Positioning system and assembling method for pressure hull and frame of underwater vehicle

Abstract

This application belongs to the field of assembly technology and discloses a positioning system and assembly method for a pressure hull and frame of an underwater vehicle. The hull mounting interface and positioning component mounting interface at the front of the underwater vehicle frame provide a foundation for positioning the pressure hull. The hull support at the rear of the pressure hull connects to the hull mounting interface of the frame, achieving axial fixation of the pressure hull. The installation fixture connects to the first fixture interface at the front of the pressure hull, providing a reliable connection point or support position for the hoisting or lifting of large pressure hulls, greatly facilitating handling and initial positioning during assembly. Multiple positioning components connect to the positioning component mounting interface of the frame and can adjust their radial position supporting the pressure hull, thereby achieving precise radial support positioning of the pressure hull. This effectively overcomes the problems of low positioning accuracy, complex operation, and long time consumption in the assembly of large pressure hulls in the prior art.

Description

Technical Field

[0001] This application relates to the field of assembly technology, and more specifically, to a positioning system and assembly method for a pressure hull and frame of an underwater vehicle. Background Technology

[0002] With the steady development of the marine economy, the dimensions of underwater vehicles are gradually increasing, thus placing higher demands on the installation of large pressure hulls within the frame. Currently, most underwater vehicles have a long, narrow structure with a circular or near-circular cross-section. To meet the needs of underwater vehicle control, buoyancy adjustment, and mechanical movement, a sealed pressure hull is often present inside. This hull is typically designed in a cylindrical or spherical shape to meet pressure resistance requirements. The pressure hull is usually connected to the underwater vehicle's frame using fasteners, with the connection direction generally along the radial or axial direction of the underwater vehicle's frame.

[0003] The advantages of radially connecting the pressure hull along the underwater vehicle frame are its simple structure and high load-bearing capacity. The disadvantages are low frame space utilization, as the connecting supports occupy a large amount of space and the pressure hull is difficult to fit snugly into the underwater vehicle frame. The advantages of axially connecting the pressure hull along the underwater vehicle frame are higher space utilization. The disadvantages are weaker load-bearing capacity and installation difficulties, as often only one end of the pressure hull can be fixed, forming a cantilever-like structure, which is only suitable for smaller pressure hulls.

[0004] Existing technologies present challenges in assembling large pressure hulls with underwater vehicle frames, making it difficult to simultaneously achieve high space utilization, high load-bearing capacity, and a convenient installation process. Particularly in large underwater vehicles, the increased size and weight of the pressure hull cause traditional radial or axial connection methods to suffer from low positioning accuracy, complex operations, and long installation times, severely impacting assembly efficiency and overall structural performance.

[0005] To address the aforementioned issues, existing technologies urgently need improvement. Summary of the Invention

[0006] The purpose of this application is to provide a positioning system and assembly method for the pressure hull and frame of an underwater vehicle, aiming to solve the problem that it is difficult to achieve high space utilization, high load-bearing capacity and convenient installation process at the same time when assembling large pressure hulls and underwater vehicle frames in the prior art.

[0007] In a first aspect, this application provides a positioning system for the pressure hull and frame of an underwater vehicle, comprising: The underwater vehicle frame has multiple hull mounting interfaces and multiple positioning component mounting interfaces arranged evenly in the circumferential direction at its axial front part, with the positioning component mounting interfaces located in front of the hull mounting interfaces. The pressure hull has multiple hull supports at its rear axial direction and multiple first tooling interfaces at its front axial direction; each of the hull supports is used to be connected to each of the hull mounting interfaces one by one by fasteners, so that the pressure hull is fixed to the front axial direction of the underwater vehicle frame. The installation fixture is provided with multiple second fixture interfaces, each of which is used to connect to each of the first fixture interfaces one by one via fasteners, so as to fix the installation fixture to the pressure chamber; the installation fixture is used to provide the connection points required for hoisting the pressure chamber and / or the support positions required for lifting the pressure chamber. Multiple positioning components are provided, each of which is connected to the mounting interface of each positioning element via fasteners to provide radial support and positioning for the pressure chamber. The radial position of the portion of each positioning component used to support the pressure chamber is adjustable.

[0008] Preferably, the underwater vehicle frame is a cylindrical frame structure; the pressure hull is a rotating structure.

[0009] Preferably, the underwater vehicle frame includes multiple ring beams and multiple longitudinal ribs extending forward and backward. Each ring beam is coaxially spaced along the forward and backward direction, and any two adjacent ring beams are connected and fixed by multiple longitudinal ribs evenly arranged circumferentially.

[0010] Preferably, the front end face of the underwater vehicle frame is provided with a plurality of positioning component mounting interfaces evenly arranged in the circumferential direction; a circular flange is provided inside the underwater vehicle frame, the front end face of the circular flange is located behind the front end face of the underwater vehicle frame, and the front end face of the circular flange is provided with a plurality of hull mounting interfaces evenly arranged in the circumferential direction.

[0011] Preferably, the cabin support is fixedly connected to the pressure-resistant cabin through a pad that fits against the surface of the pressure-resistant cabin.

[0012] Preferably, the installation fixture includes a horizontal frame and a vertical frame connected to each other to form an L-shaped structure. The vertical frame is provided with a plurality of second fixture interfaces, the horizontal frame is provided with a plurality of lifting lugs, and / or the side of the horizontal frame facing away from the vertical frame is provided with a lifting plane. The lifting lugs are used to provide the connection points required for lifting the pressure hull, and the lifting plane is used to provide the support position required for lifting the pressure hull.

[0013] Preferably, the first tooling interface includes a columnar body extending in a front-rear direction, and the front end of the columnar body has a threaded hole; the second tooling interface is provided with a positioning sleeve hole adapted to the columnar body and a screw mounting hole that communicates with the positioning sleeve hole in a front-rear direction and penetrates the front end face of the second tooling interface, the positioning sleeve hole is used to sleeve and connect with the columnar body; the threaded hole is used to connect with a threaded connector passing through the screw mounting hole, so that the first tooling interface and the second tooling interface are connected and fixed.

