Carrying release device and method of deploying a vehicle

Abstract

The present disclosure provides a kind of carrying release device and the method for launching and recovering of vehicle, belong to ship equipment technical field.The carrying release device includes fixed assembly, embrace component and limiting component;The fixed assembly is used to connect with mother ship;The embrace component includes embrace drive element and embrace structural element, the embrace drive element and the embrace structural element are connected with the fixed assembly, the embrace drive element is connected with the embrace structural element, and the embrace drive element is used to drive the embrace structural element embrace vehicle or release the vehicle;The limiting component is located on the same side of the fixed assembly with the embrace component, and the limiting component is movably connected with the fixed assembly and the embrace structural element, and the limiting component is used to lock the embrace structural element after the embrace structural element embraces the vehicle.The present disclosure can make the stable information power transmission between vehicle and mother ship.

Description

Technical Field

[0001] This disclosure belongs to the field of marine equipment technology, and specifically relates to a method for launching and recovering a vehicle equipped with a release device. Background Technology

[0002] When the vehicle returns to the vicinity of the mother ship after completing its mission, it needs to exchange power, signals, and information with the mother ship. Since both the vehicle and the mother ship are in an underwater environment, when they are close to each other, the suction force caused by the water flow can cause the vehicle to collide with the mother ship, thus affecting information and energy transmission.

[0003] In related technologies, to ensure reliable information and energy transmission between the spacecraft and the mother ship, a recovery compartment is typically installed on the mother ship for recovering or releasing the spacecraft. The recovery compartment includes a hull and a winch system. The winch system is connected to both the hull and the mother ship. During recovery, once the spacecraft reaches the designated location, the mother ship controls the winch system to release the hull into the seawater, positioning it at the spacecraft's location. The spacecraft then automatically docks with the hull under its own propulsion capability, enabling the transfer of power and information between the spacecraft and the mother ship.

[0004] However, since the recovery capsule lacks internal power, it cannot navigate on its own and can only passively follow the mother ship's movement via a tow cable system. Furthermore, because the recovery capsule floats on the sea surface, when the mother ship is moving, the capsule will move freely within the tow cable system's range, creating a possibility of collision and affecting information and power transmission between the two vessels. Summary of the Invention

[0005] This disclosure provides a method for launching and recovering a vehicle equipped with a release device and an underwater vehicle, used to fix or release a target underwater vehicle in an underwater environment. This allows the vehicle and mother ship to remain relatively stationary during information transmission, thereby improving the stability of information transmission between the mother ship and the vehicle. The technical solution is as follows:

[0006] This disclosure provides a launch and release device, which includes a fixing component, a clamping component, and a limiting component. The fixing component is used to connect to a mother ship. The clamping component includes a clamping drive and a clamping structure, both of which are connected to the fixing component. The clamping drive is connected to the clamping structure and is used to drive the clamping structure to clamp or release the vehicle. The limiting component is located on the same side of the fixing component as the clamping component, and is movably connected to both the fixing component and the clamping structure. The limiting component is used to lock the clamping structure after it has clamped the vehicle.

[0007] In another implementation of this disclosure, the clamping structure includes two clamping arms arranged opposite to each other, with one end of each clamping arm hinged to the fixing component; the clamping drive includes two clamping drive cylinders arranged in a one-to-one correspondence with the two clamping arms, the two clamping drive cylinders being located between the two clamping arms, with one end of each clamping drive cylinder connected to the fixing component, and the other end of each clamping drive cylinder hinged to the corresponding clamping arm; the extension and retraction direction of the clamping drive cylinder is perpendicular to both the hinge axis between the clamping arm and the fixing component and the hinge axis between the clamping arm and the clamping drive cylinder.

[0008] In another implementation of this disclosure, the extension and retraction directions of the two clamping drive cylinders form an angle of no more than °; the two clamping drive cylinders and the two clamping arms are symmetrically arranged about the angle bisector of the included angle.

[0009] In another implementation of this disclosure, the limiting component includes two limiting units arranged in a one-to-one correspondence with the two clamping arms. Each limiting unit includes a limiting pin and a limiting cylinder. The limiting pin is movably located at the hinge position between the corresponding clamping arm and the fixing component. One end of the limiting pin is connected to the limiting cylinder, and the other end of the limiting pin is used to insert into the fixing component and located on the side of the corresponding clamping arm away from the other clamping arm to prevent the two clamping arms from moving away from each other. The limiting pin is parallel to the rotation axis of the corresponding clamping arm. The limiting cylinder is used to drive the limiting pin to move, so as to insert into or disengage from the fixing component.

