Underwater vehicle

Abstract

The invention discloses an underwater vehicle. The underwater vehicle comprises a carrying cabin, a buoy assembly and a first driving mechanism, the carrying cabin is provided with a cabin opening; the buoy assembly is arranged in the carrying cabin and comprises a sleeve, a mooring rope and a buoy body, the mooring rope is connected with the buoy body, and the mooring rope is wound outside the sleeve; the first driving mechanism is connected with the buoy assembly and drives the buoy assembly to reach the hatch, the sleeve releases the mooring rope, and the buoy body is released from the hatch. The first driving mechanism is arranged to drive the buoy assembly to move to the hatch to release the buoy, the first driving mechanism limits the movement direction of the buoy assembly, deviation in the buoy release process is effectively reduced, the positioning precision is improved, and stable release of the buoy is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and more specifically, to an underwater vehicle. Background Art

[0002] Underwater vehicles can perform long-term autonomous tasks in complex and changeable underwater environments, such as seabed terrain mapping, marine biological monitoring, pollution detection, and underwater infrastructure inspection, etc., which greatly expands human's ability to understand and utilize the ocean. By carrying advanced sensors and communication devices, underwater vehicles can not only collect and transmit high-precision ocean data, but also conduct exploration and operations in areas that are difficult for humans to reach, such as the deep sea and polar regions.

[0003] Underwater communication of underwater vehicles usually relies on acoustic wave transmission. However, the propagation speed of acoustic waves in water is slow, the distance is limited, and it is easily affected by environmental noise, which makes it difficult to maintain real-time communication with ground stations or other devices in deep sea or long-distance tasks. Buoys can conduct radio communication with satellites or ground stations on the water surface, expanding the communication range and capabilities of large rotating bodies, thereby realizing the collaborative execution of complex tasks and data sharing, and improving the completion degree of underwater tasks.

[0004] However, in the prior art, the release of buoys is mainly to eject the buoy from the vehicle through a mechanical trigger release method, without a clear setting for the release direction of the buoy in the vehicle, which may lead to unstable direction and speed when the buoy is released. For example, when an underwater vehicle releases a load, the inside of the underwater vehicle is in a state of water ingress, and buoyancy is likely to affect the release path and final position of the buoy. Summary of the Invention

[0005] The purpose of the present invention is to overcome the above-mentioned defects existing in the prior art, and provide an underwater vehicle that can achieve the safe release and stable positioning of the buoy through precise design and control.

[0006] To achieve the above purpose, the technical solution of the present invention is as follows:

[0007] The present invention provides an underwater vehicle for an underwater vehicle, characterized by comprising:

[0008] A carrying cabin, the carrying cabin is provided with a hatch;

[0009] A buoy assembly, the buoy assembly is arranged in the carrying cabin, the buoy assembly includes a sleeve, a cable and a buoy body, the cable is connected to the buoy body, and the cable is wound around the outside of the sleeve;

[0010] The first driving mechanism, the first driving mechanism is connected to the buoy assembly, the first driving mechanism drives the buoy assembly to reach the hatch, the sleeve releases the cable, and the buoy body is released from the hatch.

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

[0012] The underwater vehicle disclosed in the embodiments of the present invention includes a carrying cabin, a buoy assembly and a first driving mechanism arranged in the carrying cabin; the carrying cabin is provided with a hatch, the first driving mechanism drives the buoy assembly to reach the hatch, the sleeve in the buoy assembly releases the cable, and the buoy body is released from the hatch. By arranging the first driving mechanism to drive the buoy assembly to move to the hatch to release the buoy, the first driving mechanism defines the movement direction of the buoy assembly, effectively reducing the deviation in the buoy release process, improving the positioning accuracy, and realizing the stable release of the buoy. 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 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.

[0014] Among them:

[0015] Figure 1 is a schematic diagram of an underwater vehicle provided by an embodiment of the present invention;

[0016] Figure 2 is another schematic diagram of an underwater vehicle provided by an embodiment of the present invention;

[0017] Figure 3 is Figure 1 a schematic diagram of the first driving mechanism in

[0018] Figure 4 is a schematic diagram of a buoy assembly in an underwater vehicle provided by an embodiment of the present invention;

[0019] Figure 5 is another schematic diagram of a buoy assembly in an underwater vehicle provided by an embodiment of the present invention.

