Underwater unmanned vehicle load conveying device

Abstract

The present invention relates to a load conveying device for an underwater unmanned vehicle, comprising a roller, a mounting column, a driving mechanism, a driven mechanism and a transmission shaft; every two mounting columns form a group, which are vertically mounted on the vehicle and connected through a roller perpendicular thereto; the active roller rotates with a group of mounting columns through the driving mechanism to form an active unit; the driven roller rotates with a group of mounting columns through the driven mechanism to form a driven unit; the active unit and several driven units at the head end are arranged in sequence along the transmission direction, the roller axis is perpendicular to the transmission direction, the driving mechanism and several driven mechanisms are collinear with the transmission direction and connected through a transmission shaft; the driving mechanism drives the active roller to rotate, and through the transmission shaft, the driven mechanism drives the driven roller to rotate in the same direction, the load is located on a roller track composed of all rollers, and the load is moved along the transmission direction through the rotation of the roller. The present invention has high integration, good assembly, high reliability and good load adaptability.

Description

Technical Field

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

[0002] With the development of science and technology and the needs of marine development, hydrographic survey and military applications, unmanned aerial vehicles are increasingly used due to their good stealth performance, wide sea area, low risk of use and strong adaptability. The increasingly complex underwater operation requirements have put forward higher requirements for the technical integration, mission diversity and environmental adaptability of unmanned aerial vehicles. Unmanned aerial vehicles carry sensors and different mission modules (collectively referred to as mission payloads) to perform a variety of underwater tasks. 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. However, 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. Summary of the invention

[0003] In view of this, the present invention provides an underwater unmanned vehicle load conveying device with high integration, good assembly, high reliability and good load adaptability.

[0004] The present invention is realized by the following technical scheme: an underwater unmanned vehicle load conveying device, comprising a roller, a mounting column, a driving mechanism, a driven mechanism and a transmission shaft; every two mounting columns form a group, all of which are vertically mounted on the vehicle and connected through a roller perpendicular to the roller, and the rollers are divided into active rollers and driven rollers; the active roller is rotated and matched with a group of mounting columns through the driving mechanism to form an active unit; the driven roller is rotated and matched with a group of mounting columns through the driven mechanism to form a driven unit; the active unit and a plurality of driven units at the head end are arranged side by side in sequence along the transmission direction, the roller axis is perpendicular to the transmission direction, the driving mechanism and the plurality of driven mechanisms are located in the same straight line parallel to the transmission direction, and are connected in sequence through the transmission shaft; the driving mechanism is used to drive the active roller to rotate, and through the transmission shaft, the driven mechanism drives the driven roller to rotate in the same direction as the active roller, the load is located on a roller track composed of all rollers, and the load is moved along the transmission direction by the rotation of all rollers.

[0005] Furthermore, the driving mechanism includes a conveying motor, a power bevel gear pair and a power gear box. One end of the active roller is rotatably matched with a mounting column on one side through the active roller track seat, and the other end of the active roller is connected to the motor shaft of the conveying motor through the power bevel gear pair. The motor shaft axis and the active roller axis are perpendicular to each other, and the power bevel gear pair is fixed to the mounting column on the other side through the power gear box; the driven mechanism includes a driven bevel gear pair and a transmission gear box. One end of the driven roller is rotatably matched with a mounting column on one side through the driven roller track seat, and the other end of the driven roller is connected to the transmission shaft through the driven bevel gear pair, and the driven bevel gear pair is fixed to the mounting column on the other side through the transmission gear box; the head end of the transmission shaft is coaxially connected with the driving gear of the power bevel gear pair. The rotation of the motor shaft causes the active roller and the transmission shaft to rotate, thereby driving the driven roller to rotate.

[0006] Furthermore, the active unit is provided with a plurality of active rollers and corresponding driving mechanisms, the driven unit is provided with a plurality of driven rollers and corresponding driven mechanisms, the active rollers and the driven rollers are arranged equidistantly along the height direction of the corresponding mounting columns, and a plurality of transmission shafts are correspondingly provided to respectively connect the driving mechanisms and the driven mechanisms at the same height; all rollers at the same height constitute a roller track at the corresponding height.

