A fixing device for an underwater vehicle and the underwater vehicle.

Abstract

This application relates to the field of underwater vehicle technology, specifically providing a fixing device for an underwater vehicle and an underwater vehicle. The device includes: a fixing interface, installed on the underwater vehicle; a fixing base, fixed on a storage platform; a swing drive assembly, installed on the fixing 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; and a rocker arm, rotatably connected to the other end of the fixing base and 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. This device can effectively reduce the size of the fixing device used to fix the underwater vehicle on the storage platform.

Description

Technical Field

[0001] This application relates to the field of underwater vehicle technology, and more specifically, to a fixing device for an underwater vehicle and an underwater vehicle. Background Technology

[0002] The relevant technology uses a motor-driven gripper to fix the underwater vehicle to the storage platform. In order to keep the underwater vehicle fixed to the storage platform even when the platform tilts, sways, or accelerates or decelerates (a common situation when fixing the underwater vehicle to the storage platform located inside the underwater mother platform), the relevant technology 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 relevant technology has the problem of the size of the fixing device used to fix the underwater vehicle to the storage platform being too large. This reduces the number of underwater vehicles that the underwater mother platform can carry, thus affecting the mission capability and combat effectiveness of the underwater mother platform.

[0003] There is currently no effective technical solution to the above problems. Summary of the Invention

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

[0005] In a first aspect, this application provides a fixing device for an underwater vehicle, used to fix the underwater vehicle to a storage platform, comprising:

[0006] A fixed interface is installed on the underwater vehicle;

[0007] The mounting base is fixed to the storage platform;

[0008] The swing drive assembly is mounted on a fixed base;

[0009] One end of the crank is fixedly connected to the output end of the oscillating drive assembly;

[0010] A connecting rod, one end of which is rotatably connected to the other end of a crank;

[0011] The rocker arm is rotatably connected to the fixed base and the other end of the connecting rod;

[0012] 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 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.

[0013] This application provides a fixing device for underwater vehicles, which utilizes the structural characteristics of a crank-rocker mechanism composed of a crank, connecting rod, and rocker arm to reliably fix the underwater vehicle to a storage platform under low output torque. In other words, this application can effectively reduce the size of the swing drive assembly and the fixing device for fixing the underwater vehicle to the storage platform. Therefore, this application can effectively solve the problem that the number of underwater vehicles that can be carried by the underwater mother platform is reduced due to the excessive size of the fixing device for fixing the underwater vehicle to the storage platform, and the mission capability and combat effectiveness of the underwater mother platform are affected.

[0014] Optionally, 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.

[0015] When an underwater vehicle accelerates or decelerates in the forward or backward direction, an axial force is generated on the rocker arm. Since the fixed part of this technical solution has a second positioning part that matches the first positioning part at the end away from the connecting part, and the first positioning part and the second positioning part engage when the underwater vehicle is fixed on the storage platform, the axial force can be effectively transmitted to the fixing device used for the underwater vehicle and effectively canceled out by the fixing device used for the underwater vehicle. Therefore, this technical solution can effectively prevent the underwater vehicle from accidentally slipping on the storage platform, thereby effectively improving the safety and stability of the underwater vehicle during storage.

[0016] Optionally, the first positioning part includes a plurality of positioning grooves, and the second positioning part includes a plurality of protruding positioning claws, with each positioning groove corresponding to a protruding positioning claw.

[0017] This technical solution effectively improves the positioning accuracy and vibration resistance of the underwater vehicle fixing device by using multiple positioning grooves and protruding positioning claws. Therefore, this technical solution can effectively prevent the underwater vehicle from loosening or being damaged due to shaking during storage or transportation, thus ensuring the reliable fixing of the underwater vehicle on the storage platform. Furthermore, by designing the first positioning part as multiple positioning grooves and the second positioning part as multiple protruding positioning claws, this technical solution can effectively distribute the stress when fixing the underwater vehicle on the storage platform, thus effectively extending the service life of the underwater vehicle fixing device.

[0018] Optionally, the end of the protruding positioning claw is chamfered.