[0020] 1 - Carrier cabin, 11 - Hatch; 2 - Buoy assembly, 21 - Sleeve, 22 - Cable, 23 - Buoy body, 24 - Mounting base, 25 - Mounting housing, 26 - Second drive mechanism; 3 - First drive mechanism, 31 - Support bottom plate, 32 - Folding and unfolding assembly, 321 - First connecting rod, 322 - Second connecting rod, 323 - Third connecting rod, 324 - Fourth connecting rod, 325 - First reinforcing rod, 326 - Second reinforcing rod, 327 - First rotating shaft, 328 - Second rotating shaft, 33 - Power source, 34 - Support top plate, 35 - Transmission rod. Detailed implementation mode

[0021] The technical solutions in the embodiments of the present invention will be clearly and completely described below 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. 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.

[0022] Refer to Figures 1 to 2 、 Figure 5 , Figure 1 In [], the first drive mechanism 3 is in the deployed state, Figure 2 In [], the first drive mechanism 3 is in the retracted state. The underwater vehicle disclosed in this embodiment includes: a carrier cabin 1, a buoy assembly 2, and a first drive mechanism 3.

[0023] The carrier cabin 1 is provided with a hatch 11. The buoy assembly 2 is arranged in the carrier cabin 1. The buoy assembly 2 includes a sleeve 21, a cable 22, and a buoy body 23. The cable 22 is connected to the buoy body 23 and is wound around the outside of the sleeve 21. The first drive mechanism 3 is connected to the buoy assembly 2. The first drive mechanism 3 drives the buoy assembly 2 to reach the hatch 11, and the sleeve 21 releases the cable 22, and the buoy body 23 is released from the hatch 11.

[0024] In this embodiment, the first drive mechanism 3 drives the buoy assembly 2 to move towards the hatch 11. The carrier cabin 1 is also provided with a hatch door (not shown in the figure) for closing the hatch 11. When the buoy assembly 2 reaches the hatch 11, the hatch door opens. The first drive mechanism 3 drives the buoy assembly 2 to move outside the hatch 11. The buoy body 23 obtains buoyancy, the cable 22 unwinds from the sleeve 21, and the buoy body 23 is released. By setting the first drive mechanism 3 to drive the buoy assembly 2 to move to the hatch 11 to release the buoy, the first drive mechanism 3 limits the movement direction of the buoy assembly 2, effectively reducing the deviation during the buoy release process, improving the positioning accuracy, and realizing the stable release of the buoy.

[0025] Furthermore, in combination with Figure 1 、 Figures 4 to 5The buoy assembly 2 also includes an installation shell 25 , and a side of the installation shell 25 close to the hatch 11 is open. The sleeve 21 , the cable 22 and the buoy body 23 are all arranged in the installation shell 25 , and the first driving mechanism 3 is connected to the installation shell 25 .

[0026] In this embodiment, the first driving mechanism 3 drives the installation housing 25 to move toward the hatch 11. When the installation housing 25 reaches the hatch 11, the hatch is opened, seawater enters the installation housing 25 through the opening, the buoy body 23 obtains buoyancy, the cable 22 is unwound from the sleeve 21, and the buoy body 23 is released. The installation housing 25 shortens the movement path of the buoy assembly 2, and the release of the buoy body 23 is more convenient. Moreover, when the underwater vehicle is flooded, the installation housing 25 blocks seawater from entering the installation housing 25, thereby preventing the buoy body 23 from obtaining buoyancy in the underwater vehicle and affecting the release path.

[0027] In some optional embodiments, combined with Figure 2 , Figure 3 The first driving mechanism 3 includes a supporting base plate 31, a folding assembly 32 and a power source 33; the folding assembly 32 connects the supporting base plate 31 and the buoy assembly 2; the power source 33 is extended and retracted to drive the folding assembly 32 to fold, and the folding assembly 32 is unfolded to drive the buoy assembly 2 to reach the hatch 11.

