Sliding rail type guiding load releasing and recycling device for underwater vehicle and underwater vehicle

Abstract

The invention discloses a slide rail type guiding load releasing and recycling device for an underwater vehicle and the underwater vehicle, and the slide rail type guiding load releasing and recycling device is provided with a lifting and tilting movement unit, so that a load retracting and releasing unit can be accurately controlled to perform lifting and tilting movement; the load collecting and releasing unit can have various load releasing and recovering modes, different scene requirements are met, and automatic releasing, transporting and recovering of loads can be achieved. When the rear longitudinal sliding rail slides towards the front portion of the underwater vehicle along the transverse sliding rail and meanwhile the rear cross beam slides downwards along the rear longitudinal sliding rail, the tail of the load collecting and releasing unit can descend by a certain angle, the load is released or recycled in an inclined mode, and the method is suitable for the situation that the released load is a negative buoyancy load and can slide out by means of the gravity of the load. When the front cross beam and the rear cross beam simultaneously slide downwards to the bottommost part, the horizontal release or recovery of the load can be realized, and the method is suitable for releasing the positive buoyancy load of a self-provided power device.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicle release and recovery, and more specifically, to a sliding rail type guiding load release and recovery device for an underwater vehicle and an underwater vehicle. Background Art

[0002] With the rapid development of modern science and technology, the application demand for large rotary underwater vehicles in the fields of marine resource exploration, marine ecological monitoring, deep-sea scientific research, and military applications is increasing day by day. The implementation of these tasks not only places higher requirements on the performance of the vehicle, but also requires it to be able to carry, release, and recover different types of payloads required to complete specific tasks, such as detection equipment, sampling devices, and other operation tools.

[0003] Traditional load release and recovery devices often use complex devices such as robotic arms and hydraulic grippers. When releasing and recovering payloads, they can only operate in specific poses. At the same time, the reliability and applicability of these devices in complex underwater environments are difficult to meet the requirements, and there is an urgent need to develop a new type of load release and recovery device. Summary of the Invention

[0004] The purpose of the present invention is to overcome the above-mentioned defects existing in the prior art, and provide a sliding rail type guiding load release and recovery device for an underwater vehicle and an underwater vehicle, so as to solve the technical problem that traditional load release and recovery devices often use complex devices such as robotic arms and hydraulic grippers, and can only operate in specific poses when releasing and recovering payloads, and at the same time, the reliability and applicability of these devices in complex underwater environments are difficult to meet the requirements.

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

[0006] In a first aspect, the present invention provides a sliding rail type guiding load release and recovery device for an underwater vehicle, comprising:

[0007] An underwater vehicle housing, which is provided with a load release opening;

[0008] Lifting and tilting motion unit, which is arranged at the load release port and is used for lifting and tilting the load handling unit; it includes a front cross beam, a rear cross beam, two front longitudinal slide rails, two rear longitudinal slide rails and two transverse slide rails. The two front longitudinal slide rails are respectively vertically placed on both sides of the front part of the load release port, and the two rear longitudinal slide rails are respectively vertically placed on both sides of the rear part of the load release port. The front cross beam is arranged between the two front longitudinal slide rails and slides along the front longitudinal slide rails. The rear cross beam is arranged between the two rear longitudinal slide rails and slides along the rear longitudinal slide rails. The two transverse slide rails are respectively horizontally arranged on both sides of the load release port, and the two rear longitudinal slide rails are respectively arranged on the two transverse slide rails and slide along the transverse slide rails; and

[0009] Load handling unit, the front end of the load handling unit is rotatably connected to the front cross beam, the rear end of the load handling unit is rotatably connected to the rear cross beam, and the load handling unit is used for handling loads.

[0010] In one embodiment, the underwater vehicle's rail-guided load release and recovery device further includes a first connection rotating shaft, a second connection rotating shaft, a first connection buckle and a second connection buckle. The first connection rotating shaft is fixed to the front end of the load handling unit, the second connection rotating shaft is fixed to the rear end of the load handling unit, the first connection buckle is rotatably connected to the first connection rotating shaft, and the second connection buckle is rotatably connected to the second connection rotating shaft.

