A cabin-stored telescopic bottom-sitting mechanism applicable to an AUV

Abstract

The present application belongs to the technical field of autonomous underwater vehicle, and particularly relates to a cabin storage type telescopic bottom-sitting mechanism for AUV, which comprises a bottom-sitting mechanism main frame, an outer buoyancy material, a cabin door unfolding assembly, a cabin door, a bottom-sitting plate telescopic driving assembly and a bottom-sitting plate. The bottom-sitting mechanism main frame is used for connecting with the main frame of the AUV, and the outer buoyancy material, the cabin door unfolding assembly and the bottom-sitting plate telescopic driving assembly are respectively arranged on the bottom-sitting mechanism main frame. When the bottom-sitting is needed, the cabin door can be opened to make the bottom-sitting plate extend out of the linear shape of the AUV, so as to ensure that the bottom equipment of the AUV avoids contact or friction with the seabed silt or sediment, and the safety of the bottom-sitting of the AUV is improved. Through the arrangement of the cabin door unfolding assembly and the cabin door, the bottom-sitting plate telescopic driving assembly and the bottom-sitting plate can be wrapped inside the linear shape of the AUV when the AUV is sailing, so that the sailing resistance of the AUV when sailing straight is much smaller than the current scheme of simply placing the cabin door outside, the system power consumption is effectively reduced, and the sailing time and distance are improved.

Description

Technical Field

[0001] This invention belongs to the field of autonomous underwater vehicle technology, specifically a storage-type telescopic landing mechanism that can be used in AUVs. Background Technology

[0002] Autonomous Underwater Vehicles (AUVs) play an irreplaceable and crucial role in oceanographic research and deep-sea resource exploration. Traditionally, AUVs conduct deep-sea resource exploration primarily using near-bottom navigation (bottom tracking). When long-term observation of the seabed in anomalous areas is required, the AUV needs to activate its landing mechanism to maintain attitude stability on the seabed. Current landing mechanisms, typically simply placed on the outside of the hull, negatively impact the AUV's external hull shape, resulting in significant drag and reduced overall performance. Summary of the Invention

[0003] To address the aforementioned problems, the present invention aims to provide a storage-type telescopic floor mechanism that can be used in AUVs.

[0004] The objective of this invention is achieved through the following technical solution:

[0005] A storage-type telescopic bottom-seat mechanism for AUVs includes a bottom-seat mechanism main frame, an external buoyancy material, a hatch deployment assembly, a hatch, a bottom-seat plate telescopic drive assembly, and a bottom-seat plate;

[0006] The main frame of the landing mechanism is used to connect with the main frame of the AUV. The external buoyancy material is set on the outside of the main frame of the landing mechanism. The outer periphery of the external buoyancy material corresponds to the overall outer contour shape of the AUV. A landing plate is opened on the external buoyancy material and extends out of the hatch.

[0007] The hatch unfolding assembly is mounted on the main frame of the base mechanism and is connected to the hatch. The hatch unfolding assembly is used to drive the hatch to open or close the base plate extending out of the hatch door. When the hatch closes the base plate extending out of the hatch door, the outer periphery contour line of the hatch is flush with the outer periphery contour line of the outer buoyancy material.

[0008] The seat plate telescopic drive assembly is mounted on the main frame of the seat mechanism; when the cabin door is opened and the seat plate extends out of the cabin door, the seat plate telescopic drive assembly is used to drive the seat plate to extend from the seat plate extension cabin door to the outside of the AUV or to drive the seat plate to retract from the seat plate extension cabin door to the inside of the AUV.

[0009] Each individual seat plate extends out of the hatchway and corresponds to one of the two hatchway deployment assemblies and the two hatches.

[0010] The hatch deployment assembly includes a fixed base frame, fixed uprights, a hatch deployment drive motor structure, and a linkage swing arm structure. The fixed base frame is fixed to the main frame of the seating mechanism. Two fixed uprights are provided, each fixed to the fixed base frame. The hatch deployment drive motor structure has a fixed end and a drive end. The fixed end of the hatch deployment drive motor structure is located on one of the fixed uprights. The linkage swing arm structure is located between the two fixed uprights. The drive end of the hatch deployment drive motor structure and one end of the hatch are respectively connected to the linkage swing arm structure. The drive end of the hatch deployment drive motor structure drives the corresponding hatch to first extend from the seating platform through the linkage swing arm structure, and then swing to open the seating platform through the hatch door.

[0011] Each of the fixed upright plates is provided with an H-shaped guide groove. The H-shaped guide grooves on the two fixed upright plates are the same in size and correspond to each other in position. Each H-shaped guide groove is divided into a vertical long groove part and a lateral arc curved groove part.

[0012] The linkage swing arm structure includes a drive link, an execution link, a hatch connecting swing arm, an upper synchronous pin, and a lower sliding pin. One end of the drive link is fixedly connected to the drive end of the hatch unfolding drive motor structure. One end of the execution link is hinged to the other end of the drive link, and the other end of the execution link is hinged to the upper synchronous pin. There are two hatch connecting swing arms. One end of each hatch connecting swing arm is fixedly connected to one end of the corresponding hatch. The other ends of each hatch connecting swing arm are passed through by the upper synchronous pin. Each hatch connecting swing arm is also provided with a lower sliding pin. The upper synchronous pin passes through the H-shaped guide grooves of the two fixed uprights, and each lower sliding pin passes through a corresponding H-shaped guide groove.

