Fixing device for underwater vehicle and underwater vehicle

Abstract

The invention relates to the technical field of underwater vehicles, and particularly provides a fixing device for an underwater vehicle and the underwater vehicle, and the device comprises a fixing interface which is installed on the underwater vehicle; the fixed seat is fixed on the storage platform; the swing driving assembly is mounted on the fixed seat; one end of the crank is fixedly connected with the output end of the swing driving assembly; one end of the connecting rod is rotationally connected with the other end of the crank; the rocker is rotationally connected with the fixed seat and the other end of the connecting rod; after the underwater vehicle is placed on the storage platform, the swing driving assembly drives the tail end of the rocker to swing downwards through the crank and the connecting rod, and under the driving action of the swing driving assembly, the tail end of the rocker presses the fixing connector when the included angle between the crank and the connecting rod is reduced to be within the preset angle range; the fixing device is used for fixing the underwater vehicle on the storage platform; the device can effectively reduce the size of a fixing device for fixing the underwater vehicle on the storage platform.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of underwater vehicles, in particular to a fixing device for underwater vehicles and an underwater vehicle. BACKGROUND

[0002] The related art uses a method of using a motor to drive a clamping jaw to clamp an underwater vehicle to fix the underwater vehicle on a storage platform. In order to enable the underwater vehicle to remain fixed on the storage platform under the condition that the storage platform is inclined and swings or accelerates and decelerates (which is a common working condition of fixing the underwater vehicle on the storage platform in the underwater mother platform), the related art needs to increase the output torque of the motor. Since the output torque of the motor is positively correlated with the size of the motor, the related art has the problem of excessively large size of the fixing device for fixing the underwater vehicle on the storage platform, thereby reducing the number of underwater vehicles that can be carried by the underwater mother platform, and further affecting the task capability and combat effectiveness of the underwater mother platform.

[0003] At present, there is no effective technical solution to the above problems. SUMMARY

[0004] The purpose of the present application is to provide a fixing device for underwater vehicles and an underwater vehicle, which can effectively reduce the size of the fixing device for fixing the underwater vehicle on the storage platform.

[0005] In a first aspect, the present application provides a fixing device for underwater vehicles, for fixing an underwater vehicle on a storage platform, comprising: a fixing interface mounted on the underwater vehicle; a fixing seat fixed on the storage platform; a swing driving assembly mounted on the fixing seat; a crank, one end of which is fixedly connected to the output end of the swing driving assembly; a connecting rod, one end of which is rotatably connected to the other end of the crank; a rocker, rotatably connected to the fixing seat and the other end of the connecting rod; After the underwater vehicle is placed on the storage platform, the swing driving assembly drives the end of the rocker downward through the crank and the connecting rod. Under the driving action of the swing driving assembly, when the angle between the crank and the connecting rod decreases to a preset angle range, the end of the rocker is pressed against the fixing interface to fix the underwater vehicle on the storage platform.

[0006] The fixing device for the underwater vehicle provided by the application can reliably fix the underwater vehicle on the storage platform under low output torque by using the structural characteristics of the crank-rocker mechanism composed of the crank, the connecting rod and the rocker, that is, the application can effectively reduce the size of the swing driving assembly and the fixing device for fixing the underwater vehicle on the storage platform, and thus the application can effectively solve the problem that the number of the underwater vehicles that can be carried by the underwater mother platform is reduced and the mission capability and combat effectiveness of the underwater mother platform are affected due to the oversized fixing device for fixing the underwater vehicle on the storage platform.

[0007] Optionally, the rocker comprises a connecting portion and a fixing portion, the connecting portion is rotationally connected with the fixing seat and the other end of the connecting rod, the fixing interface has a first positioning portion, and the fixing portion has a second positioning portion matched with the first positioning portion at the end away from the connecting portion.