[0011] In one embodiment, the underwater vehicle's rail-guided load release and recovery device further includes seismic rubber pads, and the transverse slide rails are provided with the seismic rubber pads.

[0012] In one embodiment, the load handling unit includes a recovery barrel housing, a slip ring, a retracting and extending rod assembly and a connecting rod. The recovery barrel housing is provided with an accommodation cavity for accommodating loads, and an opening for the load to enter and exit the accommodation cavity is provided at the end of the recovery barrel housing;

[0013] The slip ring is sleeved outside the recovery barrel housing, and the slip ring can move back and forth along the axis direction of the recovery barrel housing;

[0014] The number of the retracting and extending rod assemblies is multiple. The roots of the retracting and extending rod assemblies are rotatably connected to the recovery barrel housing at the opening, the ends of the retracting and extending rod assemblies extend towards the center of the opening, and the multiple retracting and extending rod assemblies are evenly distributed at the opening;

[0015] Each of the retractable rod assemblies is connected to the slip ring through a connecting rod. One end of the connecting rod is rotatably connected to the retractable rod assembly, and the other end of the connecting rod is rotatably connected to the slip ring. The movement of the slip ring drives the movement of the connecting rod, and the movement of the connecting rod drives the retractable rod assembly to open or close the opening.

[0016] In one embodiment, a buffer structure is installed at one end of the recycling bin housing away from the opening.

[0017] In one embodiment, the inner surface of the recycling bin housing is covered with a protective coating.

[0018] In one embodiment, the underwater vehicle's rail-guided load release and recovery device further includes a power source for the slip ring to slide back and forth along the recycling bin housing.

[0019] In one embodiment, the underwater vehicle's rail-guided load release and recovery device further includes a power source for the front cross beam to move up and down along the front longitudinal rail and a power source for the rear cross beam to move up and down along the rear longitudinal rail.

[0020] In one embodiment, the underwater vehicle's rail-guided load release and recovery device further includes a power source for the rear longitudinal rail to slide back and forth along the transverse rail.

[0021] In a second aspect, the present invention further provides an underwater vehicle, including the above-mentioned rail-guided load release and recovery device.

[0022] Implementing the embodiments of the present invention will have the following beneficial effects:

[0023] By setting up the lifting and tilting movement unit in the embodiments of the present invention, the load retractable unit can be accurately controlled to perform lifting and tilting movements, enabling the load retractable unit to have multiple load release and recovery methods, adapting to different scenario requirements, and realizing the automatic release, transportation, and recovery of the load. When the rear longitudinal rail slides forward along the transverse rail towards the front of the underwater vehicle, and at the same time the rear cross beam slides downward along the rear longitudinal rail, the tail of the load retractable unit can descend at a certain angle to achieve the inclined release or recovery of the load. This method is applicable to the released load being a negative buoyancy load, and the load can slide out by its own gravity. When the front cross beam and the rear cross beam slide downward to the bottom simultaneously, the horizontal release or recovery of the load can be achieved. This method is applicable to the release of positive buoyancy loads with self-powered devices. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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 drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0025] Wherein:

[0026] Figure 1 is an axonometric schematic diagram of a sliding rail type guiding load release and recovery device for an underwater vehicle in an embodiment.

[0027] Figure 2 is Figure 1 a schematic diagram of the load winding and unwinding unit in the sliding rail type guiding load release and recovery device for the underwater vehicle shown in Figure 1 .

[0028] Figure 3 is Figure 2 another state schematic diagram of the load winding and unwinding unit in the sliding rail type guiding load release and recovery device for the underwater vehicle shown in Figure 2 .

[0029] Figure 4 is Figure 1 a schematic diagram of the load winding and unwinding unit in the sliding rail type guiding load release and recovery device for the underwater vehicle shown in Figure 1 releasing or recovering the load obliquely.

[0030] Figure 5 is Figure 1 a schematic diagram of the load winding and unwinding unit in the sliding rail type guiding load release and recovery device for the underwater vehicle shown in Figure 1 releasing or recovering the load horizontally.