[0013] When the hatch is in the closed position with the floor panel extended from the hatch door, the upper synchronous pin moves under the influence of the drive end, drive link, and actuation link of the hatch door opening drive motor structure to the top of the vertical long slot of the H-shaped guide slide. At this time, the two lower sliding pins are respectively located at the intersection of the vertical long slot and the lateral arc-shaped curved slot of each H-shaped guide slide. When the hatch is in the position where it extends from the floor panel and is not opened, the upper synchronous pin moves under the influence of the drive end, drive link, and actuation link of the hatch door opening drive motor structure to the top of the vertical long slot and the lateral arc-shaped curved slot of the H-shaped guide slide. At the intersection of the curved sections, the two downward sliding pins are located at the bottom of the vertical long groove of the corresponding h-shaped guide groove. When the hatch extends from the seat plate and is fully extended to its limit position, the upper synchronous pin moves to the bottom of the lateral arc curved groove of the h-shaped guide groove under the drive end, drive link, and execution link of the hatch opening drive motor structure. At this time, the two downward sliding pins are still located at the bottom of the vertical long groove of the corresponding h-shaped guide groove, and each hatch connecting arm is driven to swing, and the hatch is opened by each hatch connecting arm.

[0014] The hatch opening drive motor structure includes a drive motor A, a motor fixing outer cylinder A, a motor sealing cylinder A, and a motor adapter fixing plate. One end of the motor fixing outer cylinder A is connected to one end of the motor sealing cylinder A. The housing of the drive motor A is located inside the motor fixing outer cylinder A and is fixedly connected to it. The drive shaft of the drive motor A, as the drive end of the hatch opening drive motor structure, passes through the motor adapter fixing plate and is fixedly connected to one end of the drive connecting rod. The motor sealing cylinder A has a sealing joint installation port A and an oil pipe connection port A. The sealing joint installation port A is used to install the sealing joint A. The sealing joint A is connected to the drive motor A through a wire and is also used to connect to the AUV control system. The oil pipe connection port A is used to connect to an external oil pressure balancing device and fill the interior of the motor sealing cylinder A and the motor fixing outer cylinder A with oil to achieve external pressure balancing protection and insulation protection for the drive motor A. A connecting flange A is formed on the outer periphery of the other end of the motor fixing outer cylinder A. The connecting flange A is connected to the motor adapter fixing plate by screws.

[0015] One end of the motor fixing outer cylinder A is connected to one end of the motor sealing cylinder A by at least two radially arranged fixing pins A. A sealing ring A is provided at the junction between one end of the motor fixing outer cylinder A and one end of the motor sealing cylinder A. A sealing ring B is provided at the junction between the connecting flange A and the motor adapter fixing plate. A lip-shaped dynamic seal mounting groove A is provided on the motor adapter fixing plate. A lip-shaped dynamic seal A is embedded inside the lip-shaped dynamic seal mounting groove A. A dynamic seal clamping nut A is also threadedly connected inside the lip-shaped dynamic seal mounting groove A. The dynamic seal clamping nut A presses the lip-shaped dynamic seal A into the lip-shaped dynamic seal mounting groove A. The drive shaft of the drive motor A also passes through the lip-shaped dynamic seal A and the dynamic seal clamping nut A.

[0016] The seat base telescopic drive assembly includes a telescopic drive motor structure, an outer fixed cylinder, an internally threaded screw sleeve, a screw, a seat base bracket, and a seat base bracket adapter. The outer fixed cylinder is fixedly connected to the main frame of the seat mechanism. The upper end of the screw is rotatably mounted in the outer fixed cylinder. The telescopic drive motor structure drives the screw to rotate. The lower end of the screw has an external thread. The internally threaded screw sleeve is located in the outer fixed cylinder. The inner hole of the internally threaded screw sleeve has an internal thread that mates with the external thread of the screw. Both the external thread of the screw and the internal thread of the internally threaded screw sleeve are self-locking threads. The sleeve and the lead screw are connected by threads. The axis of the outer fixed cylinder, the axis of the internal threaded lead screw sleeve, and the axis of the lead screw are all collinear. At least one sliding key is embedded on the upper outer surface of the internal threaded lead screw sleeve. Sliding keyways are respectively opened on the inner wall of the outer fixed cylinder at the corresponding positions of each sliding key for the sliding key to pass through. The lower end of the internal threaded lead screw sleeve extends out from the lower end of the outer fixed cylinder. The seat base bracket adapter is installed at the lower end of the internal threaded lead screw sleeve and is located below the lead screw. The upper end of the seat base bracket is fixedly connected to the seat base bracket adapter, and the lower end of the seat base bracket is fixedly connected to the seat base plate.

[0017] The upper end of the outer fixed cylinder is connected to the outer shell of the corner device. The outer shell of the corner device is connected to the outside of the telescopic drive motor structure through a motor adapter mounting sleeve. The input shaft of the corner device is connected to the drive end of the telescopic drive motor structure, and the output shaft of the corner device is connected to the upper end of the lead screw.

[0018] An outlet flange is installed on the lower end of the outer fixed cylinder. The lower end of the internal threaded screw sleeve passes through the inner hole of the outlet flange. An annular guide band and a dustproof ring are arranged sequentially from top to bottom on the inner wall of the outlet flange.

[0019] The outer fixed cylinder has an upper connecting seat and a lower connecting seat on its exterior. The upper connecting seat is located above the lower connecting seat. The upper connecting seat and the lower connecting seat are respectively provided with corresponding adjusting pads. The upper connecting seat and the corresponding adjusting pad are fixed to the main frame of the seating mechanism by screws. The lower connecting seat and the corresponding adjusting pad are fixed to the main frame of the seating mechanism by screws.

[0020] The interior of the outer fixed cylinder is provided with several ceramic bearings corresponding to the upper end of the lead screw, and each ceramic bearing is rotatably connected to the upper end of the lead screw.

[0021] The bottom of the seat base bracket adapter has a limiting slot. After the upper end of the seat base bracket is inserted into the limiting slot of the seat base bracket adapter, it is fixed to the seat base bracket adapter with screws.

