block, a mounting frame, a load-bearing beam and a hook; the driving motor is located in the motor sealing cover, and both are fixed in the underwater vehicle through the motor mounting seat, the driving motor is fixedly connected to one side of the stroke conversion block through the adapter shaft, and the other side of the stroke conversion block is connected to the hook through the mounting frame, the other side of the stroke conversion block is an inclined surface with a groove, and the mounting frame can slide along the groove; the load-bearing beam is fixed inside the underwater vehicle and is located on the other side of the stroke conversion block, and the load-bearing beam is provided with a groove along the radial direction of the underwater vehicle; the driving motor drives the stroke conversion block to reciprocate along the axial direction of the underwater vehicle, and the stroke conversion block is used to convert its own axial displacement along the underwater vehicle into radial displacement of the mounting frame along the underwater vehicle, driving the hook to reciprocate along the groove, and the bottom of the hook can be limited at the top of the groove and protrude from the underwater vehicle.

[0006] Furthermore, it also includes a first bearing and a second bearing, the hook moves along the groove through the first bearing; one end of the mounting frame slides along the groove through the second bearing, and the other end of the mounting frame is fixedly connected to the bottom of the hook; in the initial state, the mounting frame is located at the bottom of the stroke conversion block, and the hook is located at the bottom of the groove and hidden in the underwater vehicle;

[0007] When in use, the driving motor pushes out the adapter shaft to move the stroke conversion block forward, and the mounting frame slides upward along the groove, driving the hook to slide to the top of the groove and limit it at the top of the groove, and the hook extends out of the underwater vehicle; the driving motor retracts the adapter shaft to move the stroke conversion block backward, and the mounting frame slides downward along the groove, driving the hook to slide to the bottom of the groove until it is reset.

[0008] Furthermore, it also includes a motor adapter, a sealing cover sealing ring, an adapter shaft sealing ring and a connecting block. The drive motor is fixed to the motor mounting seat through the motor adapter. The drive motor is provided with a telescopic shaft and a threaded connection with one end of the adapter shaft, and an adapter shaft sealing ring is provided at the connection. The other end of the adapter shaft is fixedly connected through the connecting block and the stroke conversion block; the sealing cover sealing ring is arranged at the connection between the motor sealing cover and the motor mounting seat.

[0009] Furthermore, a convex portion is provided at the bottom of the hook, and a concave portion matching with the convex portion is provided at the top of the groove of the load-bearing beam. When the convex portion abuts against the concave portion, the first bearing is not subjected to force.

[0010] Furthermore, a water leakage alarm plate is provided in the motor sealing cover, and the water leakage alarm plate is fixed on the motor mounting seat through a mounting plate.

[0011] Furthermore, a support seat for the sliding of the stroke conversion block is provided, the support seat is fixed in the underwater vehicle, and the support seat is made of polytetrafluoroethylene material.

[0012] Compared with the prior art, the present invention has the following beneficial effects:

[0013] 1. The driving motor of the present invention drives the stroke conversion block to move along the axial direction of the underwater vehicle, and the stroke conversion block converts the axial displacement of the underwater vehicle into the radial displacement of the mounting frame along the underwater vehicle, driving the hook to move along the radial direction of the underwater vehicle, so as to protrude or reset the hook hidden inside the underwater vehicle, which is convenient for hooking; the structure is simple, easy to implement, saves manpower, and can improve the recovery efficiency.

[0014] 2. The present invention is provided with a concave portion and a convex portion that cooperate with each other. When the hook is hooked, the convex portion abuts against the concave portion, and the first bearing is not subjected to force, thereby preventing the first bearing from being damaged by the force.

[0015] 3. The present invention ensures the water tightness of the driving motor through the motor sealing cover, the sealing cover sealing ring and the adapter shaft sealing ring. A water leakage alarm plate is provided to detect water leakage in real time to ensure that the whole device can work normally underwater. A support seat made of polytetrafluoroethylene material is provided to facilitate the sliding of the stroke conversion block. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the general assembly of the present invention.

[0017] Figure 2 Schematic diagram of the hook device structure, wherein (a) is a schematic diagram of the overall structure of the hook device, and (b) is a schematic diagram of the structural composition of the hook device.

[0018] Figure 3 This is the hook device status flow chart.

[0019] Figure 4 Schematic diagram of the interface between the hook and the load-bearing beam, where (a) is a top view and (b) is a cross-sectional view in the A direction.

