A high-stability unmanned underwater vehicle lifting device

Abstract

The present invention discloses an unmanned submersible lifting device with high stability, which relates to the technical field of unmanned submersible recovery, including a lifting mechanism and a stabilizing mechanism. The lifting mechanism includes an inverted U-shaped support seat and a lifting cylinder for recovering the unmanned submersible. The support seat and the lifting cylinder are jointly provided with a stabilizing mechanism, and the side wall of the lifting cylinder is symmetrically provided with a balancing mechanism, and the balancing mechanism is provided with a protective mechanism. The present invention cooperates with a limiting component and a lifting cylinder to maintain the relative stability of the position between the unmanned submersible and the lifting cylinder, ensuring that the unmanned submersible and the lifting cylinder do not shake during the lifting process; cooperates with the balancing mechanism and the lifting cylinder to prevent the two ends from tilting during the lifting process due to the length of the unmanned submersible, thereby preventing the lifting cylinder from being unstable and the unmanned submersible from falling off; and cooperates with the balancing mechanism, the protective mechanism and the lifting cylinder to provide anti-collision protection for the unmanned submersible.

Description

Technical Field

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

[0002] Unmanned underwater vehicles (UUVs) are devices that can perform various underwater missions without crew. They can be designed to operate autonomously or remotely, and are widely used in scientific research, ocean exploration, military reconnaissance, and environmental monitoring. Hoisting equipment for UUVs is a crucial tool for safely lowering and recovering these underwater devices from surface vessels, docks, or other platforms.

[0003] At present, in the process of recovering an unmanned submersible, the lifting equipment is usually deployed according to the location of the unmanned submersible. When the ship approaches the unmanned submersible, the lifting basket is lowered to an appropriate depth and aimed at the unmanned submersible. As the ship slowly approaches the unmanned submersible, it is guided into the basket. Once the unmanned submersible is completely in the basket, the ship is stopped and the basket is lifted for recovery, so that the basket is lifted and placed on the deck base. However, in order to ensure that the unmanned submersible is smoothly guided into the basket, a certain working gap is required between the basket and the unmanned submersible. The working gap is not conducive to the unmanned submersible. The relative stability of the position between the unmanned submersible and the lifting cylinder will cause shaking between the unmanned submersible and the lifting cylinder during the lifting process, resulting in wear on the outer wall of the unmanned submersible; secondly, common unmanned submersibles are torpedo-shaped, with longer left and right ends as a whole to reduce underwater resistance, but the existing lifting cylinder is usually connected to the middle of the unmanned submersible. During the lifting process, the uneven distribution of gravity on the left and right ends makes it easy to tilt, resulting in unstable lifting of the lifting cylinder and the falling off of the unmanned submersible; when the unmanned submersible is transferred to the ship, the rotation of the lifting equipment will cause the hanging basket and the unmanned submersible to shake, which is easy to collide with the hull and be 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 an unmanned underwater vehicle lifting device with high stability. Summary of the Invention

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

[0006] In order to achieve the above-mentioned purpose, the present invention adopts the following technical solution: a lifting device for an unmanned underwater vehicle with high stability, including a lifting mechanism and a stabilizing mechanism, characterized in that the lifting mechanism includes 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, the support seat and the lifting cylinder are jointly provided with a stabilizing mechanism, 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.

[0007] The stabilizing mechanism includes a limiting component provided on the lifting cylinder for limiting the unmanned underwater vehicle from multiple directions and a driving component provided on the support seat for driving the limiting component to limit the unmanned underwater vehicle; the balancing mechanism includes a balancing component provided on the lifting cylinder for improving the stability of the unmanned underwater vehicle during the lifting process and a winding component provided on the lifting cylinder for retracting and extending the balancing component; the protective mechanism includes a plurality of electric push rods corresponding to the float and an anti-collision component provided on the float for protecting the unmanned underwater vehicle when it is transferred to the ship.