[0008] When the underwater vehicle accelerates or decelerates in the front-rear direction, an axial force is generated on the rocker by the underwater vehicle, and since the end of the fixing portion away from the connecting portion has the second positioning portion matched with the first positioning portion, the first positioning portion and the second positioning portion are engaged when the underwater vehicle is fixed on the storage platform, and thus the axial force can be effectively transmitted to the fixing device for the underwater vehicle and effectively offset by the fixing device for the underwater vehicle, so that the application can effectively avoid the accidental sliding of the underwater vehicle on the storage platform, thereby effectively improving the safety and stability of the underwater vehicle during storage.

[0009] Optionally, the first positioning portion comprises a plurality of positioning grooves, and the second positioning portion comprises a plurality of protruding positioning claws, each positioning groove corresponding to a protruding positioning claw.

[0010] The application can effectively improve the positioning accuracy and anti-vibration capability of the fixing device for the underwater vehicle by the cooperation of the plurality of positioning grooves and the protruding positioning claws, so that the application can effectively avoid the loosening or damage of the underwater vehicle due to shaking during storage or transportation, thereby ensuring the reliable fixation of the underwater vehicle on the storage platform, and the application can effectively disperse the stress when the underwater vehicle is fixed on the storage platform by designing the first positioning portion as a plurality of positioning grooves and the second positioning portion as a plurality of protruding positioning claws, so that the application can also effectively prolong the service life of the fixing device for the underwater vehicle.

[0011] Optionally, the end of the protruding positioning claw is chamfered.

[0012] The end of the protruding positioning claw is provided with a chamfer, and when the protruding positioning claw is matched with the positioning groove, even if there is a slight positional deviation between the protruding positioning claw and the positioning groove, the protruding positioning claw can be smoothly guided into the positioning groove through the guiding action of the chamfer, so that the technical scheme can effectively improve the centering fault tolerance and fixing efficiency of the fixing device for the underwater vehicle and reduce the hard collision and jamming between the protruding positioning claw and the positioning groove, thereby further prolonging the service life of the fixing device for the underwater vehicle.

[0013] Optionally, the number of the positioning grooves is 2-6.

[0014] Optionally, the plurality of positioning grooves are arranged at intervals.

[0015] Optionally, the length of the crank is 20 mm, the length of the connecting rod is 34 mm, the length of the connecting part is 30 mm, the length of the fixed part is 109.5 mm, the included angle between the crank and the connecting rod is 1° after the swing driving assembly stops driving the rocker to swing downward, and the included angle between the connecting rod and the connecting part is 67.6°.

[0016] Optionally, the preset angle range is 1-5°.

[0017] Optionally, the swing driving assembly comprises a driving motor.

[0018] In the second aspect, the application further provides an underwater vehicle, which comprises the fixing device for the underwater vehicle provided in the first aspect.

[0019] The underwater vehicle provided by the application can reliably fix the underwater vehicle on the storage platform under the condition of low output torque by utilizing the structural characteristics of the crank-rocker mechanism composed of the crank, the connecting rod and the rocker, that is, the application can effectively reduce the size of the swing driving assembly and the fixing device for fixing the underwater vehicle on the storage platform, so that the application can effectively solve the problem that the number of underwater vehicles that can be carried by the underwater mother platform is reduced and the task ability and combat effectiveness of the underwater mother platform are affected due to the excessively large size of the fixing device for fixing the underwater vehicle on the storage platform.

[0020] As can be seen from the above, the fixing device for the underwater vehicle and the underwater vehicle provided by the application can reliably fix the underwater vehicle on the storage platform under low output torque by using the structural characteristics of the crank-rocker mechanism composed of the crank, the connecting rod and the rocker, that is, the application can effectively reduce the size of the swing driving assembly and the fixing device for fixing the underwater vehicle on the storage platform, and therefore the application can effectively solve the problem that the number of the underwater vehicles that can be carried by the underwater mother platform is reduced and the mission capability and combat effectiveness of the underwater mother platform are affected due to the oversized fixing device for fixing the underwater vehicle on the storage platform. BRIEF DESCRIPTION OF DRAWINGS

[0021] Figure 1 A structural schematic diagram of the fixing device for the underwater vehicle provided by the embodiment of the application.

[0022] Figure 2 A structural schematic diagram of the fixing device for the underwater vehicle, the underwater vehicle and the storage platform provided by the embodiment of the application.

