An unmanned underwater vehicle transport device

Abstract

The present application belongs to the technical field of transport container equipment, and particularly relates to an unmanned underwater vehicle transport device, which comprises a tool base for storing the unmanned underwater vehicle; the tool base comprises a bottom fixing frame, a support frame, a stand column, a top hanger, a lifting appliance seat locking frame, and further comprises a stress alleviating mechanism; in the process of acceleration or deceleration of the vehicle, or in the process of uniform speed up or down of the vehicle, the lifting appliance seat locking frame is adjusted in the tilting angle and the tilting direction by the lifting movement of the jacks located at the two ends of the bottom fixing frame, and then the stress of the inertial force or the gravity gathered on the lifting appliance seat and the lifting appliance seat locking frame is effectively reduced by using the characteristics of the inertial force and the gravity decomposition in the tilting angle, and the stability of the unmanned underwater vehicle transport is effectively improved by the limiting and bearing of the tool base on the unmanned underwater vehicle.

Description

Technical Field

[0001] This invention belongs to the field of transportation container equipment technology, specifically an unmanned underwater vehicle transportation device. Background Technology

[0002] Unmanned underwater vehicles (UUVs) are important tools for marine geological and geomorphological exploration, marine environmental observation, and marine resource exploration. UUVs are a new type of marine monitoring equipment with self-powered propulsion, autonomous underwater control, and sensing capabilities, capable of operating independently of a mother ship. UUVs have gained significant attention from various countries, and with their development, a variety of UUVs with different functions and specifications have emerged.

[0003] Currently, most underwater vehicles have a streamlined shape, which is one of the measures to effectively reduce water resistance during underwater navigation. However, it is precisely because of their smooth and streamlined appearance that underwater vehicles are not easy to secure during transportation. Therefore, the acceleration and deceleration of vehicles during transportation can cause vehicles with low fixation strength to sway back and forth. The lack of effective fixation not only makes it easy for them to slip and shake, causing collisions, but in severe cases, it can even damage the surface of the vehicle. Moreover, due to the lack of supporting professional tooling, the operation of securing underwater vehicles is difficult, the tooling preparation and adjustment cycle is long, the operation is cumbersome, and it is not suitable for assembling and assembling multiple series and different models of underwater vehicles.

[0004] For example, a related technology discloses an integrated loading and unloading device for environmental testing of aircraft, application number CN202411611996X. This technology discloses a lifting belt, a flexible clamp, and a cargo tray. The lifting belt and the cargo tray are connected through positioning holes, and the flexible clamp and the lifting belt are connected by stitching to form a whole. The product is placed on the cargo tray, and the entire device is lifted by the lifting belt for environmental testing, integrating loading and unloading. Although this technology uses structures such as lifting belts, flexible clamps, and cargo trays to package the aircraft and protect it during loading, unloading, and transportation, it cannot stably fix the aircraft during vehicle or ship transportation without a fixed structure. Under the action of inertial forces, vibrations, and other external forces, the aircraft is easily prone to shaking, vibration, and collisions. Therefore, it is not suitable for long-distance transportation of aircraft.

[0005] In view of this, the present invention proposes an unmanned underwater vehicle transportation device to solve the above-mentioned technical problems. Summary of the Invention

[0006] To overcome the shortcomings of existing technologies and solve the aforementioned technical problems, this invention proposes an unmanned underwater vehicle transportation device.

[0007] The technical solution adopted by the present invention to solve its technical problem is: an unmanned underwater vehicle transportation device according to the present invention, comprising a tooling base for storing the unmanned underwater vehicle; the tooling base includes:

[0008] The bottom fixing frame is a frame structure, which consists of a top beam frame plate, a bottom beam frame plate, and vertical beams fixedly distributed between the two parallel to each other.

[0009] The support frame has multiple support frames installed along the length of the bottom fixed frame. The upper surface of the support frame is arc-shaped and is fixedly inlaid with a rubber layer. The unmanned underwater vehicle is placed on the multiple support frames.