[0022] The telescopic drive motor structure includes a drive motor B, a motor fixing outer cylinder B, and a motor sealing cylinder B. One end of the motor fixing outer cylinder B is connected to one end of the motor sealing cylinder B. The housing of the drive motor B is located inside the motor fixing outer cylinder B and is fixedly connected to it. The drive shaft of the drive motor B serves as the drive end of the telescopic drive motor structure, passing through the motor adapter mounting sleeve and being fixedly connected to the input shaft of the angle device. The motor sealing cylinder B has a sealing joint mounting port B and an oil pipe connection port B. The sealing joint mounting port B is used to install the sealing joint B. The sealing joint B is connected to the drive motor B via a wire and is also used to connect to the AUV control system. The oil pipe connection port B is used to connect to an external oil pressure balancing device and fill the interior of the motor sealing cylinder B and the motor fixing outer cylinder B with oil to achieve external pressure balancing protection and insulation protection for the drive motor B. A connecting flange B is formed on the outer periphery of the other end of the motor fixing outer cylinder B. The connecting flange B is connected to the motor adapter mounting sleeve by screws.

[0023] One end of the motor fixing outer cylinder B is connected to one end of the motor sealing cylinder B by at least two radially arranged fixing pins B. A sealing ring C is provided at the junction between one end of the motor fixing outer cylinder B and one end of the motor sealing cylinder B. A sealing ring D is provided at the junction between the connecting flange B and the motor adapter mounting sleeve. A lip-shaped dynamic seal mounting groove B is provided on the motor adapter mounting sleeve. A lip-shaped dynamic seal B is embedded inside the lip-shaped dynamic seal mounting groove B. A dynamic seal clamping nut B is also threadedly connected inside the lip-shaped dynamic seal mounting groove B. The dynamic seal clamping nut B presses the lip-shaped dynamic seal B into the lip-shaped dynamic seal mounting groove B. The drive shaft of the drive motor B also passes through the lip-shaped dynamic seal B and the dynamic seal clamping nut B respectively.

[0024] The advantages and positive effects of this invention are as follows:

[0025] 1. When it is necessary to sit on the seabed, the hatch can be opened to allow the bottom plate to extend beyond the linear shape of the AUV, ensuring that the bottom equipment of the AUV avoids contact or friction with seabed mud or sediment. This allows the AUV to conduct close-range continuous exploration of the seabed during the seabed sitting period, protecting the bottom equipment while enabling further close-range continuous exploration of the seabed and improving the safety of AUV seabed sitting.

[0026] 2. The door unfolding assembly and door configuration of the present invention allow the seat floor extension drive assembly and seat floor to be enclosed inside the AUV's linear shape during AUV flight, resulting in significantly less flight resistance during straight-line flight compared to the current solution that simply places them on the outside of the cabin, effectively reducing system power consumption and increasing flight time and range. Attached Figure Description

[0027] Figure 1 This is a three-dimensional structural diagram of the hatch of the present invention when the hidden external buoyancy material is closed;

[0028] Figure 2 This is a three-dimensional structural diagram of the seat base plate extending after the hatch of the concealed external buoyancy material of the present invention is opened.

[0029] Figure 3 This is a front view of the structure of the present invention when the hatch is closed;

[0030] Figure 4 This is a front view schematic diagram of the hatch of the present invention when it extends downwards;

[0031] Figure 5 This is a front view of the hatch of the present invention when the concealed external buoyancy material is closed;

[0032] Figure 6 This is a schematic diagram of the seat base extension drive assembly of the present invention when the cabin door is closed;

[0033] Figure 7 This is a schematic diagram of the structure of the seat plate telescopic drive assembly of the present invention when the hatch extends downward;

[0034] Figure 8 This is a schematic diagram of the structure of the seat plate telescopic drive assembly of the present invention when the hatch is unfolded;

[0035] Figure 9 This is a schematic diagram of the external structure of the hatch unfolding drive motor structure of the present invention.

[0036] Figure 10 This is a schematic diagram of the internal structure of the hatch unfolding drive motor structure of the present invention.

[0037] Figure 11This is a cross-sectional structural diagram of the seat base telescopic drive assembly of the present invention;

[0038] Figure 12 This is one of the partial structural schematic diagrams of the seat base telescopic drive assembly of the present invention;

[0039] Figure 13 This is a second partial structural schematic diagram of the seat base telescopic drive assembly of the present invention;

[0040] Figure 14 This is a partial structural schematic diagram of the seat base telescopic drive assembly of the present invention;

[0041] Figure 15 This is a schematic diagram of the structure of the base plate bracket adapter of the present invention;

[0042] Figure 16 This is a schematic diagram of the structure of the AUV to which this invention applies when the hatch is closed;

[0043] Figure 17 This is a schematic diagram of the structure of the AUV to which this invention applies, with the seat base extended after the cabin door is opened.

[0044] In the diagram: 1 is the main frame of the landing mechanism, 2 is the external buoyancy material, 3 is the hatch, and 4 is the landing plate;

[0045] 5 is the fixed base frame, 6 is the fixed upright plate, 601 is the H-shaped guide groove, 7 is the drive linkage, 8 is the actuation linkage, 9 is the hatch connecting swing arm, 10 is the upper synchronous pin, 11 is the lower sliding pin, 12 is the drive motor A, 13 is the motor fixed outer cylinder A, 14 is the motor sealing cylinder A, 1401 is the sealing joint mounting port A, 1402 is the oil pipe connection port A, 15 is the motor adapter fixing plate, 16 is the fixing pin A, 17 is the sealing ring A, 18 is the sealing ring B, 19 is the lip dynamic seal A, and 20 is the dynamic seal clamping nut A.

[0046] 21 is the outer fixed cylinder, 2101 is the upper connecting seat, 2102 is the lower connecting seat, 22 is the internal threaded screw sleeve, 23 is the screw, 24 is the base plate bracket, 25 is the base plate bracket adapter, 2501 is the limit slot, 26 is the sliding key, 27 is the corner bracket, 28 is the motor adapter mounting sleeve, 29 is the outlet flange, 30 is the annular guide belt, 31 is the dustproof ring, 32 is the adjusting shim, 33 is the ceramic bearing, 34 is the drive motor B, 35 is the motor fixed outer cylinder B, 36 is the motor sealing cylinder B, and 37 is the adapter flange.

