Underwater unmanned vehicle load conveying device

Abstract

The present invention provides a load conveying device for an underwater unmanned vehicle, which has the advantages of high space utilization and good load adaptability. The load conveying device is arranged inside the underwater vehicle and can convey the task load to the entrance and exit inside the underwater vehicle. The load conveying device comprises: a load-bearing unit and two parallel and oppositely arranged conveying units; the load-bearing unit is used to bear the task load, and the two conveying units are located on two opposite sides of the task load to realize the clamping conveying of the task load.

Description

Technical Field

[0001] The invention relates to a load conveying device, in particular to a load conveying device for an underwater unmanned vehicle, and belongs to the technical field of underwater vehicle load conveying. Background Art

[0002] The development of science and technology, as well as the needs of ocean development and military applications, have put forward higher requirements for the technical integration, mission diversity, and environmental adaptability of underwater vehicles. In response to the increasingly complex needs of underwater operations, vehicles are equipped with diverse and complex mission payloads. Large underwater vehicles often carry several mission payloads with the same functions as the mother body, which are deployed or even recovered in a timely manner during the voyage mission. For such mission payloads, large underwater vehicles usually have multiple storage locations and an entrance and exit for the loading, deployment and recovery of mission payloads. There is currently little research on the technology of carrying multiple mission payloads in underwater vehicles and transporting them to the entrance and exit. And when the buoyancy state of the mission payload changes, the technical difficulty will be greatly increased.

[0003] Therefore, it is necessary to propose an underwater unmanned vehicle load conveying device with high space utilization, high reliability and good load adaptability. Summary of the invention

[0004] In view of this, the present invention provides an underwater unmanned vehicle load conveying device, which is arranged inside the underwater vehicle and has the advantages of high space utilization and good load adaptability.

[0005] The technical solution of the present invention is: an underwater unmanned vehicle load conveying device, arranged inside the underwater vehicle, comprising: a load-bearing unit and two parallel and oppositely arranged conveying units;

[0006] The load-bearing unit is used to bear the task load, and the two conveying units are located at two opposite sides of the task load to achieve clamping and conveying of the task load.

[0007] As a preferred embodiment of the present invention: the conveying unit includes a conveying assembly;

[0008] The conveying assembly includes: a conveying motor, a driving conveying wheel, a transmission shaft, a driven wheel, a bevel gear A and a bevel gear B;

[0009] The conveying motor is supported on the aircraft frame, and its power output end is connected to one end of the transmission shaft;

[0010] The transmission shaft is supported on the aircraft frame, and a number of active conveying wheels are distributed on the transmission shaft at intervals along its length direction, and the active conveying wheels are supported on the aircraft frame; a bevel gear B is installed on the central axis of the active conveying wheel, and a bevel gear A meshing with the bevel gear B is installed at a corresponding position on the transmission shaft; the active conveying wheel presses the bearing mission load on the load-bearing unit from the side and realizes the conveyance of the mission load.

[0011] As a preferred embodiment of the present invention: the conveying unit further includes a passive wheel;

[0012] A plurality of passive wheels are distributed at intervals on the upper side of the transmission shaft on the aircraft frame in a direction parallel to the axis of the transmission shaft; the passive wheels assist in clamping and conveying the mission load from the upper side of the mission load.

[0013] As a preferred embodiment of the present invention: the conveying unit includes a locking and positioning assembly;

[0014] The locking and positioning assembly is used to lock the position of the mission load after it is stored in place.

[0015] As a preferred embodiment of the present invention: the locking and positioning assembly adopts a latch mechanism driven by a latch motor;

[0016] The latch mechanism is mounted on the aircraft frame;

[0017] The positioning pin of the latch mechanism cooperates with the latch hole on the surface of the task load. When the task load is put into storage, the positioning pin of the latch mechanism can be inserted into the latch hole on the surface of the task load.