[0008] In the above-mentioned unmanned underwater vehicle lifting equipment with high stability, the front and rear side walls of the two vertical sections of the support seat are fixedly connected with a connecting rod, and the side walls of the connecting rod are symmetrically fixedly connected with two connecting plates respectively arranged in front and behind the support seat, and the bottom of the connecting plate is symmetrically connected to a lifting rope 1 through a lifting ring 1, and the lower ends of multiple lifting ropes 1 are hinged to a lifting cylinder through the connecting seat.

[0009] In the above-mentioned unmanned underwater vehicle lifting equipment with high stability, the driving assembly includes a fixed seat, and the middle part of the connecting rod is fixedly connected to 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 to a lifting rope 2 through a lifting ring 2.

[0010] In the above-mentioned unmanned underwater vehicle lifting equipment with high stability, the limiting assembly includes an up and down movable seat arranged on the top of the lifting cylinder, and the up and down movable seat is connected to the lower end of the lifting rope 2 through a lifting ring 3. 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-to-back symmetrical limit plates 1 hinged to the bottom wall of the up and down movable seat. A lower limit plate group is hinged to the bottom of the upper limit plate group, and the lower limit plate group is composed of two limit plates 2 that are symmetrical to the limit plate 1 in the upper and lower directions.

[0011] In the above-mentioned unmanned underwater vehicle lifting equipment with high stability, the front, rear and lower side walls of the lifting cylinder are all symmetrically fixedly connected with fixed adjustment seats, the fixed adjustment seats on the front and rear sides are slidably connected to the sliding adjustment plates hinged at the connection between limit plate one and limit plate two, and the fixed adjustment seat on the lower side is slidably connected up and down with the sliding adjustment plate hinged at the connection between limit plate two which is symmetrical front and back.

[0012] In the above-mentioned unmanned underwater vehicle lifting equipment with high stability, 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-taking 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 on the side walls of the rope-taking roller distributed front and back.

[0013] In the above-mentioned unmanned underwater vehicle lifting equipment with high stability, the balancing assembly includes an arc-shaped supporting seat, and three arc-shaped supporting seats corresponding to the traction rope are evenly fixed on the left and right walls 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 on the side of the L-shaped part away from the lifting cylinder. The arc-shaped supporting seat is provided with a hole that is compatible with the traction rope.

[0014] In the above-mentioned unmanned underwater vehicle lifting equipment with high stability, the end of the traction rope away from the rope-taking roller is fixedly connected to a float, the arc-shaped plate of the arc-shaped support seat is adapted to the float, the front and rear side walls of the lifting cylinder are symmetrically rotated to the left and right and connected to the steering wheels, and the traction rope wound on the front and rear side walls of the rope-taking roller is steered by the steering wheels.

[0015] In the above-mentioned unmanned underwater vehicle lifting equipment with high stability, 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 plates, and the arc-shaped supporting seat is provided with holes corresponding to the output ends of the electric push rods.

[0016] In the above-mentioned unmanned underwater vehicle lifting equipment with high stability, the anti-collision component includes an installation groove, and the installation groove is opened inside the float. The inside of the installation groove is connected to a sliding adjustment seat by 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 reset springs are fixed on the side wall of the fixed rod along the circumferential direction, and an anti-collision plate hinged to the sliding adjustment seat is fixed on the end of the reset spring away from the fixed rod.

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

[0018] 2. The balancing mechanism and the lifting cylinder cooperate to prevent the unmanned underwater vehicle from tilting at both ends during the lifting process due to its long length, which may lead to unstable lifting of the lifting cylinder and the falling of the unmanned underwater vehicle. The four lifting ropes pull the lifting cylinder upward stably at the same time, and the middle part of the unmanned underwater vehicle is subjected to an upward pulling force. When the lifting device drives the lifting cylinder upward from the middle, the floats set at the left and right ends of the lifting cylinder can keep the left and right ends of the unmanned underwater vehicle balanced during the upward movement.

[0019] 3. Through the coordination of the balancing mechanism, the protective mechanism and the lifting cylinder, the unmanned underwater vehicle is protected from collision and damage when being transferred to the ship, thereby preventing economic losses. The lifting cylinder protects the middle part of the unmanned underwater vehicle, and the moving ends of multiple anti-collision plates are moved away from each other to expand the protection range. Multiple buoys and corresponding multiple anti-collision plates cooperate to provide double protection for the left and right ends of the unmanned underwater vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The specific embodiments of the present invention will be further described in detail below with reference to the accompanying drawings, wherein: Figure 1 A schematic diagram of the overall structure.