[0047] 100 represents AUV. Detailed Implementation

[0048] The following is in conjunction with the appendix Figures 1-17 The present invention will be described in further detail below.

[0049] A storage-type telescopic floor mechanism that can be used in AUVs, such as Figures 1-17 As shown, this embodiment includes a main frame 1 of the bottom-sitting mechanism, an external buoyancy material 2, a hatch unfolding assembly, a hatch 3, a bottom-sitting plate telescopic drive assembly, and a bottom-sitting plate 4.

[0050] The main frame 1 of the landing mechanism is used to connect with the main frame of the AUV 100. The external buoyancy material 2 is located on the outside of the main frame 1 of the landing mechanism. The outer periphery of the external buoyancy material 2 corresponds to the overall outer contour of the AUV 100. A landing plate protruding from the hatch is opened on the external buoyancy material 2. The material used for the external buoyancy material 2 itself is existing technology, such as the commonly available epoxy glass microsphere composite material; the connection method between the external buoyancy material 2 and the main frame 1 of the landing mechanism also adopts existing technology.

[0051] The hatch deployment assembly is mounted on the main frame 1 of the base mechanism and is connected to the hatch 3. The hatch deployment assembly is used to open or close the base plate extending out of the hatch door. When the hatch is closed and the base plate is extended out of the hatch door, the outer periphery contour line of the hatch 3 is flush with the outer periphery contour line of the outer buoyancy material 2.

[0052] The seat plate extension drive assembly is mounted on the main frame 1 of the seat mechanism. When the hatch 3 is opened and the seat plate extends out of the hatch door, the seat plate extension drive assembly is used to drive the seat plate 4 to extend from the seat plate extension hatch door to the outside of the AUV 100 or to drive the seat plate 4 to retract from the seat plate extension hatch door to the inside of the AUV 100.

[0053] like Figure 16 and Figure 17 The figures show the structural diagrams of the AUV 100 to which this invention applies when the hatch is closed and when the seat plate is extended after the hatch is opened. The same AUV 100 has two sets of corresponding storage-type retractable seat mechanisms of this invention, and the seat plate extension drive assembly and seat plate 4 of the two sets of storage-type retractable seat mechanisms are arranged in a mirror image. In this embodiment, each individual seat plate extending from the hatch door corresponds to two hatch deployment assemblies and two hatch doors 3, effectively reducing the size of the hatch structure by using only one hatch structure. When the AUV 100 is flying straight, the hatch door 3 is in the retracted and closed state, and the center of gravity of the entire assembly consisting of the hatch deployment assembly, hatch door 3, seat plate extension drive assembly, and seat plate 4 is relatively high, giving the AUV 100 strong maneuverability and facilitating navigation. When the hatch door 3 is extended and the seat plate 4 is extended, the center of gravity of the entire assembly consists of the hatch deployment assembly, hatch door 3, seat plate extension drive assembly, and seat plate 4 shifts downward, facilitating stable seating of the AUV 100.

[0054] Specifically, such as Figures 6-10As shown, in this embodiment, the hatch deployment assembly includes a fixed base frame 5, a fixed upright plate 6, a hatch deployment drive motor structure, and a linkage swing arm structure. The fixed base frame 5 is fixed to the main frame 1 of the base mechanism with screws. Two fixed upright plates 6 are provided, each fixed to the fixed base frame 5 with screws. The hatch deployment drive motor structure has a fixed end and a drive end. The fixed end of the hatch deployment drive motor structure is located on one of the fixed upright plates 6. The linkage swing arm structure is located between the two fixed upright plates 6. The drive end of the hatch deployment drive motor structure and one end of the hatch 3 are respectively connected to the linkage swing arm structure. The drive end of the hatch deployment drive motor structure drives the corresponding hatch 3 to first extend from the base plate out of the hatch door, and then swing to open the base plate out of the hatch door. By driving the hatch 3 in the above manner, it is ensured that the hatch 3 reliably closes the base plate out of the hatch door when closed, and that the hatch 3 does not interfere with the external buoyancy material 2 or other structures when open.

[0055] Each fixed upright plate 6 is provided with an h-shaped guide groove 601. The h-shaped guide grooves 601 on the two fixed upright plates 6 are the same in size and correspond to each other in position. Each h-shaped guide groove 601 is divided into a vertical long groove part and a lateral arc curved groove part.

[0056] The linkage arm structure includes a drive link 7, an actuation link 8, a door connecting arm 9, an upper synchronous pin 10, and a lower sliding pin 11. One end of the drive link 7 is fixedly connected to the drive end of the door unfolding drive motor structure. One end of the actuation link 8 is hinged to the other end of the drive link 7, and the other end of the actuation link 8 is hinged to the upper synchronous pin 10. There are two door connecting arms 9. One end of each door connecting arm 9 is fixedly connected to one end of the corresponding door 3 through a pin with a regular hexagonal cross-section. The other ends of each door connecting arm 9 are passed through and fixed by the upper synchronous pin 10. Each door connecting arm 9 is also provided with a lower sliding pin 11. The upper synchronous pin 10 passes through the H-shaped guide grooves 601 of the two fixed upright plates 6, and each lower sliding pin 11 passes through a corresponding H-shaped guide groove 601.

[0057] When the hatch 3 is in the closed position with the floor panel extended from the hatch door, the upper synchronous pin 10 moves down to the top of the vertical long groove of the H-shaped guide groove 601 under the influence of the drive end of the hatch door opening drive motor structure, the drive link 7, and the execution link 8. At this time, the two downward sliding pins 11 are respectively located at the intersection of the vertical long groove and the lateral arc-shaped curved groove of each H-shaped guide groove 601. When the hatch 3 is in the position of extending from the floor panel and not yet opened, the upper synchronous pin 10 moves down to the intersection of the vertical long groove and the lateral arc-shaped curved groove of the H-shaped guide groove 601 under the influence of the drive end of the hatch door opening drive motor structure, the drive link 7, and the execution link 8. At this time, the two downward sliding pins 11 are respectively located at the bottom of the vertical long groove of the corresponding H-shaped guide groove 601. When the hatch 3 extends from the bottom plate and reaches its limit position, the upper synchronous pin 10 moves to the bottom end of the lateral arc groove of the H-shaped guide groove 601 under the drive end of the hatch opening drive motor structure, the drive link 7, and the actuation link 8. At this time, the two lower sliding pins 11 are still located at the bottom end of the vertical long groove of the corresponding H-shaped guide groove 601, and the hatch connecting arms 9 are driven to swing, thus opening the hatch 3. Reversing the movement of the drive end of the hatch opening drive motor structure causes the hatch 3 to operate in the opposite order to the above actions, thereby closing the hatch 3.