[0010] The support frame has multiple columns that are detachably fixedly installed on it, and the top hanger is fixedly installed on the end of the multiple columns away from the bottom fixed frame.

[0011] The top support frame has symmetrically arranged connecting holes. The sling seat locking frame is installed on the top support frame through the connecting holes. The sling seat locking frame corresponds to the sling seat on the unmanned underwater vehicle.

[0012] Furthermore, the tooling base also includes a stress mitigation mechanism, which is used to mitigate the inertial stress of the unmanned underwater vehicle when the vehicle changes speed. The stress mitigation mechanism includes:

[0013] A lifting frame is mounted on a bottom fixed frame, and multiple support frames are mounted on the lifting frame;

[0014] The rotating shaft and jacks are rotatably mounted on the top beam frame plate. The bottom side of the middle part of the lifting frame is fixedly connected to the rotating shaft. The jacks are symmetrically arranged and fixedly mounted on the bottom beam frame plate. In the initial state, the top of the jacks is flush with the rotating shaft and the lifting frame is in a horizontal state.

[0015] The controller and the detection slider are fixedly installed on the bottom beam frame plate. The controller has a control groove inside, and the detection slider is slidably installed in the control groove. The controller and the detection slider are electrically connected to the jack. The controller and the detection slider work together with the jack to control the lifting frame to adjust the tilt direction of the lifting frame according to the direction of inertial force.

[0016] Furthermore, the bottom of the lifting frame is provided with an adapter groove, and an adapter block is slidably installed in the adapter groove. The adapter block is hinged to the top of the jack.

[0017] Furthermore, the control chute is an arc-shaped structure with its opening facing upwards. In the initial state, the detection slider is located at the lowest end of the control chute, and the extension length of the jack is positively correlated with the sliding distance of the detection slider.

[0018] Furthermore, the lifting frame includes a frame and a sliding plate. The frame is a frame-shaped structure with a buffer groove on its surface. The sliding plate is slidably installed in the buffer groove. A buffer is installed on the frame to absorb the impact force when the sliding plate slides.

[0019] Furthermore, the buffer slide is open along the length of the lifting frame, and extension frames are slidably installed at both ends of the buffer slide. Limiting springs are fixedly installed at the bottom of the extension frames together with the frame.

[0020] Furthermore, the bottom of the slide plate is provided with symmetrically arranged limiting grooves, and the frame is provided with symmetrically arranged lifting grooves. A limiting rod is slidably installed in the lifting groove, and the bottom beam frame plate is located on the movement path of the limiting rod. In the initial state, the slide plate is located in the middle of the buffer groove. At this time, the end of the limiting groove near the middle of the slide plate is aligned and connected with the corresponding lifting groove.

[0021] Furthermore, binding straps and binding rings are fixedly installed on both sides of the support frame, and the binding straps facing the unmanned underwater vehicle are all made of rubber material.

[0022] Furthermore, the binding strap has an expansion layer inside, and telescopic cylinders are fixedly installed at both ends of the slide plate. The telescopic cylinders and the expansion layer are connected by pipes, and both the expansion layer and the telescopic cylinders are filled with hydraulic oil.

[0023] Furthermore, the skateboard is equipped with multiple pull rings, which are symmetrically distributed on both sides of the support frame. The binding strap is equipped with a connecting ring, and the connecting ring and the pull ring are jointly fixed with a fixing strap.

[0024] The beneficial effects of this invention are as follows:

[0025] 1. The unmanned underwater vehicle transport device of the present invention, by setting up a stress mitigation mechanism, during the acceleration or deceleration of the vehicle, or during the uniform speed up or downhill movement of the vehicle, the lifting movement of the jacks located at both ends of the bottom fixed frame can realize the adjustment of the tilt angle and tilt direction of the lifting frame and the unmanned underwater vehicle. In addition, by utilizing the characteristics of the tilt angle to decompose inertial force and gravity, the stress accumulated by inertial force or gravity on the lifting device seat and the lifting device seat locking frame is effectively reduced. In conjunction with the tooling base to limit and support the unmanned underwater vehicle, the stability of the unmanned underwater vehicle transport is effectively improved.