[0021] Figure 2 Schematic diagram of the structure of an unmanned underwater vehicle.

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

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

[0024] Figure 5 It is a partial structural diagram of the limit component.

[0025] Figure 6 Schematic diagram of the changes before and after the traction rope is reeled in.

[0026] Figure 7 This is a partial structural diagram of the balancing mechanism.

[0027] Figure 8 for Figure 1 Schematic diagram of the enlarged structure at point A in the middle.

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

[0029] In the figure: 1. Lifting mechanism; 11. Support seat; 12. Connecting plate; 13. Lifting rope 1; 14. Lifting cylinder; 2. Stabilizing mechanism; 21. Driving assembly; 211. Fixed seat; 212. Hydraulic cylinder; 213. Lifting rope 2; 22. Limiting assembly; 221. Up and down moving seat; 222. Upper limit plate group; 223. Sliding adjustment plate; 224. Lower limit plate group; 225. Fixed adjustment seat; 3. Balancing mechanism; 31. Winding assembly; 311. Support frame; 312. Motor; 313. Rope-winding roller; 314. Traction rope; 32. Balancing assembly; 321. Arc-shaped supporting seat; 322. Float; 323. Steering wheel; 4. Protective mechanism; 41. Electric push rod; 42. Anti-collision assembly; 421. Mounting slot; 422. Sliding adjustment seat; 423. Fixed rod; 424. Return spring; 425. Anti-collision plate. DETAILED DESCRIPTION

[0030] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0031] Reference Figures 1 to 3 A lifting device for an unmanned underwater vehicle with high stability includes a lifting mechanism 1 and a stabilizing mechanism 2. The lifting mechanism 1 includes an inverted U-shaped support seat 11 and a lifting cylinder 14 for recovering the unmanned underwater vehicle. The lifting cylinder 14 is provided on the support seat 11 through a connecting plate 12 and a lifting rope 13. The stabilizing mechanism 2 is provided on both the support seat 11 and the lifting cylinder 14. A balancing mechanism 3 is symmetrically provided on the side wall of the lifting cylinder 14, and a protective mechanism 4 is provided on the balancing mechanism 3.

[0032] First, the lifting mechanism 1 is connected to the lifting equipment on the ship, and the overall movement of the equipment is controlled by the lifting equipment. When the lifting equipment drives the lifting mechanism 1 to move close to the unmanned submersible, the lifting cylinder 14 is adjusted to be mounted on the outside of the unmanned submersible in the horizontal direction. A number of evenly distributed water leakage holes are opened on the lifting cylinder 14 for the discharge of seawater. The unmanned submersible is limited by 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 equipment to lift the lifting cylinder 14 upward through multiple force points to prevent the lifting cylinder 14 from tilting during the lifting process and causing instability. When the overall lifting is transferred to the ship, the protective mechanism 4 and the lifting cylinder 14 cooperate to protect the unmanned submersible to prevent damage from collisions.

[0033] Reference Figures 1 to 3The front and rear side walls of the two vertical sections of the support seat 11 are fixedly connected with a connecting rod. The side walls of the connecting rod are symmetrically fixedly connected with two connecting plates 12 respectively arranged in front and rear of the support seat 11. The bottom of the connecting plate 12 is symmetrically connected to a lifting rope 13 through a lifting ring 1. The lower ends of multiple lifting ropes 13 are hinged to a lifting cylinder 14 through the connecting seat.

[0034] Reference Figures 1 to 3 The stabilizing mechanism 2 includes a limiting assembly 22 provided on the lifting cylinder 14 for limiting the unmanned underwater vehicle from multiple directions, and a driving assembly 21 provided on the support seat 11 for driving the limiting assembly 22 to limit the unmanned underwater vehicle.

