Load carrying device for underwater vehicle and underwater vehicle

Abstract

The invention discloses a load carrying device of an underwater vehicle and the underwater vehicle. The load carrying device comprises a load mounting mechanism, a lower supporting seat and an automatic telescopic mechanism. The load mounting mechanism comprises a first load mounting mechanism and a second load mounting mechanism which are oppositely arranged. The lower supporting seat is arranged at the bottom of the load mounting mechanism, and the load mounting mechanism is rotationally connected with the lower supporting seat. The automatic telescopic mechanism comprises a first telescopic part and a second telescopic part which are arranged in a mirror image mode, the first telescopic part is hinged to the first load mounting mechanism, and the second telescopic part is hinged to the second load mounting mechanism; the first telescopic part and the second telescopic part stretch out and draw back to drive the first load mounting mechanism and the second load mounting mechanism to rotate correspondingly. The automatic telescopic mechanism is arranged to drive the load mounting mechanism to rotate around the lower supporting seat, so that a plurality of underwater loads can be pushed out of the underwater vehicle at the same time and released, and the task flexibility of the unmanned underwater vehicle is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater 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, etc. Currently, in the research on underwater vehicle equipment, underwater vehicles are all launched as single individuals. With the wide application of UUVs in fields such as reconnaissance, ocean exploration, and resource exploration, their mission requirements have become 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 hoisting structures) usually adopt linear or dispersed 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 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 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 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, so as to improve the mission flexibility of the underwater vehicle.

[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 in that it includes:

[0007] A payload installation mechanism, the payload installation mechanism includes a first payload installation mechanism and a second payload installation mechanism arranged oppositely, and the payload installation mechanism is used for installing payloads;

[0008] A lower support base, the lower support base is arranged at the bottom of the payload installation mechanism, and the payload installation mechanism is rotatably connected to the lower support base;

[0009] An automatic telescopic mechanism is provided between the first load mounting mechanism and the second load mounting mechanism. The automatic telescopic mechanism includes a first telescopic part and a second telescopic part which are mirror - set. The first telescopic part is hinged to the first load mounting mechanism, and the second telescopic part is hinged to the second load mounting mechanism. The telescoping of the first telescopic part and the second telescopic part drives the rotation of the first load mounting mechanism and the second load mounting mechanism respectively.

[0010] The present invention also provides an underwater vehicle equipped with the above - mentioned load - carrying device.

[0011] Implementing the embodiments of the present invention will have the following beneficial effects:

[0012] 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 lower support base, and an automatic telescopic mechanism. The load mounting mechanism is rotatably connected to the lower support base. The telescoping of the first telescopic part and the second telescopic part of the automatic telescopic mechanism drives the rotation of the first load mounting mechanism and the second load mounting mechanism respectively. By synchronously pushing the first load mounting mechanism and the second load mounting mechanism to rotate through the automatic telescopic mechanism, multiple underwater loads can be simultaneously pushed out of the underwater vehicle and released, improving the mission flexibility of the underwater vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] 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, other drawings can be obtained based on these drawings without creative efforts.

[0014] Among them:

[0015] Figure 1 is a schematic diagram of a load - carrying device provided by an embodiment of the present invention.

[0016] Figure 2 is another schematic diagram of a load - carrying device provided by an embodiment of the present invention.

[0017] Figure 3 is another schematic diagram of a load - carrying device provided by an embodiment of the present invention.

[0018] Figure 4 is a schematic diagram of a carrying cabin provided by an embodiment of the present invention.

[0019] Figure 5 is a schematic diagram of a load mounting mechanism provided by an embodiment of the present invention.

[0020] Figure 6 It is a schematic diagram of the lower support base provided by an embodiment of the present invention.

[0021] 1 - Load mounting mechanism, 11 - First load mounting mechanism, 12 - Second load mounting mechanism, 13 - Upper rotating shaft, 14 - Mounting base, 15 - Accommodating groove, 2 - Lower support base, 21 - Lower bearing, 3 - Automatic telescoping mechanism, 31 - First telescoping part, 32 - Second telescoping part, 4 - Carrying cabin, 41 - First hatch, 42 - Second hatch. Detailed implementation manners

[0022] 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 of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0023] Refer to Figure 1 , the load carrying device for an underwater vehicle disclosed by the present invention includes a load mounting mechanism 1, a lower support base 2, and an automatic telescoping mechanism 3.

[0024] The load mounting mechanism 1 is used to mount loads. The load mounting mechanism 1 includes a first load mounting mechanism 11 and a second load mounting mechanism 12 that are oppositely arranged.

[0025] The lower support base 2 is arranged at the bottom of the load mounting mechanism 1, and the load mounting mechanism 1 is rotatably connected to the lower support base 2.