[0014] Preferably, the positioning assembly includes a fixed component, a movable component, and a tensioning bolt; the fixed component is connected to the corresponding positioning component mounting interface via a fastener, and a guide ramp is provided on the side of the fixed component near the pressure chamber, and the movable component is slidably disposed on the guide ramp; the fixed component is also provided with a waist hole, the tensioning bolt passes through the waist hole and can move in the waist hole in a direction away from or near the guide ramp, the tensioning bolt is threadedly connected to the movable component, and the tensioning bolt is used to drive the movable component to slide on the guide ramp by rotation, thereby adjusting the radial position of the movable component to press against the pressure chamber.

[0015] Preferably, there is a gap between the inner side of the underwater vehicle frame and the pressure hull; the fastener includes a flange and a top, the flange is used to connect with the mounting interface of the positioning component, the waist hole is provided on the flange, the guide ramp is provided on the top, the top extends into the gap between the inner side of the underwater vehicle frame and the pressure hull, and the side of the top facing away from the guide ramp abuts against the inner side of the underwater vehicle frame.

[0016] Secondly, this application provides a method for assembling a pressure hull and frame of an underwater vehicle, based on the aforementioned positioning system for the pressure hull and frame of an underwater vehicle, including the following steps: A1. Place the pressure-resistant chamber on a saddle, making the axis of the pressure-resistant chamber horizontal; A2. After the installation fixture is moved to the alignment of each second fixture interface with each first fixture interface by hoisting or lifting, each first fixture interface and each second fixture interface are connected one by one by fasteners, thereby connecting the installation fixture with the pressure-resistant chamber to form an assembly; A3. Place the underwater vehicle frame on another saddle, making the axis of the underwater vehicle frame horizontal; A4. After the assembly is moved to the alignment of each of the cabin supports and each of the cabin installation interfaces by means of hoisting or lifting, each of the cabin installation interfaces and each of the cabin supports is connected one by one by fasteners. A5. Maintain the hoisting or lifting state of the assembly, connect each of the positioning components to the mounting interface of each of the positioning parts through fasteners, and jointly adjust the radial position of the part on each of the positioning components used to support the pressure tank, so that the pressure tank is centered along the axis of the underwater vehicle frame; A6. Remove the installation fixtures to complete the assembly.

[0017] Beneficial Effects: This application provides a positioning system and assembly method for a pressure hull and frame of an underwater vehicle. The hull mounting interface and positioning component mounting interface located at the front of the underwater vehicle frame provide a foundation for the axial fixing and radial positioning of the pressure hull. The hull support at the rear of the pressure hull connects to the hull mounting interface of the frame, achieving axial fixing of the pressure hull and solving the problem of weak load-bearing capacity in traditional axial connections. The installation fixture, connected to the first fixture interface at the front of the pressure hull, provides a reliable connection point or support position for the hoisting or lifting of large pressure hulls, greatly facilitating handling and initial positioning during assembly. Most importantly, multiple positioning components connect to the positioning component mounting interface of the frame and can adjust their radial position supporting the pressure hull, thereby achieving precise radial support and positioning of the pressure hull. This adjustable radial positioning mechanism effectively overcomes the problems of low positioning accuracy, complex operation, and long time consumption in the assembly of large pressure hulls in existing technologies. In summary, the positioning system of this application, by combining axial fixing and adjustable radial positioning, not only improves the assembly accuracy and efficiency of large pressure hulls within the underwater vehicle frame, but also takes into account high space utilization and high load-bearing capacity, effectively solving the problem of assembling large pressure hulls in the prior art, and has significant technological progress and practical value. Attached Figure Description

[0018] Figure 1 This application provides a structural schematic diagram of a positioning system for a pressure hull and frame of an underwater vehicle.

[0019] Figure 2 This is a structural diagram of the underwater vehicle's frame.

[0020] Figure 3 This is a structural schematic diagram of a pressure-resistant chamber.

[0021] Figure 4 This is a structural diagram of the installation tooling.

[0022] Figure 5 A 3D view of the positioning component.

[0023] Figure 6 This is a diagram of the internal structure of the positioning component.

[0024] Figure 7This is a diagram showing the connection structure between the first tooling interface and the second tooling interface.

[0025] Figure 8 This is a diagram showing the connection structure between the hull support and the hull installation interface.

[0026] Figure 9 This is a diagram showing the connection structure between the positioning component and the underwater vehicle frame.

[0027] Figure 10 A flowchart illustrating the assembly method of a pressure hull and frame for an underwater vehicle provided in this application.

[0028] Labeling Explanation: 1. Underwater Vehicle Frame; 101. Hull Mounting Interface; 102. Positioning Component Mounting Interface; 103. Ring Beam; 104. Longitudinal Rib; 105. Circular Flange; 2. Pressure Hull; 201. Hull Support; 202. First Tooling Interface; 2021. Columnar Body; 2022. Threaded Hole; 203. Pad; 3. Installation Tooling; 301. Second Tooling Interface; 3011. Positioning Sleeve Hole; 3012. Screw Mounting Hole; 3013. Threaded Connector; 302. Lifting Lug; 303. Lifting Plane; 304. Horizontal Frame; 305. Vertical Frame; 4. Positioning Assembly; 401. Fixture; 4011. Flange; 4012. Top Abutment; 402. Movable Part; 403. Tensioning Bolt; 404. Guide Slope; 405. Waist Hole; 406. Limiting Baffle. Detailed Implementation

[0029] 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.

[0030] 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.

