Unmanned underwater vehicle hoisting equipment with high stability

Abstract

The invention discloses unmanned underwater vehicle hoisting equipment with high stability, and relates to the technical field of unmanned underwater vehicle recycling, the unmanned underwater vehicle hoisting equipment comprises a hoisting mechanism and a stabilizing mechanism, the hoisting mechanism comprises an inverted U-shaped supporting seat and a hoisting cylinder used for recycling an unmanned underwater vehicle, and the supporting seat and the hoisting cylinder are jointly provided with the stabilizing mechanism; balance mechanisms are arranged on the side wall of the lifting cylinder in a bilateral symmetry mode, and protection mechanisms are arranged on the balance mechanisms. Through cooperation of the limiting assembly and the lifting cylinder, the relative stability of the position between the unmanned underwater vehicle and the lifting cylinder is maintained, and it is guaranteed that the unmanned underwater vehicle and the lifting cylinder cannot shake in the lifting process; through cooperation of the balance mechanism and the hoisting cylinder, the situations that the two ends of the unmanned underwater vehicle incline in the hoisting process due to the fact that the unmanned underwater vehicle is long, hoisting of the hoisting cylinder is unstable, and the unmanned underwater vehicle falls off are avoided; through cooperation of the balance mechanism, the protection mechanism and the hoisting cylinder, anti-collision protection is conducted on the unmanned underwater vehicle.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned underwater vehicle recovery, and particularly to a lifting device for an unmanned underwater vehicle with high stability. Background Art

[0002] An unmanned underwater vehicle is a device that can perform various underwater tasks without the need for a crew. It can be designed to operate autonomously or remotely and is widely used in fields such as scientific research, ocean exploration, military reconnaissance, and environmental monitoring. The lifting device for an unmanned underwater vehicle is an important tool for safely lifting these underwater devices from a surface vessel, dock, or other platform into the water or recovering them from the water.

[0003] During the current recovery process of an unmanned underwater vehicle, the lifting device is usually deployed according to the position of the unmanned underwater vehicle. When the ship approaches the unmanned underwater vehicle, the sling is used to lower the lifting basket to an appropriate depth and align it with the unmanned underwater vehicle. As the hull slowly approaches the unmanned underwater vehicle, it is guided into the lifting basket. Once the unmanned underwater vehicle is completely inside the lifting basket, the ship stops and the lifting basket is lifted for the recovery operation, and the lifting basket is lifted and placed on the deck base. However, in order to ensure that the unmanned underwater vehicle can be smoothly guided into the lifting basket, there needs to be a certain operating gap between the lifting basket and the unmanned underwater vehicle. This operating gap is not conducive to the relative stability of the position between the unmanned underwater vehicle and the lifting cylinder. During the lifting process, the unmanned underwater vehicle and the lifting cylinder will shake, resulting in wear on the outer wall of the unmanned underwater vehicle. Secondly, common unmanned underwater vehicles are torpedo-shaped, with longer overall lengths at both ends to reduce underwater resistance. However, the existing lifting cylinders are usually sleeved in the middle of the unmanned underwater vehicle. During the lifting process, the uneven distribution of gravity at both ends is prone to tilting, resulting in unstable lifting of the lifting cylinder and the unmanned underwater vehicle falling off. When the unmanned underwater vehicle is transferred to the ship, the rotation of the lifting device will cause the lifting basket and the unmanned underwater vehicle to shake, easily colliding with the hull and being damaged.

[0004] Therefore, in order to improve the stability between the unmanned underwater vehicle and the lifting cylinder and ensure the stability of the lifting process, the present invention provides a lifting device for an unmanned underwater vehicle with high stability. Summary of the Invention

[0005] The object of the present invention is to solve the problems existing in the prior art and propose a lifting device for an unmanned underwater vehicle with high stability.

[0006] To achieve the above object, the present invention adopts the following technical solution: An unmanned submersible lifting device with high stability, comprising a lifting mechanism and a stabilizing mechanism, characterized in that the lifting mechanism includes an inverted U-shaped support base and a lifting cylinder for recovering the unmanned submersible, and the lifting cylinder is provided on the support base through a connecting plate and a first lifting rope, and a stabilizing mechanism is jointly provided on the support base and the lifting cylinder, and balancing mechanisms are symmetrically arranged on the left and right sides of the side wall of the lifting cylinder, and a protection mechanism is arranged on the balancing mechanism.