[0031] Reference numerals:

[0032] 1. Underwater vehicle housing; 11. Load release port;

[0033] 2. Lifting and tilting movement unit; 21. Front cross beam; 22. Rear cross beam; 23. Front longitudinal sliding rail; 24. Rear longitudinal sliding rail; 25. Transverse sliding rail;

[0034] 3. Load winding and unwinding unit; 31. Recovery barrel housing; 311. Accommodation cavity; 312. Opening; 313. Buffer structure; 32. Slip ring; 33. Winding and unwinding rod assembly; 34. Connecting rod;

[0035] 4. First connection rotating shaft; 5. Second connection rotating shaft; 6. First connection buckle; 7. Second connection buckle. Detailed implementation manners

[0036] 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. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0037] Please also combine with Figures 1 to 5 , the present invention discloses a sliding rail type guiding load release and recovery device for an underwater vehicle, including: an underwater vehicle housing 1, a lifting and tilting motion unit 2, and a load retracting and releasing unit 3.

[0038] The underwater vehicle housing 1 is provided with a load release opening 11; the lifting and tilting motion unit 2 is arranged at the load release opening 11 for lifting and tilting the load retracting and releasing unit 3; it includes a front cross beam 21, a rear cross beam 22, two front longitudinal sliding rails 23, two rear longitudinal sliding rails 24, and two transverse sliding rails 25. The two front longitudinal sliding rails 23 are respectively vertically placed on both sides of the front part of the load release opening 11, the two rear longitudinal sliding rails 24 are respectively vertically placed on both sides of the rear part of the load release opening 11, the front cross beam 21 is arranged between the two front longitudinal sliding rails 23 and slides along the front longitudinal sliding rails 23, the rear cross beam 22 is arranged between the two rear longitudinal sliding rails 24 and slides along the rear longitudinal sliding rails 24, the two transverse sliding rails 25 are respectively horizontally arranged on both sides of the load release opening 11, and the two rear longitudinal sliding rails 24 are respectively arranged on the two transverse sliding rails 25 and slide along the transverse sliding rails 25; the front end of the load retracting and releasing unit 3 is rotatably connected to the front cross beam 21, the rear end of the load retracting and releasing unit 3 is rotatably connected to the rear cross beam 22, and the load retracting and releasing unit 3 is used for retracting and releasing the load.

[0039] It can be understood that by setting the lifting and tilting motion unit 2 in the embodiments of the present invention, the load retracting and releasing unit 3 can be accurately controlled to perform lifting and tilting motions, so that the load retracting and releasing unit 3 can have various load release and recovery methods, adapt to different scenario requirements, and can realize the automatic release, transportation, and recovery of the load. When the rear longitudinal sliding rail 24 slides forward along the transverse sliding rail 25 towards the front part of the underwater vehicle, and at the same time the rear cross beam 22 slides downward along the rear longitudinal sliding rail 24, the tail of the load retracting and releasing unit 3 can descend at a certain angle to realize the inclined release or recovery of the load. This method is applicable to the released load being a negative buoyancy load, and the load can slide out by its own gravity. When the front cross beam 21 and the rear cross beam 22 slide downward to the bottom at the same time, the horizontal release or recovery of the load can be realized. This method is applicable to the release of positive buoyancy loads with self-powered devices.

[0040] It should be noted that the underwater vehicle hull 1 is a hollow streamlined structure as a whole, made of high-strength lightweight materials to reduce the weight of the underwater vehicle hull 1 while providing sufficient strength and rigidity. The two front longitudinal slide rails 23 are a pair of parallel metal slide rails, and guide buffer mechanisms are provided at both ends of the two front longitudinal slide rails 23 to ensure the smoothness of the load handling unit 3 during movement. The two rear longitudinal slide rails 24 are on the same center line as the front longitudinal slide rails 23 for guiding and supporting the load handling unit 3. The two transverse slide rails 25 are transverse slide rail 25 grooves.

[0041] It should be added that the rail-guided load release and recovery device for an underwater vehicle further includes a power source for the front cross beam 21 to move up and down along the front longitudinal slide rail 23 and a power source for the rear cross beam 22 to move up and down along the rear longitudinal slide rail 24. Specifically, the power source can be a motor or a hydraulic system, enabling the front cross beam 21 and the rear cross beam 22 to move up and down.