[0031] Please refer to Figures 1-9 A positioning system for the pressure hull and frame of an underwater vehicle, as described in some embodiments of this application, includes: The underwater vehicle frame 1 has multiple hull mounting interfaces 101 evenly arranged in the circumferential direction and multiple positioning component mounting interfaces 102 evenly arranged in the circumferential direction at its axial front part. The positioning component mounting interfaces 102 are located in front of the hull mounting interfaces 101. The pressure hull 2 ​​has multiple hull supports 201 at its rear axial direction and multiple first tooling interfaces 202 at its front axial direction. Each hull support 201 is used to connect to each hull mounting interface 101 one by one through fasteners, so that the pressure hull 2 ​​is fixed to the front axial direction of the underwater vehicle frame 1. The installation fixture 3 is provided with multiple second fixture interfaces 301. Each second fixture interface 301 is used to connect to each first fixture interface 202 in a one-to-one correspondence through fasteners to fix the installation fixture 3 to the pressure chamber 2. The installation fixture 3 is used to provide the connection points required for hoisting the pressure chamber 2 and / or the support positions required for lifting the pressure chamber 2. Multiple positioning components 4 are provided, each positioning component 4 being connected one-to-one with the mounting interface 102 of each positioning part via fasteners to provide radial support and positioning for the pressure chamber 2, and the radial position of the part of each positioning component 4 used to support the pressure chamber 2 is adjustable.

[0032] This application effectively solves the problems of low positioning accuracy, complex operation, and long time consumption faced when assembling a large pressure tank 2 inside an underwater vehicle frame 1 by introducing installation tooling 3 and positioning component 4 with adjustable radial position. It significantly improves assembly efficiency and space utilization while ensuring high load-bearing capacity.

[0033] Among them, the underwater vehicle frame 1 is the main load-bearing structure of the underwater vehicle, which is usually made of metal materials and is used to support and protect the internal equipment.

[0034] Among them, the pressure hull 2 ​​is a sealed structure inside the underwater vehicle used to protect precision equipment from water pressure, and is usually made of high-strength materials.

[0035] Among them, the installation fixture 3 is an auxiliary tool used to lift or support the pressure tank 2 during the assembly process.

[0036] The positioning component 4 is a device used for radial support and positioning of the pressure hull 2. Its key feature is that the radial position of the part supporting the pressure hull 2 ​​is adjustable. This means that during assembly, the radial position of the pressure hull 2 ​​can be precisely adjusted according to actual needs, ensuring its centering and stability within the underwater vehicle frame 1.

[0037] This application provides a positioning system for the pressure hull and frame of an underwater vehicle, the main feature of which is the synergistic effect of the underwater vehicle frame 1, the pressure hull 2, the installation tooling 3, and the positioning component 4.

[0038] Specifically, the axial front portion of the underwater vehicle frame 1 is provided with multiple hull mounting interfaces 101 evenly arranged circumferentially and multiple positioning component mounting interfaces 102 evenly arranged circumferentially. These interfaces can be configured in various ways. For example, the hull mounting interfaces 101 can be designed as an array of threaded holes for connection to the hull support 201 via bolts. The positioning component mounting interfaces 102 can be designed as threaded hole structures for bolt connections. Alternatively, both the hull mounting interfaces 101 and the positioning component mounting interfaces 102 can be designed as through holes, connected via a combination of pins and bolts. The positioning component mounting interfaces 102 are located in front of the hull mounting interfaces 101. This layout allows the positioning assembly 4 to support the middle of the pressure hull 2, preventing the pressure hull 2 ​​from forming a cantilever-like structure and improving its load-bearing capacity.

[0039] The pressure hull 2 ​​has multiple hull supports 201 at its axial rear end and multiple first tooling interfaces 202 at its axial front end. The hull supports 201 can be designed as bosses with threaded holes, which are bolted to the hull mounting interfaces 101 on the underwater vehicle frame 1. Alternatively, the hull supports 201 can be designed as lug structures with through holes (e.g.,...). Figure 3 , Figure 8 As shown), the pressure hull 2 ​​is connected to the underwater vehicle frame 1 via pins and bolts. Each hull support 201 is used to connect one-to-one with each hull mounting interface 101 via fasteners, so that the pressure hull 2 ​​is fixed to the axial front of the underwater vehicle frame 1. The first tooling interface 202 can be designed as a column with threaded holes for connection to the mounting tooling 3 (such as...). Figure 3 , Figure 7 (As shown). As an alternative implementation, the first tooling interface 202 can be designed as a flange with through holes, which is connected to the mounting tooling 3 by bolts.

[0040] The mounting fixture 3 is provided with multiple second fixture interfaces 301, each of which is used to connect one-to-one with a first fixture interface 202 via fasteners to fix the mounting fixture 3 to the pressure chamber 2. The second fixture interface 301 can be designed as a connecting plate with through holes, which is bolted to the first fixture interface 202 on the pressure chamber 2. Alternatively, the second fixture interface 301 can be designed as a connecting block with threaded holes, which is bolted to the first fixture interface 202 on the pressure chamber 2. The mounting fixture 3 provides the connection points required for hoisting the pressure chamber 2 and / or the support positions required for lifting the pressure chamber 2. For example, the mounting fixture 3 can be provided with lifting lugs 302 for connecting to the hooks of lifting equipment. Alternatively, the mounting fixture 3 can be provided with a flat lifting plane 303 for supporting the pressure chamber 2 during lifting.

[0041] Multiple positioning components 4 are connected one-to-one with the mounting interfaces 102 of each positioning element via fasteners to provide radial support and positioning for the pressure tank 2. The positioning component 4 can be designed as a support block with an adjustable screw, whose radial position is adjusted by rotating the screw. Alternatively, the positioning component 4 can be designed as a support mechanism with an eccentric wheel, whose radial position is adjusted by rotating the eccentric wheel. The radial position of the portion of each positioning component 4 used to support the pressure tank 2 is adjustable, meaning that during assembly, the radial position of the positioning component 4 can be precisely adjusted according to actual conditions to ensure the pressure tank 2 is centered and stable within the underwater vehicle frame 1. For example, the radial position can be adjusted by manually rotating the screw or the eccentric wheel.

[0042] The core innovation of the positioning system for the pressure hull and frame of the underwater vehicle proposed in this application lies in the introduction of a positioning component 4 with adjustable radial position and an auxiliary installation tooling 3, which significantly improves the assembly efficiency and positioning accuracy of the large pressure hull within the underwater vehicle frame 1.