[0058] like Figure 9 and Figure 10As shown, the hatch opening drive motor structure in this embodiment includes a drive motor A12, a motor fixing outer cylinder A13, a motor sealing cylinder A14, and a motor adapter fixing plate 15. In this embodiment, the drive motor A12 is a commercially available brushless motor product, and its operation is controlled by the control system of the AUV 100. One end of the motor mounting outer cylinder A 13 is connected to one end of the motor sealing cylinder A 14. The housing of the drive motor A 12 is located inside the motor mounting outer cylinder A 13 and is fixed to the motor mounting outer cylinder A 13 by screws. The drive shaft of the drive motor A 12, as the drive end of the hatch opening drive motor structure, passes through the motor adapter fixing plate 15 and is fixed to one end of the drive connecting rod 7. The motor sealing cylinder A 14 has a sealing joint mounting port A 1401 and an oil pipe connection port A 1402. The sealing joint mounting port A 1401 is used to install the sealing joint A. The sealing joint A is connected to the drive motor A 12 through a wire and is also used to connect to the control system of the AUV 100. The oil pipe connection port A 1402 is used to connect to an external oil pressure balancing device and to fill the interior of the motor sealing cylinder A 14 and the motor mounting outer cylinder A 13 with oil to achieve external pressure balancing protection and insulation protection for the drive motor A 12. The setting method of the external oil pressure balancing device is existing technology. The outer periphery of the other end of the motor fixing outer cylinder A 13 forms a connecting flange A, which is connected to the motor adapter fixing plate 15 by screws. One end of the motor fixing outer cylinder A 13 is connected to one end of the motor sealing cylinder A 14 by two radially arranged fixing pins A 16 to achieve a fixed connection between the motor fixing outer cylinder A 13 and the motor sealing cylinder A 14. A sealing ring A17 is provided at the junction between one end of the motor fixing outer cylinder A13 and one end of the motor sealing cylinder A14. A sealing ring B18 is provided at the junction between the connecting flange A and the motor adapter fixing plate 15. A lip-type dynamic seal mounting groove A is provided on the motor adapter fixing plate 15. A lip-type dynamic seal A19 is embedded inside the lip-type dynamic seal mounting groove A. A dynamic seal clamping nut A20 is also threadedly connected inside the lip-type dynamic seal mounting groove A, which clamps the lip-type dynamic seal A19 into the lip-type dynamic seal mounting groove A. The drive shaft of the drive motor A12 also passes through the lip-type dynamic seal A19 and the dynamic seal clamping nut A20. The sealing reliability at each point is improved by the use of sealing rings A17, B18, A19, and A20.

[0059] Specifically, such as Figures 11-15As shown, the seat base telescopic drive assembly in this embodiment includes a telescopic drive motor structure, an outer fixed cylinder 21, an internally threaded screw sleeve 22, a screw 23, a seat base bracket 24, and a seat base bracket adapter 25. The outer fixed cylinder 21 is fixedly connected to the main frame 1 of the seat base mechanism. The upper end of the screw 23 is rotatably disposed in the outer fixed cylinder 21. The telescopic drive motor structure is used to drive the screw 23 to rotate. The lower end of the screw 23 is provided with an external thread. The internally threaded screw sleeve 22 is located in the outer fixed cylinder 21. The inner hole of the internally threaded screw sleeve 22 is provided with an internal thread that matches the external thread of the screw 23. The internally threaded screw sleeve 22 and the screw 23 are connected by threads. In this embodiment, the external thread of the screw 23 and the internal thread of the internally threaded screw sleeve 22 are both self-locking threads, for example, T-type threads with a thread helix angle of less than 4 degrees. The axis of the outer fixed cylinder 21, the axis of the internally threaded screw sleeve 22, and the axis of the screw 23 are all collinear. Two symmetrically arranged sliding keys 26 are embedded on the outer surface of the upper part of the internal threaded screw sleeve 22. Sliding keyways are respectively opened on the inner wall of the outer fixed cylinder 21 at the corresponding positions of each sliding key 26, so as to prevent the internal threaded screw sleeve 22 from rotating relative to the outer fixed cylinder 21. The lower end of the internal threaded screw sleeve 22 extends out from the lower end of the outer fixed cylinder 21. The base plate bracket adapter 25 is threadedly installed on the lower end of the internal threaded screw sleeve 22 and located on the lower side of the screw 23. The upper end of the base plate bracket 24 is fixedly connected to the base plate bracket adapter 25, and the lower end of the base plate bracket 24 is fixedly connected to the base plate 4.

[0060] In this embodiment, the upper end of the outer fixed cylinder 21 is connected to the housing of the angler 27 via an adapter flange 37 and screws. The housing of the angler 27 is connected to the outside of the telescopic drive motor structure via a motor adapter mounting sleeve 28. The input shaft of the angler 27 is connected to the drive end of the telescopic drive motor structure via a coupling, and the output shaft of the angler 27 is connected to the upper end of the lead screw 23 via a coupling. The angler 27 is a commercially available product mainly composed of a housing and two bevel gears. By setting the angler 27, the spatial reversal of the drive shaft can be realized, avoiding excessive length in a single axial direction, which would cause the telescopic drive motor structure to protrude beyond the AUV 100's profile, resulting in increased resistance and increased difficulty in operation.