[0035] Reference Figures 3 to 5 The driving assembly 21 includes a fixed seat 211, the middle part of the connecting rod is fixedly connected to the fixed seat 211, the bottom wall of the fixed seat 211 is installed with a hydraulic cylinder 212, and the bottom wall of the output end of the hydraulic cylinder 212 is connected to a lifting rope 213 through a lifting ring 2.

[0036] Reference Figures 3 to 5 The limit assembly 22 includes an up and down movable seat 221 arranged at the top of the lifting cylinder 14, and the up and down movable seat 221 is connected to the lower end of the lifting rope 213 through a lifting ring 3. Two upper limit plate groups 222 are symmetrically distributed on the bottom wall of the up and down movable seat 221. The upper limit plate group 222 is composed of two front-to-back symmetrical limit plates 1 hinged to the bottom wall of the up and down movable seat 221. The lower limit plate group 224 is hinged to the bottom of the upper limit plate group 222, and the lower limit plate group 224 is composed of two limit plates 2 that are symmetrical up and down with the limit plate 1; the front, rear and lower side walls of the lifting cylinder 14 are all symmetrically fixedly connected with fixed adjustment seats 225, and the fixed adjustment seats 225 on the front and rear sides are both slidably connected to the sliding adjustment plate 223 hinged at the connection between the limit plate 1 and the limit plate 2, and the fixed adjustment seat 225 on the lower side is slidably connected up and down with the sliding adjustment plate 223 hinged at the connection between the front and rear symmetrical limit plates.

[0037] The sliding adjustment plate 223 and the corresponding fixed adjustment seat 225 are both slidably connected by spring 1 (not shown in the figure). When the lifting cylinder 14 is mounted on the outside of the unmanned underwater vehicle, the bottom of the output end of the hydraulic cylinder 212 moves upward, driving the lifting rope 213 to pull the up-and-down movable seat 221 upward. The up-and-down movable seat 221 pulls the upper end of the limit plate 1 hinged to it to move upward, and the lower end of the limit plate 1 hinged to the up-and-down movable seat 221 adaptively approaches each other, driving the upper end of the corresponding limit plate 2 hinged below to adaptively approach each other, and the two sliding adjustment plates 223 hinged to the limit plate 1 and the limit plate 2 slide on the corresponding fixed adjustment seat 225, and the front and rear sliding adjustment plates 223 approach each other, the lower end of the limit plate 2 adaptively moves downward, and the sliding adjustment plate 223 hinged to the lower end of the limit plate 2 slides downward on the corresponding fixed adjustment seat 225.

[0038] When the lifting rope 213 pulls the up and down movable seat 221 upward, the upper limit plate group 222 and the lower limit plate group 224 are driven to 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] Reference Figure 1 and Figure 6 The balancing mechanism 3 includes a balancing component 32 provided on the lifting cylinder 14 for improving the stability of the unmanned underwater vehicle during the lifting process, and a winding component 31 provided on the lifting cylinder 14 for retracting and extending the balancing component 32.

[0040] Reference Figures 6 and 7 The winding assembly 31 includes a support frame 311, and the top wall of the lifting cylinder 14 is symmetrically fixed with the support frame 311. A motor 312 is installed at the front of the support frame 311. The rear side wall of the output end of the motor 312 is fixed with a rope-taking roller 313 that is rotatably connected to the support frame 311. The side wall of the rope-taking roller 313 is distributed front and back to reel in three traction ropes 314.

[0041] Reference Figures 6 and 7The balancing component 32 includes an arc-shaped supporting seat 321. The left and right walls of the lifting cylinder 14 are evenly fixed with three arc-shaped supporting seats 321 corresponding to the traction rope 314 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 on the side of the L-shaped part away from the lifting cylinder 14. A hole matching the traction rope 314 is opened on the arc-shaped supporting seat 321; the end of the traction rope 314 away from the rope-taking roller 313 is fixedly connected to the float 322, and the arc-shaped plate of the arc-shaped supporting seat 321 is matched with the float 322. The front and rear side walls of the lifting cylinder 14 are symmetrically connected to the steering wheels 323, and the traction rope 314 wound on the front and rear side walls of the rope-taking roller 313 is steered by the steering wheels 323.