[0042] The rail-guided load release and recovery device for an underwater vehicle further includes a power source for the rear longitudinal slide rail 24 to slide back and forth along the transverse slide rail 25. Specifically, the power source can be a motor or a hydraulic system, enabling the rear longitudinal slide rail 24 to slide back and forth along the transverse rail.

[0043] In this embodiment, the rail-guided load release and recovery device for an underwater vehicle further includes a first connecting rotating shaft 4, a second connecting rotating shaft 5, a first connecting buckle 6, and a second connecting buckle 7. The first connecting rotating shaft 4 is fixed to the front end of the load handling unit 3, the second connecting rotating shaft 5 is fixed to the rear end of the load handling unit 3, the first connecting buckle 6 is rotatably connected to the first connecting rotating shaft 4, and the second connecting buckle 7 is rotatably connected to the second connecting rotating shaft 5. Specifically, the first connecting buckle 6 and the second connecting buckle 7 are electrically controlled quick-connect mechanisms, enabling the first connecting buckle 6 to be quickly connected to the first connecting rotating shaft 4 and the second connecting buckle 7 to be quickly connected to the second connecting rotating shaft 5, thereby installing and fixing the load handling unit 3.

[0044] Furthermore, the rail-guided load release and recovery device for an underwater vehicle further includes seismic rubber pads, and seismic rubber pads are provided on the transverse slide rails 25. In this way, the vibration and noise during the movement of the rear longitudinal slide rail 24 can be reduced.

[0045] In one embodiment, as Figures 1 to 3 shown, the load handling unit 3 includes a recovery barrel housing 31, a slip ring 32, a retractable rod assembly 33, and a connecting rod 34. The recovery barrel housing 31 is provided with a receiving cavity 311 for accommodating the load, and an opening 312 for the load to enter and exit the receiving cavity 311 is provided at the end of the recovery barrel housing 31. The recovery barrel housing 31 is a cylindrical structure with an open end 312.

[0046] The slip ring 32 is sleeved outside the recovery barrel shell 31 , and the slip ring 32 can move forward and backward along the axial direction of the recovery barrel shell 31 .

[0047] There are multiple retractable rod assemblies 33 , the roots of which are rotatably connected to the recovery barrel shell 31 at the entrance, and the ends of the retractable rod assemblies 33 extend toward the center of the opening 312 . Multiple retractable rod assemblies 33 are evenly distributed at the opening 312 .

[0048] Each retractable rod assembly 33 is connected to the slip ring 32 via a connecting rod 34. One end of the connecting rod 34 is rotatably connected to the retractable rod assembly 33, and the other end of the connecting rod 34 is rotatably connected to the slip ring 32. The movement of the slip ring 32 drives the connecting rod 34 to move, and the movement of the connecting rod 34 drives the retractable rod assembly 33 to open or close the opening 312.

[0049] Specifically, the rear longitudinal slide rail 24 is adjusted to move along the transverse slide rail 25 toward the front longitudinal slide rail 23. At the same time, the rear cross beam 22 moves along the rear longitudinal slide rail 24 toward the load release port 11. The rear of the load storage unit 3 descends at a certain angle. At this time, the slip ring 32 moves in the recovery barrel shell 31 away from the opening 312. The slip ring 32 drives the connecting rod 34 to swing, and the connecting rod 34 drives the storage rod assembly 33 to open.

[0050] Start the working load, make the working load escape from the recovery bucket housing 31, and complete the working load release. If necessary, the reverse push device can also be started to assist the working load to escape from the recovery bucket housing 31.

[0051] After the underwater vehicle arrives at the recovery position, the front crossbeam 21 and the rear crossbeam 22 are adjusted to the position closest to the load release port 11, so that the load storage unit 3 protrudes from the load release port 11 in a horizontal state, and the working load is guided by the communication guide device provided on the load storage unit 3. The slip ring 32 moves in the direction of the opening 312, and the slip ring 32 drives the connecting rod 34 to swing. The connecting rod 34 then drives the storage rod assembly 33 to tighten, so that the working load enters the load storage unit 3, and the working load recovery is completed.