[0007] The stabilizing mechanism includes a limiting component arranged on the lifting cylinder for limiting the unmanned submersible from multiple directions and a driving component arranged on the support base for driving the limiting component to limit the unmanned submersible; the balancing mechanism includes a balancing component arranged on the lifting cylinder for improving the stability of the unmanned submersible during lifting and a winding component arranged on the lifting cylinder for retracting and releasing the balancing component; the protection mechanism includes a plurality of electric push rods corresponding to the floating balls and an anti-collision component arranged on the floating balls for protecting the unmanned submersible when it is transferred to the ship.

[0008] In the above-mentioned unmanned submersible lifting device with high stability, connecting rods are fixedly and penetratingly connected to the front and rear side walls of the two vertical sections of the support base, and two connecting plates respectively arranged in front of and behind the support base are symmetrically and fixedly connected to the side wall of the connecting rod, and the bottom of the connecting plate is symmetrically connected to the left and right by a first hanging ring with a first lifting rope, and the lower ends of the plurality of first lifting ropes are jointly hinged to the lifting cylinder through a connecting seat.

[0009] In the above-mentioned unmanned submersible lifting device with high stability, the driving component includes a fixed seat, and a fixed seat is fixedly connected to the middle of the connecting rod, a hydraulic cylinder is installed on the bottom wall of the fixed seat, and the bottom wall of the output end of the hydraulic cylinder is connected to a second lifting rope through a second hanging ring.

[0010] In the above-mentioned unmanned submersible lifting device with high stability, the limiting component includes an up-and-down moving seat arranged on the top of the lifting cylinder, the up-and-down moving seat is connected to the lower end of the second lifting rope through a third hanging ring, two upper limiting plate groups are symmetrically distributed on the bottom wall of the up-and-down moving seat, and each upper limiting plate group is composed of two front and rear symmetrically arranged limiting plates one hinged to the bottom wall of the up-and-down moving seat, and a lower limiting plate group is hinged to the bottom of the upper limiting plate group, and the lower limiting plate group is composed of two limiting plates two symmetrically arranged up and down with the limiting plate one.

[0011] In the above-mentioned unmanned submersible lifting device with high stability, fixed adjustment seats are symmetrically and fixedly connected to the front, rear, and lower side walls of the lifting cylinder, and the front and rear fixed adjustment seats are both slidably connected to the front and rear with a sliding adjustment plate hinged to the connection of the limiting plate one and the limiting plate two, and the lower fixed adjustment seat is slidably connected up and down with a sliding adjustment plate hinged to the connection of the front and rear symmetrically arranged limiting plates two.

[0012] In the above-mentioned lifting device for an unmanned submersible vehicle with high stability, the winding assembly includes a support frame, and the top wall of the lifting cylinder is fixedly connected with the support frame symmetrically left and right. A motor is installed at the front of the support frame, and a rope winding roller rotatably connected to the support frame is fixedly provided on the rear side wall of the output end of the motor. Three traction ropes are wound on the side wall of the rope winding roller in the front-back distribution.

[0013] In the above-mentioned lifting device for an unmanned submersible vehicle with high stability, the balance assembly includes an arc-shaped supporting seat, and three arc-shaped supporting seats corresponding to the traction ropes are uniformly fixed on the left side wall and the right side wall of the lifting cylinder along the circumferential direction. The arc-shaped supporting seat is composed of an L-shaped part fixed to the lifting cylinder and an arc-shaped plate fixed to the side of the L-shaped part away from the lifting cylinder. A hole position adapted to the traction rope is provided on the arc-shaped supporting seat.

[0014] In the above-mentioned lifting device for an unmanned submersible vehicle with high stability, a floating ball is fixedly connected to the end of the traction rope away from the rope winding roller. The arc-shaped plate of the arc-shaped supporting seat is adapted to the floating ball. Steering wheels are rotatably connected to the left and right symmetrically on the front and rear side walls of the lifting cylinder, and the traction ropes wound on the front part and the rear part of the side wall of the rope winding roller are steered through the steering wheels.

[0015] In the above-mentioned lifting device for an unmanned submersible vehicle with high stability, the upper electric push rod is installed on the corresponding support frame, and the lower multiple electric push rods are installed on the lifting cylinder through a plate member. A hole position corresponding to the output end of the electric push rod is provided on the arc-shaped supporting seat.