[0026] 2. The unmanned underwater vehicle transport device of the present invention uses a sliding plate to push an extension frame. When the extension frame moves relative to the frame, it will pull the limiting spring, causing some of the inertial force to be converted into the elastic force of the limiting spring. As the extension frame moves away from the frame, the length of the sliding ramp of the sliding plate increases. At the same time, since the unmanned underwater vehicle is in an inclined state at this time, the movement distance of the unmanned underwater vehicle within the limited length of the carriage increases, further enhancing the effect of the buffer, the limiting spring, and the work done by gravity on the inertial force. Ultimately, the stress accumulated on the spreader seat and the spreader seat locking frame under the action of inertia is reduced. Attached Figure Description

[0027] The invention will now be further described with reference to the accompanying drawings.

[0028] Figure 1 This is a perspective view of the invention in a horizontal position;

[0029] Figure 2 This is a perspective view of the invention under vehicle deceleration conditions;

[0030] Figure 3 This is a perspective view of the invention in the state of vehicle acceleration;

[0031] Figure 4 This is a 3D view of the bottom mounting bracket;

[0032] Figure 5 This is a 3D view of the bottom of the lifting frame;

[0033] Figure 6 It is a 3D diagram showing the frame and skateboard disassembled;

[0034] Figure 7 It's a 3D view of the bottom of a skateboard;

[0035] Figure 8 It's a 3D view of the top of the skateboard;

[0036] Figure 9 This is a partial cross-sectional view of the present invention;

[0037] Figure 10 This is a partial cross-sectional view of the binding straps;

[0038] In the diagram: 1. Bottom fixing frame; 11. Top beam frame plate; 12. Bottom beam frame plate; 13. Vertical beam; 2. Support frame; 21. Column; 22. Top hanger; 23. Lifting device seat locking frame; 24. Rotating shaft; 25. Jack; 26. Controller; 27. Control slide; 28. Detection slider; 29. ​​Adaptor slide; 2A. Adaptor block; 3. Frame; 31. Slide plate; 32. Buffer; 33. Buffer slide; 4. Extension frame; 41. Limiting spring; 42. Limiting groove; 43. Lifting groove; 5. Limiting rod; 6. Binding strap; 61. Binding ring; 63. Expansion layer; 64. Telescopic cylinder; 65. Pull ring; 66. Fixing strap; 67. Connecting ring. Detailed Implementation

[0039] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0040] like Figures 1 to 10 As shown, the unmanned underwater vehicle transportation device of the present invention includes a tooling base for storing the unmanned underwater vehicle; the tooling base includes:

[0041] The bottom fixing frame 1 is a frame structure. The bottom fixing frame 1 is composed of a top beam frame plate 11 and a bottom beam frame plate 12 that are parallel to each other, and a vertical beam 13 that is fixedly distributed between the two. The composition of the bottom fixing frame 1 makes the middle part of the bottom fixing frame 1 have more space, which facilitates forklift transportation when transporting the tooling base.

[0042] Support frame 2, multiple support frames 2 are installed along the length of the bottom fixed frame 1, the upper surface of the support frame 2 is arc-shaped and fixedly inlaid with a rubber layer, and the unmanned underwater vehicle is placed on multiple support frames 2;

[0043] The support frame 2 has multiple columns 21 detachably fixedly installed on the support frame 2. The multiple columns 21 are fixedly installed together at the ends away from the bottom fixed frame 1. In this invention, hooks are installed above the top hanger 22. In this embodiment, the hooks are respectively installed at the four corners of the top of the top hanger 22.

[0044] The top support frame 22 has symmetrically arranged connecting holes. The lifting device lock frame 23 is installed on the top support frame 22 through the connecting holes. The lifting device lock frame 23 corresponds to the lifting device on the unmanned underwater vehicle.