[0026] The automatic telescoping mechanism 3 is arranged between the first load mounting mechanism 11 and the second load mounting mechanism 12; the automatic telescoping mechanism 3 includes a first telescoping part 31 and a second telescoping part 32 that are mirror - image arranged. The first telescoping part 31 is hinged to the first load mounting mechanism 11, and the second telescoping part 32 is hinged to the second load mounting mechanism 12; the telescoping of the first telescoping part 31 and the second telescoping part 32 respectively drives the first load mounting mechanism 11 and the second load mounting mechanism 12 to rotate.

[0027] Specifically, refer to Figure 5 , the load mounting mechanism 1 is a box body, and the box body is provided with a plurality of accommodating grooves 15, and the accommodating grooves 15 are used to mount loads. Figure 1 Only three accommodating grooves 15 are respectively arranged on the first load mounting mechanism 11 and the second load mounting mechanism 12 as an example in [[ ]]. The first load mounting mechanism 11 and the second load mounting mechanism 12 can mount multiple loads, saving the underwater load carrying space inside the underwater vehicle.

[0028] When the number of the automatic telescopic mechanisms 3 in this embodiment is one, the expansion and contraction of the automatic telescopic mechanism 3 drives the load mounting mechanism 1 to rotate: when the first telescopic part 31 and the second telescopic part 32 extend, the first telescopic part 31 and the second telescopic part 32 respectively push the first load mounting mechanism 11 and the second load mounting mechanism 12 to rotate outwards of the underwater vehicle cabin. When the load mounting mechanism 1 rotates outwards of the underwater vehicle cabin to a preset angle, 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; conversely, the first telescopic part 31 and the second telescopic part 32 contract, and the first telescopic part 31 and the second telescopic part 32 respectively drive the first load mounting mechanism 11 and the second load mounting mechanism 12 to rotate inwards of the underwater vehicle cabin, realizing the recovery of the load mounting mechanism 1.

[0029] It can be understood that by setting the automatic telescopic mechanism 3 to drive the first load mounting mechanism 11 and the second load mounting mechanism 12 to rotate, multiple underwater loads can be simultaneously pushed out of the underwater vehicle and released, improving the mission flexibility of the underwater unmanned underwater vehicle.

[0030] Optionally, the automatic telescopic mechanism 3 can be a double-headed telescopic rod or two single-headed telescopic rods arranged in mirror image. The single-headed telescopic rod is driven at one end and realizes unidirectional expansion and contraction through a driving mechanism (such as a motor or a hydraulic cylinder) and a lead screw nut or hydraulic transmission. The double-headed telescopic rod is driven at both ends, and both ends of the double-headed telescopic rod realize synchronous driving through a lead screw nut or hydraulic transmission, realizing bidirectional stretching or compression. Preferably, the automatic telescopic mechanism 3 is a double-headed telescopic rod to ensure the symmetry and synchronism of the telescopic actions of the first telescopic part 31 and the second telescopic part 32.

[0031] Further, a mounting seat 14 is provided on one side of the load mounting mechanism 1 close to the automatic telescopic mechanism 3, and the automatic telescopic mechanism 3 is connected to the mounting seat 14 through a pin.

[0032] In some alternative embodiments, referring to Figure 2 、 Figure 3 , the number of the automatic telescopic mechanisms 3 is two, and the two automatic telescopic mechanisms 3 are respectively arranged at the front and rear ends of the load mounting mechanism 1; the moving directions of the two automatic telescopic mechanisms 3 are opposite.

[0033] Specifically, the automatic telescopic mechanism 3 includes an extended state, an intermediate state, and a contracted state. Figure 2 In Figure 3The automatic telescopic mechanism 3 provided at the front end of the load mounting mechanism 1 extends to the extended state, and the automatic telescopic mechanism 3 provided at the rear end of the load mounting mechanism 1 contracts to the contracted state. The movement directions of the two automatic telescopic mechanisms 3 are opposite, thereby driving the load mounting mechanism 1 to rotate clockwise, so that the load mounting mechanism 1 rotates outside the carrying cabin 4. After the load is released, the automatic telescopic mechanism 3 provided at the front end of the load mounting mechanism 1 can contract to the intermediate state, and the automatic telescopic mechanism 3 provided at the front end of the load mounting mechanism 1 can extend to the intermediate state. Then, the automatic telescopic mechanism 3 drives the load mounting mechanism 1 to rotate counterclockwise and return to the inside of the carrying cabin 4 to recover the load mounting mechanism 1.

[0034] By providing two automatic telescopic mechanisms 3, the two automatic telescopic mechanisms 3 support the load and provide power for the rotational movement of the load mounting mechanism 1, making the rotation of the load mounting mechanism 1 more stable.

[0035] In some alternative embodiments, in combination with Figure 1 , Figure 5 , Figure 6 , a lower rotating shaft (not shown in the figure) protruding downward from the support base 2 is provided at the bottom of the load mounting mechanism 1, and a lower bearing 21 is provided in the support base 2. The lower rotating shaft is rotatably connected to the lower bearing 21.