[0010] In another implementation of this disclosure, the limiting cylinder includes a cylinder body and a hinge block. One end of the cylinder body is used to connect to the mother ship, and the other end of the cylinder body is hinged to the hinge block. The hinge block is hinged to one end of the limiting pin, and the hinge axis between the hinge block and the limiting pin is parallel to the hinge axis between the hinge block and the cylinder body.

[0011] In another implementation of this disclosure, the mounting release device further includes a shock-absorbing component located between the two clamping arms and connected to the fixing component. The shock-absorbing component is extendable and retractable along a direction perpendicular to the rotation axis of the clamping arms. The shock-absorbing component and the two clamping arms together define a clamping space for clamping the aircraft.

[0012] In another implementation of this disclosure, the shock-absorbing assembly includes a base plate, a web plate, and at least one telescopic elastic member. The base plate and the web plate are located on opposite sides of the fixing assembly. The base plate is used to connect to the mother ship, and the side of the web plate away from the base plate is used to fit against the vehicle. The two ends of the telescopic elastic member are connected to the base plate and the web plate, respectively, and the telescopic elastic member extends and retracts in the direction of the rotation axis of the clamping arm.

[0013] In another implementation of this disclosure, the web is an arc-shaped plate, and the center of the arc-shaped plate is located on the side of the web away from the bottom plate.

[0014] In another implementation of this disclosure, the fixing component includes two fixed seats and two hinge seats; the two fixed seats are arranged at intervals and form a V shape, and each of the two fixed seats corresponds to one of the two clamping drive cylinders. Each of the two fixed seats is elongated; the hinge seats and the clamping drive cylinders are located on the same side of the corresponding fixed seats, one end of the fixed seat in the length direction is hinged to one end of the corresponding clamping drive cylinder, and the other end of the fixed seat in the length direction is connected to the corresponding hinge seat; each hinge seat corresponds to one of the clamping arms, and the hinge seat is hinged to the corresponding clamping arm.

[0015] In another implementation of this disclosure, a method for launching and retrieving a vehicle is also provided. The method includes: when the vehicle needs to be released, controlling a limiting component in a launch device to activate a clamping component in the launch device; controlling a clamping drive in the clamping component to drive a clamping structure to release the vehicle; or; when the vehicle needs to be recovered, controlling the clamping drive to drive the clamping structure to clamp the vehicle; controlling a limiting component to lock the clamping structure; wherein the launch device is the launch device described above.

[0016] The beneficial effects of the technical solutions provided in this disclosure are:

[0017] Because the clamping assembly includes a clamping drive component and a clamping structural component, and the clamping drive component drives the clamping structural component to clamp or release the vehicle, when the vehicle needs to be recovered, the clamping drive component can be controlled to control the clamping structural component, causing the clamping structural component to hold the vehicle, thereby achieving relative stillness between the vehicle and the mother ship. This ensures that the positions of the mother ship and the vehicle remain synchronized in real time, improving the stability of power or information transmission between the vehicle and the mother ship. Furthermore, using the clamping structural component to clamp the vehicle also reduces the impact of water currents on the vehicle, allowing it to be stably connected to the mother ship. Conversely, when the vehicle needs to leave the mother ship, the clamping drive component is controlled to control the clamping structural component, causing the clamping structural component to release the vehicle, allowing the vehicle to self-propel under the influence of water currents or its own power.

[0018] Furthermore, since the launch device also includes a limiting component, and the limiting component is used to prevent the clamping structure from moving after the clamping structure clamps the vehicle, when the vehicle is being recovered, after the clamping structure clamps the vehicle, the limiting component can be controlled so that the limiting component can prevent the clamping structure from moving, ensuring that the clamping structure will not easily loosen, thereby reducing the possibility of the vehicle detaching from the mother ship. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this disclosure, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this disclosure. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a three-dimensional schematic diagram of an embodiment of the present disclosure that includes a release device;

[0021] Figure 2 yes Figure 1 Top view;

[0022] Figure 3 yes Figure 1 The front view;

[0023] Figure 4 yes Figure 1 Side view;

[0024] Figure 5 yes Figure 1 A schematic diagram of the structure of one of the clamping arms;

[0025] Figure 6 yes Figure 5 A schematic diagram of the structure of the mid-clamping arm clamping the aircraft.

[0026] Figure 7 yes Figure 6 A schematic diagram of the structure for inserting the center pin;

[0027] Figure 8 A schematic diagram showing the connection between the launch device and the aircraft;

[0028] Figure 9 A schematic diagram showing the deployment device being carried and connected to the mother ship along with the aircraft.