[0007] Furthermore, both the active unit and the driven unit are provided with a limit assembly, which is located above the load side and symmetrically fixed to two mounting columns. The limit assembly rolls with the moving load and can be used to limit the displacement above and to the left and right of the load.

[0008] Furthermore, a locking latch mechanism may be provided on the mounting columns of the active unit and the driven unit, and the locking latch mechanism may latch and lock the load under the drive of the latch motor.

[0009] Furthermore, each mounting column is provided with a mounting seat for being fixedly connected to the aircraft carrying frame.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] 1. The present invention is composed of an active unit and a plurality of driven units. The roller track is composed of all rollers. The load thereon is moved along the roller track by the same-direction rotation of each roller. The number of driven units and the distance between the driven units can be flexibly adjusted according to the load length and storage space. The whole device is composed of a modular structure, and has a high degree of integration, is easy to install and disassemble, has good structural stability, and is adaptable to different loads and conveying paths.

[0012] 2. The present invention converts the rotation of the motor into the rotation of all rollers through a bevel gear pair and a transmission shaft, and has high transmission efficiency and smoothness; each active unit and driven unit is provided with rollers of different heights, and multiple roller tracks of different heights can be used to transmit multiple loads at the same time, thereby increasing space utilization.

[0013] 3. The limit assembly of the present invention rolls with the moving load and can be used to limit the displacement of the load above and to the left and right, so that the load can be reliably transported regardless of whether it is in a negative buoyancy state, a zero buoyancy state, or a positive buoyancy state; the locking latch mechanism of the present invention can effectively prevent the load from moving due to changes in the aircraft's attitude when the load does not need to be transmitted. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a schematic diagram of the structure of the present invention.

[0015] Among them, 1- roller, 2- limit assembly, 3- adjustment knob, 4- load, 5- locking latch mechanism, 6- latch motor, 7- passive wheel, 8- mounting seat, 9- transmission shaft, 10- mounting column, 11- transmission gear box, 12- power gear box, 13- conveying motor, 14- active roller seat, A- active unit, B- driven unit. DETAILED DESCRIPTION

[0016] 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.

[0017] The present invention provides a load conveying device for an underwater unmanned vehicle, such as Figure 1 As shown, the device includes a roller 1, a mounting column 10, a driving mechanism, a driven mechanism and a transmission shaft 9; every two mounting columns 10 form a group, and the two mounting columns 10 are vertically mounted on the aircraft and connected through a roller 1 perpendicular thereto, that is, the two mounting columns 10 are parallel to each other and perpendicular to the bottom surface of the aircraft, and the axis of the roller 1 is parallel to the bottom surface of the aircraft; the roller 1 is divided into an active roller and a driven roller. In this embodiment, each mounting column 10 is provided with a mounting seat 8, which is fixedly connected to the aircraft load-bearing frame by fasteners, so as to be installed on the aircraft.

[0018] The roller 1 rotates with a group of mounting columns 10 through a driving mechanism to form an active unit A, and the roller 1 of the active unit A is an active roller; the roller 1 rotates with a group of mounting columns 10 through a driven mechanism to form a driven unit B, and the roller 1 of the driven unit B is a driven roller. The active unit A and several driven units B are connected through a transmission shaft 9, and the positional relationship is: the active unit A is located at the head end, and it and several driven units B are arranged side by side in sequence along the transmission direction, the driving mechanism and several driven mechanisms are located on the same straight line parallel to the transmission direction, and all the axes of the rollers 1 are perpendicular to the transmission direction, and the driving mechanism and several driven mechanisms are connected in sequence through the transmission shaft 9.

[0019] The driving mechanism is used to drive the active roller to rotate, and the driven mechanism drives the driven roller to rotate in the same direction as the active roller through the transmission shaft 9. The load 4 is located on the roller track composed of all rollers 1. The rotation of all rollers 1 enables the load 4 to move along the transmission direction. When the load 4 is transported, there is rolling friction between the bottom of the load 4 and the roller track. The roller 1 is made of flexible high-friction material to ensure good contact between the roller track and the load 4.