[0016] In the above-mentioned lifting device for an unmanned submersible vehicle with high stability, the anti-collision assembly includes an installation groove, and an installation groove is provided inside the floating ball. A sliding adjustment seat is slidably connected to the inside of the installation groove left and right through a second spring, and a fixed rod is fixedly connected to the side of the sliding adjustment seat away from the electric push rod. A plurality of return springs are fixedly provided on the side wall of the fixed rod along the circumferential direction, and an anti-collision plate hinged to the sliding adjustment seat is fixedly provided at the end of the return spring away from the fixed rod.

[0017] Compared with the existing technology, the advantages of the present invention are as follows: 1. By cooperating the limiting assembly with the lifting cylinder, the relative position between the unmanned submersible vehicle and the lifting cylinder is maintained stable, ensuring that there is no shaking between the unmanned submersible vehicle and the lifting cylinder during the lifting process; driven by the hydraulic cylinder, the upper limiting plate group and the lower limiting plate group limit the middle part of the unmanned submersible vehicle from four directions of the front upper side, the front lower side, the rear upper side and the rear lower side, improving the lifting stability.

[0018] 2. By cooperating the balance mechanism with the lifting cylinder, it can prevent the two ends from tilting during the lifting process due to the long length of the unmanned submersible, thus avoiding the instability of the lifting cylinder during lifting and the situation of the unmanned submersible falling off; the four lifting ropes simultaneously pull the lifting cylinder to move up stably, and the middle part of the unmanned submersible receives an upward pulling force. When the lifting tool drives the lifting cylinder to move up from the middle part, the floating balls arranged at the left and right ends of the lifting cylinder can keep the left and right ends of the unmanned submersible balanced during the upward movement.

[0019] 3. By cooperating the balance mechanism, the protection mechanism with the lifting cylinder, it can provide anti-collision protection for the unmanned submersible, preventing it from being knocked and damaged when being transferred to the ship, resulting in economic losses; the lifting cylinder protects the middle part of the unmanned submersible, and the multiple movable anti-collision plates move away from each other to expand the protection range. The multiple floating balls cooperate with the corresponding multiple anti-collision plates to provide double protection for the left and right ends of the unmanned submersible. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The following further describes in detail the specific embodiments of the present invention with reference to the drawings, where: Figure 1 It is a schematic diagram of the overall structure.

[0021] Figure 2 It is a schematic diagram of the structure of the unmanned submersible.

[0022] Figure 3 It is a partial schematic diagram of the lifting mechanism and the stabilizing mechanism.

[0023] Figure 4 It is a schematic diagram of the changes before and after the upper limit plate group and the lower limit plate group are limited.

[0024] Figure 5 It is a partial schematic diagram of the limiting component.

[0025] Figure 6 It is a schematic diagram of the changes before and after the traction rope is wound up.

[0026] Figure 7 It is a partial schematic diagram of the balance mechanism.

[0027] Figure 8 For Figure 1 The enlarged schematic diagram of the structure at A in

[0028] Figure 9 It is a schematic diagram of the changes before and after the anti-collision plate is adjusted.

[0029] In the figure: 1. Lifting mechanism; 11. Support base; 12. Connecting plate; 13. First lifting rope; 14. Lifting cylinder; 2. Stabilizing mechanism; 21. Driving assembly; 211. Fixed seat; 212. Hydraulic cylinder; 213. Second lifting rope; 22. Limiting assembly; 221. Up-and-down moving seat; 222. Upper limiting plate group; 223. Sliding adjustment plate; 224. Lower limiting plate group; 225. Fixed adjustment seat; 3. Balancing mechanism; 31. Reeling assembly; 311. Support frame; 312. Motor; 313. Rope winding roller; 314. Towing rope; 32. Balancing component; 321. Arc-shaped supporting seat; 322. Floating ball; 323. Steering wheel; 4. Protection mechanism; 41. Electric push rod; 42. Anti-collision component; 421. Installation groove; 422. Sliding adjustment seat; 423. Fixed rod; 424. Return spring; 425. Anti-collision plate. Detailed implementation manners

[0030] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0031] Refer to Figures 1 to 3 , a lifting device for an unmanned submersible with high stability, including a lifting mechanism 1 and a stabilizing mechanism 2. The lifting mechanism 1 includes an inverted U-shaped support base 11 and a lifting cylinder 14 for recovering the unmanned submersible. The lifting cylinder 14 is arranged on the support base 11 through a connecting plate 12 and a first lifting rope 13. A stabilizing mechanism 2 is jointly arranged on the support base 11 and the lifting cylinder 14. Balancing mechanisms 3 are symmetrically arranged on the left and right sides of the side wall of the lifting cylinder 14, and a protection mechanism 4 is arranged on the balancing mechanism 3.