[0029] The symbols in the diagram represent the following meanings:

[0030] 1. Fixing component; 11. Fixing base; 111. First connecting plate; 112. Second connecting plate; 113. Third connecting plate; 12. Hinge base; 121. First side plate; 122. Second side plate; 1220. Insertion hole;

[0031] 2. Clamping assembly; 21. Clamping drive component; 211. Clamping drive cylinder; 22. Clamping structural component; 221. Clamping arm; 2211. Arm body; 2212. Reinforcing rib; 2213. Limiting head; 223. Buffer pad;

[0032] 3. Limiting assembly; 30. Limiting unit; 31. Limiting pin; 32. Limiting cylinder; 321. Cylinder body; 322. Hinge block; 33. Limiting sleeve; 34. Connecting support;

[0033] 4. Shock-absorbing components; 40. Clamping space; 41. Base plate; 42. Web plate; 43. Telescopic elastic components;

[0034] 100. Aircraft; 200. Mother ship. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this disclosure clearer, the embodiments of this disclosure will be described in further detail below with reference to the accompanying drawings.

[0036] This disclosure provides an embodiment of a release device, such as... Figure 1 As shown, the release device includes a fixing component 1, a clamping component 2, and a limiting component 3. The fixing component 1 is used to connect to the mother ship 200.

[0037] Figure 2 yes Figure 1 Top view, combined Figure 2The clamping assembly 2 includes a clamping drive component 21 and a clamping structure component 22. Both the clamping drive component 21 and the clamping structure component 22 are connected to the fixing assembly 1. The clamping drive component 21 is connected to the clamping structure component 22. The clamping drive component 21 is used to drive the clamping structure component 22 to clamp the vehicle or release the vehicle.

[0038] Combination Figure 1 and Figure 2 The limiting component 3 and the clamping component 2 are located on the same side of the fixing component 1, and the limiting component 3, the fixing component 1 and the clamping structure 22 are all movably connected. The limiting component 3 is used to lock the clamping structure 22 after it clamps the aircraft.

[0039] When the launch device provided in this embodiment is used to recover or release the vehicle, it can be connected to the mother ship 200 through the fixing component 1, so that the launch device can be installed in the mother ship 200. At the same time, the fixing component 1 can also provide an installation base for the clamping component 2 and the limiting component 3 in the launch device, which facilitates the installation of the clamping component 2 and the limiting component 3.

[0040] Since the clamping assembly 2 includes a clamping drive component 21 and a clamping structural component 22, and the clamping drive component 21 is used to drive the clamping structural component 22 to clamp or release the vehicle, when the vehicle needs to be recovered, the clamping drive component 21 can be controlled to control the clamping structural component 22, so that the clamping structural component 22 clamps the vehicle, thereby achieving relative stillness between the vehicle and the mother ship. This ensures that the positions of the mother ship and the vehicle are kept synchronized in real time, improving the stability of power or information transmission between the vehicle and the mother ship. Moreover, using the clamping structural component 22 to clamp the vehicle can also reduce the impact of water flow on the vehicle, allowing the vehicle to be stably connected to the mother ship. Conversely, when the vehicle needs to leave the mother ship, the clamping drive component 21 is also controlled to control the action of the clamping structural component 22, so that the clamping structural component 22 releases the vehicle, and the vehicle can then achieve self-propulsion under the action of water flow or its own power.

[0041] Furthermore, since the launch device also includes a limiting component 3, and the limiting component 3 is used to prevent the clamping structure 22 from moving after it has clamped the vehicle, when the vehicle is being recovered, after the clamping structure 22 has clamped the vehicle, the limiting component 3 can be controlled so that the limiting component 3 can prevent the clamping structure 22 from moving, ensuring that the clamping structure 22 will not loosen easily and reducing the possibility of the vehicle leaving the mother ship.

[0042] Figure 3 for Figure 1 The front view, combined with Figure 3Optionally, the clamping structure 22 includes two clamping arms 221, which are arranged opposite to each other, and one end of each clamping arm 221 is hinged to the fixing component 1.

[0043] The clamping drive component 21 includes two clamping drive cylinders 211 arranged in a one-to-one correspondence with the two clamping arms 221. The two clamping drive cylinders 211 are located between the two clamping arms 221, and one end of each clamping drive cylinder 211 is connected to the fixing component 1. The other end of each clamping drive cylinder 211 is hinged to the corresponding clamping arm 221. The extension and retraction direction of the clamping drive cylinder 211 is perpendicular to the hinge axis between the clamping arm 221 and the fixing component 1, as well as the hinge axis between the clamping arm 221 and the clamping drive cylinder 211.