[0028] In this embodiment, the power source 33 is used to set the folding assembly 32 close to one end of the supporting base plate 31, and the supporting base plate 31 limits one end of the folding assembly 32. The folding assembly 32 can be extended and folded under the drive of the power source 33, thereby driving the buoy assembly 2 to move linearly to the hatch 11, reducing the deviation during the buoy release process and realizing the stable release of the buoy.

[0029] In some optional embodiments, referring to Figure 3 , the folding and unfolding assembly 32 comprises:

[0030] A first connecting rod 321, one end of which is hinged to the supporting base plate 31; the first connecting rod 321 is also connected to the driving shaft of the power source 33;

[0031] A second connecting rod 322, the second connecting rod 322 is arranged crosswise with the first connecting rod 321, and one end of the second connecting rod 322 is hinged to the supporting bottom plate 31;

[0032] A third connecting rod 323, the third connecting rod 323 is arranged in parallel with the first connecting rod 321, one end of the third connecting rod 323 is hinged to the other end of the second connecting rod 322 away from the supporting bottom plate 31, and the other end of the third connecting rod 323 is hinged to the buoy assembly 2;

[0033] A fourth connecting rod 324, the fourth connecting rod 324 is arranged in parallel with the second connecting rod 322, one end of the fourth connecting rod 324 is hinged to the other end of the first connecting rod 321 away from the supporting bottom plate 31, and the other end of the fourth connecting rod 324 is hinged to the buoy assembly 2;

[0034] A first reinforcing rod 325, one end of which is hinged to the middle of the first connecting rod 321, and the other end of which is hinged to the third connecting rod 323;

[0035] The second reinforcing rod 326 has one end hinged to the middle of the fourth connecting rod 324 , and the other end hinged to the first connecting rod 321 .

[0036] In this embodiment, the first connecting rod 321 is connected to the driving shaft of the power source 33, and the first connecting rod 321 is an active rod. The driving shaft of the power source 33 extends to push the first connecting rod 321, and the first connecting rod 321 moves in the direction of increasing height; the third connecting rod 323 is connected to the first connecting rod 321 through the first reinforcing rod 325 and the second reinforcing rod 326, and the first connecting rod 321 drives the third connecting rod 323 to move upward through the first reinforcing rod 325 and the second reinforcing rod 326; the second connecting rod 322 is hinged to the third connecting rod 323, and the first connecting rod 321 drives the third connecting rod 323 to move while driving the second connecting rod 322 to move upward; the fourth connecting rod 324 is hinged to the first connecting rod 321, and the upward movement of the first connecting rod 321 also drives the fourth connecting rod 324 to move upward, thereby realizing the unfolding of the folding assembly 32, and driving the buoy device close to the hatch 11. On the contrary, the folding assembly 32 is folded, and the buoy device is driven away from the hatch 11.

[0037] Further, refer to Figure 3 The folding and unfolding component 32 further includes:

[0038] A first rotating shaft 327, the first rotating shaft 327 connects the first reinforcing rod 325, the second connecting rod 322 and the third connecting rod 323, and ends of the first reinforcing rod 325, the second connecting rod 322 and the third connecting rod 323 are hinged through the first rotating shaft 327;

[0039] The second rotating shaft 328 connects the second reinforcing rod 326 , the first connecting rod 321 and the fourth connecting rod 324 . Ends of the second reinforcing rod 326 , the first connecting rod 321 and the fourth connecting rod 324 are hinged through the second rotating shaft 328 .

[0040] In this embodiment, the ends of the first reinforcing rod 325, the second connecting rod 322 and the third connecting rod 323 are hinged by the first rotating shaft 327. When the first connecting rod 321 moves upward, power is transmitted to the first rotating shaft 327 through the first reinforcing rod 325, and the first connecting rod 321 supports the third connecting rod 323 through the first reinforcing rod 325 while supporting the second connecting rod 322; the ends of the second reinforcing rod 326, the first connecting rod 321 and the fourth connecting rod 324 are hinged by the second rotating shaft 328. When the first connecting rod 321 moves upward, power is transmitted to the second rotating shaft 328, and the first connecting rod 321 supports the fourth connecting rod 324 while supporting the third connecting rod 323 through the second reinforcing rod 326; the stability of power transmission of the folding and unfolding assembly 32 is improved.