[0052] In this embodiment, a buffer structure 313 is installed at one end of the recovery barrel housing 31 away from the opening 312. Specifically, the buffer structure 313 is an anti-collision pad, which is used to buffer the impact force when the load is recovered and protect the load.

[0053] Furthermore, the inner surface of the recovery barrel housing 31 is covered with a protective coating, so that the wear during the load recovery can be reduced.

[0054] Further, the sliding rail type guiding load releasing and recovering device for an underwater vehicle further includes a power source for the sliding ring 32 to slide back and forth along the recovering barrel housing 31. Specifically, the power source can be a motor, and the motor can drive the sliding ring 32 to slide back and forth along the recovering barrel housing 31.

[0055] The present invention also provides a method for using the sliding rail type guiding load releasing and recovering device for an underwater vehicle, including the following steps:

[0056] S1: Installation of the load releasing and recovering unit 3: According to the task requirements, select a recovering barrel housing 31 with a suitable size for the working load, rotatably connect the first connecting rotating shaft 4 on the recovering barrel housing 31 to the front cross beam 21 through the first connecting buckle 6, and rotatably connect the second connecting rotating shaft 5 on the recovering barrel housing 31 to the rear cross beam 22 through the second connecting buckle 7.

[0057] S2: After the underwater vehicle arrives at the releasing position, select a suitable load placing method according to the characteristics of the working load; if the working load is in a negative buoyancy state in water, go to step S21; if the working load is in a positive buoyancy state in water, go to step S22.

[0058] S21: Adjust the rear longitudinal sliding rail 24 to move forward along the transverse sliding rail 25, and at the same time, the rear cross beam 22 moves along the rear longitudinal sliding rail 24 towards the direction close to the load releasing port 11, and the rear part of the load releasing and recovering unit 3 descends at a certain angle. After the working load completes the preset work task, go to step S3.

[0059] S22: Adjust the front cross beam 21 and the rear cross beam 22 to the position closest to the load releasing port 11, make the load releasing and recovering unit 3 protrude from the load releasing port 11 in a horizontal state. After the working load completes the preset work task, go to step S3.

[0060] S3: After the underwater vehicle arrives at the recovering position, adjust the front cross beam 21 and the rear cross beam 22 to the position closest to the load releasing port 11, make the load releasing and recovering unit 3 protrude from the load releasing port 11 in a horizontal state, and the working load is guided through the communication guiding device provided on the load releasing and recovering unit 3, so that the working load enters the load releasing and recovering unit 3.

[0061] It can be understood that the usage method of the sliding rail type guiding load release and recovery device for the underwater vehicle implemented in the present invention enables precise control of the lifting and tilting movement of the load receiving and releasing unit 3 by setting the lifting and tilting movement unit 2, so that the load receiving and releasing unit 3 can have multiple load release and recovery methods, adapt to different scenario requirements, and can realize the automatic release, transportation, and recovery of the load. When the rear longitudinal slide rail 24 slides towards the front of the underwater vehicle along the transverse slide rail 25, and at the same time the rear cross beam 22 slides downward along the rear longitudinal slide rail 24, the tail of the load receiving and releasing unit 3 can descend at a certain angle to realize the inclined release or recovery of the load. This method is applicable to the released load being a negative buoyancy load, and the load can slide out by its own gravity. When the front cross beam 21 and the rear cross beam 22 slide downward to the bottom simultaneously, the horizontal release or recovery of the load can be realized. This method is applicable to the release of positive buoyancy loads with self-powered devices.