[0044] In the above implementation, the clamping arm 221 is used to hold the aircraft. Moreover, the clamping arm 221 is hinged to the fixing component 1, and the clamping structure 22 can be easily clamped or released from the aircraft by controlling the rotation position (or rotation angle) of the clamping arm 221.

[0045] The clamping drive cylinder 211 is used to drive the clamping arm 221 to rotate, so as to control the clamping structure 22 to clamp or release the aircraft.

[0046] When the vehicle needs to be deployed in the water, the clamping drive cylinder 211 is extended. After the clamping drive cylinder 211 extends, it can push the corresponding clamping arm 221 away from the other clamping arm 221 to rotate, thereby causing the two clamping arms 221 to open and release the vehicle being held.

[0047] When the vehicle needs to be recovered to the mother ship, after the vehicle moves around the mother ship and is positioned between the two clamping arms 221, the clamping drive cylinder 211 is controlled to retract. After the clamping drive cylinder 211 retracts, it can pull the corresponding clamping arm 221 to rotate toward the other clamping arm 221 until each clamping arm 221 is in contact with the outer wall of the vehicle, thereby holding the vehicle by the two clamping arms 221.

[0048] Optionally, the extension and retraction directions of the two clamping drive cylinders 211 form an angle of no more than 180°. The two clamping drive cylinders 211 and the two clamping arms 221 are symmetrically arranged about the angle bisector.

[0049] In the above implementation, the above arrangement can make the two clamping arms 221 move synchronously, thereby making the clamping arms 221 exert the same force on the vehicle, ensuring the vehicle is balanced by force, and making the vehicle stably fixed.

[0050] Optionally, the extension and retraction direction of the clamping drive cylinder 211 is perpendicular to the length direction of the clamping arm 221.

[0051] In the above implementation, when the extension and retraction direction of the clamping drive cylinder 211 is perpendicular to the length direction of the clamping arm 221, the driving efficiency of the clamping drive cylinder 211 can be improved, so that when the extension and retraction of the clamping drive cylinder 211 is at its shortest stroke, the rotation angle of the clamping arm 221 is maximized.

[0052] In this embodiment of the present disclosure, a buffer pad 223 is provided in the side wall of the opposite side of the two clamping arms 221, and the buffer pad is adhered to the side wall of the clamping arm 221.

[0053] The buffer pad 223 can increase the friction between the clamping arm 221 and the aircraft, and at the same time reduce the possibility of the clamping arm 221 scratching the outer surface of the aircraft.

[0054] The buffer pad 223 can be any type of rubber pad, sponge pad, etc.

[0055] See also Figure 3 Optionally, the clamping arm 221 includes an arm body 2211, reinforcing ribs 2212, and limiting heads 2213. The arm body 2211 is a long rod-shaped structure. The reinforcing ribs 2212 and limiting heads 2213 are located at opposite ends along the length of the arm body 2211. Both the reinforcing ribs 2212 and limiting heads 2213 are located on one side of the arm body 2211 facing the other clamping arm 221. Both the reinforcing ribs 2212 and limiting heads 2213 are connected to the arm body 2211.

[0056] The reinforcing rib 2212 increases the connection strength of the clamping arm 221, allowing the clamping arm 221 to be stably hinged in the fixing assembly 1. The limiting head 2213 is used to fit the clamping arm 221 against the outer wall of the vehicle after it has clamped the vehicle, further limiting the vehicle and reducing the possibility of the vehicle falling off.

[0057] Both the limiting head 2213 and the reinforcing rib 2212 are right-angled triangular plate-shaped structures. The plane containing the hypotenuse of the limiting head 2213 and the plane containing the hypotenuse of the reinforcing rib 2212 are both arranged on the side away from the arm body 2211. This facilitates the arrangement of the limiting head 2213 and the reinforcing rib 2212.

[0058] To simplify the processing steps, the above clamping arm 221 is a single structural component.

[0059] Figure 4 yes Figure 1 The side view, combined with Figure 4 Optionally, the limiting component 3 includes two limiting units 30 arranged in a one-to-one correspondence with the two clamping arms 221.

[0060] Each of the two limiting units 30 includes a limiting pin 31 and a limiting cylinder 32. The limiting pin 31 is movably located at the hinge position between the corresponding clamping arm 221 and the fixing component 1. One end of the limiting pin 31 is connected to the limiting cylinder 32, and the other end of the limiting pin 31 is used to insert into the fixing component 1 to prevent the two clamping arms 221 from moving away from each other, so as to be located on the side of the corresponding clamping arm 221 away from the other clamping arm 221. The length direction of the limiting pin 31 is parallel to the direction of the rotation axis of the corresponding clamping arm 221. The limiting cylinder 32 is located at one end of the length direction of the limiting pin 31, and the limiting cylinder 32 is used to drive the limiting pin 31 to move along its own length direction to insert into or disengage from the fixing component 1.

