Load releasing device for underwater vehicle and underwater vehicle

Abstract

The invention discloses a load releasing device of an underwater vehicle and the underwater vehicle. The load releasing device comprises a driving mechanism, a transmission mechanism, a reversing mechanism and a load mounting mechanism. A driving shaft of the driving mechanism is connected with the transmission input end of the transmission mechanism and drives the transmission input end to rotate. The transmission output end of the transmission mechanism is connected with the reversing input end of the reversing mechanism, and the reversing mechanism converts rotation of the transmission mechanism into linear motion. The reversing output end of the reversing mechanism is connected with the load installation mechanism, the reversing mechanism linearly moves to drive the load installation mechanism to enter and exit from the underwater vehicle, at least two loads are installed in the load installation mechanism, the underwater vehicle carries a plurality of underwater loads, meanwhile, the internal space is greatly saved, and the underwater vehicle is convenient to carry. The underwater load can be pushed out of the underwater vehicle and released at the same time, and the task flexibility of the underwater vehicle is improved.

Description

Technical Field

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

[0002] Underwater vehicles can perform long-term autonomous missions in complex and changeable underwater environments, such as seabed terrain mapping, marine biological monitoring, pollution detection, and underwater infrastructure inspection, greatly expanding human's understanding and utilization of the ocean. Currently, in the research of unmanned underwater vehicle (UUV) equipment, underwater vehicles are launched individually. With the wide application of underwater vehicles in fields such as military reconnaissance, ocean exploration, and resource exploration, their mission requirements are becoming increasingly complex, and the requirements for multi-payload collaborative operation and rapid deployment capabilities have been significantly improved.

[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 making it difficult to accommodate multiple large underwater payloads in a limited cabin. Conventional underwater payload carrying devices mostly rely on sequential operation mechanisms such as robotic arms and hydraulic push rods, and need to sequentially complete the unlocking, pushing out, and launching of each individual payload, which not only takes a long time but also has poor synchronism. Therefore, there is an urgent need to provide a payload carrying device for an underwater vehicle to solve the problems of carrying multiple payloads 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 provide a payload release 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 vehicles.

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

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

[0007] A driving mechanism;

[0008] A transmission mechanism, the transmission mechanism includes a transmission input end and a transmission output end, the transmission input end is connected to the drive shaft of the driving mechanism, and the drive shaft drives the transmission input end to rotate;

[0009] A commutation mechanism, the commutation mechanism includes a commutation input end and a commutation output end, the commutation input end is connected to the transmission output end, and the commutation mechanism is used to convert the rotation of the transmission mechanism into a linear motion;

[0010] A payload mounting mechanism, at least two payloads are mounted within the payload mounting mechanism, the payload mounting mechanism is connected to the reversing output end, and the reversing mechanism drives the payload mounting mechanism to move in and out of the underwater vehicle through linear motion.

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

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

[0013] The payload release device and underwater vehicle for an underwater vehicle disclosed in the embodiments of the present invention, wherein the payload release device includes a driving mechanism, a transmission mechanism, a reversing mechanism, and a payload mounting mechanism; the driving shaft of the driving mechanism is connected to the transmission input end of the transmission mechanism, and the driving shaft drives the transmission input end to rotate; the transmission output end of the transmission mechanism is connected to the reversing input end of the reversing mechanism, and the reversing mechanism converts the rotation of the transmission mechanism into linear motion; the reversing output end of the reversing mechanism is connected to the payload mounting mechanism, and the linear motion of the reversing mechanism drives the payload mounting mechanism to move in and out of the underwater vehicle. At least two payloads are mounted within the payload mounting mechanism. While the underwater vehicle can carry multiple underwater payloads, it greatly saves internal space. The underwater payloads can be simultaneously pushed out of the underwater vehicle and released, improving the mission flexibility of the underwater vehicle. 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 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.

[0015] Among them:

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

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

[0018] Figure 3 is another schematic diagram of a payload release device provided by the present invention.

[0019] Figure 4 is a schematic diagram of a reversing link of a payload release device provided by the present invention.

[0020] 1-driving mechanism, 2-transmission mechanism, 201-transmission input end, 202-transmission output end, 21-driving gear, 22-driven gear, 221-rotation groove, 3-reversing mechanism, 301-reversing input end, 302-reversing output end, 31-reversing connecting rod, 311-first connecting rod, 312-second connecting rod, 32-slide groove, 4-load installation mechanism, 41-accommodating groove, 5-carrying compartment, 51-hatch, 6-first connecting piece, 7-second connecting piece. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. 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 creative work are within the scope of protection of the present invention.

[0022] Reference Figure 1 The load release device for an underwater vehicle disclosed in this embodiment includes: a driving mechanism 1, a transmission mechanism 2, a reversing mechanism 3 and a load installation mechanism 4.

[0023] The transmission mechanism 2 includes a transmission input end 201 and a transmission output end 202 . The transmission input end 201 is connected to the driving shaft of the driving mechanism 1 , and the driving shaft drives the transmission input end 201 to rotate.