[0023] Figure 3 A structural schematic diagram of the crank, the connecting rod and the rocker provided by the embodiment of the application.

[0024] Figure 4 A force analysis schematic diagram of the crank, the connecting rod and the rocker provided by the embodiment of the application.

[0025] Figure 5 A structural schematic diagram of the rocker provided by the embodiment of the application.

[0026] Figure 6 A structural schematic diagram of the fixing interface provided by the embodiment of the application.

[0027] The reference signs: 1, underwater vehicle; 2, storage platform; 3, fixing interface; 4, fixing seat; 5, crank; 6, connecting rod; 7, rocker; 71, connecting part; 72, fixing part; 8, protruding positioning claw; 9, swing driving assembly; 10, positioning groove; 11, chamfer. DETAILED DESCRIPTION

[0028] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0029] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0030] Firstly, such as Figures 1-6 As shown, this application provides a fixing device for an underwater vehicle, used to fix the underwater vehicle 1 to a storage platform 2, comprising: Fixed interface 3 is installed on underwater vehicle 1; The mounting base 4 is fixed on the storage platform 2; The swing drive assembly 9 is mounted on the fixed base 4; Crank 5, one end of which is fixedly connected to the output end of the swing drive assembly 9; Connecting rod 6, one end of which is rotatably connected to the other end of crank 5; The rocker arm 7 is rotatably connected to the fixed base 4 and the other end of the connecting rod 6; After the underwater vehicle 1 is placed on the storage platform 2, the swing drive assembly 9 drives the end of the rocker arm 7 to swing downward through the crank 5 and the connecting rod 6. Under the driving action of the swing drive assembly 9, when the angle between the rocker arm 7 and the crank 5 and the connecting rod 6 decreases to a preset angle range, the end of the rocker arm 7 presses against the fixing interface 3 to fix the underwater vehicle 1 on the storage platform 2.

[0031] The embodiment provides a fixing device for an underwater vehicle, which can fix the underwater vehicle 1 on a storage platform 2, in particular, the underwater vehicle 1 can be various unmanned or manned submersibles capable of performing tasks underwater, such as autonomous underwater vehicles (AUVs) or remotely operated underwater vehicles (ROVs), and the storage platform 2 can be a structure inside an underwater mother platform for carrying and storing the underwater vehicle 1, or other underwater or above-water platforms that need to fix the underwater vehicle 1. The fixing interface 3 of the embodiment is preferably installed on the shell of the underwater vehicle 1, and the material of the fixing interface 3 can be selected according to the specific material and use environment of the underwater vehicle 1, such as stainless steel, titanium alloy or high-strength composite material, so as to ensure the corrosion resistance and mechanical strength of the fixing interface 3 in the underwater environment. The fixing seat 4 of the embodiment can be firmly installed on the storage platform 2 in a bolted, welded or riveted manner. The crank 5, the connecting rod 6 and the rocker 7 of the embodiment form a crank rocker mechanism, in particular, one end of the crank 5 is fixedly connected with the output shaft of the swing driving assembly 9, and the length and shape of the crank 5 can be designed by those skilled in the art according to actual needs, so as to realize the required motion range and torque transmission. The two ends of the connecting rod 6 are rotatably connected with the other end of the crank 5 and the rocker 7, that is, the connecting rod 6 of the embodiment is the intermediate part of connecting the crank 5 and the rocker 7 and transmitting the torque from the crank 5 to the rocker 7, and the shape and size of the end of the rocker 7 away from the connecting rod 6 are matched with the fixing interface 3, so as to ensure that the end of the rocker 7 away from the connecting rod 6 can effectively press the fixing interface 3. The swing driving assembly 9 of the embodiment is installed on the fixing seat 4, and the swing driving assembly 9 is used for providing driving force for the swing of the rocker 7 through the crank 5 and the connecting rod 6. The swing driving assembly 9 can be an existing motor or cylinder driving mechanism.