[0061] In the above implementation, two limiting units 30 can be arranged one-to-one with the two clamping arms 221. Each limiting unit 30 is configured as a limiting pin 31 and a limiting cylinder 32. The position of the clamping arm 221 can be limited by the movement of the limiting pin 31. The limiting cylinder 32 is used to drive the movement of the limiting pin 31.

[0062] Figure 5 yes Figure 1 A schematic diagram of the structure of one of the clamping arms, combined with Figure 5 For example, when it is necessary to deploy the vehicle in the water, the clamping drive cylinder 211 is extended. After the clamping drive cylinder 211 extends, it can push the corresponding clamping arm 221 away from the other clamping arm 221 to rotate, thereby causing the two clamping arms 221 to open and release the vehicle being held.

[0063] Figure 6 yes Figure 5 A structural diagram of the mid-clamping arm clamping aircraft, combined with Figure 6 Conversely, when it is necessary to release the aircraft, the clamping drive cylinder 211 can be shortened. After the clamping drive cylinder 211 is shortened, the corresponding clamping arm 221 can be pushed to rotate toward the other clamping arm 221, so that the two clamping arms 221 come together and clamp the aircraft.

[0064] At this time, in order to prevent the holding arm 221 from releasing the holding vehicle when the holding drive cylinder 211 fails, the limit cylinder 32 can be extended to control the movement of the limit pin 31, so that the limit pin 31 moves to the side of the corresponding holding arm 221 facing the holding drive cylinder 211.

[0065] Figure 7 yes Figure 6 A schematic diagram of the middle pin insertion structure, combined with... Figure 7The limit pin 31 moves to the side of the corresponding clamping arm 221 away from the other clamping arm 221. In this way, even if the clamping drive cylinder 211 fails, the clamping arm 221 will not open, thereby preventing the clamping arm 221 from loosening the vehicle.

[0066] To simplify the control process of the limit cylinder 32 on the limit pin 31, the limit cylinder 32 is a spring cylinder.

[0067] In this embodiment, the hinge axis between the limiting pin 31, the clamping arm 221 corresponding to the limiting pin 31 and the fixing component, and the hinge axis between the clamping arm 221 corresponding to the limiting pin 31 and the corresponding clamping drive cylinder 211 are parallel to each other, and the three are arranged in a triangular shape.

[0068] Optionally, the limiting cylinder 32 includes a cylinder body 321 and a hinge block 322. One end of the cylinder body 321 is used to connect to the mother ship 200, and the other end of the cylinder body 321 is hinged to the hinge block 322.

[0069] The hinge block 322 is hinged to one end of the limiting pin 31, and the hinge axis of the hinge block 322 and the limiting pin 31 is parallel to the hinge axis of the hinge block 322 and the cylinder body 321.

[0070] In the above implementation, the hinge block 322 is used to hinge the cylinder body 321 to the limiting pin 31. This allows the hinge block 322 to form a connecting rod structure between the cylinder body 321 and the limiting pin 31, facilitating the arrangement of the cylinder body 321. Furthermore, when the cylinder body 321 extends, the hinge block 322 can rotate about the hinge axis between the hinge block 322 and the limiting pin 31. After rotation, the hinge block 322 can drive the limiting pin 31 to move.

[0071] In this embodiment, in order to further reduce the space occupied by the hinge block 322, the hinge block 322 is an arc-shaped block, and the two ends of the arc length direction of the hinge block 322 are respectively hinged to the limiting pin 31 and the cylinder body 321.

[0072] Optionally, the limiting component 3 further includes a limiting sleeve 33, one end of which is fixed to the fixing component 1, and the other end of which is coaxially sleeved outside the limiting pin 31, and the inner wall of the limiting sleeve 33 slides in contact with the outer wall of the limiting pin 31.

[0073] The limiting sleeve 33 is used to guide the movement of the limiting pin 31, so that the limiting pin 31 can only move along its own length direction.

[0074] Figure 8 This is a diagram illustrating the connection between the launch device and the aircraft, combined with... Figure 8Optionally, the release device also includes a shock-absorbing component 4, which is located between the two clamping arms 221 and is connected to the fixing component 1. The shock-absorbing component 4 can extend and retract along a direction perpendicular to the rotation axis of the clamping arms 221. The shock-absorbing component 4 and the two clamping arms 221 together define a clamping space 40 for clamping the aircraft.