[0041] Furthermore, the folding and unfolding mechanism further includes a support top plate 34, the ends of the third connecting rod 323 and the fourth connecting rod 324 away from the support bottom plate 31 are respectively hinged to the support top plate 34, and the buoy assembly 2 is fixedly connected to the support top plate 34. The contact area between the support top plate 34 and the buoy assembly 2 is larger, the force is dispersed, and the support is more stable.

[0042] In some optional embodiments, referring to Figure 3 There are two power sources 33 , and the two power sources 33 are connected to the first connecting rod 321 and the second connecting rod 322 respectively.

[0043] In this embodiment, the two power sources 33 are connected to the first connecting rod 321 and the second connecting rod 322 respectively, and the first connecting rod 321 and the second connecting rod 322 are both active rods. The two power sources 33 are arranged in a mirror image, and push the first connecting rod 321 and the second connecting rod 322 respectively, and the first connecting rod 321 and the second connecting rod 322 move in the direction of increasing height at the same time; the first connecting rod 321 drives the fourth connecting rod 324 to rise, and at the same time, the first connecting rod 321 drives the third connecting rod 323 to rise through the first reinforcing rod 325 and the second reinforcing rod 326; the second connecting rod 322 drives the third connecting rod 323 to rise. The two power sources 33 are connected to the first connecting rod 321 and the second connecting rod 322 respectively, and the power is increased while the power is balanced, which improves the stability of the folding and unfolding assembly 32.

[0044] In some optional embodiments, referring to Figure 3 The number of the folding and unfolding components 32 is two, and the two folding and unfolding components 32 are arranged in a mirror image. The two folding and unfolding components 32 are arranged to improve the driving stability of the first driving mechanism 3.

[0045] Furthermore, the first driving mechanism 3 further includes a transmission rod 35 , the transmission rod 35 connects the two folding and unfolding components 32 , and the driving shaft of the power source 33 is connected to the transmission rod 35 .

[0046] In this embodiment, two folding and unfolding assemblies 32 are connected by a transmission rod 35, and the power of the power source 33 is transmitted to the two folding and unfolding assemblies 32 through the transmission rod 35, so that the two folding and unfolding assemblies 32 move synchronously, further improving the stability of the driving of the first driving mechanism 3.

[0047] Further, the power source 33 is a motor, a hydraulic cylinder or a pneumatic cylinder.

[0048] In some alternative embodiments, referring to Figure 5 , the buoy assembly 2 further includes a second driving mechanism 26 and a mounting seat 24, and the first driving mechanism 3 is connected to the mounting seat 24.

[0049] The second driving mechanism 26 is fixed on the mounting seat 24, and the driving shaft of the second driving mechanism 26 is coaxially connected to one end of the sleeve 21. The rotation of the driving shaft of the second driving mechanism 26 drives the sleeve 21 to rotate coaxially; the other end of the sleeve 21 is rotatably connected to the mounting seat 24.

[0050] In this embodiment, the first driving mechanism 3 drives the mounting seat 24 of the buoy assembly 2 to move towards the hatch 11. When the buoy assembly 2 reaches the hatch 11, the hatch door opens, the buoy body 23 obtains buoyancy, the driving shaft of the second driving mechanism 26 rotates, so that the cable 22 unwinds from the sleeve 21, and the buoy body 23 is released; conversely, when recovering the buoy, the driving shaft of the second driving mechanism 26 rotates in the reverse direction, the cable 22 is wound around the sleeve 21, the buoy is recovered, and the first driving mechanism 3 drives the buoy assembly 2 to move away from the hatch 11, and the hatch door closes.

[0051] Further, the second driving mechanism 26 is a motor, a hydraulic cylinder or a pneumatic cylinder.

