Lifting device applied to underwater vehicle launching and retrieving system

Abstract

The invention discloses a lifting device applied to an underwater vehicle laying and recycling system. The lifting device comprises a support, a cable winding part, a cable arranging part, a sealing motor, a self-locking part and a chain. The support is a bearing body of the device, the cable winding part and the cable arranging part are installed on the inner side of the support, the sealing motor and the self-locking part are installed on the outer side of the support, and the chain is connected between the cable winding part and the cable arranging part. The sealing motor rotates and transmits the rotating motion to the cable winding part and the cable arranging part, and cable winding and orderly cable arranging are achieved at the same time. The cables are neatly, tightly and orderly arranged in a layered manner, and the synchronism is better; the device has the advantages of being flexible to use, suitable for various operation scenes and the like, has the characteristics of being high in integration degree, stable in function, high in safety, wide in application range and the like, is key equipment of an underwater vehicle launching and recycling system, and can meet the lifting requirement of underwater vehicle launching and recycling under complex sea conditions.

Description

Technical Field

[0001] This application relates to the field of underwater vehicle technology, and in particular to a lifting device used in an underwater vehicle deployment and recovery system. Background Technology

[0002] With the high-level deployment of the national maritime strategy, the demand for underwater vehicles in the marine field is increasing, and their equipment structures are becoming more diversified, system applications are becoming more practical, and scientific exploration is becoming more serialized. However, under the requirement of less-manned operation in marine operations, the safe and convenient recovery of underwater vehicles has become a common problem both domestically and internationally. The efficiency and reliability of their deployment and recovery operations are directly related to the success rate and economy of the overall mission.

[0003] For a long time, the deployment and recovery of underwater vehicles have relied heavily on divers. During the operation, simple actions on land become extremely difficult on the surface and underwater due to the combined effects of waves, surges and turbulence. At the same time, there are serious safety issues for both the products and personnel. Therefore, the safe and convenient deployment and recovery of underwater vehicles has become a problem that has hindered the development of the industry and has also limited customers' use of the vehicles.

[0004] Among them, the lifting device that safely, efficiently, and stably recovers the completed vehicle from the water to the mother ship's deck is a key link and main equipment in the entire operation chain, realizing the key actions of pulling the vehicle away from the mother ship closer and lifting the vehicle to the mother ship's deck.

[0005] Currently, mainstream recovery and lifting methods generally rely on hoisting winches or cranes on the mother ship's deck. The standard operating procedure can be summarized as follows: after capturing and hooking the vehicle, it is vertically lifted out of the water using steel cables, rotated, and lowered to a designated position on the deck. Although this method is technically mature and widely used, its lifting process itself has a series of inherent defects determined by its basic principles. These defects are particularly amplified in sea states exceeding calm conditions (usually referring to sea state 4 and above), leading to high operational risks, low success rates, and frequent equipment damage. Specifically:

[0006] 1. Risk of Dynamic Rolling and Collision with the Ship. During the lifting process, the vessel is rigidly connected to the mother ship via steel cables, which rolls and pitches with the waves, forming a complex offshore "swing system." The mother ship's motion is transmitted through the steel cables, causing the vessel to experience irregular and large-amplitude pendulum-like swings underwater and after surfacing. Operators cannot completely suppress this swing in real time by manipulating the crane, making the vessel highly susceptible to violent collisions with the ship's sides or recovery structure. This can damage the vessel's hull, acoustic guidance equipment, optical cameras, and other external equipment, and also seriously threaten the safety of deck personnel.

[0007] 2. The impact load at the moment of lifting out of the water is enormous. The instant the vessel is lifted from the water into the air, its load-bearing state undergoes a sudden change from "partial buoyancy support" to "complete cable support." This is compounded by the dynamic impact load of the vessel's own weight caused by wave surges. This periodic or instantaneous overload not only severely tests the fatigue strength of the vessel's lifting point structure but also directly affects the service life and safety margin of the shipborne lifting equipment (such as winches and booms).