[0061] An outlet flange 29 is threadedly mounted on the lower end of the outer fixed cylinder 21. The lower end of the internally threaded screw sleeve 22 protrudes from the inner hole of the outlet flange 29. An annular guide band 30 and a dustproof ring 31 are sequentially arranged on the inner wall of the outlet flange 29 from top to bottom. The internally threaded screw sleeve 22 is in frictional engagement with the annular guide band 30 and the dustproof ring 31. The dustproof ring 31 can prevent external impurities from entering, and the annular guide band 30 is used to avoid direct contact and friction between the outer circumferential surface of the internally threaded screw sleeve 22 and the inner wall of the outlet flange 29.

[0062] The outer fixing cylinder 21 has an upper connecting seat 2101 and a lower connecting seat 2102 formed on its exterior. The upper connecting seat 2101 is located above the lower connecting seat 2102. Each of the upper and lower connecting seats 2101 has a corresponding adjusting pad 32. The upper connecting seat 2101 and its corresponding adjusting pad 32 are fixed to the main frame 1 of the seating mechanism with screws. Similarly, the lower connecting seat 2102 and its corresponding adjusting pad 32 are fixed to the main frame 1 of the seating mechanism with screws, facilitating the fixed connection between the outer fixing cylinder 21 and the main frame 1 of the seating mechanism. The adjusting pads 32 facilitate adjustment and installation, ensuring reliable fixation.

[0063] Two ceramic bearings 33 are provided inside the outer fixed cylinder 21 at a position corresponding to the upper end of the lead screw 23. Each ceramic bearing 33 is rotatably connected to the upper end of the lead screw 23 to ensure stable rotation of the lead screw 23. The installation method of the ceramic bearings 33 adopts existing technology.

[0064] The bottom of the seat base bracket adapter 25 has a limiting slot 2501. After the upper end of the seat base bracket 24 is inserted into the limiting slot 2501 of the seat base bracket adapter 25, it is fixed to the seat base bracket adapter 25 by screws, which facilitates the positioning and fixing between the seat base bracket adapter 25 and the seat base bracket 24.

[0065] The telescopic drive motor structure includes a drive motor B 34, a motor mounting outer cylinder B 35, and a motor sealing cylinder B 36. The arrangement of the telescopic drive motor structure is basically similar to that of the hatch opening drive motor structure. The drive motor B 34 also uses a commercially available brushless motor and its operation is controlled by the AUV 100's control system. One end of the motor fixing outer cylinder B 35 is connected to one end of the motor sealing cylinder B 36. The housing of the drive motor B 34 is located inside the motor fixing outer cylinder B 35 and is fixed to the motor fixing outer cylinder B 35 by screws. The drive shaft of the drive motor B 34, as the drive end of the telescopic drive motor structure, passes through the motor adapter mounting sleeve 28 and is fixed to the input shaft of the angle device 27 by a coupling. The motor sealing cylinder B 36 is provided with a sealing joint mounting port B and an oil pipe connection port B. The sealing joint mounting port B is used to install the sealing joint B. The sealing joint B is connected to the drive motor B 34 through a wire and is also used to connect to the control system of the AUV 100. The oil pipe connection port B is used to connect to an external oil pressure balance device and fill the interior of the motor sealing cylinder B 36 and the motor fixing outer cylinder B 35 with oil to achieve external pressure balance protection and insulation protection for the drive motor B 34. The outer periphery of the other end of the motor fixing outer cylinder B 35 forms a connecting flange B, which is connected to the motor adapter mounting sleeve 28 by screws.

[0066] One end of the motor mounting outer cylinder B 35 is connected to one end of the motor sealing cylinder B 36 by two radially arranged fixing pins B. A sealing ring C is provided at the joint between one end of the motor mounting outer cylinder B 35 and one end of the motor sealing cylinder B 36, and a sealing ring D is provided at the joint between the connecting flange B and the motor adapter mounting sleeve 28. A lip-type dynamic seal mounting groove B is provided on the motor adapter mounting sleeve 28, and a lip-type dynamic seal B is embedded inside the lip-type dynamic seal mounting groove B. A dynamic seal clamping nut B is also threadedly connected inside the lip-type dynamic seal mounting groove B, which presses the lip-type dynamic seal B into the lip-type dynamic seal mounting groove B. The drive shaft of the drive motor B 34 also passes through the lip-type dynamic seal B and the dynamic seal clamping nut B to improve the sealing reliability at each point.

Claims

1. A storage-type telescopic floor mechanism applicable to AUVs, characterized in that: Includes the main frame of the bottom-sitting mechanism (1), external buoyancy material (2), hatch unfolding assembly, hatch (3), bottom plate telescopic drive assembly, and bottom plate (4); The main frame (1) of the bottom-seat mechanism is used to connect with the main frame of the AUV. The external buoyancy material (2) is located on the outside of the main frame (1) of the bottom-seat mechanism. The outer periphery of the external buoyancy material (2) corresponds to the overall outer contour shape of the AUV. The bottom plate extends out of the hatch on the external buoyancy material (2). The hatch unfolding assembly is mounted on the main frame (1) of the base mechanism. The hatch unfolding assembly is connected to the hatch (3). The hatch unfolding assembly is used to drive the hatch (3) to open or close the base plate extending out of the hatch door. When the hatch closes the base plate extending out of the hatch door, the outer periphery contour line of the hatch (3) is flush with the outer periphery contour line of the outer buoyancy material (2). The seat plate telescopic drive assembly is mounted on the main frame (1) of the seat mechanism; when the door (3) is opened and the seat plate extends out of the doorway, the seat plate telescopic drive assembly is used to drive the seat plate (4) to extend out of the doorway to the outside of the AUV or to drive the seat plate (4) to retract back to the inside of the AUV.

2. A storage-type telescopic seating mechanism for AUVs according to claim 1, characterized in that: Each individual seat plate extends out of the hatch and corresponds to two hatch opening assemblies and two hatches (3).