[0032] With reference to Figure 3 And Figure 4 (F1x and F1z in the figure both represent the force acting on the crank 5, F2 and F2' in the figure both represent the force acting on the connecting rod 6, F3 in the figure represents the force acting on the connecting part of the rocker 7 rotatably connected with the connecting rod 6, F4x represents the rocking force generated when the storage platform 2 tilts, swings or accelerates or decelerates, and the rocking force is borne by the rocker 7, F4z in the figure represents the force provided to the rocker 7 when the fixing interface 3 is pressed, and F4z is borne by the swing driving assembly 9) it can be known that the calculation formula of the force provided to the rocker 7 when the fixing interface 3 of the embodiment is pressed is: ; wherein, F4z represents the force provided to the rocker 7 when the fixed interface 3 is compressed, L3 represents the length of the connecting portion 71 of the rocker 7, θ1 represents the included angle between the crank 5 and the connecting rod 6 after the swing driving assembly 9 stops driving the rocker 7 to swing downward, θ2 represents the included angle between the connecting rod 6 and the connecting portion 71 after the swing driving assembly 9 stops driving the rocker 7 to swing downward, L1 represents the length of the crank 5, L4 represents the length of the fixed portion 72 of the rocker 7, and T represents the torque output by the swing driving assembly 9. Since this embodiment fixes the underwater vehicle 1 to the storage platform 2 by reducing the included angle between the crank 5 and the connecting rod 6 to a preset angle range, and since it can be known from the above formula that, when L1, L3, L4 and θ2 are constant, the smaller θ1 is, the smaller T is, specifically, when θ1 is 0, the swing driving assembly 9 is not subjected to the component force from the rocker 7, when θ1 is 90°, the torque output by the swing driving assembly 9 is about 57.3 times the torque output by the swing driving assembly 9 when θ1 is 1°, when θ1 is 90°, the torque output by the swing driving assembly 9 is about 28.7 times the torque output by the swing driving assembly 9 when θ1 is 2°, when θ1 is 90°, the torque output by the swing driving assembly 9 is about 19.1 times the torque output by the swing driving assembly 9 when θ1 is 3°, when θ1 is 90°, the torque output by the swing driving assembly 9 is about 14.3 times the torque output by the swing driving assembly 9 when θ1 is 4°, and when θ1 is 90°, the torque output by the swing driving assembly 9 is about 11.5 times the torque output by the swing driving assembly 9 when θ1 is 5°, this embodiment can effectively reduce the torque output by the swing driving assembly 9 required to fix the underwater vehicle 1 to the storage platform 2 by adopting the design of the crank rocker mechanism and utilizing the structural characteristics of the crank rocker mechanism, i.e., this embodiment is equivalent to reducing the torque output by the swing driving assembly 9 in a manner that the crank 5 and the connecting rod 6 are as close to collinear as possible, and since the torque output by the swing driving assembly 9 is positively correlated with the size of the swing driving assembly 9, this embodiment can effectively reduce the size of the swing driving assembly 9, i.e., this embodiment effectively reduces the size of the fixing device for fixing the underwater vehicle 1 to the storage platform 2, thereby effectively increasing the number of underwater vehicles 1 that can be carried by the underwater mother platform, and further effectively improving the mission capability and combat effectiveness of the underwater mother platform.

[0033] The fixing device for underwater vehicle provided by the application can reliably fix the underwater vehicle 1 on the storage platform 2 under the condition of low output torque by using the structural characteristics of the crank-rocker mechanism composed of the crank 5, the connecting rod 6 and the rocker 7, that is, the application can effectively reduce the size of the swing driving assembly 9 and the fixing device for fixing the underwater vehicle 1 on the storage platform 2, and therefore the application can effectively solve the problem that the number of underwater vehicles 1 that can be carried by the underwater mother platform is reduced and the task ability and combat effectiveness of the underwater mother platform are affected due to the oversize of the fixing device for fixing the underwater vehicle 1 on the storage platform 2.