[0019] Because the protruding positioning claw of this technical solution has a chamfer at its end, even if there is a slight positional deviation between the protruding positioning claw and the positioning groove when the protruding positioning claw and the positioning groove are engaged, this technical solution can smoothly guide the protruding positioning claw into the positioning groove through the guiding effect of the chamfer. Therefore, this technical solution can effectively improve the centering tolerance and fixing efficiency of the fixing device used for underwater vehicles, as well as reduce the hard collision and jamming between the protruding positioning claw and the positioning groove, thereby further extending the service life of the fixing device used for underwater vehicles.

[0020] Optionally, the number of positioning grooves is 2-6.

[0021] Optionally, multiple positioning grooves are spaced apart.

[0022] Optionally, 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 included angle between the crank and the connecting rod is 1°, and the included angle between the connecting rod and the connecting part is 67.6°.

[0023] Optionally, the preset angle range is 1-5°.

[0024] Optionally, the oscillation drive assembly includes a drive motor.

[0025] Secondly, this application also provides an underwater vehicle that includes the fixing device for an underwater vehicle provided in the first aspect above.

[0026] This application provides an underwater vehicle that utilizes the structural characteristics of a crank-rocker mechanism composed of a crank, connecting rod, and rocker arm to reliably fix the underwater vehicle to a storage platform under low output torque. In other words, this application can effectively reduce the size of the swing drive assembly and the fixing device used to fix the underwater vehicle to the storage platform. Therefore, this application can effectively solve the problem that the number of underwater vehicles that can be carried by the underwater mother platform is reduced due to the excessive size of the fixing device used to fix the underwater vehicle to the storage platform, and the mission capability and combat effectiveness of the underwater mother platform are affected.

[0027] As can be seen from the above, the underwater vehicle and the fixing device for underwater vehicles provided in this application can reliably fix the underwater vehicle to the storage platform under low output torque by utilizing the structural characteristics of the crank-rocker mechanism composed of a crank, connecting rod and rocker. That is, this application can effectively reduce the size of the swing drive component and the fixing device for fixing the underwater vehicle to the storage platform. Therefore, this 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 mission capability and combat effectiveness of the underwater mother platform are affected due to the excessive size of the fixing device for fixing the underwater vehicle to the storage platform. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of a fixing device for an underwater vehicle provided in an embodiment of this application.

[0029] Figure 2 This is a schematic diagram of the structure of a fixing device for an underwater vehicle, the underwater vehicle, and a storage platform provided in an embodiment of this application.

[0030] Figure 3 This is a schematic diagram of the crank, connecting rod, and rocker arm provided in the embodiments of this application.

[0031] Figure 4 A schematic diagram of the force analysis of the crank, connecting rod, and rocker provided in the embodiments of this application.

[0032] Figure 5 This is a schematic diagram of the structure of the rocker provided in an embodiment of this application.

[0033] Figure 6 A schematic diagram of the structure of the fixed interface provided in the embodiments of this application.

[0034] Reference numerals: 1. Underwater vehicle; 2. Storage platform; 3. Fixing interface; 4. Fixing base; 5. Crank; 6. Connecting rod; 7. Rocker arm; 71. Connecting part; 72. Fixing part; 8. Protruding positioning claw; 9. Swing drive assembly; 10. Positioning groove; 11. Chamfer. Detailed Implementation

[0035] 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.

[0036] 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.

[0037] 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:

[0038] Fixed interface 3 is installed on underwater vehicle 1;

[0039] The mounting base 4 is fixed on the storage platform 2;

[0040] The swing drive assembly 9 is mounted on the fixed base 4;

[0041] Crank 5, one end of which is fixedly connected to the output end of the swing drive assembly 9;

[0042] Connecting rod 6, one end of which is rotatably connected to the other end of crank 5;

[0043] The rocker arm 7 is rotatably connected to the fixed base 4 and the other end of the connecting rod 6;

[0044] 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.