[0020] Specifically, the driving mechanism includes a conveying motor 13, a power bevel gear pair and a power gear box 12. One end of the active roller is rotatably matched with a mounting column 10 on one side through an active roller track seat 14. The other end of the active roller is connected to the motor shaft of the conveying motor 13 through a power bevel gear pair. The motor shaft axis and the active roller axis are perpendicular to each other. The power bevel gear pair is fixed to the mounting column 10 on the other side through the power gear box 12 by fasteners. The driven mechanism includes a driven bevel gear pair and a transmission gear box 11. One end of the driven roller is rotatably matched with a mounting column 10 on one side through a driven roller track seat. The other end of the driven roller is connected to the transmission shaft 9 through a driven bevel gear pair. The driven bevel gear pair is fixed to the mounting column 10 on the other side through the transmission gear box 11 by fasteners.

[0021] The front end of the transmission shaft 9 is coaxially connected to the driving gear of the power bevel gear pair. The rotation of the motor shaft causes the driving roller to rotate through the power bevel gear pair, and at the same time causes the transmission shaft 9 to rotate. The rotation of the transmission shaft 9 causes the driven roller to rotate in the same direction as the driving roller through the driven bevel gear pair. The conveying motor 13 drives its motor shaft to rotate forward or reverse, which correspondingly realizes the forward or reverse rotation of the roller 1, so that the load 4 is put into or taken out of the warehouse.

[0022] The active unit A and the passive unit B are connected through the transmission shaft 9 on the side of the conveying motor 13 to transmit the conveying power. In the specific implementation, according to the power calculation, one active unit A can be connected to multiple passive units B through the transmission shaft 9; according to the length of the load 4 and the storage space, the distance between the active unit A and the passive unit B can be adjusted, or the length of the transmission shaft 9 can be adjusted, which has the advantage of flexible combination; the transmission shaft 9 can also be divided into small sections according to actual conditions, and the small sections are connected through couplings; the number of devices used can also be flexibly adjusted according to the conveying path, and several devices can be placed at intervals along the transmission direction.

[0023] As an improvement, multi-layer roller track transmission can be realized by providing multiple rollers 1 on each group of mounting columns 10. That is, the active unit A is provided with several active rollers and corresponding driving mechanisms, and the driven unit B is provided with several driven rollers and corresponding driven mechanisms. The active rollers and the driven rollers are arranged equidistantly along the height direction of the corresponding mounting columns 10, and correspondingly, several transmission shafts 9 are provided to connect the driving mechanisms and driven mechanisms at each height; all rollers 1 at the same height constitute roller tracks at the corresponding height, so that multiple roller tracks at different heights can simultaneously transmit multiple loads 4, thereby increasing space utilization.

[0024] As an improvement, both the active unit A and the driven unit B are provided with a limit assembly 2, which is located above the side of the load 4 and symmetrically fixed to two mounting columns 10. The limit assembly 2 rolls with the moving load 4 and can be used to limit the displacement of the load 4 above and to the left and right. The above refers to the height direction of the mounting column 10, and the left and right refers to the axis direction of the roller 1.

[0025] For example, the limiting assembly 2 uses a passive wheel 7, and by adjusting the angle between the axis of the passive wheel 7 and the mounting column 10 and the shape of the contact surface between the passive wheel 7 and the load 4, the load 4 is transmitted forward and backward in a predetermined direction, limiting its upward and lateral displacement to the left and right. The roller at the bottom of the load 4 and the passive wheel 7 above the side of the load 4 act on the load at the same time, so that the load can be reliably transported regardless of whether it is in a negative buoyancy state, a zero buoyancy state, or a positive buoyancy state. An adjusting knob 3 can also be provided as needed, and the adjusting knob 3 is used to adjust the distance between the passive wheel 7 and the load 4 to ensure that the load 4 is well limited and to avoid the surface of the load 4 from being crushed.