[0036] It can be understood that the rotation is achieved through the lower bearing 21. The lower bearing 21 can reduce the frictional resistance during rotation, making the rotation smoother. With the reduction of friction, the wear will also be reduced, extending the service life. The design of the lower bearing 21 can generally withstand a large load, improving the stability of supporting the load mounting mechanism 1.

[0037] Furthermore, the load carrying device further includes an upper support base (not shown in the figure). The upper support base is provided at the top of the load mounting mechanism 1, and the load mounting mechanism 1 is rotatably connected to the upper support base. Specifically, the structure of the upper support base is the same as that of the lower support base 2, and the upper support base and the lower support base 2 are mirror images of each other.

[0038] An upper rotating shaft 13 protruding upward from the support base is provided at the bottom of the load mounting mechanism 1, and an upper bearing is provided in the support base. The upper rotating shaft 13 is rotatably connected to the upper bearing. Specifically, the structure of the upper rotating shaft 13 is the same as that of the lower rotating shaft, and the upper rotating shaft 13 and the lower rotating shaft are mirror images of each other.

[0039] It can be understood that by respectively providing the lower support base 2 and the upper support base, the load mounting mechanism 1 is limited in the up and down directions, making the rotation of the load mounting mechanism 1 more stable.

[0040] The present invention also provides an underwater vehicle equipped with the load carrying device in any of the above embodiments.

[0041] Furthermore, in combination with Figure 1 ,Figure 4 , the underwater vehicle includes a carrying cabin 4, and the payload carrying device is arranged in the carrying cabin 4. A first hatch 41 and a second hatch 42 are respectively arranged on both sides of the carrying cabin 4. The first telescopic part 31 drives the first payload mounting mechanism 11 to rotate in and out of the first hatch 41, and the second telescopic part 32 drives the second payload mounting mechanism 12 to rotate in and out of the second hatch 42 by telescoping.

[0042] It can be understood that by setting the automatic telescopic mechanism 3, the first telescopic part 31 drives the first payload mounting mechanism 11 to rotate in and out of the first hatch 41. At the same time, the second telescopic part 32 drives the second payload mounting mechanism 12 to rotate in and out of the second hatch 42 by telescoping. Then, multiple underwater payloads can be simultaneously pushed out of the underwater vehicle and released, improving the mission flexibility of the underwater vehicle.

[0043] 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 payload carrying device for an underwater vehicle, characterized in that, Comprising: A load mounting mechanism for mounting a load, the load mounting mechanism including a first load mounting mechanism and a second load mounting mechanism arranged oppositely; A lower support base disposed at the bottom of the load mounting mechanism, the load mounting mechanism being rotatably connected to the lower support base; An automatic telescoping mechanism disposed between the first load mounting mechanism and the second load mounting mechanism; the automatic telescoping mechanism includes a first telescoping portion and a second telescoping portion arranged mirror - image, the first telescoping portion being hinged to the first load mounting mechanism, and the second telescoping portion being hinged to the second load mounting mechanism; the telescoping of the first telescoping portion and the second telescoping portion respectively drives the first load mounting mechanism and the second load mounting mechanism to rotate.

2. The payload carrying device according to any one of claims 1, characterized in that, The number of the automatic telescoping mechanisms is two, and the two automatic telescoping mechanisms are respectively disposed at the front and rear ends of the load mounting mechanism; the moving directions of the two automatic telescoping mechanisms are opposite.

3. The payload carrying device according to claim 1, wherein, A lower rotating shaft protruding towards the lower support base is provided at the bottom of the load mounting mechanism, and a lower bearing is provided in the lower support base, and the lower rotating shaft is rotatably connected to the lower bearing.

4. The load-carrying device according to any one of claims 1 to 3, characterized in that The load carrying device further includes an upper support base disposed at the top of the load mounting mechanism, and the load mounting mechanism is rotatably connected to the upper support base.

5. The payload carrying device according to claim 4, characterized in that, An upper rotating shaft protruding towards the upper support base is provided at the bottom of the load mounting mechanism, and an upper bearing is provided in the upper support base, and the upper rotating shaft is rotatably connected to the upper bearing.

6. The payload carrying device according to claim 1, characterized in that, The automatic telescoping mechanism is a double - headed telescopic rod.

7. The payload carrying device according to claim 1, characterized in that, A mounting seat is provided on one side of the load mounting mechanism close to the automatic telescoping mechanism, and the automatic telescoping mechanism is connected to the mounting seat by a pin.

8. The payload carrying device according to claim 1, wherein, The load mounting mechanism is a box body, and the box body is provided with a plurality of receiving grooves for mounting the load.

9. An underwater vehicle, characterized in that, Carrying the load carrying device according to any one of claims 1 - 8.

10. The underwater vehicle according to claim 9, characterized in that, Including a carrying cabin, and the load carrying device is disposed in the carrying cabin; A first hatch and a second hatch are respectively provided on both sides of the carrying cabin, the first telescoping portion drives the first load mounting mechanism to rotate in and out of the first hatch, and the second telescoping portion drives the second load mounting mechanism to rotate in and out of the second hatch.

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