[0045] This embodiment provides a fixing device for an underwater vehicle 1, which can secure the underwater vehicle 1 to a storage platform 2. Specifically, the underwater vehicle 1 can be any type of unmanned or manned submersible capable of performing underwater tasks, such as an autonomous underwater vehicle (AUV) or a remotely operated underwater vehicle (ROV). The storage platform 2 can be a structure inside an underwater mother platform used to carry and store the underwater vehicle 1, or it can be any other underwater or surface platform that requires fixing the underwater vehicle 1. The fixing interface 3 of this embodiment is preferably installed on the outer shell of the underwater vehicle 1. The material of the fixing interface 3 can be selected according to the specific material and operating environment of the underwater vehicle 1, such as stainless steel, titanium alloy, or high-strength composite materials, to ensure its corrosion resistance and mechanical strength in the underwater environment. The fixing base 4 of this embodiment can be securely installed on the storage platform 2 by bolting, welding, or riveting. In this embodiment, the crank 5, connecting rod 6, and rocker arm 7 form a crank-rocker mechanism. Specifically, one end of the crank 5 is fixedly connected to the output shaft of the swing drive assembly 9. Those skilled in the art can design the length and shape of the crank 5 according to actual needs to achieve the required range of motion and torque transmission. The two ends of the connecting rod 6 are rotatably connected to the other end of the crank 5 and the rocker arm 7, respectively. That is, in this embodiment, the connecting rod 6 is the middle part that connects the crank 5 and the rocker arm 7 and transmits torque from the crank 5 to the rocker arm 7. In this embodiment, the shape and size of the end of the rocker arm 7 away from the connecting rod 6 matches the fixed interface 3 to ensure that the end of the rocker arm 7 away from the connecting rod 6 can effectively press against the fixed interface 3. In this embodiment, the swing drive assembly 9 is mounted on the fixed base 4. The swing drive assembly 9 is used to provide driving force for the rocker arm 7 to swing through the crank 5 and the connecting rod 6. The swing drive assembly 9 can be an existing motor or cylinder or other drive mechanism.

[0046] Reference Figure 3 and Figure 4 (In the figure, F1x and F1z both represent the forces acting on crank 5, F2 and F2' both represent the forces acting on connecting rod 6, F3 represents the force acting on the connection point of rocker arm 7 that rotates with connecting rod 6, F4x represents the swaying force generated when storage platform 2 tilts, sways, or accelerates / decelerates, which is borne by rocker arm 7, and F4z represents the force provided to rocker arm 7 when fixed interface 3 is pressed, which is borne by swing drive assembly 9.) It can be seen that the calculation formula for the force provided to rocker arm 7 when fixed interface 3 is pressed in this embodiment is: Wherein, F4z represents the force provided to the rocker arm 7 when the fixed interface 3 is pressed, L3 represents the length of the connecting part 71 of the rocker arm 7, θ1 represents the angle between the crank 5 and the connecting rod 6 after the swing drive assembly 9 stops driving the rocker arm 7 to swing downward, θ2 represents the angle between the connecting rod 6 and the connecting part 71 after the swing drive assembly 9 stops driving the rocker arm 7 to swing downward, L1 represents the length of the crank 5, L4 represents the length of the fixed part 72 of the rocker arm 7, and T represents the torque output by the swing drive assembly 9. Since this embodiment achieves this by making the angle between the crank 5 and the connecting rod 6... The underwater vehicle 1 is fixed to the storage platform 2 by reducing the included angle to within a preset angle range. As shown in the above formula, with L1, L3, L4, and θ2 unchanged, the smaller θ1 is, the smaller T is. Specifically, the swing drive assembly 9 is not subjected to a component force from the rocker arm 7 when θ1 is 0. The output torque of the swing drive assembly 9 when θ1 is 90° is approximately 57.3 times its output torque when θ1 is 1°, and the output torque of the swing drive assembly 9 when θ1 is 90° is approximately 28.7 times its output torque when θ1 is 2°. The output torque of the swing drive assembly 9 at θ1 = 90° is approximately 19.1 times that at θ1 = 3°, the output torque of the swing drive assembly 9 at θ1 = 90° is approximately 14.3 times that at θ1 = 4°, and the output torque of the swing drive assembly 9 at θ1 = 90° is approximately 11.5 times that at θ1 = 5°. Therefore, this embodiment can effectively reduce the output torque of the swing drive assembly 9 required to fix the underwater vehicle 1 on the storage platform 2 by adopting a crank-rocker mechanism design and utilizing the structural characteristics of the crank-rocker mechanism. The torque, in this embodiment, is equivalent to reducing the output torque required for the swing drive assembly 9 by making the crank 5 and connecting rod 6 as collinear and non-coincident as possible. Since the output torque of the swing drive assembly 9 is positively correlated with the size of the swing drive assembly 9, this embodiment can effectively reduce the size of the swing drive assembly 9. That is, this embodiment effectively reduces the size of the fixing device used to fix the underwater vehicle 1 on the storage platform 2, thereby effectively increasing the number of underwater vehicles 1 that the underwater mother platform can carry, and thus effectively improving the mission capability and combat effectiveness of the underwater mother platform.