[0018] As a preferred embodiment of the present invention: the latch motor is a linear motor, and the axis of the latch motor is arranged horizontally; the transmission mechanism inside the latch mechanism can convert horizontal linear motion into vertical upward linear motion, so that the positioning pin of the latch mechanism can extend upward into the latch hole on the task load surface.

[0019] As a preferred embodiment of the present invention: the conveying unit includes a position detection component;

[0020] The position detection assembly is used for position detection of the mission load, and includes: a detection wheel, a detection mechanism and a proximity switch;

[0021] The detection wheel is arranged on the detection mechanism; when the task load moves to the position of the detection wheel, the detection wheel is pressed down; after the detection wheel moves down, the detection mechanism block correspondingly moves to trigger the proximity switch to realize position detection.

[0022] As a preferred embodiment of the present invention: the load-bearing unit comprises: two bottom rails arranged in parallel and opposite to each other, and two position detection components are arranged at intervals at the end of each bottom rail;

[0023] The position detection component located at the front side is used to trigger the conveying countdown of the conveying unit; the position detection component located at the rear side is used to trigger the locking and positioning component.

[0024] As a preferred embodiment of the present invention, the load-bearing unit comprises: two bottom guide rails arranged parallel to each other and load-bearing wheels arranged on the bottom guide rails; each bottom guide rail is provided with a plurality of load-bearing wheels for carrying the task load at intervals along its length direction.

[0025] Beneficial effects:

[0026] (1) The load conveying device of the present invention is arranged inside the underwater vehicle, and the load is clamped and conveyed by the cooperation of the load-bearing unit and the conveying unit, so that the mission load can be carried in the underwater vehicle and conveyed to the entrance and exit; and it can meet the use requirements of different buoyancy states of the load, and has the advantage of good load adaptability.

[0027] (2) In the load conveying device of the present invention, each component is installed on the aircraft frame through a mounting seat, but all are concentrated around the mission load, rationally utilizing the lower and side space of the mission load, and having a high space utilization rate; when the mission load needs to be stacked vertically or horizontally, the load conveying device only needs to be installed in an array arrangement.

[0028] (3) In the load conveying device of the present invention, the clamping and conveying of the load is achieved by arranging active conveying wheels on both sides of the task load, load-bearing wheels at the bottom and passive wheels on the upper side. It has high reliability, meets the use requirements of different buoyancy states of the load, and has the advantage of good load adaptability.

[0029] (4) In the load conveying device of the present invention, the position of the mission load is locked after it is stored in place by means of a locking positioning assembly, thereby preventing the mission load from moving back and forth when the aircraft is navigating in a pitch state.

[0030] (5) In the load conveying device of the present invention, multiple position detection components are provided to achieve fixed-point docking of the task load and reliable storage, which has the advantage of high reliability. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a structural composition diagram of the underwater unmanned vehicle load conveying device of the present invention;

[0032] Figure 2 A schematic diagram of a payload delivery device for an underwater unmanned vehicle carrying a mission payload;

[0033] Among them: 1-conveying unit, 2-task load, 3-conveying motor, 4-mounting seat A, 5-active conveying wheel, 6-mounting seat B, 7-coupling, 8-transmission shaft, 9-mounting seat C, 10-latch motor, 11-latch mechanism, 12-passive wheel, 13-detection wheel, 14-proximity switch, 15-detection mechanism, 16-mounting seat D, 17-bottom guide rail, 18-bevel gear A, 19-mounting seat E, 20-bevel gear B, 21-load-bearing wheel. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments.

[0035] This embodiment provides an underwater vehicle load conveying device with high space utilization, high reliability and good load adaptability; the underwater vehicle load conveying device is arranged inside the underwater vehicle and can convey the mission load to the entrance and exit inside the underwater vehicle.

[0036] like Figure 1 As shown, the underwater vehicle load conveying device includes: a load-bearing unit and two parallel and oppositely arranged conveying units 1; wherein the load-bearing unit is used to carry the mission load 2, and the two conveying units 1 are located on two opposite sides of the mission load 2 to achieve clamping and conveying of the mission load 2.