[0032] First, the lifting mechanism 1 is connected to the lifting tool on the ship, and the overall movement of the device is controlled through the lifting tool. When the lifting tool drives the lifting mechanism 1 to move close to the unmanned submersible, the lifting cylinder 14 is adjusted to be sleeved outside the unmanned submersible in the horizontal direction. A plurality of uniformly distributed water leakage holes are opened on the lifting cylinder 14 for discharging seawater. The unmanned submersible is limited through the stabilizing mechanism 2 to ensure the stability between the unmanned submersible and the lifting cylinder 14 during the lifting process. During lifting, the balancing mechanism 3 cooperates with the lifting tool to lift the lifting cylinder 14 upward through multiple force application points, preventing the lifting cylinder 14 from being unstable due to tilting during the lifting process. When the whole is lifted and transferred to the ship, the protection mechanism 4 and the lifting cylinder 14 cooperate to protect the unmanned submersible to prevent it from being knocked and damaged.

[0033] Refer to Figures 1 to 3, both the front and rear side walls of the two vertical sections of the support base 11 are fixedly connected through and penetrated by a connecting rod. Symmetrically fixed to the front and rear sides of the side wall of the connecting rod are two connecting plates 12 respectively arranged in front of and behind the support base 11. The bottom of the connecting plate 12 is symmetrically connected to the left and right by a first sling 13 through a first lifting ring. The lower ends of a plurality of first slings 13 are commonly hinged to a lifting cylinder 14 through a connecting seat.

[0034] Refer to Figures 1 to 3 , the stabilizing mechanism 2 includes a limiting component 22 arranged on the lifting cylinder 14 for limiting the unmanned submersible from multiple directions and a driving component 21 arranged on the support base 11 for driving the limiting component 22 to limit the unmanned submersible.

[0035] Refer to Figures 3 to 5 , the driving component 21 includes a fixed seat 211. A fixed seat 211 is fixedly connected to the middle of the connecting rod. A hydraulic cylinder 212 is installed on the bottom wall of the fixed seat 211. The bottom wall of the output end of the hydraulic cylinder 212 is connected to a second sling 213 through a second lifting ring.

[0036] Refer to Figures 3 to 5 , the limiting component 22 includes an up-and-down moving seat 221 arranged on the top of the lifting cylinder 14. The up-and-down moving seat 221 is connected to the lower end of the second sling 213 through a third lifting ring. Two upper limiting plate groups 222 are symmetrically distributed on the bottom wall of the up-and-down moving seat 221. Each upper limiting plate group 222 is composed of two front and rear symmetrically arranged first limiting plates hinged to the bottom wall of the up-and-down moving seat 221. A lower limiting plate group 224 is hinged to the bottom of the upper limiting plate group 222. The lower limiting plate group 224 is composed of two second limiting plates symmetrically arranged above and below the first limiting plate; on the front, rear, and lower side walls of the lifting cylinder 14, fixed adjustment seats 225 are symmetrically and fixedly connected to the left and right. The fixed adjustment seats 225 on the front and rear sides are both slidably connected to the front and rear in a sliding manner with a sliding adjustment plate 223 hinged to the connection part of the first limiting plate and the second limiting plate. The fixed adjustment seats 225 on the lower side are slidably connected up and down with a sliding adjustment plate 223 hinged to the connection part of the symmetrically arranged second limiting plates.