[0026] As an improvement, a locking latch mechanism 5 may also be provided on the mounting columns 10 of the active unit A and the driven unit B. The locking latch mechanism 5 can latch and lock the load 4 under the drive of its latch motor 6 to prevent the load 4 from moving when the aircraft attitude changes.

[0027] The present invention is suitable for conveying the underwater vehicle load 4. Through the rollers arranged at the bottom of the load 4 and the limit assembly 2 on the upper side, the load 4 is clamped and conveyed, which meets the use requirements of the load 4 in different buoyancy states and has the advantage of good adaptability to the load 4. The active unit A and the passive unit B can be independently installed on the vehicle load-bearing frame as a whole, and have good integration and assemblability. Through the flexible combination of the active unit A and the driven unit B, it can adapt to different loads 4 and layout spaces.

[0028] 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. A load conveying device for an underwater unmanned vehicle, characterized in that: It includes a roller, a mounting column, a driving mechanism, a driven mechanism and a transmission shaft; every two mounting columns form a group, which are vertically mounted on the aircraft and connected through a roller perpendicular to the roller, and the roller is divided into an active roller and a driven roller; The active roller is rotated with a group of mounting columns through a driving mechanism to form an active unit; the driven roller is rotated with a group of mounting columns through a driven mechanism to form a driven unit; the active unit and several driven units at the head end are arranged side by side in sequence along the transmission direction, the roller axis is perpendicular to the transmission direction, the driving mechanism and several driven mechanisms are located in the same straight line parallel to the transmission direction, and are connected in sequence through a transmission shaft; The driving mechanism is used to drive the active roller to rotate, and through the transmission shaft, the driven mechanism drives the driven roller to rotate in the same direction as the active roller. The load is located on the roller track composed of all rollers, and the rotation of all rollers realizes the movement of the load along the transmission direction.

2. The underwater unmanned vehicle load conveying device according to claim 1, characterized in that: The driving mechanism includes a conveying motor, a power bevel gear pair and a power gear box. One end of the active roller is rotatably matched with a mounting column on one side through an active roller track seat. The other end of the active roller is connected to the motor shaft of the conveying motor through a power bevel gear pair. The axis of the motor shaft and the axis of the active roller are perpendicular to each other. The power bevel gear pair is fixed to the mounting column on the other side through a power gear box. The driven mechanism includes a driven bevel gear pair and a transmission gear box. One end of the driven roller is rotatably matched with a mounting column on one side through a driven roller track seat. The other end of the driven roller is connected to the transmission shaft through the driven bevel gear pair. The driven bevel gear pair is fixed to the mounting column on the other side through the transmission gear box. The head end of the transmission shaft is coaxially connected with the driving gear of the power bevel gear pair. The rotation of the motor shaft causes the driving roller and the transmission shaft to rotate, thereby driving the driven roller to rotate.

3. The underwater unmanned vehicle load conveying device according to claim 1, characterized in that: The active unit is provided with a plurality of active rollers and corresponding driving mechanisms, and the driven unit is provided with a plurality of driven rollers and corresponding driven mechanisms. The active rollers and the driven rollers are arranged equidistantly along the height direction of the corresponding mounting columns, and a plurality of transmission shafts are provided to respectively connect the driving mechanisms and the driven mechanisms at the same height; all rollers at the same height constitute a roller track at the corresponding height.

4. The underwater unmanned vehicle load conveying device according to claim 3, characterized in that: Both the active unit and the driven unit are provided with a limit assembly, which is located above the load side and symmetrically fixed to two mounting columns. The limit assembly is in rolling cooperation with the moving load and can be used to limit the displacement above and to the left and right of the load.

5. The underwater unmanned vehicle load conveying device according to claim 3, characterized in that: The mounting columns of the active unit and the driven unit may also be provided with a locking latch mechanism, which can latch and lock the load under the drive of the latch motor.

6. The underwater unmanned vehicle load conveying device according to any one of claims 1 to 5, characterized in that: Each mounting column is provided with a mounting seat for fixing to the aircraft carrying frame.

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