[0008] 3. Complex and difficult operation and control. The entire lifting operation requires the operator to visually judge and manually manipulate a heavy load that is also moving erratically in three-dimensional space, while the operator is swaying with the hull. This is essentially a highly difficult dynamic control problem, which is extremely dependent on the operator's personal experience and on-site psychological qualities. Under wind and wave interference, the operation process often becomes extremely slow and has a very low margin for error. Any operational error may immediately exacerbate the swaying or cause a collision, resulting in low recovery efficiency and frequent forced aborts in bad sea conditions.

[0009] 4. High system costs due to compensation defects. To partially overcome the above-mentioned defects, existing technologies have had to introduce high-end solutions such as "Active Wave Compensation" (AHC) cranes (patent application CN120057758A, a wave compensation device for a marine crane). This system monitors the ship's movement in real time through sensors and drives hydraulic or electric servo mechanisms to adjust the length of the steel cable in the opposite direction to maintain the stability of the hook's spatial position relative to the sea surface. Although such systems can effectively improve the operating window, their extremely high cost, system complexity, and high maintenance requirements mean that efficient and safe recovery capabilities heavily rely on heavy-duty, high-cost specialized vessels, greatly limiting the widespread adoption and application of this technology in a wide range of small and medium-sized working vessels and conventional budget projects.

[0010] In summary, the root cause of the shortcomings of existing lifting technologies based on direct lifting lies in the forced dynamic coupling of the mother ship's undulating motion with the underwater vehicle via rigid steel cables. This results in persistent and unavoidable swaying, impact, and control challenges during the lifting process. Therefore, the industry urgently needs a recovery and lifting solution that can fundamentally innovate the operational process, or at least provide superior dynamic characteristics during the lifting phase, to overcome the stringent dependence on sea conditions in traditional methods and achieve safer, more economical, and more reliable underwater vehicle recovery. How to achieve precise and rapid capture and docking of underwater vehicles, enabling mooring in complex sea conditions, ensuring vehicle safety, and achieving the goal of "product replacing human intervention" is key to solving the problem of safe and convenient underwater vehicle recovery, and is also a technical issue that the industry urgently needs to address.

[0011] Therefore, there is an urgent need to develop a lifting device with a higher degree of integration, more stable function, and wider applicability, so as to better meet the deployment needs of underwater vehicles in complex sea conditions. Summary of the Invention

[0012] To overcome the shortcomings of the prior art, the present invention provides a new lifting device suitable for underwater vehicle deployment and recovery systems.

[0013] This invention provides a lifting device for an underwater vehicle deployment and recovery system. The device includes: a support frame A, a cable winding section B, a cable unwinding section C, a sealed motor D, a self-locking section E, and a chain H.

[0014] Preferably, in the lifting device of the present invention, the support A is the carrier of the device, the cable winding part B and the cable laying part C are installed on the inner side of the support A, the sealing motor D and the self-locking part E are installed on the outer side of the support A, and the chain H connects the cable winding part B and the cable laying part C; the sealing motor D rotates and transmits the rotational motion to the cable winding part B, winding and storing the cable F, one end of which is fixedly connected to the aircraft G and the other end of which is fixedly connected to the cable winding part B, inside the cable winding part B, and lifting the aircraft G. At the same time, the rotational motion of the cable winding part B is transmitted to the cable laying part C through the chain H. The cable laying part C reciprocates and lays the cable F neatly, tightly, layered and orderly stored in the cable winding part B. The self-locking part E realizes the reverse locking and forward rotation of the cable winding part B.

[0015] Preferably, in the lifting device of the present invention, the support A includes a base A1, a left support A2, and a right support A3;