[0037] The sliding adjustment plate 223 and the corresponding fixed adjustment seat 225 are both slidably connected by a first spring (not shown in the figure). When the lifting cylinder 14 is sleeved outside the unmanned submersible, the bottom of the output end of the hydraulic cylinder 212 moves upward, driving the second lifting rope 213 to pull the upper and lower moving seat 221 upward. The upper end of the limiting plate 1 hinged to the upper and lower moving seat 221 is pulled upward, and the lower end of the limiting plate 1 hinged to the upper and lower moving seat 221 moves adaptively closer to each other, driving the upper ends of the corresponding lower-hinged limiting plates 2 to move adaptively closer to each other. The two sliding adjustment plates 223 hinged to the limiting plates 1 and 2 slide on the corresponding fixed adjustment seats 225, and the front and rear sliding adjustment plates 223 move closer to each other. The lower end of the limiting plate 2 moves adaptively downward, and the sliding adjustment plate 223 hinged to the lower end of the limiting plate 2 slides downward on the corresponding fixed adjustment seat 225.

[0038] When the second lifting rope 213 pulls the upper and lower moving seat 221 upward, the upper limiting plate group 222 and the lower limiting plate group 224 limit the unmanned submersible from four directions: the front upper side, the front lower side, the rear upper side, and the rear lower side, so as to maintain the relative stability of the position between the unmanned submersible and the lifting cylinder 14 and ensure that there is no shaking between the unmanned submersible and the lifting cylinder 14 during the lifting process.

[0039] Refer to Figure 1 and Figure 6 As shown in

[0040] Refer to Figures 6 to 7 As shown in

[0041] Refer to Figures 6 to 7, the balance component 32 includes an arc-shaped supporting seat 321. Three arc-shaped supporting seats 321 corresponding to the towing ropes 314 are uniformly fixed on the left and right side walls of the lifting cylinder 14 along the circumferential direction. The arc-shaped supporting seat 321 is composed of an L-shaped part fixed to the lifting cylinder 14 and an arc-shaped plate fixed to the side of the L-shaped part away from the lifting cylinder 14. A hole position adapted to the towing rope 314 is provided on the arc-shaped supporting seat 321; the end of the towing rope 314 away from the rope winding roller 313 is fixedly connected with a floating ball 322. The arc-shaped plate of the arc-shaped supporting seat 321 is adapted to the floating ball 322. Steering wheels 323 are symmetrically rotatably connected to the front and rear side walls of the lifting cylinder 14 left and right. The towing ropes 314 wound on the front and rear parts of the side wall of the rope winding roller 313 are steered by the steering wheels 323.

[0042] Referring to Figure 1 , Figure 8 and Figure 9 , the protection mechanism 4 includes a plurality of electric push rods 41 corresponding to the floating balls 322 and an anti-collision component 42 arranged on the floating balls 322 for protecting the underwater vehicle when it is transferred to the ship. The upper electric push rods 41 are installed on the corresponding support frames 311, and the lower plurality of electric push rods 41 are installed on the lifting cylinder 14 through plate members. Hole positions corresponding to the output ends of the electric push rods 41 are provided on the arc-shaped supporting seats 321.

[0043] Referring to Figure 1 , Figure 8 and Figure 9 , the anti-collision component 42 includes an installation groove 421. An installation groove 421 is opened inside the floating ball 322. A sliding adjustment seat 422 is slidably connected left and right inside the installation groove 421 through a second spring (not shown in the figure). A fixed rod 423 is fixedly connected to the side of the sliding adjustment seat 422 away from the electric push rod 41. A plurality of return springs 424 are fixed on the side wall of the fixed rod 423 along the circumferential direction. An anti-collision plate 425 hinged to the sliding adjustment seat 422 is fixed to the end of the return spring 424 away from the fixed rod 423.

[0044] During the lifting process, the support seat 11 and the connecting plate 12 are pulled upward by the lifting tool, and the lifting cylinder 14 is simultaneously pulled to move upward stably by the four first lifting ropes 13, and an upward pulling force is applied to the middle part of the underwater vehicle.

[0045] Specifically, the material of the floating ball 322 can be expanded polystyrene. The initial state of the floating ball 322 is floating on the sea surface. When the lifting tool drives the lifting cylinder 14 to move upward from the middle, the output end of the motor 312 rotates to drive the rope winding roller 313 to rotate on the support frame 311, and the towing rope 314 is wound up, so that the floating balls 322 arranged at the left and right ends of the lifting cylinder 14 can keep the balance of the left and right ends of the underwater vehicle during the upward movement, preventing the two ends from tilting during the lifting process due to the long length of the underwater vehicle, and further preventing situations such as unstable lifting of the lifting cylinder 14 and falling off of the underwater vehicle.