[0045] To enhance the stability of unmanned underwater vehicles during transportation and reduce the probability of unmanned underwater vehicles shaking due to inertial forces during vehicle acceleration or deceleration, this invention includes a tooling base to fix the unmanned underwater vehicle in place, thereby reducing the probability of surface damage to the unmanned underwater vehicle due to shaking, vibration, or other reasons.

[0046] Specifically, in the preparation process before transporting the unmanned underwater vehicle (UUV), the tooling base is first placed on the vehicle and fixed to it using bolts or plate abutments. Then, a suspension device is used to hoist the UUV onto multiple support frames 2. The curved surface of the support frames 2 supports the UUV. Next, the top hanger 22 and the column 21 are fixedly installed on the support frames 2, working together to cover the UUV. Finally, the operator adjusts the spreader seat locking frame 23. In this invention, the spreader seat locking frame 23 is used to limit the position of the spreader seat on the UUV. In this embodiment, the spreader seat locking frame 23 uses U-bolts for fastening. By adjusting the position of the bolts, the distance between the two spreader seat locking frames 23 can be adjusted accordingly, thereby limiting the position of the two spreader seats on the unmanned underwater vehicle. At this point, the initial installation of the unmanned underwater vehicle is completed, and it can be transported after installation. When the vehicle accelerates or decelerates during transportation, the unmanned underwater vehicle tends to move forward or backward due to inertia. The limiting effect of the spreader seat locking frame 23 on the spreader seat, combined with the limiting effect of the upper arc surface of the support frame 2 on the left and right positions of the unmanned underwater vehicle, makes the combination of the unmanned underwater vehicle and the tooling base more stable, thereby effectively reducing the probability of the unmanned underwater vehicle shaking, collision and other accidents, and thus improving the transportation safety of the unmanned underwater vehicle.

[0047] Meanwhile, in the invention, the height of the multiple columns 21 that make up the tooling base is higher than the height of the unmanned underwater vehicle, and the hook installed on the top gantry 22 is located on the upper surface. Therefore, when the tooling base and the unmanned underwater vehicle are hoisted and transferred as a whole, the setting of the columns 21 and the top gantry 22 raises the hoisting point above the center of gravity of the unmanned underwater vehicle, and the force point of the hook is above the overall center of gravity of the unmanned underwater vehicle and the tooling base. Therefore, during the hoisting process, the probability of the unmanned underwater vehicle vibrating or tilting in windy conditions can be effectively reduced, and the safety of hoisting can be improved.

[0048] In a preferred embodiment of the present invention, the tooling base further includes a stress mitigation mechanism, which is used to mitigate the inertial stress of the unmanned underwater vehicle when the vehicle changes speed. The stress mitigation mechanism includes:

[0049] A lifting frame is mounted on a bottom fixed frame 1, and multiple support frames 2 are mounted on the lifting frame;

[0050] The rotating shaft 24 and the jacks 25 are rotatably mounted on the top beam frame plate 11. The bottom side of the middle part of the lifting frame is fixedly connected to the rotating shaft 24. The jacks 25 are symmetrically arranged and fixedly mounted on the bottom beam frame plate 12. In the initial state, the top of the jacks 25 is flush with the rotating shaft 24 and the lifting frame is in a horizontal state.

[0051] The controller 26 and the detection slider 28 are fixedly installed on the bottom beam frame plate 12. The controller 26 has a control groove 27 inside, and the detection slider 28 is slidably installed in the control groove 27. The controller 26 and the detection slider 28 are electrically connected to the jack 25. The controller 26 and the detection slider 28 cooperate with the jack 25 to control the lifting frame to adjust the tilting direction of the lifting frame according to the direction of inertial force.

[0052] The bottom of the lifting frame is provided with an adapter groove 29, and an adapter block 2A is slidably installed in the adapter groove 29. The adapter block 2A is hinged to the top of the jack 25.

