Load carrying device for underwater vehicle and underwater vehicle

Abstract

The invention discloses a load carrying device for an underwater vehicle and the underwater vehicle. The load carrying device comprises a load mounting mechanism, a load rotating mechanism, a transmission mechanism and a driving mechanism. The multiple load mounting mechanisms are arranged around the load rotating mechanism in the circumferential direction, that is, the multiple loads are mounted around the load rotating mechanism, and the internal space is greatly saved while the underwater vehicle carries the multiple underwater loads. The driving shaft of the driving mechanism rotates to drive the transmission mechanism to rotate, the transmission mechanism rotates to drive the load rotating mechanism to rotate, the load rotating mechanism rotates to drive the load mounting mechanism to rotate, a plurality of underwater loads can be pushed out and released at the same time, and the task flexibility of the large-scale unmanned underwater vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater unmanned vehicles, and more specifically, to a payload carrying device for an underwater vehicle and an underwater vehicle. Background Art

[0002] An unmanned underwater vehicle (UUV) refers to an underwater self-propelled vehicle that can be recovered and is used for underwater reconnaissance, remotely controlled mine hunting, and combat. Currently, in the research on underwater vehicle equipment, underwater vehicles are launched individually. With the wide application of UUVs in the fields of military reconnaissance, ocean exploration, resource exploration, etc., their mission requirements are becoming increasingly complex, and the requirements for multi-payload collaborative operations and rapid deployment capabilities have increased significantly.

[0003] However, the internal space of the hull of current large UUVs is limited. Traditional payload carrying devices (such as fixed mounting frames or single-point lifting structures) usually adopt linear or scattered layouts, resulting in a high space occupancy rate and it is difficult to accommodate multiple large underwater payloads in a limited cabin. Conventional underwater payload carrying devices mostly rely on sequential operating mechanisms such as robotic arms and hydraulic push rods, and need to sequentially complete the unlocking, pushing out, and launching of individual payloads, which not only takes a long time but also has poor synchronization. Therefore, there is an urgent need to provide a payload carrying device for an underwater vehicle to solve the problems of multi-payload carrying and synchronous release. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects existing in the prior art, and to provide a payload carrying device for an underwater vehicle and an underwater vehicle, which can efficiently integrate multiple underwater payloads in a limited cabin space and achieve rapid synchronous release to improve the mission flexibility of large underwater UUVs.

[0005] To achieve the above purpose, the technical solution of the present invention is as follows:

[0006] The present invention provides a payload carrying device for an underwater vehicle, which is characterized by comprising:

[0007] A payload mounting mechanism for mounting a payload;

[0008] A payload rotation mechanism, around which a plurality of the payload mounting mechanisms are circumferentially arranged and connected to the payload rotation mechanism;

[0009] A transmission mechanism, which includes a power input end and a power output end. The rotation directions of the power input end and the power output end are the same, the rotation axes of the power input end and the power output end do not overlap, and the power input and output end is fixedly connected to the drive shaft of the drive mechanism of the payload rotation mechanism;

[0010] A driving mechanism, the drive shaft of the driving mechanism is connected to the power input / output end, the drive shaft of the driving mechanism rotates to drive the transmission mechanism to rotate, the transmission mechanism rotates to drive the load wheel mechanism to rotate, and the load wheel mechanism rotates to drive the load mounting mechanism to rotate.

[0011] The present invention also provides an underwater vehicle equipped with the above-mentioned load carrying device.

[0012] Implementing the embodiments of the present invention will have the following beneficial effects:

[0013] The load carrying device and the underwater vehicle for an underwater vehicle disclosed in the embodiments of the present invention, wherein the load carrying device includes a load mounting mechanism, a load wheel mechanism, a transmission mechanism, and a driving mechanism. A plurality of load mounting mechanisms are circumferentially arranged around the load wheel mechanism, that is, a plurality of loads are mounted around the load wheel mechanism. While the underwater vehicle realizes carrying a plurality of underwater loads, the internal space is greatly saved. By the rotation of the drive shaft of the driving mechanism to drive the transmission mechanism to rotate, the transmission mechanism rotates to drive the load wheel mechanism to rotate, and the load wheel mechanism rotates to drive the load mounting mechanism to rotate, a plurality of underwater loads can be simultaneously pushed out and released, improving the mission flexibility of large-scale unmanned underwater vehicles. Description of the Drawings

[0014] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0015] Among them:

[0016] Figure 1 is a schematic diagram of a load carrying device provided by the present invention.

[0017] Figure 2 is another schematic diagram of a load carrying device provided by the present invention.

[0018] Figure 3 is a schematic diagram of a load wheel mechanism in the load carrying device provided by the present invention.