[0043] Compared to traditional radial or axial connection methods in existing technologies, the solution proposed in this application has significant advantages. Traditional methods often face problems such as low positioning accuracy, complex operation, and long time consumption when assembling large pressure tanks. For example, if only axial connection is used, the pressure tank 2 may experience radial sway, making precise centering difficult; if only radial connection is used, it may occupy a large amount of space and be inconvenient to install. This application, by setting up installation fixtures 3, provides convenient and safe connection points or support positions for the hoisting or lifting of large pressure tanks, greatly simplifying the difficulty of handling and initial positioning. More importantly, the introduction of multiple positioning components 4, especially their radially adjustable characteristics, enables precise radial support and positioning of the pressure tank 2 after initial fixation. This adjustability allows operators to precisely adjust the centering position of the pressure tank 2 within the underwater vehicle frame 1 according to actual conditions, effectively solving the problem of insufficient positioning accuracy in traditional solutions. Furthermore, the positioning component mounting interface 102 is positioned in front of the hull mounting interface 101, enabling the positioning assembly 4 to support the middle of the pressure hull 2, preventing the pressure hull 2 ​​from forming a cantilever-like structure and improving its load-bearing capacity. This design not only improves assembly efficiency and reduces labor and time costs, but also ensures the stability and coaxiality of the pressure hull 2 ​​within the underwater vehicle frame 1, thereby enhancing the overall structural performance and reliability of the underwater vehicle. Therefore, the technical solution of this application demonstrates significant progress and practicality in solving the assembly challenges of large pressure hulls.

[0044] Preferably, the underwater vehicle frame 1 can be configured as a cylindrical frame structure (e.g., Figure 2 As shown); the pressure chamber 2 can be configured as a rotating structure (such as...). Figure 3 (As shown).

[0045] Specifically, the cylindrical frame structure can be understood as a hollow cylindrical skeleton, with its internal space used to house the pressure hull 2 ​​and other equipment. Furthermore, the pressure hull 2 ​​is designed as a rotating body structure. A rotating body structure refers to a three-dimensional object formed by rotating a planar figure around a straight line within its plane, such as a sphere, cylinder, or ellipsoid. In underwater vehicles, the pressure hull 2 ​​typically adopts a cylindrical or ellipsoidal structure to achieve optimal strength and minimal stress concentration when subjected to external water pressure. The purpose is to ensure that the pressure hull 2 ​​maintains its structural integrity in deep-water environments, effectively protecting the internal precision equipment.

[0046] The solution proposed in this application, by designing the underwater vehicle frame 1 as a cylindrical frame structure and the pressure hull 2 ​​as a rotating body structure, aims to provide a system that is structurally stable, uniformly stressed, and easy to manufacture and assemble. The cylindrical frame structure provides robust external support and protection for the pressure hull 2, while the rotating body structure of the pressure hull 2 ​​can efficiently resist underwater high pressure, reduce structural deformation and stress concentration, thereby ensuring the reliability and safety of the entire positioning system in the underwater environment.

[0047] Among some possible facility methods, see Figure 2 The underwater vehicle frame 1 includes multiple ring beams 103 and multiple longitudinal ribs 104 extending forward and backward. Each ring beam 103 is arranged coaxially at intervals along the forward and backward direction. Any two adjacent ring beams 103 are connected and fixed by multiple longitudinal ribs 104 evenly arranged along the circumference.

[0048] In this design, the ring beam 103 typically refers to a circumferentially extending structural member, whose main function is to provide radial stiffness and load-bearing capacity to resist deformation caused by external pressure or internal loads. The longitudinal ribs 104 refer to axially extending structural members, whose main function is to connect different ring beams 103, provide axial stiffness to the frame, and assist in transmitting axial loads. The combination of ring beams 103 and longitudinal ribs 104 can form a grid-like or truss-like frame structure, thus providing sufficient strength and stiffness while ensuring lightweight construction. The ring beams 103 are coaxially spaced along the front-to-back direction, meaning that these ring beams 103 are aligned on the axis of the underwater vehicle frame 1 and distributed at a certain interval. This arrangement helps to evenly distribute the load and provides multiple mounting points for the pressure hull 2 ​​and other equipment. Any two adjacent ring beams 103 are connected and fixed by multiple circumferentially evenly arranged longitudinal ribs 104, ensuring the overall stability and torsional resistance of the frame. The uniform circumferential arrangement of these longitudinal ribs 104 helps maintain the geometry of the frame and prevents localized stress concentration.

[0049] Through the above technical solutions, the structural strength and stiffness of the underwater vehicle frame 1 are significantly improved. This frame structure, composed of ring beams 103 and longitudinal ribs 104, can more effectively resist external loads and internal stresses, thereby ensuring the stability and positioning accuracy of the pressure hull 2 ​​within the underwater vehicle frame 1. Furthermore, this structural design helps optimize material utilization, achieving structural lightweighting while meeting strength requirements, thus improving the overall performance and reliability of the underwater vehicle.

[0050] To further improve the structural strength and rigidity of the underwater vehicle frame 1, reinforcing ribs can be provided at the connection between the ring beam 103 and the longitudinal reinforcement 104.

[0051] Furthermore, see Figure 2 The underwater vehicle frame 1 has multiple circumferentially evenly arranged positioning component mounting interfaces 102 on its front end face; the underwater vehicle frame 1 has a circular flange 105 inside, the front end face of the circular flange 105 is located behind the front end face of the underwater vehicle frame 1, and the front end face of the circular flange 105 has multiple circumferentially evenly arranged cabin mounting interfaces 101.