[0052] The above-described embodiments merely represent several implementation manners of the present invention, and their 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 deformations 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. An underwater vehicle, characterized in that, include: A loading cabin, wherein the loading cabin is provided with a hatch; A buoy assembly, the buoy assembly is arranged in the carrying cabin, the buoy assembly comprises a sleeve, a cable and a buoy body, the cable is connected to the buoy body, and the cable is wound outside the sleeve; A first driving mechanism is connected to the buoy assembly, and the first driving mechanism drives the buoy assembly to reach the hatch, the sleeve releases the cable, and the buoy body is released from the hatch.

2. The underwater vehicle according to claim 1, characterized in that, The first driving mechanism comprises: Support base plate; A folding and unfolding assembly, the folding and unfolding assembly connecting the supporting bottom plate and the buoy assembly; A power source, wherein the power source is extended and retracted to drive the folding and unfolding assembly to fold and unfold, and the folding and unfolding assembly is unfolded to drive the buoy assembly to reach the hatch.

3. The underwater vehicle according to claim 2, characterized in that, The folding and unfolding component comprises: A first connecting rod, one end of which is hinged to the supporting base plate; the first connecting rod is also connected to a driving shaft of the power source; a second connecting rod, the second connecting rod being arranged crosswise with the first connecting rod, and one end of the second connecting rod being hinged to the supporting bottom plate; a third connecting rod, the third connecting rod being arranged in parallel with the first connecting rod, one end of the third connecting rod being hinged to the other end of the second connecting rod facing away from the supporting bottom plate, and the other end of the third connecting rod being hinged to the buoy assembly; a fourth connecting rod, wherein the fourth connecting rod is arranged in parallel with the second connecting rod, one end of the fourth connecting rod is hinged to the other end of the first connecting rod away from the supporting bottom plate, and the other end of the fourth connecting rod is hinged to the buoy assembly; a first reinforcing rod, wherein one end of the first reinforcing rod is hinged to the middle portion of the first connecting rod, and the other end of the first reinforcing rod is hinged to the third connecting rod; A second reinforcing rod, one end of which is hinged to the middle portion of the fourth connecting rod, and the other end of which is hinged to the first connecting rod.

4. The underwater vehicle according to claim 3, characterized in that, The folding and unfolding component also includes: a first rotating shaft, wherein the first rotating shaft connects the first reinforcing rod, the second connecting rod and the third connecting rod, and ends of the first reinforcing rod, the second connecting rod and the third connecting rod are hinged through the first rotating shaft; A second rotating shaft, wherein the second rotating shaft connects the second reinforcing rod, the first connecting rod and the fourth connecting rod, and ends of the second reinforcing rod, the first connecting rod and the fourth connecting rod are hinged through the second rotating shaft.

5. The underwater vehicle according to any one of claims 3 to 4, characterized in that, The number of the power sources is two, and the two power sources are connected to the first connecting rod and the second connecting rod respectively.

6. The underwater vehicle according to claim 2, wherein, The number of the folding and unfolding components is two, and the two folding and unfolding components are arranged in a mirror image.

7. The underwater vehicle according to claim 6, characterized in that, The first driving mechanism further comprises a transmission rod, the transmission rod connects the two folding and unfolding components, and the driving shaft of the power source is connected to the transmission rod.

8. The underwater vehicle according to claim 2, wherein The power source is a motor, a hydraulic cylinder or a pneumatic cylinder.

9. The underwater vehicle according to any one of claims 1, characterized in that, The buoy assembly further comprises: a second driving mechanism and a mounting seat, wherein the first driving mechanism is connected to the mounting seat; The second driving mechanism is fixed on the mounting seat, the driving shaft of the second driving mechanism is connected to one end of the sleeve, and the rotation of the driving shaft of the second driving mechanism drives the sleeve to rotate coaxially; the other end of the sleeve is rotatably connected to the mounting seat.

10. The underwater vehicle according to claim 9, characterized in that, The second driving mechanism is a motor, a hydraulic cylinder or a pneumatic cylinder.

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