[0019] Figure 4 is a partial schematic diagram of a load wheel mechanism in the load carrying device provided by the present invention.

[0020] Figure 5 is a schematic diagram of a load mounting mechanism in the load carrying device provided by the present invention.

[0021] Figure 6This is another schematic diagram of the payload carrying device provided by the present invention.

[0022] 1 - Payload mounting mechanism, 11 - Payload mounting cylinder, 12 - Payload mounting seat, 121 - Guide hole, 122 - First mounting hole, 2 - Payload rotation mechanism, 21 - Fixed ring, 211 - Second mounting hole, 22 - Positioning rod assembly, 221 - Guide rod, 23 - Payload rotating part, 24 - Payload rotating seat, 241 - Limit projection, 3 - Transmission mechanism, 31 - Power input end, 32 - Power output end, 33 - Driven link, 34 - Driving link, 4 - Driving mechanism, 5 - Carrying cabin, 51 - Cabin door, 52 - Boss, X - First direction, Y - Second direction. Detailed implementation manners

[0023] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described with reference to 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 making creative efforts shall fall within the protection scope of the present invention.

[0024] Refer to Figure 1 、 Figure 6 In this embodiment, the disclosed payload carrying device for an underwater vehicle includes a payload mounting mechanism 1, a payload rotation mechanism 2, a transmission mechanism 3, and a driving mechanism 4.

[0025] The payload mounting mechanism 1 is used to mount the payload. A plurality of payload mounting mechanisms 1 are circumferentially arranged around the payload rotation mechanism 2 and are connected to the outer wall of the payload rotation mechanism 2.

[0026] The transmission mechanism 3 includes a power input end 31 and a power output end 32. The rotation directions of the power input end 31 and the power output end 32 are the same, and the rotation axes of the power input end 31 and the power output end 32 do not overlap. The power output end 32 is fixedly connected to the payload rotation mechanism 2. The drive shaft of the driving mechanism 4 is connected to the power input end 31. The rotation of the drive shaft of the driving mechanism 4 drives the transmission mechanism 3 to rotate. The rotation of the transmission mechanism 3 drives the payload rotation mechanism 2 to rotate. The rotation of the payload rotation mechanism 2 drives the payload mounting mechanism 1 to rotate.

[0027] It can be understood that in this embodiment, multiple load mounting mechanisms 1 are circumferentially arranged around the load rotating mechanism 2, that is, multiple loads are mounted around the load rotating mechanism 2, which greatly saves the underwater load carrying space inside the large underwater vehicle. The drive shaft of the drive mechanism 4 rotates to drive the transmission mechanism 3 to rotate, the transmission mechanism 3 rotates to drive the load rotating mechanism 2 to rotate, and the load rotating mechanism 2 rotates to drive the load mounting mechanism 1 to rotate. When the load mounting mechanism 1 rotates outward to the preset angle with respect to the cabin body, all underwater loads are simultaneously separated from the load mounting mechanism 1 through inertia or an external triggering device, realizing the synchronous release of multiple loads; when the drive mechanism 4 drives the transmission mechanism 3, the load rotating mechanism 2, and the load mounting mechanism 1 to rotate inward into the cabin body, the load carrying device is recovered.

[0028] Optionally, the drive mechanism 4 includes a motor, a hydraulic motor, a pneumatic motor, etc.

[0029] In some alternative embodiments, in combination with Figure 4 , Figure 6 , the transmission mechanism 3 includes a driven link 33 and a driving link 34. The driven link 33 is connected to the load rotating mechanism 2. The extending direction of the load rotating mechanism 2 is the first direction X, and the extending direction of the driven link 33 is the second direction Y. The second direction Y intersects the first direction X; the driving link 34 is connected to the driven link 33, and the driving link 34 extends along the first direction X; the end of the driving link 34 away from the driven link 33 is the power input end 31, and the end of the driven link 33 away from the driving link 34 is the power output end 32.

[0030] It can be understood that the drive shaft of the drive mechanism 4 rotates to drive the driving link 34 to rotate, the driving link 34 rotates to drive the transmission link 33 to rotate, the transmission link 33 rotates to drive the load rotating mechanism 2 to rotate, and the load rotating mechanism 2 rotates to drive the load mounting mechanism 1 to rotate until it is outside the cabin body. All underwater loads are simultaneously separated from the load mounting mechanism 1 through inertia or an external triggering device, realizing the synchronous release of multiple loads. Similarly, reverse rotation realizes the recovery of the load carrying device. The setting of the driven link 33 increases the rotation radius of the load rotating mechanism 2, enabling the load rotating mechanism 2 to move the load mounting mechanism 1 outside the cabin body for load release. Preferably, the second direction Y is perpendicular to the first direction X.