[0024] The reversing mechanism 3 includes a reversing input end 301 and a reversing output end 302 . The reversing input end 301 is connected to the transmission output end 202 . The reversing mechanism 3 is used to convert the rotation of the transmission mechanism 2 into linear motion.

[0025] At least two loads are installed in the load installation mechanism 4, and the load installation mechanism 4 is connected to the reversing output end 302. The reversing mechanism 3 moves linearly to drive the load installation mechanism 4 in and out of the underwater vehicle.

[0026] In this embodiment, at least two loads are installed in the load installation mechanism 4, which greatly saves the underwater load carrying space inside the underwater vehicle. The driving shaft of the driving mechanism 1 drives the transmission input end 201 to rotate, and the reversing mechanism 3 converts the rotation of the transmission mechanism 2 into linear motion. The linear motion of the reversing mechanism 3 drives the load installation mechanism 4 in and out of the underwater vehicle. When the load installation mechanism 4 moves to the outside of the underwater vehicle cabin, all underwater loads are separated from the load installation mechanism 4 at the same time through inertia or external triggering devices, realizing the synchronous release of multiple loads; when the driving mechanism 1 drives the transmission mechanism 2, the reversing mechanism 3 and the load installation mechanism 4 to move into the cabin of the underwater vehicle, the load installation mechanism 4 is recovered.

[0027] It can be understood that the driving mechanism 1 drives the transmission mechanism 2 to rotate, the commutation mechanism 3 converts the rotation of the transmission mechanism 2 into linear motion, the linear motion of the commutation mechanism 3 drives the load mounting mechanism 4 to move in and out of the underwater vehicle. At least two loads are mounted in the load mounting mechanism 4. While the underwater vehicle realizes carrying multiple underwater loads, it greatly saves the internal space. The underwater loads can be simultaneously pushed out of the underwater vehicle and released, improving the mission flexibility of the underwater vehicle.

[0028] Further, the load mounting mechanism 4 is a box body, and the box body is provided with more than two accommodation grooves 41 for mounting loads. Figure 1 Only taking the load mounting mechanism 4 provided with three accommodation grooves 41 as an example. The load mounting mechanism 4 can mount multiple loads, saving the space for carrying underwater loads inside the underwater vehicle.

[0029] Optionally, the driving mechanism 1 includes a motor, a hydraulic motor or a pneumatic motor, etc.

[0030] In some alternative embodiments, referring to Figure 1 , the transmission mechanism 2 includes a driving gear 21 and a driven gear 22 that mesh with each other. The driving gear 21 is the transmission input end 201, and the transmission gear is the transmission output end 202.

[0031] In this embodiment, the drive shaft of the driving mechanism 1 is connected to the driving gear 21, the drive shaft drives the driving gear 21 to rotate coaxially, and the rotation of the driving gear 21 drives the driven gear 22 that meshes with it to rotate.

[0032] Further, in combination with Figure 1 , Figure 4 , the commutation mechanism 3 includes a commutation connecting rod 31 and a sliding groove 32.

[0033] The commutation connecting rod 31 includes a first connecting rod 311 and a second connecting rod 312. The first connecting rod 311 and the second connecting rod 312 intersect. The first connecting rod 311 is located in the sliding groove 32. The first connecting rod 311 is connected to the load mounting mechanism 4. The first connecting rod 311 is the commutation output end 302. The transmission gear is provided with a rotating groove 221. One end of the second connecting rod 312 is located in the rotating groove 221. The second connecting rod 312 is the commutation output end 302.

[0034] In this embodiment, the extension direction of the first connecting rod 311 is the first direction X. Both ends of the rotating groove 221 have a length along the first direction X. The rotating groove 221 limits the second connecting rod 312. The driven gear 22 rotates to push the second connecting rod 312 in the rotating groove 221, causing the second connecting rod 312 to displace along the first direction X. The first connecting rod 311 drives the second connecting rod 312 to slide in the sliding groove 32, realizing the conversion of the rotational motion of the transmission mechanism 2 into a linear motion. The second connecting rod 312 thus pushes the load mounting mechanism 4, realizing the release and recovery of the load mounting mechanism 4.

[0035] Preferably, a slide rail (not shown in the figure) is provided in the sliding groove 32. The second connecting rod 312 slides in the sliding groove 32 through the slide rail, reducing friction. A slide rail can also be provided at the bottom of the load mounting mechanism 4 to facilitate the sliding of the load mounting mechanism 4.

[0036] Optionally, in this embodiment, the rotating groove 221 penetrates through the driven gear 22 along the thickness direction of the driven gear 22. In other embodiments, the rotating groove 221 can also be a groove recessed along the thickness direction of the driven gear 22.

[0037] In some alternative embodiments, referring to Figure 1 , the load release device includes two reversing mechanisms 3 and two load mounting mechanisms 4. The two reversing mechanisms 3 are respectively connected to a load mounting mechanism 4. The two reversing mechanisms 3 are mirror structures of each other, and the two reversing mechanisms 3 are connected to a transmission mechanism 2.