3. A storage-type telescopic seating mechanism for AUVs according to claim 1, characterized in that: The hatch unfolding assembly includes a fixed base frame (5), a fixed upright plate (6), a hatch unfolding drive motor structure, and a connecting rod swing arm structure. The fixed base frame (5) is fixed to the main frame (1) of the seating mechanism. There are two fixed upright plates (6), which are respectively fixed to the fixed base frame (5). The hatch unfolding drive motor structure has a fixed end and a drive end. The fixed end of the hatch unfolding drive motor structure is set on one of the fixed upright plates (6). The connecting rod swing arm structure is set between the two fixed upright plates (6). The drive end of the hatch unfolding drive motor structure and one end of the hatch (3) are respectively connected to the connecting rod swing arm structure. The drive end of the hatch unfolding drive motor structure drives the corresponding hatch (3) to first extend out of the hatch door from the seating plate through the connecting rod swing arm structure, and then swing to open the hatch door.

4. A storage-type telescopic seating mechanism for AUVs according to claim 3, characterized in that: Each of the fixed upright plates (6) is provided with an h-shaped guide groove (601). The h-shaped guide grooves (601) on the two fixed upright plates (6) are the same in size and correspond to each other in position. Each h-shaped guide groove (601) is divided into a vertical long groove part and a lateral arc curved groove part. The linkage arm structure includes a drive link (7), an execution link (8), a door connecting arm (9), an upper synchronous pin (10), and a lower sliding pin (11). One end of the drive link (7) is fixedly connected to the drive end of the door unfolding drive motor structure. One end of the execution link (8) is hinged to the other end of the drive link (7), and the other end of the execution link (8) is hinged to the upper synchronous pin (10). Two door connecting arms (9) are provided, and the two door connecting arms are connected... One end of each swing arm (9) is fixedly connected to one end of the corresponding hatch (3). The other ends of the two hatch connecting swing arms (9) are respectively passed through by the upper synchronous pin (10). Each hatch connecting swing arm (9) is also provided with a lower sliding pin (11). The upper synchronous pin (10) passes through the h-shaped guide groove (601) of the two fixed upright plates (6). Each lower sliding pin (11) passes through a corresponding h-shaped guide groove (601). When the hatch (3) is in the closed position with the seat plate extended from the hatch door, the upper synchronous pin (10) moves downward to the top of the vertical long groove of the h-shaped guide slide (601) under the drive of the drive end of the hatch opening drive motor structure, the drive link (7), and the execution link (8). At this time, the two lower sliding pins (11) are respectively located at the intersection of the vertical long groove and the lateral arc curved groove of each h-shaped guide slide (601). When the hatch (3) is in the position of extending from the seat plate and not opening, the upper synchronous pin (10) moves downward to the vertical long groove and the lateral arc curved groove of the h-shaped guide slide (601) under the drive of the drive end of the hatch opening drive motor structure, the drive link (7), and the execution link (8). At the intersection of the curved sections, the two lower sliding pins (11) are respectively located at the bottom end of the vertical long groove of the corresponding h-shaped guide groove (601); when the hatch (3) is in the state of extending out of the hatch door from the seat plate and unfolded to the limit position, the upper synchronous pin (10) moves down to the bottom end of the lateral arc curved groove of the h-shaped guide groove (601) under the drive end of the hatch unfolding drive motor structure, the drive link (7), and the execution link (8). At this time, the two lower sliding pins (11) are still respectively located at the bottom end of the vertical long groove of the corresponding h-shaped guide groove (601), and each hatch connecting swing arm (9) is driven to swing, and the hatch (3) is unfolded by each hatch connecting swing arm (9).

5. A storage-type telescopic seating mechanism for AUVs according to claim 4, characterized in that: The hatch opening drive motor structure includes a drive motor A (12), a motor fixing outer cylinder A (13), a motor sealing cylinder A (14), and a motor adapter fixing plate (15). One end of the motor fixing outer cylinder A (13) is connected to one end of the motor sealing cylinder A (14). The housing of the drive motor A (12) is located inside the motor fixing outer cylinder A (13) and is fixedly connected to the motor fixing outer cylinder A (13). The drive shaft of the drive motor A (12) serves as the drive end of the hatch opening drive motor structure, passing through the motor adapter fixing plate (15) and being fixedly connected to one end of the drive connecting rod (7). A sealing joint installation port A ( ) is provided on the motor sealing cylinder A (14). 1401) and oil pipe connection port A (1402), the sealing joint installation port A (1401) is used to install the sealing joint A, the sealing joint A is connected to the drive motor A (12) through the wire, and is also used to connect to the control system of the AUV, the oil pipe connection port A (1402) is used to connect to the external oil pressure balance device, and fill the interior of the motor sealing cylinder A (14) and the motor fixing outer cylinder A (13) with oil to achieve external pressure balance protection and insulation protection for the drive motor A (12), the outer periphery of the other end of the motor fixing outer cylinder A (13) forms a connecting flange A, the connecting flange A is connected to the motor adapter fixing plate (15) by screws.

6. A storage-type telescopic seating mechanism for AUVs according to claim 5, characterized in that: One end of the motor fixing outer cylinder A (13) is connected to one end of the motor sealing cylinder A (14) by at least two radially arranged fixing pins A (16). A sealing ring A (17) is provided at the junction between one end of the motor fixing outer cylinder A (13) and one end of the motor sealing cylinder A (14). A sealing ring B (18) is provided at the junction between the connecting flange A and the motor adapter fixing plate (15). A lip-type dynamic seal mounting groove A is provided on the motor adapter fixing plate (15). A lip-type dynamic seal A (19) is embedded inside the lip-type dynamic seal mounting groove A. A dynamic seal clamping nut A (20) is also threaded inside the lip-type dynamic seal mounting groove A. The dynamic seal clamping nut A (20) presses the lip-type dynamic seal A (19) into the lip-type dynamic seal mounting groove A. The drive shaft of the drive motor A (12) also passes through the lip-type dynamic seal A (19) and the dynamic seal clamping nut A (20).