[0052] Specifically, the front end face of the underwater vehicle frame 1 refers to the planar structure at the very front of the underwater vehicle frame 1 along its axial direction, such as the front side of the ring beam 103 at the very front. The positioning mounting interface 102 on this surface is used to connect with the positioning assembly 4, thereby providing radial support and positioning for the pressure hull 2. This arrangement allows the positioning assembly 4 to be directly installed at the very front of the underwater vehicle frame 1, facilitating radial positioning and adjustment of the pressure hull 2 ​​and improving the ease of installation of the positioning assembly 4. The annular flange 105 is a ring-shaped structural component located inside the underwater vehicle frame 1. Its front end face is located behind the front end face of the underwater vehicle frame 1, thus ensuring a certain axial distance between the positioning assembly 4 and the hull support 201, preventing the pressure hull 2 ​​from forming a cantilever beam-like structure. The front end face of the annular flange 105 is designed to accommodate multiple hull mounting interfaces 101 evenly arranged circumferentially. By placing the hull mounting interfaces 101 on the front end face of the annular flange 105, a robust and precise axial connection reference can be provided for the pressure hull 2. The introduction of the circular flange 105 effectively improves the load-bearing capacity and positioning accuracy of the hull mounting interface 101, and also benefits the overall structural strength and rigidity of the underwater vehicle frame 1.

[0053] In some preferred embodiments, see Figure 3 The hull support 201 is fixedly connected to the pressure hull 2 ​​via a pad 203 that is attached to the surface of the pressure hull 2.

[0054] The pad 203 can evenly distribute the load over a larger contact area when under stress. This avoids surface damage or structural fatigue of the pressure tank 2 caused by localized high stress concentration, effectively improving the reliability of the connection and the overall safety of the pressure tank 2.

[0055] The specific structure of the installation fixture 3 can be customized according to actual needs. For example... Figure 4 In the installation fixture 3, there are horizontal frames 304 and vertical frames 305 that are connected to each other to form an L-shaped structure. The vertical frame 305 is provided with multiple second fixture interfaces 301, the horizontal frame 304 is provided with multiple lifting lugs 302 and / or the side of the horizontal frame 304 facing away from the vertical frame 305 is provided with a lifting plane 303. The lifting lugs 302 are used to provide the connection points required for lifting the pressure hull 2, and the lifting plane 303 is used to provide the support position required for lifting the pressure hull 2.

[0056] Specifically, the L-shaped design allows the installation fixture 3 to better fit the pressure chamber 2, thus bringing the direction of the lifting or jacking force closer to the center of gravity of the pressure chamber 2. This makes it easier to keep the axis of the pressure chamber 2 horizontal during lifting or jacking, and provides more stable support. The combination of the horizontal frame 304 and the vertical frame 305 forms a robust frame, facilitating the lifting or jacking of the pressure chamber 2 under different working conditions. The lifting lugs 302 on the horizontal frame 304 serve as connection points for lifting the pressure chamber 2, facilitating the connection of lifting equipment. Furthermore, the jacking plane 303 on the side of the horizontal frame 304 facing away from the vertical frame 305 provides a stable support position for lifting operations using forklifts or other jacking equipment. This structural design allows the installation fixture 3 to provide connection points and support positions while also ensuring operational flexibility and safety.

[0057] The horizontal frame 304 and the vertical frame 305 can use a grid-like or truss-like frame structure; the beams in the horizontal frame 304 and the vertical frame 305 can be connected by plug-in welding to increase structural strength. The number of the second tooling interface 301 can be set according to actual needs.

[0058] To further increase the structural strength of the installation fixture 3, a reinforcing rib can be installed between the horizontal frame 304 and the vertical frame 305.

[0059] In some preferred embodiments, see Figure 7The first tooling interface 202 includes a columnar body 2021 extending in the front-rear direction, and a threaded hole 2022 is provided at the front end of the columnar body 2021. The second tooling interface 301 is provided with a positioning sleeve hole 3011 adapted to the columnar body 2021 and a screw mounting hole 3012 that connects to the positioning sleeve hole 3011 in the front-rear direction and passes through the front end face of the second tooling interface 301. The positioning sleeve hole 3011 is used to sleeve and connect with the columnar body 2021. The threaded hole 2022 is used to connect with a threaded connector 3013 that passes through the screw mounting hole 3012, so that the first tooling interface 202 and the second tooling interface 301 are connected and fixed.

[0060] Specifically, the columnar body 2021 can be understood as a cylindrical or frustum-shaped structure protruding outward from the surface of the pressure chamber 2, with its axis parallel to the axis of the pressure chamber 2, and a threaded hole 2022 at the center of its front end face. This columnar body 2021 serves as the main body of the first tooling interface 202, providing a stable connection base for the installation tooling 3. The positioning sleeve hole 3011 is a hole inside the second tooling interface 301 that matches the shape and size of the columnar body 2021. Its design aims to achieve precise insertion and fitting of the columnar body 2021, enabling preliminary positioning of the first tooling interface 202 and the second tooling interface 301 during assembly, thus facilitating the installation of the threaded connector 3013. The screw mounting hole 3012 is a channel penetrating the front end face of the second tooling interface 301 and communicating with the positioning sleeve hole 3011, used to guide the threaded connector 3013 through and threadedly connect it to the threaded hole 2022 on the columnar body 2021. The threaded connector 3013 can be a bolt, screw, etc., which is screwed into the threaded hole 2022 on the column 2021 to tightly fix the second tooling interface 301 and the first tooling interface 202.

[0061] Through the above technical solution, the connection between the first tooling interface 202 and the second tooling interface 301 is given higher precision and reliability, and the connection is more convenient. The cooperation between the columnar body 2021 and the positioning sleeve hole 3011 can effectively guide the installation tooling 3 and the pressure chamber 2 for alignment, simplifying the alignment operation during assembly. At the same time, the introduction of the threaded connector 3013 makes the connection more robust and reliable, avoiding the safety risks caused by loosening of the connection during hoisting or lifting, thereby improving the efficiency and safety of the overall assembly process.

[0062] In some preferred embodiments, see Figure 5 , Figure 6The positioning component 4 includes a fixed part 401, a movable part 402, and a tensioning bolt 403. The fixed part 401 is connected to the corresponding positioning part mounting interface 102 by fasteners. A guide slope 404 is provided on the side of the fixed part 401 near the pressure chamber 2. The movable part 402 is slidably disposed on the guide slope 404. The fixed part 401 is also provided with a waist hole 405. The tensioning bolt 403 passes through the waist hole 405 and can move in the waist hole 405 in a direction away from or near the guide slope 404. The tensioning bolt 403 is threadedly connected to the movable part 402. The tensioning bolt 403 is used to drive the movable part 402 to slide on the guide slope 404 by rotation, thereby adjusting the radial position of the movable part 402 to press against the pressure chamber 2.