[0038] Specifically, two load mounting mechanisms 4 are provided to achieve the carrying of multiple loads. In this embodiment, the driven gear 22 is provided with two rotating grooves 221, which are mirror - set. One driven gear 22 rotates and is respectively connected to two steering connecting rods, reducing the number of transmission mechanisms 2 and saving space inside the underwater vehicle. The power is transmitted through one transmission mechanism 2 to ensure the synchronization of the release of the two load - carrying mechanisms.

[0039] In some alternative embodiments, referring to Figure 2 、 Figure 3 , Figure 2 shows the recovery state of the load mounting mechanism 4 located inside the carrying cabin 5, Figure 3 shows the release state of the load mounting mechanism 4 located outside the carrying cabin 5. The load release device includes a carrying cabin 5. The driving mechanism 1, the transmission mechanism 2, the reversing mechanism 3, and the load mounting mechanism 4 are all arranged inside the carrying cabin 5. The carrying cabin 5 is provided with a hatch 51. The driving mechanism 1 drives the load mounting mechanism 4 to enter and exit the hatch 51 through the transmission mechanism 2 and the reversing mechanism 3.

[0040] In this embodiment, the driving mechanism 1, the transmission mechanism 2, and the reversing mechanism 3 are used to achieve the synchronous release of multiple loads, improving the mission flexibility of the underwater vehicle.

[0041] Furthermore, the payload release device includes a first connecting member 6. The first connecting member 6 connects the transmission mechanism 2 and the payload compartment 5, and the first connecting member 6 is rotatably connected to the driven gear 22.

[0042] Specifically, in this embodiment, one end of the first connecting member 6 is fixedly connected to the payload compartment 5, and the other end of the first connecting member 6 is rotatably connected to the axis of the driven gear 22 through a bearing. In this embodiment, the first connecting member 6 is a connecting rod, which plays a role in fixing and supporting the transmission gear.

[0043] Furthermore, the payload release device includes a second connecting member 7. The second connecting member 7 connects the chute 32 and the payload compartment 5. In this embodiment, the second connecting member 7 is a support base, which plays a role in fixing and supporting the chute 32.

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

[0045] The above embodiments merely represent several implementation manners of the present invention. The descriptions are relatively specific and detailed, but should not be construed as limiting 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 belong to the protection scope of the present invention. Therefore, the protection scope of this invention patent shall be subject to the appended claims.

Claims

1. A payload release device for an underwater vehicle, characterized in that, Comprising: A driving mechanism; A transmission mechanism, the transmission mechanism including a transmission input end and a transmission output end, the transmission input end being connected to the drive shaft of the driving mechanism, and the drive shaft driving the transmission input end to rotate; A commutation mechanism, the commutation mechanism including a commutation input end and a commutation output end, the commutation input end being connected to the transmission output end, and the commutation mechanism being configured to convert the rotation of the transmission mechanism into a linear motion; A load mounting mechanism, at least two loads being mounted within the load mounting mechanism, the load mounting mechanism being connected to the commutation output end, and the linear motion of the commutation mechanism driving the load mounting mechanism to move in and out of the underwater vehicle.

2. The load release device according to claim 1, wherein, The load release device includes two of the commutation mechanisms and two of the load mounting mechanisms, the two commutation mechanisms being respectively connected to one of the load mounting mechanisms, the two commutation mechanisms being mirror structures of each other, and the two commutation mechanisms being connected to a single transmission mechanism.

3. The load release device according to claim 1 or 2, characterized in that, The transmission mechanism includes a driving gear and a driven gear that mesh with each other, the driving gear being the transmission input end, and the transmission gear being the transmission output end.

4. The load release device according to claim 3, wherein, The commutation mechanism includes a commutation connecting rod and a sliding groove; The commutation connecting rod includes a first connecting rod and a second connecting rod that are connected to each other, the first connecting rod and the second connecting rod being arranged intersectingly; the first connecting rod is located within the sliding groove, the first connecting rod is connected to the load mounting mechanism, and the first connecting rod is the commutation output end; the transmission gear is provided with a rotation groove, and one end of the second connecting rod is located within the rotation groove, and the second connecting rod is the commutation input end; Rotation of the transmission gear drives the second connecting rod to slide within the rotation groove, and sliding of the second connecting rod drives the first connecting rod to slide within the sliding groove.

5. The load release device according to claim 4, characterized in that, The load release device includes a carrying cabin, and the driving mechanism, the transmission mechanism, the commutation mechanism, and the load mounting mechanism are all arranged within the carrying cabin; The carrying cabin is provided with a hatch, and the driving mechanism drives the load mounting mechanism to enter and exit the hatch through the transmission mechanism and the commutation mechanism.

6. The load release device according to claim 5, characterized in that, The load release device includes a first connecting member, the first connecting member connecting the transmission mechanism and the carrying cabin, and the first connecting member being rotatably connected to the driven gear.

7. The load release device according to claim 5, characterized in that, The load release device includes a second connecting member, the second connecting member connecting the sliding groove and the carrying cabin.

8. The load release device according to claim 1, characterized in that, The load mounting mechanism is a box body, and the box body is provided with two or more accommodation grooves for mounting the loads.

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

10. An underwater vehicle, characterized in that, Equipped with the load release device according to any one of claims 1 to 9.

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