[0053] The control slide 27 is an arc-shaped structure with the opening facing upwards. In the initial state, the detection slider 28 is located at the lowest end of the control slide 27, and the extension length of the jack 25 is positively correlated with the sliding distance of the detection slider 28.

[0054] When inertial forces act on the tooling base and the unmanned underwater vehicle (UUV), there is a tendency for relative motion between the UUV and the tooling base. However, the locking effect of the spreader seat locking frame 23 on the UUV makes the UUV relatively fixed to the tooling base. This results in inertial stress acting on the spreader seat and the spreader seat locking frame 23. Since inertial force is related to the change in acceleration and mass of the object, when the inertial force is large, the inertial stress is concentrated on the spreader seat and the spreader seat locking frame 23, which can easily cause deformation of the spreader seat or the spreader seat locking frame 23. In severe cases, it may even cause damage to the spreader seat or the spreader seat locking frame 23. By mitigating the inertial force during the transport of the UUV, the probability of this phenomenon can be effectively reduced, facilitating the safe and stable transport of the UUV.

[0055] Specifically, when the vehicle transports the tooling base and the unmanned underwater vehicle, after the spreader seat locking frame 23 locks the spreader seat, as the vehicle's acceleration changes, the detection slider 28, initially located in the middle of the control chute 27 (i.e., the lowest end of the control chute 27), still tends to maintain its original speed under the action of inertial force, thus causing the detection slider 28 to slide within the control chute 27. In this invention, a position sensor is installed in the control chute 27 to test the position of the detection slider 28 within the control chute 27 in real time. Under the control of a pre-set program, the jack 25 moving in the same direction as the detection slider 28 rises, while the jack 25 moving away from the direction of the detection slider 28 descends. When the two jacks 25 are rising and falling, the lifting frame rotates around the central rotation axis 24, thus causing the lifting frame, the support frame 2 mounted on it, and the unmanned underwater vehicle to be in an inclined state, such as... During vehicle acceleration, the detection slider 28 slides backward within the control groove 27, causing the jack 25 near the rear of the vehicle to rise and the jack 25 near the front of the vehicle to fall. This causes the lifting frame and the unmanned underwater vehicle to tilt. At this time, under the action of inertia, the unmanned underwater vehicle has an inertial force that moves backward. This inertial force acts on the lifting frame and is decomposed into backward and downward components by the inclined surface of the lifting frame. This reduces the inertial force of the unmanned underwater vehicle moving backward, thereby reducing the stress concentrated on the spreader base and the spreader base locking frame 23, and reducing the probability of damage to both. At the same time, due to the existence of the downward component force, the pressure and friction between the bottom fixing frame 1 and the vehicle also increase, thereby ensuring stable transportation of the engineering pile base and the unmanned underwater vehicle. Similarly, when the vehicle decelerates, the end of the lifting frame near the front of the vehicle rises and the end near the rear of the vehicle falls, also using the inclined surface to decompose the inertial force.

[0056] It is also important to understand that, because the detection slider 28 in this invention is subject to both inertial force and gravity, when the vehicle is traveling uphill or downhill, even if the vehicle maintains a stable speed, the detection slider 28 will still slide within the control groove 27 under the influence of gravity. This, in turn, works with the jack 25 to adjust the tilt angle of the lifting frame. For example, when the vehicle is traveling uphill, because the tooling base is parallel to the vehicle, the lifting frame and the unmanned underwater vehicle are tilted. At this time, the detection slider 28 slides towards the rear of the vehicle. With the cooperation of the controller 26, the jack 25 near the rear of the vehicle rises, thereby adjusting the lifting angle. The tilt angle between the lifting frame and the unmanned underwater vehicle is reduced, causing the lifting frame and the unmanned underwater vehicle to tend to be horizontal. Similarly, when the vehicle is traveling downhill, the jack 25 near the front of the vehicle rises, which can also reduce the tilt angle of the unmanned underwater vehicle. This is because when maintaining a constant speed, the gravity of the unmanned underwater vehicle is downward. At this time, the spreader base and the spreader base locking frame 23 move at the same speed. When the tilt angle of the unmanned underwater vehicle and the lifting frame decreases, the force exerted by the unmanned underwater vehicle on the spreader base and the spreader base locking frame 23 decreases, thereby reducing the probability of deformation or damage to the spreader base and the spreader base locking frame 23.