[0016] Preferably, in the lifting device of the present invention, the base A1 is a Z-shaped part, provided with a first mounting surface A11 and a second mounting surface A12. The first mounting surface A11 is provided with a plurality of first screw holes A13, and the second mounting surface A12 is provided with a plurality of second screw holes A14 and a plurality of third screw holes A15. The left support A2 is a plate-shaped part, with a plurality of first mounting holes A21 on its bottom surface, the first mounting holes A21 matching the second screw holes A14. Its end face is provided with a first bearing hole A22, a second bearing hole A24, and two left guide rod holes A26, the two left guide rod holes A26 positioned above and below the second bearing hole A24. The end face of the first bearing hole A22 is provided with a plurality of fourth screw holes A23 evenly distributed along the circumference. The end face of the second bearing hole A24 is provided with a plurality of fifth screw holes A25 evenly distributed along the circumference. The end face of the left guide rod holes A26 is provided with a plurality of fifth screw holes A25 evenly distributed along the circumference. The sixth screw hole A27 of the cloth; the right support A3 is a plate-shaped part, with multiple second mounting holes A31 on the bottom surface, which match the third screw hole A15. The end face is provided with a third bearing hole A32, a fourth bearing hole A34, two right guide rod holes A35 and a non-through positioning hole A38. The two right guide rod holes A35 are located above and below the fourth bearing hole A34. Multiple seventh screw holes A33 are provided on the end face of the third bearing hole A32, which is evenly distributed around the circumference. Multiple third mounting holes A39 are provided at the bottom of the positioning hole A38. Multiple eighth screw holes A36 and multiple ninth screw holes A37 are provided near the positioning hole A38. The left support A2 and the right support A3 are mounted opposite each other. The first bearing hole A22 and the third bearing hole A32, the second bearing hole A24 and the fourth bearing hole A34, and the left guide rod hole A26 and the right guide rod hole A35 are coaxial.

[0017] Preferably, in the lifting device of the present invention, the cable winding part B is an execution component for lifting the aircraft G and winding and storing the cable F, including a fixing device B1, a turntable B2, a first radial bearing B3, an end cover B4, a ratchet B5, a retaining ring B6, a second radial bearing B7, a bearing end cover B8, a connecting shaft B9, a first sprocket B10, and a pin B15.

[0018] Preferably, in the lifting device of the present invention, the turntable B2 is a rotating body, with a tenth screw hole B21 on one end face, and sequentially arranged from one end to the other end are a retaining ring shaft B22, a square shaft B23 with a square cross-section, a first shaft B24, a flange B25, a semi-circular annular groove B26 with a semi-circular cross-section, a cable drum B27, and a second shaft B28. The other end face of the turntable B2 has multiple eleventh screw holes B29 evenly distributed around the circumference. The cable F is housed in the space enclosed by the cable drum B27 and the two flanges B25. The end face of the flange B25 has multiple sets of twelfth screw holes B251 and thirteenth screw holes B252 evenly distributed around the circumference in each set. The inner ring of the first radial bearing B3 is mounted on the first shaft B24, and the outer ring is mounted in the third bearing hole A32. The end cover B4 is a disc-shaped part with a... Multiple sixth mounting holes B41 are evenly distributed along the circumference. One end face of the end cap B4 contacts the outer ring of the first radial bearing B3, restricting the axial sliding of the first radial bearing B3. The sixth mounting holes B41 match the seventh screw hole A33. The ratchet B5 is a part with a square hole B51 at its center and ratchet teeth B52 with a certain number of teeth on its outer circle. The square hole B51 matches the square shaft B23, and the ratchet teeth B52 mesh with the pawl teeth E11. The retaining ring B6 is a rotating body with a seventh mounting hole B61 and a limiting hole B62 at its center. The seventh mounting hole B61 matches the tenth screw hole B21, and the limiting hole B62 is connected to the retaining ring shaft B22. The end face of the retaining ring B62 contacts the end face of the ratchet B5, restricting the axial sliding of the ratchet B5. The inner ring of the second radial bearing B7 is mounted on the second shaft B28, and the outer ring is mounted in the first bearing hole A22.

[0019] Preferably, in the lifting device of the present invention, the bearing end cover B8 is a disc-shaped part with multiple eighth mounting holes B81 evenly distributed along the circumference on its end face. One end face of the bearing end cover B8 contacts the outer ring of the second radial bearing B7, restricting the axial sliding of the second radial bearing B7. The eighth mounting holes B81 match the fourth screw hole A23. The connecting shaft B9 has a flange at one end and a through first pin hole B94 and a through square mounting groove B93 perpendicular to the center line of the first pin hole B94 and symmetrical to the rotation center of the connecting shaft B9 at the other end. B9 has a flange at one end, and multiple fourteenth screw holes B91 and ninth mounting holes B92 are evenly distributed around the circumference on the end face. The ninth mounting hole B92 matches the eleventh screw hole B29. The pin B15 is installed in the first pin hole B94. The first sprocket B10 is a motion and force transmission component with multiple tenth mounting holes B101 evenly distributed around the circumference on the end face and first sprocket teeth B102 with a certain number of teeth on the outer circle. The tenth mounting holes B101 match the fourteenth screw holes B91, and the first sprocket teeth B102 mesh with the chain H.