[0047] This application provides a fixing device for underwater vehicles, which can reliably fix the underwater vehicle 1 to the storage platform 2 under low output torque by utilizing the structural characteristics of the crank-rocker mechanism composed of crank 5, connecting rod 6 and rocker 7. That is, this application can effectively reduce the size of the swing drive assembly 9 and the fixing device for fixing the underwater vehicle 1 to the storage platform 2. Therefore, this application can effectively solve the problem that the number of underwater vehicles 1 that can be carried by the underwater mother platform is reduced due to the excessive size of the fixing device for fixing the underwater vehicle 1 to the storage platform 2, and the mission capability and combat effectiveness of the underwater mother platform are affected.

[0048] In some preferred embodiments, the rocker arm 7 includes a connecting portion 71 and a fixing portion 72. The connecting portion 71 is rotatably connected to the other end of the fixed base 4 and the connecting rod 6. The fixing interface 3 has a first positioning portion, and the fixing portion 72 has a second positioning portion that matches the first positioning portion at its end away from the connecting portion 71. In this embodiment, the rocker arm 7 is designed to include two main parts: the connecting portion 71 and the fixing portion 72. The connecting portion 71 is configured to be rotatably connected to the fixed base 4 and the other end of the connecting rod 6 to ensure that the rocker arm 7 can swing around a specific axis. The fixing portion 72 is used to contact and position itself with the fixing interface 3 on the underwater vehicle 1. The fixing interface 3 has a first positioning portion, and the fixing portion 72 has a second positioning portion at its end away from the connecting portion 71. This second positioning portion matches the first positioning portion to ensure a stable lock on the underwater vehicle 1 when the rocker arm 7 swings downward and presses against the fixing interface 3. When the underwater vehicle 1 accelerates or decelerates in the forward or backward direction, an axial force is generated on the rocker arm 7. Since the fixed part 72 in this embodiment has a second positioning part that matches the first positioning part at the end away from the connecting part 71, and the underwater vehicle 1 is fixed on the storage platform 2, the first positioning part and the second positioning part engage. At this time, the axial force can be effectively transmitted to the fixing device for the underwater vehicle and effectively canceled by the fixing device for the underwater vehicle 1. Therefore, this embodiment can effectively prevent the underwater vehicle 1 from accidentally slipping on the storage platform 2, thereby effectively improving the safety and stability of the underwater vehicle 1 during storage.