[0031] Furthermore, referring to Figure 6 , the number of the transmission mechanisms 3 is two, and the number of the drive mechanisms 4 is two. The two transmission mechanisms 3 are respectively connected to the front end and the rear end of the load rotating mechanism 2, and the two drive mechanisms 4 are respectively connected to the two transmission mechanisms 3.

[0032] It can be understood that the front end and the rear end of the load rotation mechanism 2 are two ends of the load rotation mechanism 2 arranged oppositely along the first direction X. By respectively arranging a transmission mechanism 3 and a driving mechanism 4 at the front end and the rear end of the load rotation mechanism 2, that is, by arranging two sets of transmission mechanisms 3 and driving mechanisms 4, the rotation stability of the load rotation mechanism 2 is ensured.

[0033] In some alternative embodiments, in combination with Figure 2 , Figure 3 , Figure 5 , a fixing ring 21 is arranged on the outer wall of the load rotation mechanism 2, and the load mounting mechanism 1 is mounted on the fixing ring 21.

[0034] Furthermore, referring to Figure 3 , a plurality of groups of positioning rod assemblies 22 are further arranged on the fixing ring 21. Each group of positioning rod assemblies 22 corresponds to each load mounting mechanism 1 one by one. Each group of positioning rod assemblies 22 includes a guide rod 221. The guide rod 221 extends along the first direction X. The load mounting mechanism 1 is provided with a guide hole 121 along the first direction X, and the guide rod 221 is received in the guide hole 121. Optionally, each group of positioning rod assemblies 22 includes two guide rods 221 arranged in parallel. Each load mounting mechanism 1 is provided with two guide holes 121 along the first direction. By arranging two guide rods 221, the positioning accuracy and stability are further improved. The guide hole 121 can be a circular hole, a triangular hole, a quadrilateral hole or a polygonal hole, and the shape of the guide rod 221 matches the guide hole 121. Preferably, when the positioning rod assembly 22 only includes one guide rod 221, the guide hole 121 is a non-circular hole to prevent the guide rod 221 from rotating in the guide hole 121 and improve the positioning accuracy.

[0035] In some alternative embodiments, in combination with Figure 1 , Figure 3 , Figure 4 , the load mounting mechanism 1 includes a load mounting cylinder 11 and a load mounting seat 12. The load mounting cylinder 11 is used for mounting a load, and the load mounting seat 12 connects the load mounting cylinder 11 and the load rotation mechanism 3. Specifically, a guide hole 121 is arranged on the load mounting seat 12.

[0036] Specifically, the load mounting cylinder 11 and the load mounting seat 12 are integrally formed, and the load mounting seat 12 and the fixing ring 21 are fixedly connected by welding, screw connection or the like. Exemplarily, referring to Figure 5 , one end of the load mounting seat 12 is provided with a first mounting hole 122. Referring to Figure 3 , the fixing ring 21 is provided with a second mounting hole 211, and a screw connects the load mounting seat 12 and the fixing ring 21 through the second mounting hole 211 and the first mounting hole 122.

[0037] Optionally, in combination with Figure 3 ,Figure 5 The load rotation mechanism 2 includes a load rotating member 23 and a load rotating seat 24. The load rotating seat 24 can be connected to the end of the load rotating member 23 by screws, and the load rotating seat 24 is fixedly connected to the driven link 33. The split structure of the load rotating member 23 and the load rotating seat 24 facilitates disassembly and replacement during maintenance. The shape of the bottom of the load mounting seat 12 matches the shape of the outer peripheral edge of the load rotating member 23 to form a clearance fit. Through the arrangement of the guide rod 221, the radial positioning accuracy of the load mounting cylinder 11 is further ensured.

[0038] Further, referring to Figure 4 The load rotating seat 24 is provided with a limiting protrusion 241. The load rotating member 23 is a hollow rotating cylinder, or a groove for inserting the limiting protrusion 241 is provided at the end of the load rotating member 23. After the limiting protrusion 241 is inserted into the load rotating member 23 and engaged with the inner wall of the load rotating member 23, the load rotating seat 24 is fixedly connected to the wall of the load rotating member 23 by screws, improving the installation accuracy of the load rotating seat 24 and the load rotating member 23.

[0039] In some alternative embodiments, referring to Figure 1 Figure 2 Figure 1 the hatch door 51 of the payload module 5 is closed in Figure 2 the hatch door 51 of the payload module 5 is opened in. The payload carrying device further includes a payload module 5, and the load mounting mechanism 1, the load rotation mechanism 2, the transmission mechanism 3, and the drive mechanism 4 are all arranged in the payload module 5.