[0042] Reference Figure 1 、 Figure 8 and Figure 9 The protection mechanism 4 includes multiple electric push rods 41 corresponding to the float 322 and an anti-collision component 42 arranged on the float 322 for protecting the unmanned underwater vehicle when it is transferred to the ship. The upper electric push rod 41 is installed on the corresponding support frame 311, and the multiple electric push rods 41 on the lower side are installed on the lifting cylinder 14 through plates. The arc-shaped support seat 321 is provided with a hole corresponding to the output end of the electric push rod 41.

[0043] Reference Figure 1 、 Figure 8 and Figure 9 The anti-collision component 42 includes a mounting groove 421, and a mounting groove 421 is opened inside the float 322. The interior of the mounting groove 421 is connected to a sliding adjustment seat 422 for left and right sliding movement through a spring 2 (not shown in the figure). The sliding adjustment seat 422 is fixedly connected to a fixed rod 423 on the side away from the electric push rod 41. A plurality of return springs 424 are fixed to the side wall of the fixed rod 423 along the circumferential direction. The end of the return spring 424 away from the fixed rod 423 is fixed with an anti-collision plate 425 hinged to the sliding adjustment seat 422.

[0044] During the lifting process, the support seat 11 and the connecting plate 12 are pulled upward by the lifting device, and the lifting cylinder 14 is pulled upward stably by four lifting ropes 13 at the same time, and the middle part of the unmanned underwater vehicle is subjected to an upward pulling force.

[0045] Specifically, the material of the float 322 can be expanded polystyrene, and the initial state of the float 322 is floating on the sea surface. When the hoisting device drives the lifting cylinder 14 to move upward from the middle, the output end of the motor 312 rotates to drive the rope roller 313 to rotate on the support frame 311, and the traction rope 314 is wound, so that the floats 322 set at the left and right ends of the lifting cylinder 14 can maintain the balance of the left and right ends of the unmanned submersible during the upward movement, and prevent the two ends from tilting during the lifting process due to the length of the unmanned submersible, which in turn causes the lifting of the lifting cylinder 14 to be unstable, the unmanned submersible to fall off, etc.

[0046] When the unmanned underwater vehicle is lifted off the sea surface and transferred to the ship, the towing rope 314 continues to be reeled in, and the towing rope 314 slides in the corresponding hole of the arc-shaped support seat 321. The towing rope 314 at the front and rear of the side wall of the rope-retracting roller 313 slides around the outer wall of the steering wheel 323, and the steering wheel 323 adjusts it to steer until the float 322 towed by the towing rope 314 is in contact with the arc plate of the arc-shaped support seat 321.

[0047] The output end of the electric push rod 41 extends into the corresponding hole of the arc-shaped supporting seat 321, and then pushes the sliding adjustment seat 422 to slide inside the mounting groove 421. The spring 2 is stretched, and the sliding adjustment seat 422 drives the fixed rod 423, the return spring 424 and the anti-collision plate 425 to move toward the outside of the float 322. When the return spring 424 and the anti-collision plate 425 move to leave the inside of the float 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 to expand the protection range. The multiple floats 322 and the corresponding multiple anti-collision plates 425 cooperate to provide anti-collision protection for the left and right ends of the unmanned underwater vehicle to prevent collision damage when the unmanned underwater vehicle is transferred to the ship, causing economic losses.

[0048] The specific operating steps of this highly stable unmanned submersible lifting device are as follows: when the lifting cylinder 14 is mounted on the outside of the unmanned submersible, the hydraulic cylinder 212 is driven, and the upper limit plate group 222 and the lower limit plate group 224 limit the middle part of 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 of the unmanned submersible and the lifting cylinder 14.

[0049] During the process of lifting the lifting cylinder 14 and the unmanned underwater vehicle, the lifting rope 13 is pulled upward by the lifting device, and the middle part of the unmanned underwater vehicle is subjected to an upward pulling force. The left and right ends of the lifting cylinder 14 move upward when the traction rope 314 is wound up. The balancing mechanism 3 cooperates with the lifting device to drive the lifting cylinder 14 and the unmanned underwater vehicle upward from the left, middle and right directions to prevent the two ends from tilting during the lifting process due to the long length of the unmanned underwater vehicle.