[0075] In the above implementation, the shock-absorbing component 4, together with the two clamping arms 221, defines the clamping space 40 to clamp the vehicle. Simultaneously, it provides multiple support points for the vehicle, increasing the mother ship's coverage and improving stability. Furthermore, the shock-absorbing component 4 also dampens the vehicle's vibrations when it is clamped, preventing collisions with the mother ship during recovery and release, thus reducing the likelihood of danger.

[0076] Optionally, the shock-absorbing assembly 4 includes a base plate 41, a web plate 42, and at least one telescopic elastic member 43. The base plate 41 and the web plate 42 are located on opposite sides of the fixing assembly 1. The base plate 41 is used to connect with the mother ship, and the side of the web plate 42 away from the base plate 41 is used to fit against the aircraft. The two ends of the telescopic elastic member 43 are connected to the base plate 41 and the web plate 42, respectively, and the telescopic elastic member 43 extends and retracts in the direction of the rotation axis of the clamping arm 221.

[0077] In the above implementation, the base plate 41 is used for connection with the mother ship, increasing the connection points between the launch device and the mother ship and improving the connection stability of the launch device. At the same time, the base plate 41 can also provide an installation base for the telescopic elastic element 43.

[0078] The web plate 42 is used to contact the vehicle so as to provide support for the vehicle when the clamping arm 221 clamps it, allowing the vehicle to be quickly positioned under the squeezing action of the clamping arm 221. The telescopic elastic element 43 is used to flexibly connect the web plate 42 and the bottom plate 41, so that the vehicle can be flexibly adjusted to the recovery position when it is clamped, reducing the possibility of the vehicle colliding with the mother ship during recovery and release.

[0079] Combination Figure 3 Optionally, the web plate 42 is an arc-shaped plate, with the center of the arc-shaped plate located on the side of the web plate 42 away from the bottom plate 41.

[0080] In the above implementation, the web plate 42 is set as an arc-shaped plate because the aircraft is generally a cylindrical structure. This arc-shaped plate can further increase the contact area between the web plate 42 and the aircraft, allowing the web plate 42 to fit well with the aircraft.

[0081] To further enhance cushioning, a gasket is provided on the side of the web 42 away from the base plate 41. The gasket is bonded to the side wall of the web 42. The gasket may also be a rubber gasket.

[0082] Optionally, the fixing component 1 includes two fixing seats 11 and two hinge seats 12. The two fixing seats 11 are arranged at intervals and form a V shape. The two fixing seats 11 correspond one-to-one with the two clamping drive cylinders 211. Each of the two fixing seats 11 is elongated.

[0083] The hinge seat 12 and the clamping drive cylinder 211 are both located on the same side of the corresponding fixed seat 11. One end of the fixed seat 11 in the longitudinal direction is hinged to one end of the corresponding clamping drive cylinder 211, and the other end of the fixed seat 11 in the longitudinal direction is connected to the corresponding hinge seat 12. The hinge seat 12 corresponds one-to-one with the clamping arm 221, and the hinge seat 12 is hinged to the corresponding clamping arm 221.

[0084] In the above implementation, the fixed base 11 provides a mounting base for the hinged base 12. Furthermore, the two fixed bases 11 correspond to the two clamping arms 221. The two hinged bases 12 are used to hinge with the clamping arms 221.

[0085] Combination Figure 5 Optionally, the hinge seat 12 is a U-shaped plate structure. The hinge seat 12 includes a first side plate 121 and a second side plate 122, which are parallel to each other and both are connected to the fixed seat 11.

[0086] The clamping arm 221 is located between the first side plate 121 and the second side plate 122, and is hinged to both side plates 121 and 122. The hinge axis of the clamping arm 221 is coaxial with that of the first side plate 121 and the second side plate 122, and perpendicular to the second side plate 122. One end of the clamping drive cylinder 211, connected to the corresponding clamping arm 221, is located between the first side plate 121 and the second side plate 122. One end of the clamping drive cylinder 211 is movably located between the first side plate 121 and the second side plate 122.

[0087] Both the first side plate 121 and the second side plate 122 are provided with insertion holes 1220. The two insertion holes 1220 are coaxial, and the axial direction of the insertion hole 1220 is perpendicular to the second side plate 122 in which it is located. The insertion hole 1220 is located in the rotation trajectory of the corresponding clamping arm 221.

[0088] The first side plate 121 is connected to the limiting sleeve 33. The axial direction of the limiting sleeve 33 is perpendicular to the first side plate 121.