[0034] In some preferred embodiments, the rocker 7 comprises a connecting part 71 and a fixing part 72, the connecting part 71 is rotationally connected with the fixing seat 4 and the other end of the connecting rod 6, the fixing interface 3 is provided with a first positioning part, and the fixing part 72 is provided with a second positioning part matching the first positioning part at the end away from the connecting part 71. The rocker 7 of this embodiment is designed to comprise two main parts, the connecting part 71 is configured to be rotationally connected with the fixing seat 4 and the other end of the connecting rod 6 to ensure that the rocker 7 can swing around a specific axis, and the fixing part 72 is used to contact and position the fixing interface 3 on the underwater vehicle 1. The fixing interface 3 is provided with a first positioning part, and the fixing part 72 is provided with a second positioning part at the end away from the connecting part 71, which matches the first positioning part to ensure that the underwater vehicle 1 can be stably locked when the rocker 7 swings downward and presses the fixing interface 3. When the underwater vehicle 1 accelerates or decelerates in the front-rear direction, an axial force will be generated on the rocker 7 due to the underwater vehicle 1, and since the end of the fixing part 72 away from the connecting part 71 is provided with a second positioning part matching the first positioning part, and the first positioning part engages with the second positioning part when the underwater vehicle 1 is fixed on the storage platform 2, the axial force can be effectively transmitted to the fixing device for underwater vehicle and effectively offset by the fixing device for underwater vehicle 1, so that this embodiment can effectively avoid the accidental sliding of the underwater vehicle 1 on the storage platform 2, thereby effectively improving the safety and stability of the underwater vehicle 1 during storage.

[0035] In some preferred embodiments, the first positioning part comprises a plurality of positioning grooves 10, and the second positioning part comprises a plurality of protruding positioning claws 8, each positioning groove 10 corresponding to one protruding positioning claw 8. The first positioning part of this embodiment comprises a plurality of positioning grooves 10, and the second positioning part comprises a plurality of protruding positioning claws 8, which are structures for achieving accurate alignment and reliable locking between the fixed interface 3 and the rocker 7. Each positioning groove 10 corresponds to one protruding positioning claw 8, which means that when the rocker 7 swings downward and presses the fixed interface 3, each protruding positioning claw 8 can be accurately inserted into the corresponding positioning groove 10, thereby forming a stable mechanical connection. It should be understood that in actual applications, the positioning grooves 10 and the protruding positioning claws 8 can be designed to have specific shapes and sizes to ensure that the positioning grooves 10 and the protruding positioning claws 8 can be tightly fitted, thereby preventing the positioning grooves 10 and the protruding positioning claws 8 from being disengaged under external vibration or impact. This embodiment can effectively improve the positioning accuracy and anti-vibration ability of the fixing device for underwater vehicles on the underwater vehicle 1 through the cooperation of the plurality of positioning grooves 10 and protruding positioning claws 8, so it can effectively avoid the loosening or damage of the underwater vehicle 1 due to shaking during storage or transportation, thereby ensuring the reliable fixation of the underwater vehicle 1 on the storage platform 2. Moreover, this embodiment can effectively disperse the stress when the underwater vehicle 1 is fixed on the storage platform 2 by designing the first positioning part as a plurality of positioning grooves 10 and the second positioning part as a plurality of protruding positioning claws 8, so it can also effectively prolong the service life of the fixing device for underwater vehicles.

[0036] In some preferred embodiments, the end of the protruding positioning claw 8 is provided with a chamfer 11. Since the end of the protruding positioning claw 8 of this embodiment is provided with a chamfer 11, when the protruding positioning claw 8 cooperates with the positioning groove 10, even if there is a slight positional deviation between the protruding positioning claw 8 and the positioning groove 10, this embodiment can smoothly guide the protruding positioning claw 8 into the positioning groove 10 through the guiding action of the chamfer 11, so it can effectively improve the centering fault tolerance and fixing efficiency of the fixing device for underwater vehicles and reduce the hard collision and jamming between the protruding positioning claw 8 and the positioning groove 10, thereby further prolonging the service life of the fixing device for underwater vehicles.

[0037] In some preferred embodiments, the number of positioning grooves 10 is 2-6. The number of positioning grooves 10 in this embodiment is preferably 3. This embodiment can effectively avoid the situation that the positioning is not stable enough and the slight shaking of the underwater vehicle 1 cannot be effectively limited due to too few positioning grooves 10, and the situation that the processing cost increases, the assembly alignment is complicated, and the risk of jamming increases due to too many positioning grooves 10, i.e., this embodiment can balance the feasibility and economy of the fixing device for the underwater vehicle while ensuring the fixing stability of the fixing device for the underwater vehicle.