[0057] This invention, by setting up a stress mitigation mechanism, allows for the adjustment of the tilt angle and tilt direction of the lifting frame and the unmanned underwater vehicle during vehicle acceleration or deceleration, or during uniform uphill or downhill movement, through the lifting movement of the jacks 25 located at both ends of the bottom fixed frame 1. Furthermore, by utilizing the characteristics of tilt angle in decomposing inertial force and gravity, the stress accumulated by inertial force or gravity on the spreader seat and spreader seat locking frame 23 is effectively reduced. Combined with the tooling base for limiting and bearing the unmanned underwater vehicle, this effectively improves the stability of unmanned underwater vehicle transportation.

[0058] In a preferred embodiment of the present invention, the lifting frame includes a frame 3 and a sliding plate 31. The frame 3 is a frame-shaped structure with a buffer groove 33 on its surface. The sliding plate 31 is slidably installed in the buffer groove 33. A buffer member 32 is installed on the frame 3. The buffer member 32 is used to absorb the impact force when the sliding plate 31 slides.

[0059] The buffer slide 33 is open along the length of the lifting frame, and extension frames 4 are slidably installed at both ends of the buffer slide 33. The bottom of the extension frame 4 and the frame 3 are fixedly installed with limit springs 41.

[0060] To further reduce the stress concentration problem caused by inertia, the lifting frame in this invention consists of a frame 3 and a sliding plate 31, with the sliding plate 31 slidably installed within the frame 3. When the vehicle accelerates or decelerates on flat ground, the unmanned underwater vehicle moves forward or backward under the action of inertia. Since the support frame 2 is fixed on the sliding plate 31, and the column 21 and top hanger 22 are installed on the support frame 2, the unmanned underwater vehicle moves synchronously with the sliding plate 31. When the sliding plate 31 slides along the buffer groove 33, the buffer member 32 located on the frame 3 buffers the sliding of the sliding plate 31. In this invention, the buffer member 32 is used to convert the inertial force into other forms of force. For example, in this embodiment, the buffer member 32 is a friction plate. When the sliding plate 31 slides relative to the frame 3, the friction plate and the sliding plate 31 generate friction, converting part of the inertial force into heat energy generated by friction, thereby achieving the cancellation of the inertial force. At the same time, due to the action of inertia, the jack... When the top 25 causes the lifting frame to tilt, the sliding plate 31 moves downward along the inclined surface formed by the frame 3. The gravity of the sliding plate 31 and the unmanned underwater vehicle installed on it does work, which in turn converts part of the inertial force into gravitational potential energy, further offsetting the inertial force. When the sliding plate 31 moves upward along the inclined surface of the frame 3, the sliding plate 31 eventually pushes the extension frame 4. When the extension frame 4 moves relative to the frame 3, it will pull the limiting spring 41, causing part of the inertial force to be converted into the elastic force of the limiting spring 41. As the extension frame 4 moves away from the frame 3, the sliding inclined surface length of the sliding plate 31 increases. At the same time, since the unmanned underwater vehicle is in an inclined state at this time, the movement distance of the unmanned underwater vehicle in the limited length of the carriage increases, further enhancing the offsetting effect of the buffer 32, the limiting spring 41, and the gravity work on the inertial force. Finally, the stress accumulated on the spreader seat and the spreader seat locking frame 23 under the action of inertia is reduced.