[0050] When the unmanned underwater vehicle is lifted off the sea surface and transferred to the ship, the buoy 322 pulled by the traction rope 314 fits into the arc-shaped plate of the arc-shaped support seat 321, and the electric push rod 41 drives multiple anti-collision plates 425 to expand outside the buoy 322. The multiple buoys 322 and the corresponding multiple anti-collision plates 425 cooperate to protect the left and right ends of the unmanned underwater vehicle.

[0051] The above description is only a preferred specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any technician familiar with the technical field, within the technical scope disclosed by the present invention, who makes equivalent replacements or changes based on the technical solution and inventive concept of the present invention, should be covered by the scope of protection 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 includes an inverted U-shaped support base and a lifting cylinder for recovering the unmanned underwater vehicle, and the lifting cylinder is provided on the support base through a connecting plate and a lifting rope. The support base and the lifting cylinder are jointly provided with a stabilizing mechanism, 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 provided on the lifting cylinder for limiting the position of the unmanned underwater vehicle from multiple directions, and a driving assembly provided on the supporting seat for driving the limiting assembly to limit the position of the unmanned underwater vehicle; The balancing mechanism includes a balancing assembly provided on the hoisting cylinder for improving the stability of the unmanned underwater vehicle during the hoisting process, and a reeling assembly provided on the hoisting cylinder for retracting and extending the balancing assembly; The protection mechanism includes a plurality of electric push rods corresponding to the float and an anti-collision component arranged on the float for protecting the unmanned underwater vehicle when transferring to the ship; The limiting assembly includes an up-and-down movable seat arranged at the top of the lifting cylinder, the up-and-down movable seat is connected to the lower end of the driving assembly through a lifting ring three, 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 limit plates 1 hinged to the bottom wall of the up-and-down movable seat, a lower limit plate group is hinged to the bottom of the upper limit plate group, and the lower limit plate group is composed of two limit plates 2 that are symmetrical with the limit plate 1 in the upper and lower directions; The front, rear and lower side walls of the lifting cylinder are all symmetrically fixedly connected with fixed adjustment seats. The fixed adjustment seats on the front and rear sides are slidably connected to the sliding adjustment plates hinged at the connection between limit plate 1 and limit plate 2. The fixed adjustment seat on the lower side is slidably connected up and down with the sliding adjustment plate hinged at the connection between limit plate 2 symmetrically.

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

3. The high-stability unmanned underwater vehicle lifting device according to claim 2, characterized in that: The driving assembly includes a fixed seat, and the middle part of the connecting rod is fixedly connected to 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 to a second lifting rope through a second lifting ring.

4. The high-stability unmanned underwater vehicle lifting device according to claim 3, 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-taking roller rotatably connected to the support frame is fixed to the rear side wall of the output end of the motor. The side walls of the rope-taking roller are distributed front and back to reel in three traction ropes.

5. The high-stability lifting device for an unmanned underwater vehicle according to claim 4, characterized in that: The balancing assembly includes an arc-shaped supporting seat, and three arc-shaped supporting seats corresponding to the traction rope are evenly fixed on the left and right walls 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 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.

6. The high-stability unmanned underwater vehicle lifting device according to claim 5, characterized in that: The end of the traction rope away from the rope-collecting roller is fixedly connected to a float, the arc-shaped plate of the arc-shaped support 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 side walls of the rope-collecting roller is steered by the steering wheels.

7. The high-stability lifting device for an unmanned underwater vehicle according to claim 6, 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.

8. The high-stability lifting device for an unmanned underwater vehicle according to claim 7, characterized in that: The anti-collision component includes an installation groove, and an installation groove is opened inside the float. The inside of the installation groove is connected to a sliding adjustment seat by 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 on the side wall of the fixed rod along the circumferential direction, and an anti-collision plate hinged to the sliding adjustment seat is fixed on the end of the return spring away from the fixed rod.

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