[0020] Among them, 1-driving mechanism, 2-actuator, 3-motor sealing cover, 4-driving motor, 5-motor adapter, 6-water leakage alarm plate, 7-mounting plate, 8-sealing cover sealing ring, 9-adapter shaft sealing ring, 10-motor mounting seat, 11-adapter shaft, 12-connecting block, 13-stroke conversion block, 14-hook, 15-load-bearing beam, 16-support seat, 17-mounting frame, 18-first bearing, 19-second bearing, 20-underwater vehicle. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0022] The present invention provides an underwater electric-driven lifting hook device, such as Figure 1 , 2 As shown, the hook device is composed of a driving mechanism 1 and an actuator 2. The driving mechanism 1 includes a driving motor 4, a motor sealing cover 3, an adapter shaft 11, and a motor mounting seat 10. The actuator 2 includes a stroke conversion block 13, a mounting frame 17, a load-bearing beam 15 and a hook 14.

[0023] The driving motor 4 is located in the motor sealing cover 3, and both are fixed in the underwater vehicle 20 through the motor mounting seat 10. The driving motor 4 is fixedly connected to one side of the stroke conversion block 13 through the adapter shaft 11, and the other side of the stroke conversion block 13 is connected to the hook 14 through the mounting frame 17. The other side of the stroke conversion block 13 is an inclined surface with a groove, and the mounting frame can slide along the groove; the load-bearing beam 15 is fixed inside the underwater vehicle 20, and the load-bearing beam 15 is located on the other side of the stroke conversion block 13. The load-bearing beam 15 is provided with a groove along the radial direction of the underwater vehicle 20 for the hook 14 to move along it.

[0024] The driving motor 4 drives the stroke conversion block 13 to reciprocate along the axial direction of the underwater vehicle 20. The stroke conversion block 13 is used to convert its own axial displacement along the underwater vehicle 20 into a radial displacement of the mounting frame 17 along the underwater vehicle 20, driving the hook 14 to reciprocate along the groove, and the bottom of the hook 14 can be limited at the top of the groove; when the bottom of the hook 14 is limited at the top of the groove, the hook 14 protrudes from the baseline of the underwater vehicle 20, thereby realizing the protrusion of the hook and facilitating hanging.

[0025] The actuator 2 further includes a first bearing 18 and a second bearing 19 . One end of the mounting frame 17 slides along the groove on the inclined surface of the stroke conversion block 13 through the second bearing 19 , and the other end of the mounting frame 17 is fixedly connected to the bottom of the hook 14 . In the initial state, the mounting bracket 17 is located at the bottom of the stroke conversion block 13, and the hook 14 is located at the bottom of the groove and hidden in the baseline of the underwater vehicle 20; when in use, the drive motor 4 pushes out the adapter shaft 11 to make the stroke conversion block 13 move forward (move along the axial direction of the underwater vehicle 20 away from the drive motor 4), and the mounting bracket 17 slides upward along the groove, driving the hook 14 to slide toward the top of the groove (radially outward along the underwater vehicle 20), and finally the bottom of the hook 14 is limited at the top of the groove, and the hook 14 protrudes from the baseline of the underwater vehicle 20, that is, the hook 14 extends out of the underwater vehicle 20 for easy hooking; the drive motor 4 retracts the adapter shaft 11 to make the stroke conversion block 13 move backward (move along the axial direction of the underwater vehicle 20 close to the drive motor 4), and the mounting bracket 17 slides downward along the groove, driving the hook 14 to slide to the bottom of the groove (radially inward along the underwater vehicle 20) until it is reset.

[0026] In this embodiment, there are two load-bearing beams 15, which are symmetrically arranged on both sides of the hook 14. Two first bearings 18 are respectively provided at the bottom of each side of the hook 14 to slide with the groove of the load-bearing beam 15 on that side. In other embodiments, there can be one load-bearing beam 15, and the groove cooperates with the first bearing 18 to limit the displacement of the hook 14 along the axial and tangential directions of the underwater vehicle 20; in this embodiment, the symmetrical arrangement of the load-bearing beams 15 can make the reciprocating motion of the hook 14 more stable and reduce the wear of the first bearing 18 to a certain extent. There can be two grooves on the stroke conversion block 13, and two mounting frames 17 are correspondingly provided. The mounting frame 17 can be L-shaped, and the horizontal end of the mounting frame 17 cooperates with the groove on the stroke conversion block 13 through the second bearing 19, and the vertical end of the mounting frame 17 is connected to the bottom of the hook 14. In specific implementation, the first bearing 18 and the second bearing 19 can be provided with bearing retaining rings, which are used to limit the axial movement of the hook 14 and the mounting frame 17 along the first bearing 18 and the second bearing 19, respectively.