[0061] In a preferred embodiment of the present invention, the bottom of the slide plate 31 is provided with symmetrically arranged limiting grooves 42, and the frame 3 is provided with symmetrically arranged lifting grooves 43. A limiting rod 5 is slidably installed in the lifting groove 43. The bottom beam frame plate 12 is located on the movement path of the limiting rod 5. In the initial state, the slide plate 31 is located in the middle of the buffer slide groove 33. At this time, the end of the limiting groove 42 near the middle of the slide plate 31 is aligned and connected with the corresponding lifting groove 43.

[0062] During the tilting process of the lifting frame relative to the bottom fixed frame 1, the limiting rod 5 on the side moving downward relative to the bottom fixed frame 1 is pushed by the bottom beam frame plate 12 and enters the limiting groove 42 from the lifting groove 43. The limiting rod 5 is located at the end of the limiting groove 42 near the middle of the sliding plate 31, thus limiting the sliding plate 31 and preventing it from sliding downward towards the end of the buffer groove 33 under the action of gravity. When the sliding plate 31 moves obliquely upward along the buffer groove 33 due to inertia, it is... Since the limiting rod 5 on the side that moves upward relative to the base fixing seat does not enter the corresponding limiting groove 42, the presence of the limiting rod 5 will not hinder the upward movement of the slide plate 31. Therefore, in practical applications, it can effectively prevent the slide plate 31 and the unmanned underwater vehicle from moving downward from the middle of the frame 3 when the lifting frame is tilted, thereby preventing the end of the unmanned underwater vehicle from colliding with the ground. At the same time, the presence of the limiting rod 5 can also cause the slide plate 31 to eventually move back to the middle position of the frame 3 during the reset process.

[0063] In a preferred embodiment of the present invention, binding straps 6 and binding rings 61 are fixedly installed on both sides of the support frame 2, and the binding straps 6 facing the unmanned underwater vehicle are all made of rubber material.

[0064] An expansion layer 63 is provided inside the binding strap 6. Telescopic cylinders 64 are fixedly installed at both ends of the slide plate 31. The telescopic cylinders 64 and the expansion layer 63 are connected by pipes. Both the expansion layer 63 and the telescopic cylinders 64 are filled with hydraulic oil.

[0065] Multiple pull rings 65 are installed on the skateboard 31. The pull rings 65 are symmetrically distributed on both sides of the support frame 2. A connecting ring 67 is installed on the binding strap 6. A fixing strap 66 is fixedly installed on the connecting ring 67 and the pull rings 65.

[0066] To further enhance the stability of the unmanned underwater vehicle, when the sliding plate 31 moves relative to the frame 3, it will compress the telescopic cylinder 64 at the end of the sliding plate 31, causing the telescopic cylinder 64 to contract. The hydraulic oil inside is then transported to the expansion layer 63 through pipes, making the connection between the unmanned underwater vehicle and the binding strap 6 more secure. At the same time, the multiple pull rings 65, together with the fixing strap 66, form a triangular tension mechanism between the binding strap 6 and the sliding plate 31, further enhancing the fixation effect on the unmanned underwater vehicle.