[0038] In some preferred embodiments, the plurality of positioning grooves 10 are arranged at intervals. The interval arrangement in this embodiment means that the plurality of positioning grooves 10 are arranged on the fixing interface 3 at a certain interval or distribution rule to ensure that there is enough space between them. This embodiment can enable the plurality of protruding positioning claws 8 to engage with the plurality of positioning grooves 10 in a scattered and balanced manner by arranging the plurality of positioning grooves 10 at intervals, so as to optimize the contact area and stress point between the fixing interface 3 and the fixing part 72 and effectively avoid the problem of excessive local stress or uneven stress. Therefore, this embodiment can effectively improve the overall rigidity and stability of the fixing device for the underwater vehicle, so that the fixing device for the underwater vehicle can effectively resist external impact and vibration, thereby effectively improving the fixing stability of the underwater vehicle 1 on the storage platform 2 and effectively reducing the risk of equipment damage or displacement due to insufficient fixing stability of the underwater vehicle 1.

[0039] In some preferred embodiments, the length (refer to L1 in Figure 4 ) of the crank 5 is 20 mm, the length (refer to L2 in Figure 4 ) of the connecting rod 6 is 34 mm, the length (refer to L3 in Figure 4 ) of the connecting part 71 is 30 mm, the length (refer to L4 in Figure 4 ) of the fixing part 72 is 109.5 mm, the included angle (refer to θ1 in Figure 4 ) between the crank 5 and the connecting rod 6 is 1° after the swing driving assembly 9 stops driving the rocker 7 to swing downward, and the included angle (refer to θ2 in Figure 4 ) between the connecting rod 6 and the connecting part 71 is 67.6°. Since in actual engineering, the crank 5 and the connecting rod 6 cannot be collinear and non-coincident, i.e., the included angle between the crank 5 and the connecting rod 6 cannot infinitely approach 0°, this embodiment can minimize the output torque required by the swing driving assembly 9 by setting the above parameters, so that the size of the swing driving assembly 9 can be minimized as much as possible, and the size of the fixing device for the underwater vehicle can be minimized as much as possible.

[0040] In some preferred embodiments, the preset angle range is 1-5°. The preset angle range of this embodiment refers to the range of the included angle between the crank 5 and the connecting rod 6 after the underwater vehicle 1 is fixed on the storage platform 2 and the swing driving assembly 9 stops driving the swing rod 7 to swing downward. This embodiment can effectively reduce the output torque of the swing driving assembly 9 by setting the included angle between the crank 5 and the connecting rod 6 to 1-5° when the swing driving assembly 9 stops driving the swing rod 7 to swing downward.

[0041] In some preferred embodiments, the swing driving assembly 9 comprises a driving motor. The driving motor of this embodiment is a power device capable of converting electrical energy into mechanical energy. In practical applications, the driving motor can adopt various types, such as a direct current motor, an alternating current motor, a stepping motor, or a servo motor. Those skilled in the art can select the motor type according to the required torque, speed, control accuracy, and cost, etc. The output shaft of the driving motor is preferably connected to the crank 5 through a speed reduction mechanism (such as a gear box, a worm and gear mechanism, etc.) to achieve precise driving of the crank 5 and the connecting rod 6.

[0042] As can be seen from the above, the fixing device for an underwater vehicle provided by the present application can reliably fix the underwater vehicle 1 on the storage platform 2 with low output torque by utilizing the structural characteristics of the crank-rocker mechanism composed of the crank 5, the connecting rod 6, and the swing rod 7, i.e., the present application can effectively reduce the size of the swing driving assembly 9 and the fixing device for fixing the underwater vehicle 1 on the storage platform 2. Therefore, the present application can effectively solve the problem that the number of underwater vehicles 1 that can be carried by the underwater mother platform is reduced and the mission capability and combat effectiveness of the underwater mother platform are affected due to the oversized fixing device for fixing the underwater vehicle 1 on the storage platform 2.