[0027] The actuator 2 also includes a support seat 16 for the travel conversion block 13 to slide. The support seat 16 is located below the travel conversion block 13 and fixed in the underwater vehicle 20. The support seat 16 is made of polytetrafluoroethylene material to facilitate better sliding of the travel conversion block 13.

[0028] As an improvement, Figure 4 As shown, a convex portion is provided at the bottom of the hook 14, and a concave portion matching the convex portion is provided at the top of the groove of the load-bearing beam 15. When the convex portion abuts against the concave portion, the first bearing 18 on the hook 14 is not subjected to force. In this embodiment, a convex portion is provided at the bottom of each side of the hook 14, and the convex portion can be arranged between the two first bearings 18. When the hook 14 is in the extended state, it is hooked by the sling, and the convex portion at the bottom of the hook 14 abuts against the concave portion at the top of the groove, and the first bearing 18 does not contact the top of the groove. The load is transferred from the hook 14 to the load-bearing beam 15, while avoiding the first bearing 18 from being subjected to force, thereby further preventing the first bearing 18 from being damaged.

[0029] The driving mechanism 1 further includes a motor adapter seat 5 , a sealing cover sealing ring 8 , and an adapter shaft sealing ring 9 . In this embodiment, the motor mounting seat 10 is fixed in the underwater vehicle 20 by screws, the motor sealing cover 3 is fixed to the motor mounting seat 10 by several screws, and two sealing cover sealing rings 8 (O-rings) are provided at the connection between the motor sealing cover 3 and the motor mounting seat 10 for watertight protection; the drive motor 4 is located inside the motor sealing cover 3 and is fixed to the motor adapter 5 by screws, and the motor adapter 5 is fixed to the motor mounting seat 10 by screws; the drive motor 4 is provided with a telescopic shaft and a threaded connection with one end of the adapter shaft 11, and two adapter shaft sealing rings 9 (O-rings) are provided at the connection between the adapter shaft 11 and the drive motor 4 for watertight protection, the motor mounting seat 10 is provided with an extension portion cooperating with the adapter shaft 11, and the adapter shaft 11 can be pushed out and retracted from the extension portion under the drive of the drive motor 4; the extension portion of the motor mounting seat 10 is shorter than the adapter shaft 11, and in the initial state, the other end of the adapter shaft 11 extends out of the end of the extension portion and is fixedly connected to the stroke conversion block 13. The motor mounting seat 10 is provided with an extension portion, which further ensures the water tightness of the driving motor 4 .

[0030] The driving mechanism 1 also includes a water leakage alarm plate 6 and a mounting plate 7. The water leakage alarm plate 6 is arranged in the motor sealing cover 3. The water leakage alarm plate 6 is fixed on the motor mounting seat 10 through the mounting plate 7, and can monitor in real time whether the driving mechanism 1 is leaking underwater. The power supply and communication of the driving motor 4 and the water leakage alarm plate 6 are connected to the periphery through a watertight connector. The watertight connector is installed at the end of the motor sealing cover 3. The driving motor can be controlled by remote commands, saving manpower and improving efficiency.

[0031] During specific implementation, the other end of the adapter shaft 11 can be connected to the stroke conversion block 13 through the connecting block 12. The other end of the adapter shaft 11 is inserted into the connecting block 12 and fixed thereto. The connecting block 12 is fixed to one side of the stroke conversion block 13 by screws. The adapter shaft 11 extends and retracts under the drive of the drive motor 4, and drives the stroke conversion block 13 to move together, that is, the connecting block 12 plays the role of connecting the drive mechanism 1 and the actuator 2.