[0037] The load-bearing unit includes: two parallel and opposite bottom rails 17 and load-bearing wheels 21 arranged on the bottom rails 17; each bottom rail 17 is provided with a plurality of load-bearing wheels 21 for carrying the task load 2 at intervals along its length direction to prevent concentrated force on the task load 2.

[0038] The conveying unit 1 comprises: a conveying component, a position detection component and a locking and positioning component.

[0039] The conveying assembly includes: a conveying motor 3, an active conveying wheel 5, a transmission shaft 8, a passive wheel 12, a bevel gear A18 and a bevel gear B20; the transmission shaft 8 can be formed by more than one shaft joints coaxially connected by a coupling 7; as an example, the transmission shaft 8 is formed by two shaft joints coaxially connected by a coupling 7.

[0040] The power output end of the conveying motor 3 is connected to one end of the transmission shaft 8, and the conveying motor 3 is installed on the aircraft frame through the mounting seat A4; the other end of the transmission shaft 8 is installed on the aircraft frame through the mounting seat C9 (that is, the transmission shaft 8 is supported on the mounting seat C9 through a bearing, and the mounting seat C9 is installed on the aircraft frame), and the middle part of the transmission shaft 8 is installed on the aircraft frame through the mounting seat B6 (the installation method is the same as above); thereby ensuring the stability of the transmission shaft 8.

[0041] A number of active conveying wheels 5 are distributed on the transmission shaft 8 along its length direction at intervals, and the active conveying wheel 5 is installed on the aircraft frame through a mounting seat D19; the central axis of the active conveying wheel 5 is along the vertical direction; a bevel gear B20 is installed on the central axis of the active conveying wheel 5, and a bevel gear A18 meshing with the bevel gear B20 is installed at a corresponding position on the transmission shaft 8; therefore, when the conveying motor 3 is running, power can be transmitted to the active conveying wheel 5 through the meshing bevel gears A18 and B20.

[0042] As an example, the active conveying wheel 5 is made of a flexible high-friction material to ensure good contact and sufficient positive pressure between the active conveying wheel 5 and the task load 2.

[0043] As an example, a plurality of passive wheels 12 are spaced apart on the upper side of the transmission shaft 8 on the aircraft frame in a direction parallel to the axis of the transmission shaft 8; the passive wheels 12 are supported on the aircraft frame to assist in clamping and conveying the mission payload 2 from the upper side of the mission payload 2. The passive wheels 12 are made of nylon material and have a certain degree of flexibility to prevent damage to the surface of the mission payload 2.

[0044] The position detection assembly is used for the delivery detection of the mission load 2, and includes: a detection wheel 13, a detection mechanism 15 and a proximity switch 14. The detection wheel 13 is arranged on the detection mechanism 15, and the detection mechanism 15 is supported on the aircraft frame; when the mission load 2 moves to the position of the detection wheel 13, the detection wheel 13 is pressed down to move the detection wheel 13 downward; after the detection wheel 13 moves downward, the block of the detection mechanism 15 acts accordingly to trigger the proximity switch 14, thereby realizing the position detection.

[0045] As an example, four sets of position detection components are provided, and two position detection components are arranged at intervals at the end of each bottom guide rail 17, wherein the position detection component located on the front side is used to trigger the countdown for stopping the conveying motor 3, that is, when the position detection component on the front side is triggered, the countdown starts to stop the conveying motor 3, and the task load 2 continues to be conveyed backwards, and after the countdown ends, the conveying motor 3 stops, and the task load 2 stops; the position detection component located on the rear side is used to trigger the locking and positioning component.

[0046] The locking and positioning assembly is used to lock the position of the mission payload 2 after it is put into storage, and to position the mission payload 2 in the front-to-back direction to prevent the mission payload 2 from moving forward and backward when the aircraft is sailing in a pitch state.