[0067] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A transport device for an unmanned underwater vehicle, comprising a tooling base for storing the unmanned underwater vehicle; characterized in that: The tooling base includes: Bottom fixing frame (1), the bottom fixing frame (1) is a frame (3) type structure, the bottom fixing frame (1) is composed of a top beam frame plate (11) parallel to the top and bottom beam frame plate (12) and a vertical beam (13) fixedly distributed between the two; Support frame (2), multiple support frames (2) are installed in the length direction of the bottom fixed frame (1). The upper surface of the support frame (2) is arc-shaped and is fixedly inlaid with a rubber layer. The unmanned underwater vehicle is placed on multiple support frames (2). The support frame (2) has multiple columns (21) detachably fixedly installed on the support frame (2), and the multiple columns (21) are fixedly installed together at the end away from the bottom fixed frame (1) on the top hanging frame (22). The top hanger (22) has symmetrically arranged connecting holes. The lifting device lock frame (23) is installed on the top hanger (22) through the connecting holes. The lifting device lock frame (23) corresponds to the lifting device on the unmanned underwater vehicle. The tooling base also includes a stress mitigation mechanism, which is used to mitigate the inertial stress of the unmanned underwater vehicle when the vehicle changes speed. The stress mitigation mechanism includes: A lifting frame is mounted on a bottom fixed frame (1), and multiple support frames (2) are mounted on the lifting frame; Rotating shaft (24) and jacks (25), the rotating shaft (24) is rotatably mounted on the top beam frame plate (11), the bottom side of the middle part of the lifting frame is fixedly connected to the rotating shaft (24), and jacks (25) are symmetrically arranged fixedly mounted on the bottom beam frame plate (12). In the initial state, the top of the jacks (25) is flush with the rotating shaft (24), and the lifting frame is in a horizontal state; The controller (26) and the detection slider (28) are fixedly installed on the bottom beam frame plate (12). The controller (26) has a control groove (27) inside. The detection slider (28) is slidably installed in the control groove (27). The controller (26) and the detection slider (28) are electrically connected to the jack (25). The controller (26) and the detection slider (28) work together with the jack (25) to control the lifting frame to adjust the tilting direction of the lifting frame according to the direction of inertial force.

2. The unmanned underwater vehicle transport device according to claim 1, characterized in that: The bottom of the lifting frame is provided with an adapter groove (29), and an adapter block (2A) is slidably installed in the adapter groove (29). The adapter block (2A) is hinged to the top of the jack (25).

3. The unmanned underwater vehicle transport device according to claim 1, characterized in that: The control slide (27) is an arc-shaped structure with the opening facing upward. In the initial state, the detection slider (28) is located at the lowest end of the control slide (27), and the extension length of the jack (25) is positively correlated with the sliding distance of the detection slider (28).

4. The unmanned underwater vehicle transport device according to claim 1, characterized in that: The lifting frame includes a frame (3) and a sliding plate (31). The frame (3) is a frame-shaped structure with a buffer groove (33) on its surface. The sliding plate (31) is slidably installed in the buffer groove (33). A buffer (32) is installed on the frame (3). The buffer (32) is used to absorb the impact force when the sliding plate (31) slides.

5. The unmanned underwater vehicle transport device according to claim 4, characterized in that: The buffer slide (33) is opened along the length of the lifting frame. Both ends of the buffer slide (33) are slidably installed with extension frames (4). The bottom of the extension frames (4) and the frame (3) are fixedly installed with limit springs (41).

6. The unmanned underwater vehicle transport device according to claim 5, characterized in that: The bottom of the slide plate (31) is provided with symmetrically arranged limiting grooves (42), and the frame (3) is provided with symmetrically arranged lifting grooves (43). The lifting groove (43) is slidably installed with a limiting rod (5). In the initial state, the slide plate (31) is located in the middle of the buffer slide groove (33), and the two limiting grooves (42) are close to each other and aligned with the lifting groove (43) at one end. The bottom beam frame plate (12) is located on the rotation path of the limiting rod (5).

7. The unmanned underwater vehicle transport device according to claim 6, characterized in that: The support frame (2) is fixedly installed with binding straps (6) and binding rings (61) on both sides respectively. The binding straps (6) facing the unmanned underwater vehicle are all made of rubber material.

8. The unmanned underwater vehicle transport device according to claim 7, characterized in that: The binding strap (6) has an expansion layer (63) inside. Both ends of the slide plate (31) are fixedly installed with telescopic cylinders (64). The telescopic cylinders (64) and the expansion layer (63) are connected by pipes. Both the expansion layer (63) and the telescopic cylinders (64) are filled with hydraulic oil.

9. The unmanned underwater vehicle transport device according to claim 8, characterized in that: Multiple pull rings (65) are installed on the skateboard (31). The pull rings (65) are symmetrically distributed on both sides of the support frame (2). A connecting ring (67) is installed on the binding strap (6). A fixing strap (66) is fixedly installed on the connecting ring (67) and the pull rings (65).

Images