[0046] When the underwater vehicle is lifted off the sea surface and transferred to the ship, the towing rope 314 continues to be wound up. The towing rope 314 slides within the hole positions of the corresponding arc-shaped supporting seat 321. The towing ropes 314 at the front and rear sides of the side wall of the rope winding roller 313 slide around the outer wall of the steering wheel 323, and the steering wheel 323 adjusts its steering until the floating balls 322 towed by the towing rope 314 are all in contact with the arc-shaped plates of the arc-shaped supporting seat 321.

[0047] The output end of the electric push rod 41 extends into the hole positions of the corresponding arc-shaped supporting seat 321, and then pushes the sliding adjustment seat 422 to slide inside the installation groove 421. The second spring is stretched. The sliding adjustment seat 422 drives the fixed rod 423, the return spring 424 and the anti-collision plate 425 to move outward from the floating ball 322. When the return spring 424 and the anti-collision plate 425 move out of the inside of the floating ball 322, the return spring 424 rebounds from the compressed state, driving the anti-collision plate 425 to deflect around the end of the sliding adjustment seat 422. The moving ends of the multiple anti-collision plates 425 on the same fixed rod 423 move away from each other, so as to expand the protection range. The multiple floating balls 322 and the corresponding multiple anti-collision plates 425 cooperate to provide anti-collision protection for the left and right ends of the underwater vehicle, preventing bumps and damages during the transfer of the underwater vehicle to the ship and causing economic losses.

[0048] The specific operation steps of this high-stability underwater vehicle lifting device are as follows: When the lifting cylinder 14 is sleeved outside the underwater vehicle, driven by the hydraulic cylinder 212, the upper limit plate group 222 and the lower limit plate group 224 limit the middle part of the underwater vehicle from the four directions of the front upper side, the front lower side, the rear upper side and the rear lower side to maintain the relative stability of the position of the underwater vehicle and the lifting cylinder 14.

[0049] During the process of lifting the lifting cylinder 14 and the underwater vehicle, by pulling the first lifting rope 13 upward through the lifting tool, an upward pulling force is applied to the middle part of the underwater vehicle. Both the left and right ends of the lifting cylinder 14 move upward when the towing rope 314 is wound up. The balancing mechanism 3 cooperates with the lifting tool to drive the lifting cylinder 14 and the underwater vehicle to move upward from the three directions of the left part, the middle part and the right part, preventing the two ends from tilting during the lifting process due to the long length of the underwater vehicle.

[0050] When the underwater vehicle is lifted off the sea surface and transferred to the ship, the floating balls 322 towed by the towing rope 314 are all in contact with the arc-shaped plates of the arc-shaped supporting seat 321. Driven by the electric push rod 41, multiple anti-collision plates 425 expand outside the floating balls 322. The multiple floating balls 322 and the corresponding multiple anti-collision plates 425 cooperate to protect the left and right ends of the underwater vehicle.

[0051] The above are only the preferred specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present invention, according to the technical solution and inventive concept of the present invention, making equivalent substitutions or changes, shall be covered by the protection scope of the present invention.

Claims

1. A lifting device for an unmanned underwater vehicle with high stability, comprising a lifting mechanism and a stabilizing mechanism, characterized in that: The lifting mechanism comprises an inverted U-shaped support seat and a lifting cylinder for recovering the unmanned underwater vehicle, and the lifting cylinder is provided on the support seat through a connecting plate and a lifting rope, a stabilizing mechanism is provided on the support seat and the lifting cylinder, and a balancing mechanism is symmetrically provided on the side wall of the lifting cylinder, and a protective mechanism is provided on the balancing mechanism; The stabilizing mechanism includes a limiting assembly arranged on the lifting cylinder for limiting the position of the unmanned underwater vehicle from multiple directions and a driving assembly arranged on the supporting seat for driving the limiting assembly to limit the position of the unmanned underwater vehicle; The balancing mechanism includes a balancing component arranged on the lifting cylinder for improving the stability of the unmanned underwater vehicle during the lifting process and a winding component arranged on the lifting cylinder for retracting and releasing the balancing component; The protection mechanism includes a plurality of electric push rods corresponding to the floating ball and an anti-collision component arranged on the floating ball for protecting the unmanned underwater vehicle when it is transferred to the ship.