[0032] like Figure 3 As shown, the operating steps of the underwater electric drive lifting hook device of the present invention are as follows:

[0033] In the initial state, the telescopic shaft stroke of the driving motor 4 is zero, and the hook 14 is hidden within the baseline of the underwater vehicle 20;

[0034] Through remote instructions, the telescopic shaft of the driving motor 4 is extended to L1, and the telescopic shaft of the driving motor 4 drives the adapter shaft 11 to push the stroke conversion block 13 forward. The mounting frame 17 slides upward in the groove of the stroke conversion block 13 through the second bearing 19, and drives the hook 14 to slide radially outward along the underwater vehicle 20 in the groove of the load-bearing beam 15 through the first bearing 18. The hook 14 rises L2, protrudes from the baseline of the underwater vehicle 20, and is hooked by the sling.

[0035] When hooking is finished, the telescopic shaft of the drive motor 4 is retracted through remote instructions, and the stroke is retracted from L1 to zero, driving the stroke conversion block 13 to retract, and the hook 14 slides down in the groove at the same time and is hidden in the baseline of the aircraft 20.

[0036] The present invention can effectively solve the problem that the hook 14 of the underwater vehicle 20 protrudes from the baseline and increases the resistance of the appendage. At the same time, the hook 14 can be remotely controlled to protrude from the baseline as needed, without the need for manual recovery, thus saving manpower.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. An underwater electric-driven lifting hook device, characterized in that: It includes a driving motor, a motor sealing cover, a motor mounting seat, a transfer shaft, a travel conversion block, a mounting frame, a load-bearing beam and a hook; The driving motor is located in the motor sealing cover, and both are fixed in the underwater vehicle through the motor mounting seat. The driving motor is fixedly connected to one side of the stroke conversion block through the adapter shaft, and the other side of the stroke conversion block is connected to the hook through the mounting frame. The other side of the stroke conversion block is an inclined surface with a groove, and the mounting frame can slide along the groove; the load-bearing beam is fixed inside the underwater vehicle and located on the other side of the stroke conversion block. The load-bearing beam is provided with a groove along the radial direction of the underwater vehicle; The driving motor drives the stroke conversion block to reciprocate along the axis of the underwater vehicle. The stroke conversion block is used to convert its own axial displacement along the underwater vehicle into radial displacement of the mounting frame along the underwater vehicle, driving the hook to reciprocate along the groove, and the bottom of the hook can be limited at the top of the groove and protrude from the underwater vehicle.

2. The underwater electric-driven lifting hook device according to claim 1, characterized in that: It also includes a first bearing and a second bearing, the hook moves along the groove through the first bearing; one end of the mounting frame slides along the groove through the second bearing, and the other end of the mounting frame is fixedly connected to the bottom of the hook; in the initial state, the mounting frame is located at the bottom of the stroke conversion block, and the hook is located at the bottom of the groove and hidden in the underwater vehicle; When in use, the driving motor pushes out the adapter shaft to move the stroke conversion block forward, and the mounting frame slides upward along the groove, driving the hook to slide to the top of the groove and limit it at the top of the groove, and the hook extends out of the underwater vehicle; the driving motor retracts the adapter shaft to move the stroke conversion block backward, and the mounting frame slides downward along the groove, driving the hook to slide to the bottom of the groove until it is reset.

3. The underwater electric-driven lifting hook device according to claim 1, characterized in that: It also includes a motor adapter, a sealing ring for a sealing cover, a sealing ring for an adapter shaft and a connecting block. The driving motor is fixed on the motor mounting seat through the motor adapter. The driving motor is provided with a telescopic shaft which is threadedly connected to one end of the adapter shaft, and a sealing ring for an adapter shaft is provided at the connection. The other end of the adapter shaft is fixedly connected through a connecting block and a stroke conversion block. The sealing ring for the sealing cover is arranged at the connection between the motor sealing cover and the motor mounting seat.

4. The underwater electric-driven lifting hook device according to claim 2, characterized in that: A convex portion is provided at the bottom of the hook, and a concave portion matching with the convex portion is provided at the top of the groove of the load-bearing beam. When the convex portion abuts against the concave portion, the first bearing is not subjected to force.

5. The underwater electric-driven lifting hook device according to claim 1, characterized in that: A water leakage alarm plate is arranged in the motor sealing cover, and the water leakage alarm plate is fixed on the motor mounting seat through a mounting plate.

6. The underwater electric-driven lifting hook device according to any one of claims 2 to 5, characterized in that: A support seat for the sliding of the stroke conversion block is also provided, the support seat is fixed in the underwater vehicle, and the support seat is made of polytetrafluoroethylene material.

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