[0040] The payload module 5 is provided with a hatch door 51. The drive mechanism 4 drives the load rotation mechanism 2 to rotate through the transmission mechanism 3, and the rotation of the load rotation mechanism 2 drives the load mounting mechanism 1 to move in and out of the hatch door 51.

[0041] Further, a boss 52 is also provided in the payload module 5, and the drive mechanism 4 is arranged on the boss 52 to make the load rotation mechanism 2 close to the hatch door 51.

[0042] It can be understood that by arranging the drive mechanism 4 on the upper boss 52, preferably, the height of the boss 52 is equal to the height of the bottom of the hatch door 51. After the hatch door 51 is opened, the load rotation mechanism 2 can rotate a small angle to leave the payload module 5 to release the payload, without reserving a large space in the cabin body for the load rotation mechanism 2 to rotate, saving space.

[0043] Optionally, the drive mechanism 4 can be rigidly connected to the boss 52 through a flange. A shock-absorbing gasket can also be provided on the surface of the boss 52 to reduce the vibration transmission during the operation of the drive mechanism 4.

[0044] This embodiment also provides an underwater vehicle equipped with the payload carrying device in any one of the above embodiments.

[0045] The above-described embodiments merely represent several implementation manners of the present invention. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several modifications and improvements can still be made, and these all fall within the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. A load carrying device for an underwater vehicle, characterized in that: include: A load installation mechanism, wherein the load installation mechanism is used to install a load; A load rotating mechanism, wherein a plurality of load mounting mechanisms are circumferentially arranged around the load rotating mechanism and connected to the load rotating mechanism; A transmission mechanism, the transmission mechanism comprising a power input end and a power output end, the power input end and the power output end have the same rotation direction, the rotation axes of the power input end and the power output end do not overlap, and the power output end is fixedly connected to the load rotation mechanism; A driving mechanism, wherein a driving shaft of the driving mechanism is connected to the power input end, the driving shaft of the driving mechanism rotates to drive the transmission mechanism to rotate, the transmission mechanism rotates to drive the load rotating mechanism to rotate, and the load rotating mechanism rotates to drive the load mounting mechanism to rotate.

2. The load carrying device according to claim 1, characterized in that: The transmission mechanism includes a driven connecting rod and an active connecting rod, the driven connecting rod is connected to the load rotation mechanism, the extension direction of the load rotation mechanism is a first direction, the extension direction of the driven connecting rod is a second direction, and the second direction intersects with the first direction; the active connecting rod is connected to the driven connecting rod, and the active connecting rod extends along the first direction; the end of the active connecting rod away from the driven connecting rod is the power input end, and the end of the driven connecting rod away from the active connecting rod is the power output end.

3. The load carrying device according to any one of claims 1 to 2, characterized in that: The number of the transmission mechanisms is two, the number of the driving mechanisms is two, the two transmission mechanisms are respectively connected to the front end and the rear end of the load rotating mechanism, and the two driving mechanisms are respectively connected to the two transmission mechanisms.

4. The load carrying device according to claim 3, characterized in that: The outer wall of the load rotating mechanism is provided with a fixing ring, and the load mounting mechanism is mounted on the fixing ring.

5. The load carrying device according to claim 4, characterized in that: A plurality of positioning rod assemblies are also provided on the fixing ring, each group of the positioning rod assemblies corresponds one-to-one to each of the load mounting mechanisms, each group of the positioning rod assemblies includes a guide rod, the guide rod extends along the first direction, the load mounting mechanism is provided with a guide hole along the first direction, and the guide rod is accommodated in the guide hole.

6. The load carrying device according to claim 5, characterized in that: Each group of the positioning rod assemblies includes two guide rods arranged in parallel, and each load installation mechanism is provided with two guide holes along the first direction.

7. The load carrying device according to claim 1, characterized in that: It also includes a carrying cabin, in which the load installation mechanism, the load rotation mechanism, the driven connecting rod, the active connecting rod and the driving mechanism are all arranged; The carrying cabin is provided with a cabin door, and the driving mechanism drives the load rotating mechanism to rotate through the transmission mechanism, and the rotation of the load rotating mechanism drives the load installation mechanism to enter and exit the cabin door.

8. The load carrying device according to any one of claims 1 to 7, characterized in that: The load installation mechanism comprises a load installation cylinder and a load installation seat, wherein the load installation cylinder is used to install the load, and the load installation seat connects the load installation cylinder and the load rotation mechanism.

9. The load carrying device according to claim 1, wherein the driving mechanism is a motor.

10. An underwater vehicle, characterized in that: The load carrying device according to any one of claims 1 to 9 is carried.

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