[0047] As an example, the locking and positioning assembly adopts a latch mechanism 11 driven by a latch motor 10 (a conventional latch mechanism is adopted, which can realize the extension and retraction of the positioning pin under the drive of the latch motor), and the latch mechanism 11 is installed on the aircraft frame through the mounting seat D16. The positioning pin of the latch mechanism 11 cooperates with the latch hole on the surface of the mission load 2. When the mission load 2 is put into storage, the positioning pin of the latch mechanism 11 can be inserted into the latch hole on the surface of the mission load 2 to position the mission load 2 in the front and rear direction. In particular, the diameter of the latch hole is slightly larger than the diameter of the positioning pin to compensate for the conveying error.

[0048] As an example, the latch motor 10 is a linear motor. To save space, the axis of the latch motor 10 is parallel to the transmission shaft 8 (i.e., the latch motor is arranged along the front-to-back direction); and the transmission mechanism inside the latch mechanism 11 can convert horizontal linear motion into vertical upward linear motion (i.e., it has the function of converting linear motion 90°); thereby, the locating pin of the latch mechanism 11 can extend upward into the latch hole on the surface of the task load 2.

[0049] When the load conveying device is in use, the task load 2 is placed on the load-bearing wheel 21 of the bottom guide rail 17. When the task load 2 is conveyed, there is rolling friction between the bottom of the task load 2 and the bottom guide rail 17. The side of the task load 2 is clamped by the active conveying wheel 5. The active conveying wheel 5 is a flexible high-friction material, which ensures good contact and sufficient positive pressure between the active conveying wheel 5 and the task load 2. The upper side of the task load 2 is limited by the passive wheel 12. By setting the installation angle of the passive wheel 12, it can simultaneously limit the lateral and vertical displacement of the task load 2. The load-bearing wheel 21, the active conveying wheel 5, and the passive wheel 12 act on the load at the same time, so that the load can be reliably conveyed regardless of whether it is in a negative buoyancy state, a zero buoyancy state, or a positive buoyancy state. Therefore, the load conveying device has good load adaptability.

[0050] like Figure 1 As shown, at this time, the task load 2 is in the storage position in the load conveying device. The task load 2 is placed on the load-bearing wheels 21 of the bottom guide rail 17, with the two sides clamped by the active conveying wheels 5 and the upper side limited by the passive wheels 12.

[0051] The working principle of the load conveying device is:

[0052] When the task load 2 needs to be put into storage, the conveying motor 3 runs forward, driving the transmission shaft 8 to rotate, and the bevel gear A18 on the transmission shaft 8 drives the bevel gear B20 meshing with it to rotate, and the active conveying wheel 5 connected to the same transmission shaft 8 rotates forward accordingly, and the task load 2 is conveyed to the rear under the friction of the active conveying wheel 5. When the task load 2 is transported backward and is about to be put into storage, the position detection component on the front side is first triggered, and the control unit counts down to stop the conveying motor 3, and the task load 2 continues to be transported backward. After the countdown ends, the conveying motor 3 stops, and the task load 2 stops, and at the same time, the position detection component on the rear side is triggered. The control unit controls the latch motor 10 to drive the latch mechanism 11 to insert the positioning pin into the latch hole on the surface of the task load 2, thereby positioning the task load 2 in the front-to-back direction.

[0053] The same applies to mission load 2.

[0054] Although the present invention has been described in detail above by general description and specific embodiments, it is obvious to those skilled in the art that some modifications or improvements can be made to the present invention. Therefore, these modifications or improvements made without departing from the spirit of the present invention all belong to the scope of protection claimed by the present invention.

Claims

1. A load conveying device for an underwater unmanned vehicle, characterized in that: It is arranged inside the underwater vehicle and comprises: a load-bearing unit and two parallel and oppositely arranged conveying units (1); The load-bearing unit is used to bear a task load (2), and the two conveying units (1) are located on two opposite sides of the task load (2) to achieve clamping and conveying of the task load (2).