[0063] Specifically, the fixing member 401 is the main structure of the positioning assembly 4, designed to securely connect to the positioning mounting interface 102 of the underwater vehicle frame 1. A guide ramp 404 is machined on the side of the fixing member 401 near the pressure tank 2, providing a precise trajectory for the sliding of the movable member 402. The movable member 402 is designed to mate with the guide ramp 404 (for example, a mating ramp is provided on the side of the movable member 402 facing away from the pressure tank 2, which slides smoothly against the guide ramp 404), enabling smooth sliding along the ramp. The tension bolt 403 is a key component for radial position adjustment; one end passes through the slot 405 on the fixing member 401, and the other end is threaded to the movable member 402. The design of the waist hole 405 allows the tension bolt 403 to move within a certain range in a direction away from or towards the guide ramp 404 (i.e., radially towards the underwater vehicle frame 1), thereby effectively driving the movable part 402 to slide along the guide ramp 404 when the tension bolt 403 rotates. When the movable part 402 slides, its radial position changes, thereby achieving the clamping and supporting positioning of the pressure tank 2.

[0064] As a preferred embodiment, a protective pad may be provided on the surface of the movable part 402 that abuts against the pressure chamber 2 to avoid damage to the surface of the pressure chamber 2 during the tightening process.

[0065] This application provides a simple and precisely adjustable radial support positioning mechanism by introducing a combination of a fixed member 401, a movable member 402, and a tension bolt 403. When radial positioning of the pressure tank 2 is required, the fixed member 401 is first connected to the positioning mounting interface 102 of the underwater vehicle frame 1 using fasteners. Subsequently, by rotating the tension bolt 403, the rotational motion of the tension bolt 403 is converted into the linear motion of the movable member 402 due to the threaded connection between the tension bolt 403 and the movable member 402. Since the movable member 402 is slidably mounted on the guide ramp 404 of the fixed member 401, its linear motion, constrained by the guide ramp 404, generates a radial component. The design of the waist hole 405 ensures that the tension bolt 403 can adapt to changes in the radial position of the movable member 402 when driving it to slide. Thus, the movable part 402 can slide precisely inward or outward along the guide ramp 404, thereby adjusting its radial position until it presses against the pressure tank 2, achieving radial support and positioning. This design effectively solves the problems of complexity or insufficient precision that may exist in the radial adjustment mechanism of traditional solutions.

[0066] Furthermore, see Figure 5 Limiting baffles 406 are provided on both sides of the guide slope 404.

[0067] Specifically, the limiting baffle 406 refers to the protruding structures provided on both sides of the guide ramp 404, the purpose of which is to restrict the lateral movement of the movable part 402. The limiting baffle 406 ensures that when the movable part 402 slides on the guide ramp 404, its lateral position is always limited within a preset range, preventing accidental disengagement or excessive lateral offset. This physical constraint mechanism ensures that the movable part 402 always slides precisely along the predetermined path of the guide ramp 404, thereby guaranteeing the stability and accuracy of the radial positioning process. It is precisely because of the existence of the limiting baffle 406 that the lateral position of the movable part 402 is maintained when subjected to radial clamping force or external disturbance, preventing the positioning component 4 from failing due to lateral offset of the movable part 402.

[0068] Preferably, the inclination angle of the guide ramp 404 is not greater than the self-locking angle of the movable member 402. Specifically, the self-locking angle of the movable member 402 depends on the coefficient of friction between the movable member 402 and the guide ramp 404. By setting the inclination angle of the guide ramp 404 to be no greater than the self-locking angle of the movable member 402, the movable member 402 can be self-locked. When the movable member 402 is subjected to pressure from the pressure chamber 2, no matter how large the pressure is, the movable member 402 will not slide due to the pressure, thereby always maintaining the effectiveness of the positioning function of the positioning component 4.

[0069] In some preferred embodiments, see Figure 5 , Figure 9 There is a gap between the inner side of the underwater vehicle frame 1 and the pressure tank 2; the fastener 401 includes a flange 4011 and a top 4012. The flange 4011 is used to connect with the positioning component mounting interface 102. A waist hole 405 is provided on the flange 4011. A guide ramp 404 is provided on the top 4012. The top 4012 extends into the gap between the inner side of the underwater vehicle frame 1 and the pressure tank 2, and the side of the top 4012 facing away from the guide ramp 404 abuts against the inner side of the underwater vehicle frame 1.

[0070] Specifically, a certain radial clearance is typically reserved between the inner side of the underwater vehicle frame 1 and the pressure hull 2 ​​to facilitate the installation and subsequent maintenance of the pressure hull 2. This clearance provides usable space for the structural design of the fastener 401. The fastener 401 is designed to consist of two main parts: a flange 4011 and abutment 4012. The flange 4011 serves as the base connecting the fastener 401 to the positioning mounting interface 102, and it has a recessed hole 405 to accommodate the tension bolt 403 and allow it to move within a certain range, thereby enabling radial adjustment of the movable part 402. The abutment 4012 extends from the flange 4011 and has a guide ramp 404 for the movable part 402 to slide. The abutment 4012 is designed to extend into the gap between the inner side of the underwater vehicle frame 1 and the pressure hull 2. More specifically, the side of the top 4012 facing away from the guide ramp 404 is configured to abut against the inside of the underwater vehicle frame 1. This structure allows the fastener 401 to make full use of the space between the frame and the hull, achieving a tighter fit and more stable support.