[0062] The above-described embodiments merely represent several implementation manners of the present invention. The description 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 deformations and improvements can still be made, and these all belong to 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 slide rail type guide load release and recovery device for an underwater vehicle, characterized in that: include: An underwater vehicle hull, wherein the underwater vehicle hull is provided with a load release port; A lifting and tilting motion unit, which is arranged at the load release port and is used to lift and tilt the load storage unit; The utility model comprises a front cross beam, a rear cross beam, two front longitudinal slide rails, two rear longitudinal slide rails and two transverse slide rails, wherein the two front longitudinal slide rails are respectively vertically placed on both sides of the front of the load release port, and the two rear longitudinal slide rails are respectively vertically placed on both sides of the rear of the load release port, the front cross beam is arranged between the two front longitudinal slide rails and slides along the front longitudinal slide rails, the rear cross beam is arranged between the two rear longitudinal slide rails and slides along the rear longitudinal slide rails, the two transverse slide rails are respectively horizontally arranged on both sides of the load release port, and the two rear longitudinal slide rails are respectively arranged on the two transverse slide rails and slide along the transverse slide rails; as well as A load receiving and releasing unit, wherein the front end of the load receiving and releasing unit is rotationally connected to the front cross beam, and the rear end of the load receiving and releasing unit is rotationally connected to the rear cross beam, and the load receiving and releasing unit is used for receiving and releasing the load.

2. The slide rail type guide load release and recovery device for underwater vehicles according to claim 1, characterized in that: The slide rail guided load release and recovery device for the underwater vehicle also includes a first connecting shaft, a second connecting shaft, a first connecting buckle and a second connecting buckle. The first connecting shaft is fixed to the front end of the load receiving and releasing unit, and the second connecting shaft is fixed to the rear end of the load receiving and releasing unit. The first connecting buckle is rotatably connected to the first connecting shaft, and the second connecting buckle is rotatably connected to the second connecting shaft.

3. The slide rail type guide load release and recovery device for underwater vehicles according to claim 1, characterized in that: The slide rail type guide load release and recovery device for the underwater vehicle also includes a shock-resistant rubber pad, and the transverse slide rail is provided with the shock-resistant rubber pad.

4. The slide rail type guided load release and recovery device for underwater vehicles according to claim 1, characterized in that: The load receiving and releasing unit comprises a recovery barrel shell, a slip ring, a receiving and releasing rod assembly and a connecting rod, the recovery barrel shell is provided with a receiving cavity for accommodating the load, and an opening is provided at the end of the recovery barrel shell for the load to enter and exit the receiving cavity; The slip ring is sleeved outside the recycling barrel shell, and the slip ring can move forward and backward along the axis direction of the recycling barrel shell; There are multiple retractable rod assemblies, the root of each retractable rod assembly is rotatably connected to the recycling barrel shell at the opening, the end of each retractable rod assembly extends toward the center of the opening, and multiple retractable rod assemblies are evenly distributed at the opening; Each of the retractable rod assemblies is connected to the slip ring via a connecting rod, one end of the connecting rod is rotationally connected to the retractable rod assembly, and the other end of the connecting rod is rotationally connected to the slip ring. Movement of the slip ring drives movement of the connecting rod, and movement of the connecting rod drives the retractable rod assembly to open or close the opening.

5. The slide rail type guide load release and recovery device for underwater vehicles according to claim 4, characterized in that: A buffer structure is installed on one end of the recycling barrel shell away from the opening.

6. The slide rail type guided load release and recovery device for underwater vehicles according to claim 4, characterized in that: The inner surface of the recycling barrel shell is covered with a protective coating.

7. The slide rail type guide load release and recovery device for underwater vehicles according to claim 4, characterized in that: The slide rail type guided load releasing and recovering device for underwater vehicles also includes a power source for the slip ring to slide back and forth along the recovery barrel shell.

8. The slide rail type guided load release and recovery device for underwater vehicles according to claim 1, characterized in that: The slide rail guided load release and recovery device for the underwater vehicle also includes a power source for the front cross beam to move up and down along the front longitudinal slide rail and a power source for the rear cross beam to move up and down along the rear longitudinal slide rail.

9. The slide rail type guided load release and recovery device for underwater vehicles according to claim 1, characterized in that: The slide rail type guided load release and recovery device for the underwater vehicle also includes a power source for the rear longitudinal slide rail to slide forward and backward along the transverse slide rail.

10. An underwater vehicle, characterized in that: It comprises a slide rail type guided load releasing and recovering device as described in any one of claims 1 to 9.

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