2. The underwater unmanned vehicle load conveying device according to claim 1, characterized in that: The conveying unit (1) comprises a conveying component; The conveying assembly comprises: a conveying motor (3), a driving conveying wheel (5), a transmission shaft (8), a driven wheel (12), a bevel gear A (18) and a bevel gear B (20); The conveying motor (3) is supported on the aircraft frame, and its power output end is connected to one end of the transmission shaft (8); The transmission shaft (8) is supported on the aircraft frame, and a plurality of active conveying wheels (5) are spaced apart along the length direction of the transmission shaft (8), and the active conveying wheels (5) are supported on the aircraft frame; a bevel gear B (20) is installed on the central axis of the active conveying wheel (5), and a bevel gear A (18) meshing with the bevel gear B (20) is installed at a corresponding position on the transmission shaft (8); the active conveying wheel (5) presses the bearing task load (2) located on the load-bearing unit from the side, and realizes the conveyance of the task load (2).

3. The underwater unmanned vehicle load conveying device according to claim 2, characterized in that: The conveying unit (1) further comprises a passive wheel (12); A plurality of passive wheels (12) are distributed at intervals on the upper side of the transmission shaft (8) on the aircraft frame in a direction parallel to the axis of the transmission shaft (8); the passive wheels (12) assist in clamping and conveying the mission load (2) from the upper side of the mission load (2).

4. The underwater unmanned vehicle load conveying device according to any one of claims 1 to 3, characterized in that: The conveying unit (1) comprises a locking and positioning assembly; The locking and positioning assembly is used to lock the position of the task load (2) after it is stored in place.

5. The underwater unmanned vehicle load conveying device according to claim 4, characterized in that: The locking and positioning assembly adopts a latch mechanism (11) driven by a latch motor (10); The latch mechanism (11) is mounted on the aircraft frame; The positioning pin of the latch mechanism (11) cooperates with the latch hole on the surface of the task load (2). When the task load (2) is stored in place, the positioning pin of the latch mechanism (11) can be inserted into the latch hole on the surface of the task load (2).

6. The underwater unmanned vehicle load conveying device according to claim 5, characterized in that: The latch motor (10) is a linear motor, and the axis of the latch motor (10) is arranged horizontally; the transmission mechanism inside the latch mechanism (11) can convert horizontal linear motion into vertical upward linear motion, so that the positioning pin of the latch mechanism (11) can extend upward into the latch hole on the surface of the task load (2).

7. The underwater unmanned vehicle load conveying device according to claim 4, characterized in that: The conveying unit (1) comprises a position detection component; The position detection assembly is used for detecting the position of the task load (2), and comprises: a detection wheel (13), a detection mechanism (15) and a proximity switch (14); The detection wheel (13) is arranged on the detection mechanism (15); when the task load (2) moves to the position where the detection wheel (13) is located, the detection wheel (13) is pressed downward; after the detection wheel (13) moves downward, the stopper of the detection mechanism (15) acts accordingly to trigger the proximity switch (14), thereby realizing position detection.

8. The underwater unmanned vehicle load conveying device according to claim 7, characterized in that: The load-bearing unit comprises: two bottom guide rails (17) arranged in parallel and opposite to each other, and two position detection components are arranged at intervals at the end of each bottom guide rail (17); The position detection component located at the front side is used to trigger the conveying countdown of the conveying unit (1); and the position detection component located at the rear side is used to trigger the locking and positioning component.

9. The underwater unmanned vehicle load conveying device according to any one of claims 1 to 3, characterized in that: The load-bearing unit comprises: two bottom guide rails (17) arranged in parallel and opposite to each other, and load-bearing wheels (21) arranged on the bottom guide rails (17); each bottom guide rail (17) is provided with a plurality of load-bearing wheels (21) for bearing a task load (2) installed at intervals along its length direction.

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