[0049] In some preferred embodiments, the first positioning part includes a plurality of positioning grooves 10, and the second positioning part includes a plurality of protruding positioning claws 8, with each positioning groove 10 corresponding to one protruding positioning claw 8. The first positioning part of this embodiment includes a plurality of positioning grooves 10, and the second positioning part of this embodiment includes a plurality of protruding positioning claws 8. The positioning grooves 10 and protruding positioning claws 8 are structures used to achieve precise alignment and reliable locking between the fixed interface 3 and the rocker arm 7. Each positioning groove 10 corresponds to one protruding positioning claw 8, meaning that when the rocker arm 7 swings downward and presses against the fixed interface 3, each protruding positioning claw 8 can accurately insert into the corresponding positioning groove 10, thereby forming a stable mechanical connection. It should be understood that in practical applications, the positioning grooves 10 and protruding positioning claws 8 can be designed with specific shapes and sizes to ensure that the positioning grooves 10 and protruding positioning claws 8 can fit tightly, thereby preventing the positioning grooves 10 and protruding positioning claws 8 from disengaging under external vibration or impact. This embodiment can effectively improve the positioning accuracy and vibration resistance of the underwater vehicle 1 by using multiple positioning grooves 10 and protruding positioning claws 8. Therefore, this embodiment can effectively prevent the underwater vehicle 1 from loosening or being damaged due to shaking during storage or transportation, thus ensuring the reliable fixation of the underwater vehicle 1 on the storage platform 2. Furthermore, this embodiment can effectively distribute the stress when fixing the underwater vehicle 1 on the storage platform 2 by designing the first positioning part as multiple positioning grooves 10 and the second positioning part as multiple protruding positioning claws 8. Therefore, this embodiment can also effectively extend the service life of the underwater vehicle fixing device.

[0050] In some preferred embodiments, the end of the protruding positioning claw 8 is provided with a chamfer 11. Because the end of the protruding positioning claw 8 in this embodiment is provided with a chamfer 11, when the protruding positioning claw 8 engages 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 effect of the chamfer 11. Therefore, this embodiment can effectively improve the centering tolerance and fixing efficiency of the fixing device for underwater vehicles, and reduce hard collisions and jamming between the protruding positioning claw 8 and the positioning groove 10, thereby further extending the service life of the fixing device for underwater vehicles.

[0051] In some preferred embodiments, the number of positioning grooves 10 is 2-6. In this embodiment, the number of positioning grooves 10 is preferably 3. This embodiment effectively avoids the situation where the positioning is not stable enough due to too few positioning grooves 10, which would not be able to effectively limit the slight swaying of the underwater vehicle 1, and the situation where the number of positioning grooves 10 is too many, which would increase the processing cost, complicate the assembly alignment, and increase the risk of jamming. That is, this embodiment is equivalent to ensuring the fixation stability of the fixing device for the underwater vehicle while taking into account the feasibility and economy of the fixing device for the underwater vehicle.

[0052] In some preferred embodiments, multiple positioning grooves 10 are spaced apart. This spaced arrangement means that the multiple positioning grooves 10 are arranged on the fixing interface 3 at a certain interval or according to a certain distribution pattern to ensure sufficient space between them. This embodiment allows multiple protruding positioning claws 8 to engage with the multiple positioning grooves 10 in a dispersed and balanced manner by spaced arrangement of the multiple positioning grooves 10. This optimizes the contact area and force points between the fixing interface 3 and the fixing part 72, and effectively avoids problems such as excessive local stress or uneven force distribution. Therefore, this embodiment can effectively improve the overall rigidity and stability of the fixing device for underwater vehicles, enabling the fixing device for underwater vehicles to effectively resist external impacts and vibrations. This effectively improves the fixing stability of the underwater vehicle 1 on the storage platform 2 and effectively reduces the risk of equipment damage or displacement due to insufficient fixing stability of the underwater vehicle 1.

[0053] In some preferred embodiments, the length of crank 5 (reference) Figure 4 L1 in the figure is 20mm, and the length of connecting rod 6 is (reference) Figure 4 The length of L2 in the figure is 34mm, and the length of the connecting part 71 is (reference). Figure 4 L3 in the figure is 30mm, and the length of the fixing part 72 is (reference) Figure 4 L4 in the figure is 109.5 mm. After the swing drive assembly 9 stops driving the rocker arm 7 to swing downward, the included angle between the crank 5 and the connecting rod 6 (reference) is 109.5 mm. Figure 4 The angle θ1 in the figure is 1°, and the included angle between the connecting rod 6 and the connecting part 71 is (reference). Figure 4 The angle θ2 in the figure is 67.6°. Since in actual engineering, crank 5 and connecting rod 6 cannot be collinear and non-coincident, that is, the included angle between crank 5 and connecting rod 6 cannot infinitely approach 0°, this embodiment can reduce the output torque required by the swing drive assembly 9 as much as possible by setting the above parameters. Therefore, this embodiment can reduce the size of the swing drive assembly 9 as much as possible, so as to reduce the size of the fixing device used for underwater vehicles as much as possible.