[0043] In a second aspect, the present application also provides an underwater vehicle, which comprises the fixing device for an underwater vehicle provided in the first aspect.

[0044] The underwater vehicle provided by the present application comprises the fixing device for an underwater vehicle provided in the first aspect. The principle of the underwater vehicle provided by this embodiment is the same as that of the fixing device for an underwater vehicle provided in the first aspect, which will not be discussed in detail here.

[0045] From the above, the fixing device for the underwater vehicle and the underwater vehicle 1 provided by the application can reliably fix the underwater vehicle 1 on the storage platform 2 under the condition of low output torque by using the structural characteristics of the crank-rocker mechanism composed of the crank 5, the connecting rod 6 and the rocker 7, that is, the application can effectively reduce the size of the swing driving assembly 9 and the fixing device for fixing the underwater vehicle 1 on the storage platform 2, and therefore the application can effectively solve the problem that the number of the underwater vehicles 1 that can be carried by the underwater mother platform is reduced and the task ability and combat effectiveness of the underwater mother platform are affected due to the oversize of the fixing device for fixing the underwater vehicle 1 on the storage platform 2.

[0046] In the embodiments provided in the application, it should be understood that, in the present document, the relational terms such as first and second and the like are used only to differentiate one entity or operation from another, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations.

[0047] The above only describes the embodiments of the application, and is not used to limit the protection scope of the application. Various modifications and changes can be made to the application by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the application shall be included in the protection scope of the application.

Claims

1. A fixing device for an underwater vehicle, used to fix the underwater vehicle to a storage platform, characterized in that, The fixing device for the underwater vehicle includes: A fixed interface is installed on the underwater vehicle; A mounting base is fixed to the storage platform; A swing drive assembly is mounted on the fixed base; A crank, one end of which is fixedly connected to the output end of the swing drive assembly; A connecting rod, one end of which is rotatably connected to the other end of the crank; The rocker arm is rotatably connected to the fixed base and the other end of the connecting rod; After the underwater vehicle is placed on the storage platform, the swing drive assembly drives the end of the rocker arm to swing downward through the crank and the connecting rod. Under the driving action of the swing drive assembly, when the angle between the crank and the connecting rod decreases to a preset angle range, the end of the rocker arm presses against the fixing interface to fix the underwater vehicle on the storage platform.

2. The fixing device for an underwater vehicle according to claim 1, characterized in that, The rocker arm includes a connecting part and a fixing part. The connecting part is rotatably connected to the fixing seat and the other end of the connecting rod. The fixing interface has a first positioning part, and the end of the fixing part away from the connecting part has a second positioning part that matches the first positioning part.

3. The fixing device for an underwater vehicle according to claim 2, characterized in that, The first positioning part includes a plurality of positioning grooves, and the second positioning part includes a plurality of protruding positioning claws, each of the positioning grooves corresponding to one of the protruding positioning claws.

4. The fixing device for an underwater vehicle according to claim 3, characterized in that, The end of the protruding positioning claw is chamfered.

5. The fixing device for an underwater vehicle according to claim 3, characterized in that, The number of positioning grooves is 2-6.

6. The fixing device for an underwater vehicle according to claim 3, characterized in that, The multiple positioning grooves are spaced apart.

7. The fixing device for an underwater vehicle according to claim 2, characterized in that, The crank is 20mm long, the connecting rod is 34mm long, the connecting part is 30mm long, and the fixing part is 109.5mm long. After the swing drive assembly stops driving the rocker arm to swing downward, the angle between the crank and the connecting rod is 1°, and the angle between the connecting rod and the connecting part is 67.6°.

8. The fixing device for an underwater vehicle according to claim 1, characterized in that, The preset angle range is 1-5°.

9. The fixing device for an underwater vehicle according to claim 1, characterized in that, The swing drive assembly includes a drive motor.

10. An underwater vehicle, characterized in that, The underwater vehicle includes a fixing device for the underwater vehicle as described in any one of claims 1-9.

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