[0089] When the limit pin 31 needs to restrict the movement of the corresponding clamping arm 221, the limit cylinder 32 can be controlled to move the limit pin 31 out of the limit sleeve 33 and insert it into the two sockets 1220.

[0090] When it is necessary to release the limiting effect of the limiting pin 31 on the clamping arm 221, the limiting cylinder 32 is controlled to move the limiting pin 31 out of the two insertion holes 1220 and retract it into the limiting sleeve 33.

[0091] Optionally, the mounting base 11 has a frame structure and includes a first connecting plate 111, a second connecting plate 112, and a third connecting plate 113 that are perpendicularly connected to each other. The two first connecting plates 111 form a V-shaped structure. The third connecting plate 113 is located on the side of the first connecting plate 111 facing the shock absorption component 4.

[0092] To increase the structural strength of the fixed base 11, there are two second connecting plates 112, which are arranged in parallel and located on opposite sides of the same surface of the first connecting plate 111. Two clamping drive cylinders 211 are arranged on the first connecting plate 111 along its length.

[0093] The third connecting plate 113 is equipped with fasteners for connecting to the mother ship.

[0094] The structure of the above-mentioned fixed seat 11 facilitates the arrangement of the clamping drive cylinder 211, and at the same time makes it easy for the fixed seat 11 to be connected to the mother ship.

[0095] The following is a brief description of the operation of the release device provided in the embodiments of this disclosure:

[0096] Figure 9 See the diagram illustrating the connection between the launch device and the aircraft, along with the mother ship. Figure 9 First, connect the launch device to the mother ship 200.

[0097] When the vehicle 100 needs to be placed in the water, the clamping drive cylinder 211 is extended. After the clamping drive cylinder 211 extends, it can push the corresponding clamping arm 221 away from the other clamping arm 221 to rotate, thereby causing the two clamping arms 221 to open and release the vehicle being held.

[0098] Conversely, when it is necessary to release the aircraft, the clamping drive cylinder 211 can be shortened. After the clamping drive cylinder 211 is shortened, it can push the corresponding clamping arm 221 to rotate toward the other clamping arm 221, thereby causing the two clamping arms 221 to come together and apply pressure to the aircraft. The aircraft is located between the two clamping arms 221 and the shock absorption assembly 4.

[0099] At this time, in order to prevent the holding arm 221 from releasing the holding vehicle when the holding drive cylinder 211 fails, the limit cylinder 32 can be extended to control the movement of the limit pin 31, so that the limit pin 31 moves to the side of the corresponding holding arm 221 facing the holding drive cylinder 211.

[0100] On the other hand, this disclosure also provides a method for launching and recovering a spacecraft, the method including:

[0101] (1) When it is necessary to release the aircraft, control the limiting component in the launch release device so that the clamping component in the launch release device can move.

[0102] (2) Control the clamping drive component in the clamping assembly to drive the clamping structure component to release the aircraft;

[0103] or;

[0104] (3) When it is necessary to recover the aircraft, control the clamping drive to drive the clamping structure to clamp the aircraft.

[0105] (4) Control the limit component to lock and tighten the structure.

[0106] The launch device is the same as the launch device mentioned above.

[0107] The above-mentioned methods for launching and recovering aircraft have the same beneficial effects as those for carrying out release devices, and will not be repeated here.

[0108] The above description is merely an optional embodiment of this disclosure and is not intended to limit this disclosure. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this disclosure should be included within the protection scope of this disclosure.

Claims

1. A device equipped with a release mechanism, characterized in that, The mounting release device includes a fixing component (1), a clamping component (2), and a limiting component (3); The fixing component (1) is used for connection with the mother ship (200); The clamping assembly (2) includes a clamping drive (21) and a clamping structure (22). The clamping drive (21) is connected to the fixing assembly (1), and the clamping drive (21) is connected to the clamping structure (22). The clamping structure (22) includes two clamping arms (221), which are arranged opposite to each other. One end of each clamping arm (221) is hinged to the fixing assembly (1). The clamping drive (21) is used to drive the clamping structure (22) to clamp the vehicle or release the vehicle. The limiting component (3) and the clamping component (2) are located on the same side of the fixing component (1), and the limiting component (3), the fixing component (1) and the clamping structure (22) are all movably connected. The limiting component (3) is used to lock the clamping structure (22) after the clamping structure (22) clamps the aircraft. The limiting assembly (3) includes two limiting units (30) arranged one-to-one with the two clamping arms (221). Each limiting unit (30) includes a limiting pin (31) and a limiting cylinder (32). The limiting pin (31) is movably located at the position where the corresponding clamping arm (221) is hinged to the fixing assembly (1). One end of the limiting pin (31) is connected to the limiting cylinder (32). The other end of the limiting pin (31) is used to insert into the fixing assembly (1) to stop the two clamping arms (221) from moving away from each other. The limiting pin (31) is parallel to the rotation axis of the corresponding clamping arm (221). The limiting cylinder (32) is used to drive the limiting pin (31) to move to insert into or detach from the fixing assembly (1).