[0071] The solution of this application effectively utilizes the radial clearance between the underwater vehicle frame 1 and the pressure tank 2 by designing the fastener 401 with a flange 4011 and an abutment 4012, with the abutment 4012 extending into the gap between the inner side of the underwater vehicle frame 1 and the pressure tank 2, and the side of the abutment 4012 facing away from the guide ramp 404 abutting against the inner side of the underwater vehicle frame 1. The abutment of the abutment 4012 against the inner side of the underwater vehicle frame 1 provides an additional radial support point for the fastener 401, enhancing the overall rigidity and stability of the fastener 401. When the movable part 402 slides on the guide ramp 404 to press against the pressure tank 2, the abutment 4012 can withstand the reaction force from the movable part 402 and transmit it to the underwater vehicle frame 1, avoiding unnecessary deformation or displacement of the fastener 401 under stress, thereby ensuring the accuracy and reliability of the radial positioning of the pressure tank.

[0072] refer to Figure 10This application provides a method for assembling a pressure hull and frame of an underwater vehicle, based on the aforementioned positioning system for the pressure hull and frame of an underwater vehicle, including the following steps: A1. Place the pressure chamber 2 on a saddle, making the axis of the pressure chamber 2 horizontal; A2. After the installation fixture 3 is moved to the alignment of each second fixture interface 301 with each first fixture interface 202 by hoisting or lifting, each first fixture interface 202 and each second fixture interface 301 are connected one by one by fasteners, so that the installation fixture 3 is connected to the pressure chamber 2 to form an assembly. A3. Place the underwater vehicle frame 1 on another saddle, so that the axis of the underwater vehicle frame 1 is horizontal; A4. Move the assembly to each compartment support 201 and align it with each compartment installation interface 101 by hoisting or lifting (e.g., ...). Figure 8 After that (as shown), fasteners are used to connect each cabin mounting interface 101 to each cabin support 201 one by one. A5. Maintain the hoisting or lifting state of the assembly, connect each positioning component 4 to the mounting interface 102 of each positioning component through fasteners, and jointly adjust the radial position of the part on each positioning component 4 used to support the pressure tank 2 so that the pressure tank 2 is centered along the axis of the underwater vehicle frame 1. A6. Remove and install fixture 3 to complete the assembly.

[0073] Specifically, in step A1, the pressure chamber 2 is placed on a saddle to ensure its axis is horizontal, providing a stable initial reference for subsequent installation operations. This saddle can be a dedicated support structure whose shape matches the profile of the pressure chamber 2 to provide stable support.

[0074] In step A2, the mounting fixture 3 is moved to the front of the pressure chamber 2, aligning the multiple second tooling interfaces 301 on the mounting fixture 3 with the multiple first tooling interfaces 202 on the pressure chamber 2. Subsequently, these interfaces are connected one-to-one using fasteners, such as bolts, thereby firmly connecting the mounting fixture 3 to the pressure chamber 2 to form a complete assembly.

[0075] When moving the installation fixture 3, for example, the lifting lugs 302 on the installation fixture 3 can be used for hoisting and transportation, or the lifting plane 303 on the installation fixture 3 can be used for lifting and transportation.

[0076] When the first tooling interface 202 and the second tooling interface 301 are used Figure 7When the structure shown is used to connect the first tooling interface 202 and the second tooling interface 301 with fasteners, the positioning sleeve hole 3011 can be inserted into the column 2021 to achieve preliminary positioning, and then the threaded connector 3013 can be passed through the screw mounting hole 3012 and connected and fixed with the threaded hole 2022, thereby improving assembly efficiency.

[0077] In step A3, the underwater vehicle frame 1 is placed on another saddle, and its axis is kept horizontal to provide a precise reference for subsequent docking.

[0078] In step A4, the assembly formed in step A2 is moved to the axial front of the underwater vehicle frame 1 by hoisting or lifting. During this process, it is necessary to precisely align the multiple hull supports 201 at the rear of the pressure hull 2 ​​with the multiple hull mounting interfaces 101 located at the axial front of the underwater vehicle frame 1. Once aligned, each hull mounting interface 101 is connected to each hull support 201 one-to-one using fasteners, such as bolts, thereby initially fixing the pressure hull 2 ​​to the axial front of the underwater vehicle frame 1.

[0079] In step A5, while maintaining the assembly in a hoisted or lifted state, multiple positioning components 4 are connected to multiple positioning mounting interfaces 102 located axially forward of the underwater vehicle frame 1 using fasteners. Subsequently, the radial positions of the portions of each positioning component 4 used to support the pressure hull 2 ​​are jointly adjusted (e.g., when the positioning components 4 employ...). Figure 5 In the structure shown, the radial position of the moving part 402 is adjusted by rotating the tension bolt 403. With this adjustable radial position support, the radial position of the pressure tank 2 within the underwater vehicle frame 1 can be precisely adjusted to center it along the axis of the underwater vehicle frame 1, ensuring concentricity of the assembly.

[0080] Finally, in step A6, after the pressure chamber 2 is precisely fixed and positioned, the installation fixture 3 is removed, thus completing the entire assembly process.

[0081] Through the above technical solution, this application provides an efficient, precise, and safe assembly method for pressure-resistant hulls and frames. This method simplifies the handling and initial positioning process of large pressure-resistant hulls by using installation fixture 3, reducing operational difficulty and potential damage risks. Furthermore, by using the adjustable radial positioning component 4 for fine adjustment during hoisting or lifting, it is possible to ensure that the axis of the pressure-resistant hull 2 ​​is centered within the underwater vehicle frame 1, significantly improving assembly accuracy and concentricity. This step-by-step, precise assembly process not only improves assembly efficiency and shortens the assembly cycle but also effectively ensures the stability and reliability of the overall underwater vehicle structure, which is of great significance for improving the performance of underwater vehicles.