2. The unmanned underwater vehicle lifting device with high stability according to claim 1, characterized in that: The front and rear side walls of the two vertical sections of the support seat are commonly fixed with a connecting rod, and the side walls of the connecting rod are symmetrically fixed with two connecting plates respectively arranged in the front and rear of the support seat, and the bottom of the connecting plate is symmetrically connected with a lifting rope through a lifting ring, and the lower ends of multiple lifting ropes are hinged with a lifting cylinder through the connecting seat.

3. The unmanned underwater vehicle lifting device with high stability according to claim 2, characterized in that: The driving assembly comprises a fixed seat, and the middle part of the connecting rod is fixedly connected with the fixed seat, the bottom wall of the fixed seat is installed with a hydraulic cylinder, and the bottom wall of the output end of the hydraulic cylinder is connected with a second lifting rope through a second lifting ring.

4. The unmanned underwater vehicle lifting device with high stability according to claim 3, characterized in that: The limiting assembly includes an up-and-down movable seat arranged on the top of the lifting cylinder, the up-and-down movable seat is connected to the lower end of the lifting rope 2 through a lifting ring 3, and two upper limit plate groups are symmetrically distributed on the bottom wall of the up-and-down movable seat, and the upper limit plate group is composed of two front-and-back symmetrical limiting plates 1 hinged to the bottom wall of the up-and-down movable seat, and a lower limiting plate group is hinged to the bottom of the upper limit plate group, and the lower limiting plate group is composed of two limiting plates 2 that are symmetrical with the limiting plate 1 in the upper and lower directions.

5. The unmanned underwater vehicle lifting device with high stability according to claim 4, characterized in that: The front, rear and lower side walls of the lifting cylinder are all symmetrically fixedly connected with fixed adjustment seats, the front and rear fixed adjustment seats are slidably connected to the sliding adjustment plates hinged at the connection between the limit plate one and the limit plate two, and the lower fixed adjustment seat is slidably connected up and down with the sliding adjustment plate hinged at the connection between the limit plate two symmetrically.

6. The unmanned underwater vehicle lifting device with high stability according to claim 5, characterized in that: The winding assembly includes a support frame, and the top wall of the lifting cylinder is symmetrically fixedly connected to the support frame, a motor is installed at the front of the support frame, and a rope-winding roller rotatably connected to the support frame is fixed to the rear side wall of the output end of the motor, and three traction ropes are wound up on the side wall of the rope-winding roller distributed front and back.

7. The unmanned underwater vehicle lifting device with high stability according to claim 6, characterized in that: The balancing assembly includes an arc-shaped supporting seat, and the left and right walls of the lifting cylinder are evenly fixed with three arc-shaped supporting seats corresponding to the traction rope along the circumferential direction. The arc-shaped supporting seat is composed of an L-shaped part fixed to the lifting cylinder and an arc-shaped plate fixed on the side of the L-shaped part away from the lifting cylinder. The arc-shaped supporting seat is provided with holes that are compatible with the traction rope.

8. The unmanned underwater vehicle lifting device with high stability according to claim 7, characterized in that: The end of the traction rope away from the rope collecting roller is fixedly connected to a float, the arc plate of the arc supporting seat is adapted to the float, the front and rear side walls of the lifting cylinder are symmetrically rotated and connected to steering wheels, and the traction rope wound on the front and rear sides of the rope collecting roller side walls is steered by the steering wheels.

9. The unmanned underwater vehicle lifting device with high stability according to claim 8, characterized in that: The electric push rod on the upper side is installed on the corresponding support frame, and the multiple electric push rods on the lower side are installed on the lifting cylinder through the plate. The arc-shaped supporting seat is provided with holes corresponding to the output ends of the electric push rods.

10. The unmanned underwater vehicle lifting device with high stability according to claim 9, characterized in that: The anti-collision component includes an installation groove, and the interior of the float is provided with an installation groove, the interior of the installation groove is connected to a sliding adjustment seat by a spring 2 for sliding left and right, and the sliding adjustment seat is fixedly connected to a fixed rod on the side away from the electric push rod, a plurality of return springs are fixed to the side wall of the fixed rod along the circumferential direction, and an anti-collision plate hinged to the sliding adjustment seat is fixed to the end of the return spring away from the fixed rod.

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