2. The mounting and releasing device according to claim 1, characterized in that, The clamping drive component (21) includes two clamping drive cylinders (211) arranged in a one-to-one correspondence with the two clamping arms (221). The two clamping drive cylinders (211) are located between the two clamping arms (221), and one end of each clamping drive cylinder (211) is connected to the fixing component (1). The other end of the clamping drive cylinder (211) is hinged to the corresponding clamping arm (221). The extension and retraction direction of the clamping drive cylinder (211) is perpendicular to the hinge axis between the clamping arm (221) and the fixing component (1) and the hinge axis between the clamping arm (221) and the clamping drive cylinder (211).

3. The mounting and releasing device according to claim 2, characterized in that, The extension and retraction directions of the two clamping drive cylinders (211) form an angle of no more than 180°; The two clamping drive cylinders (211) and the two clamping arms (221) are arranged symmetrically about the angle bisector of the included angle.

4. The mounting and releasing device according to claim 1, characterized in that, The limiting cylinder (32) includes a cylinder body (321) and a hinge block (322). One end of the cylinder body (321) is used to connect to the mother ship, and the other end of the cylinder body (321) is hinged to the hinge block (322). The hinge block (322) is hinged to one end of the limiting pin (31), and the hinge axis of the hinge block (322) and the limiting pin (31) is parallel to the hinge axis of the hinge block (322) and the cylinder body (321).

5. The mounting and releasing device according to claim 1, characterized in that, The launch device also includes a shock-absorbing component (4), which is located between the two clamping arms (221) and is connected to the fixing component (1). The shock-absorbing component (4) is capable of extending and retracting along a direction perpendicular to the rotation axis of the clamping arms (221). The shock-absorbing component (4) and the two clamping arms (221) together define a clamping space (40) for clamping the aircraft.

6. The mounting and releasing device according to claim 5, characterized in that, The shock-absorbing assembly (4) includes a base plate (41), a web plate (42), and at least one telescopic elastic element (43). The base plate (41) and the web plate (42) are located on opposite sides of the fixing assembly (1). The base plate (41) is used to connect with the mother ship, and the side of the web plate (42) away from the base plate (41) is used to fit against the aircraft. The two ends of the telescopic elastic member (43) are connected to the base plate (41) and the web plate (42) respectively, and the telescopic elastic member (43) extends and retracts in the direction of the rotation axis of the clamping arm (221).

7. The mounting and releasing device according to claim 6, characterized in that, The web (42) is an arc-shaped plate, and the center of the arc-shaped plate is located on the side of the web (42) away from the bottom plate (41).

8. The mounting and releasing device according to any one of claims 2-7, characterized in that, The fixing component (1) includes two fixing seats (11) and two hinge seats (12); The two fixed seats (11) are arranged at intervals and form a V shape. The two fixed seats (11) correspond one-to-one with the two clamping drive cylinders (211). Each of the two fixed seats (11) is a long strip. The hinge seat (12) and the clamping drive cylinder (211) are both located on the same side of the corresponding fixed seat (11). One end of the fixed seat (11) in the length direction is hinged to one end of the corresponding clamping drive cylinder (211), and the other end of the fixed seat (11) in the length direction is connected to the corresponding hinge seat (12). The hinge seat (12) corresponds one-to-one with the clamping arm (221), and the hinge seat (12) is hinged to the corresponding clamping arm (221).

9. A method for launching and recovering a spacecraft, characterized in that, The retraction and release method includes: When it is necessary to release the aircraft, control the limiting component in the launch release device so that the clamping component in the launch release device can be activated; The clamping drive component in the clamping assembly is controlled to drive the clamping structure to release the aircraft. or; When it is necessary to recover the aircraft, the clamping drive is controlled to drive the clamping structure to clamp the aircraft. The control limiting assembly locks the clamping structure, wherein the limit pin is driven to move by the control limiting cylinder to insert into the fixing assembly to be located on the side of the corresponding clamping arm away from the other clamping arm, thereby preventing the two clamping arms from moving away from each other. The mounting and releasing device is the mounting and releasing device according to any one of claims 1-8.

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