[0054] In some preferred embodiments, the preset angle range is 1-5°. The preset angle range in this embodiment refers to the range of the included angle between the crank 5 and the connecting rod 6 when the underwater vehicle 1 is fixed on the storage platform 2 and the swing drive assembly 9 stops driving the rocker arm 7 to swing downward. This embodiment can effectively reduce the output torque of the swing drive assembly 9 by setting the included angle between the crank 5 and the connecting rod 6 to 1-5° when the swing drive assembly 9 stops driving the rocker arm 7 to swing downward.

[0055] In some preferred embodiments, the oscillating drive assembly 9 includes a drive motor. The drive motor in this embodiment is a power device capable of converting electrical energy into mechanical energy. In practical applications, the drive motor can be of various types, such as a DC motor, AC motor, stepper motor, or servo motor. Those skilled in the art can consider factors such as required torque, speed, control precision, and cost when selecting the motor type. The output shaft of the drive motor is preferably connected to the crank 5 via a reduction mechanism (such as a gearbox, worm gear mechanism, etc.) to achieve precise driving of the crank 5 and connecting rod 6.

[0056] As can be seen from the above, the fixing device for underwater vehicles provided in this application can reliably fix the underwater vehicle 1 to the storage platform 2 under low output torque by utilizing the structural characteristics of the crank-rocker mechanism composed of crank 5, connecting rod 6 and rocker 7. That is, this application can effectively reduce the size of the swing drive assembly 9 and the fixing device for fixing the underwater vehicle 1 to the storage platform 2. Therefore, this application can effectively solve the problem that the number of underwater vehicles 1 that can be carried by the underwater mother platform is reduced due to the excessive size of the fixing device for fixing the underwater vehicle 1 to the storage platform 2, and the mission capability and combat effectiveness of the underwater mother platform are affected.

[0057] Secondly, this application also provides an underwater vehicle that includes the fixing device for an underwater vehicle provided in the first aspect above.

[0058] The underwater vehicle provided in this application includes the fixing device for the underwater vehicle provided in the first aspect above. The principle of the underwater vehicle provided in this embodiment is the same as that of the fixing device for the underwater vehicle provided in the first aspect above, and will not be discussed in detail here.

[0059] As can be seen from the above, the underwater vehicle 1 provided in this application can reliably fix the underwater vehicle 1 to the storage platform 2 under low output torque by utilizing the structural characteristics of the crank-rocker mechanism composed of crank 5, connecting rod 6 and rocker 7. That is, this application can effectively reduce the size of the swing drive assembly 9 and the fixing device for fixing the underwater vehicle 1 to the storage platform 2. Therefore, this application can effectively solve the problem that the number of underwater vehicles 1 that can be carried by the underwater mother platform is reduced due to the excessive size of the fixing device for fixing the underwater vehicle 1 to the storage platform 2, and the mission capability and combat effectiveness of the underwater mother platform are affected.

[0060] In the embodiments provided in this application, it should be understood that relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations.

[0061] The above are merely embodiments of this application and are not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this 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 oscillating 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. The rocker 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 fixing part has a second positioning part that matches the first positioning part at the end away from the connecting part. 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.

2. The fixing device for an underwater vehicle according to claim 1, characterized in that, The end of the protruding positioning claw is chamfered.

3. The fixing device for an underwater vehicle according to claim 1, characterized in that, The number of positioning grooves is 2-6.

4. The fixing device for an underwater vehicle according to claim 1, characterized in that, The multiple positioning grooves are spaced apart.

5. The fixing device for an underwater vehicle according to claim 1, 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°.

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

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

8. An underwater vehicle, characterized in that, The underwater vehicle includes a fixing device for the underwater vehicle as described in any one of claims 1-7.

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