[0082] The above description is merely an embodiment of this application and is 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 positioning system for the pressure hull and frame of an underwater vehicle, characterized in that, include: The underwater vehicle frame (1) has a plurality of hull mounting interfaces (101) evenly arranged in the circumferential direction and a plurality of positioning component mounting interfaces (102) evenly arranged in the circumferential direction at its axial front part, wherein the positioning component mounting interfaces (102) are located in front of the hull mounting interfaces (101). The pressure hull (2) has multiple hull supports (201) at its rear axial direction and multiple first tooling interfaces (202) at its front axial direction. Each of the hull supports (201) is used to connect one-to-one with each of the hull mounting interfaces (101) through fasteners, so that the pressure hull (2) is fixed at the front axial direction of the underwater vehicle frame (1). The installation fixture (3) is provided with a plurality of second fixture interfaces (301), each of which is used to connect one-to-one with each of the first fixture interfaces (202) by fasteners, so as to fix the installation fixture (3) on the pressure chamber (2); the installation fixture (3) is used to provide the connection points required for hoisting the pressure chamber (2) and / or the support positions required for lifting the pressure chamber (2); Multiple positioning components (4), each positioning component (4) is used to be connected one-to-one with each positioning component mounting interface (102) through fasteners to provide radial support positioning for the pressure chamber (2), and the radial position of the part of each positioning component (4) used to support the pressure chamber (2) is adjustable; The positioning component (4) includes a fixing member (401), a movable member (402), and a tensioning bolt (403); the fixing member (401) is connected to the corresponding positioning member mounting interface (102) by a fastener, and a guide slope (404) is provided on the side of the fixing member (401) near the pressure chamber (2), and the movable member (402) is slidably disposed on the guide slope (404); the fixing member (401) is also provided with a waist hole (405). The tension bolt (403) passes through the waist hole (405) and is movable in the waist hole (405) in a direction away from or close to the guide ramp (404). The tension bolt (403) is threadedly connected to the movable member (402). The tension bolt (403) is used to drive the movable member (402) to slide on the guide ramp (404) by rotation, thereby adjusting the radial position of the movable member (402) to press against the pressure chamber (2). There is a gap between the inner side of the underwater vehicle frame (1) and the pressure tank (2); the fastener (401) includes a flange (4011) and a top (4012), the flange (4011) is used to connect with the positioning component mounting interface (102), the waist hole (405) is provided on the flange (4011), the guide ramp (404) is provided on the top (4012), the top (4012) extends into the gap between the inner side of the underwater vehicle frame (1) and the pressure tank (2), and the side of the top (4012) facing away from the guide ramp (404) abuts against the inner side of the underwater vehicle frame (1); The underwater vehicle frame (1) includes multiple ring beams (103) and multiple longitudinal ribs (104) extending forward and backward. Each ring beam (103) is arranged coaxially at intervals in the forward and backward direction. Any two adjacent ring beams (103) are connected and fixed by multiple longitudinal ribs (104) evenly arranged in the circumferential direction. The underwater vehicle frame (1) has a plurality of circumferentially evenly arranged positioning component mounting interfaces (102) on its front end face; the underwater vehicle frame (1) has a circular flange (105) inside, the front end face of the circular flange (105) is located behind the front end face of the underwater vehicle frame (1), and the front end face of the circular flange (105) has a plurality of circumferentially evenly arranged cabin mounting interfaces (101).

2. The positioning system for the pressure hull and frame of an underwater vehicle according to claim 1, characterized in that, The underwater vehicle frame (1) is a cylindrical frame structure; the pressure hull (2) is a rotating structure.

3. The positioning system for the pressure hull and frame of an underwater vehicle according to claim 1, characterized in that, The cabin support (201) is fixedly connected to the pressure-resistant cabin (2) by a pad that is attached to the surface of the pressure-resistant cabin (2).

4. The positioning system for the pressure hull and frame of an underwater vehicle according to claim 1, characterized in that, The installation fixture (3) includes a horizontal frame (304) and a vertical frame (305) connected to each other to form an L-shaped structure. The vertical frame (305) is provided with a plurality of second fixture interfaces (301). The horizontal frame (304) is provided with a plurality of lifting lugs (302) and / or the side of the horizontal frame (304) facing away from the vertical frame (305) is provided with a lifting plane (303). The lifting lugs (302) are used to provide the connection points required for lifting the pressure chamber (2), and the lifting plane (303) is used to provide the support position required for lifting the pressure chamber (2).

5. The positioning system for the pressure hull and frame of an underwater vehicle according to claim 1, characterized in that, The first tooling interface (202) includes a columnar body (2021) extending in the front-rear direction, and a threaded hole (2022) is provided at the front end of the columnar body (2021); the second tooling interface (301) is provided with a positioning sleeve hole (3011) adapted to the columnar body (2021) and a screw mounting hole (3012) that connects to the positioning sleeve hole (3011) in the front-rear direction and passes through the front end face of the second tooling interface (301). The positioning sleeve hole (3011) is used to sleeve and connect with the columnar body (2021); the threaded hole (2022) is used to connect with a threaded connector (3013) passing through the screw mounting hole (3012) so that the first tooling interface (202) and the second tooling interface (301) are connected and fixed.

6. A method for assembling a pressure hull and frame of an underwater vehicle, characterized in that, The positioning system for the pressure hull and frame of an underwater vehicle according to any one of claims 1-5 includes the following steps: A1. Place the pressure-resistant chamber (2) on a saddle, so that the axis of the pressure-resistant chamber (2) is horizontal; A2. After the installation fixture (3) is moved to the alignment of each second fixture interface (301) and each first fixture interface (202) by hoisting or lifting, each first fixture interface (202) and each second fixture interface (301) are connected one by one by fasteners, so that the installation fixture (3) is connected to the pressure tank (2) to form an assembly; A3. Place the underwater vehicle frame (1) on another saddle so that the axis of the underwater vehicle frame (1) is horizontal; A4. After the assembly is moved to the alignment of each of the cabin supports (201) and each of the cabin installation interfaces (101) by hoisting or lifting, each of the cabin installation interfaces (101) and each of the cabin supports (201) are connected one by one by fasteners. A5. Maintain the hoisting or lifting state of the assembly, connect each of the positioning components (4) to the mounting interface (102) of each of the positioning components using fasteners, and jointly adjust the radial position of the part on each of the positioning components (4) used to support the pressure tank (2) so that the pressure tank (2) is centered along the axis of the underwater vehicle frame (1). A6. Remove the installation fixture (3) to complete the assembly.

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