7. A storage-type telescopic seating mechanism for AUVs according to claim 1, characterized in that: The seat base telescopic drive assembly includes a telescopic drive motor structure, an outer fixed cylinder (21), an internal threaded screw sleeve (22), a screw (23), a seat base bracket (24), and a seat base bracket adapter (25). The outer fixed cylinder (21) is fixedly connected to the main frame (1) of the seat base mechanism. The upper end of the screw (23) is rotatably disposed in the outer fixed cylinder (21). The telescopic drive motor structure is used to drive the screw (23) to rotate. The lower end of the screw (23) is provided with an external thread. The internal threaded screw sleeve (22) is located in the outer fixed cylinder (21). The inner hole of the internal threaded screw sleeve (22) is provided with an internal thread that matches the external thread of the screw (23). The external thread of the screw (23) and the internal thread of the internal threaded screw sleeve (22) are both self-locking threads. 2) The screw (23) is connected to the lead screw (23) by a thread. The axis of the outer fixed cylinder (21), the axis of the internal threaded lead screw sleeve (22), and the axis of the lead screw (23) are all collinear. At least one sliding key (26) is embedded on the outer side of the upper part of the internal threaded lead screw sleeve (22). Sliding key grooves for the sliding keys (26) to pass through are respectively opened on the inner wall of the outer fixed cylinder (21) at the corresponding positions of each sliding key (26). The lower end of the internal threaded lead screw sleeve (22) passes through the lower end of the outer fixed cylinder (21). The seat base bracket adapter (25) is installed at the lower end of the internal threaded lead screw sleeve (22) and located on the lower side of the lead screw (23). The upper end of the seat base bracket (24) is fixedly connected to the seat base bracket adapter (25). The lower end of the seat base bracket (24) is fixedly connected to the seat base plate (4).

8. A storage-type telescopic seating mechanism for AUVs according to claim 7, characterized in that: The upper end of the outer fixed cylinder (21) is connected to the outer shell of the angler (27). The outer shell of the angler (27) is connected to the outside of the telescopic drive motor structure through the motor adapter mounting sleeve (28). The input shaft of the angler (27) is connected to the drive end of the telescopic drive motor structure. The output shaft of the angler (27) is connected to the upper end of the lead screw (23). The lower end of the outer fixed cylinder (21) is equipped with an outlet flange (29), and the lower end of the internal threaded screw sleeve (22) passes through the inner hole of the outlet flange (29). The inner wall of the outlet flange (29) is provided with an annular guide band (30) and a dustproof ring (31) from top to bottom.

9. A storage-type telescopic floor mechanism for AUVs according to claim 8, characterized in that: The outer fixed cylinder (21) has an upper connecting seat (2101) and a lower connecting seat (2102) formed on its exterior. The upper connecting seat (2101) is located above the lower connecting seat (2102). The upper connecting seat (2101) and the lower connecting seat (2102) are respectively provided with corresponding adjusting pads (32). The upper connecting seat (2101) and the corresponding adjusting pad (32) are fixed to the main frame (1) of the sitting mechanism by screws. The lower connecting seat (2102) and the corresponding adjusting pad (32) are fixed to the main frame (1) of the sitting mechanism by screws. The interior of the outer fixed cylinder (21) is provided with a number of ceramic bearings (33) corresponding to the upper end of the lead screw (23), and each ceramic bearing (33) is rotatably connected to the upper end of the lead screw (23). The bottom of the seat base bracket adapter (25) has a limiting slot (2501). The upper end of the seat base bracket (24) is inserted into the limiting slot (2501) of the seat base bracket adapter (25) and then fixed to the seat base bracket adapter (25) by screws.

10. A storage-type telescopic seating mechanism for AUVs according to claim 9, characterized in that: The telescopic drive motor structure includes a drive motor B (34), a motor fixing outer cylinder B (35), and a motor sealing cylinder B (36). One end of the motor fixing outer cylinder B (35) is connected to one end of the motor sealing cylinder B (36). The housing of the drive motor B (34) is located inside the motor fixing outer cylinder B (35) and is fixedly connected to the motor fixing outer cylinder B (35). The drive shaft of the drive motor B (34) serves as the drive end of the telescopic drive motor structure, passing through the motor adapter mounting sleeve (28) and being fixedly connected to the input shaft of the angle device (27). A sealing joint is provided on the motor sealing cylinder B (36). The installation port B and the oil pipe connection port B are used to install the sealing joint B. The sealing joint B is connected to the drive motor B (34) through the wire and is also used to connect to the control system of the AUV. The oil pipe connection port B is used to connect to the external oil pressure balance device and fill the interior of the motor sealing cylinder B (36) and the motor fixing outer cylinder B (35) with oil to achieve external pressure balance protection and insulation protection for the drive motor B (34). The outer periphery of the other end of the motor fixing outer cylinder B (35) forms a connecting flange B. The connecting flange B is connected to the motor adapter mounting sleeve (28) by screws. One end of the motor fixing outer cylinder B (35) is connected to one end of the motor sealing cylinder B (36) by at least two radially arranged fixing pins B. A sealing ring C is provided at the junction between one end of the motor fixing outer cylinder B (35) and one end of the motor sealing cylinder B (36). A sealing ring D is provided at the junction between the connecting flange B and the motor adapter mounting sleeve (28). A lip-shaped dynamic seal mounting groove B is provided on the motor adapter mounting sleeve (28). A lip-shaped dynamic seal B is embedded inside the lip-shaped dynamic seal mounting groove B. A dynamic seal clamping nut B is also threaded inside the lip-shaped dynamic seal mounting groove B. The dynamic seal clamping nut B presses the lip-shaped dynamic seal B into the lip-shaped dynamic seal mounting groove B. The drive shaft of the drive motor B (34) also passes through the lip-shaped dynamic seal B and the dynamic seal clamping nut B respectively.

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