[0020] Preferably, in the lifting device of the present invention, the fixing device B1 is an actuating component for releasing or tightening the cable F, including a slider B11, a screw B12, an adjusting nut B13, and a slide rail B14; the slider B11 is a part with rectangular cross-section lugs B112 on both sides, one end is provided with a semi-circular cross-section annular clamping groove B111, and the other end is provided with a semi-waist-shaped groove B113 and a waist-shaped retaining groove B114; the screw B12 is provided with a boss B121, an annular groove B122, and an external thread B123 sequentially from one end, the boss B121 is installed in the waist-shaped groove B113, the annular groove B122 is installed in the waist-shaped retaining groove B114, and the waist-shaped retaining groove B114 restricts the axial movement of the screw B12 relative to the slider B11; the adjusting nut B13 is a boss perpendicular to the plate. The component has multiple fourth mounting holes B131 on the plate and an adjusting internal thread B132 on the boss. The fourth mounting holes B131 match the thirteenth screw hole B252, and the adjusting internal thread B132 matches the external thread B123. The slide rail B14 is a component with a slide rail groove B141 with a rectangular cross-section on one side and multiple fifth mounting holes B142 on the other side. Two slide rails B14 are set on both sides of the slider B11. The fifth mounting holes B142 match the twelfth screw hole B251. The lug B112 can be slidably installed in the slide rail groove B141. The free end of the cable F is installed in the circular space formed by the clamping groove B111 and the semi-circular annular groove B26. By rotating the screw B12, the slider B11 is driven to slide in the slide rail groove B141, thereby releasing or clamping the cable F.

[0021] Preferably, in the lifting device of the present invention, the cable laying section C is an execution component for laying cables F neatly, tightly, in layers, and in an orderly manner, including: a lead screw section C1, two guide rail sections C2, a transition plate C3, a connecting plate C4, a support seat C5, two fixed shafts C6, and two pulleys C7;

[0022] Preferably, in the lifting device of the present invention, the lead screw C1 is an actuator for neatly, tightly, and orderly arranging the cable F, including a limiting cover C11, a second sprocket C12, a bearing limiting end cover C13, a cross lead screw C14, a cross nut C15, a flat key C16, and two angular contact bearings C17; wherein: the cross lead screw C14 is a shaft-like part, with a fifteenth screw hole C141 provided on one end face, and a third shaft C142, a fourth shaft C145, a cross thread C144, and a fourth shaft C145 are arranged sequentially from one end; the third shaft C142 is provided with a waist-shaped second flat keyway C143, and a flat key C16 is installed in the second flat keyway C143; the two fourth shafts C145 are connected to the angular contact bearings. The inner rings of C17 are matched, one outer ring of angular contact bearing C17 matches the second bearing hole A24, and the outer ring of another angular contact bearing C17 matches the fourth bearing hole A34; the cross nut C15 is provided with multiple sixteenth screw holes C151, and the cross nut C15 meshes with the cross thread C144; the cross screw is a mechanical transmission structure that can drive the cross nut to reciprocate without changing the rotation direction of the screw. The cross screw is provided with two thread grooves with the same pitch and opposite rotation direction. The starting ends of the thread grooves are connected by a transition curve to form a closed helical track, realizing the unidirectional rotation of the cross screw. The cross nut reciprocates within the starting range of the cross thread of the cross screw and transmits axial thrust. The bearing limiting end cap C13 is a disc-shaped part with multiple 12th mounting holes C131 evenly distributed along its circumference on its end face. One end face of the bearing limiting end cap C13 contacts the outer ring of the angular contact bearing C17, restricting the axial sliding of the angular contact bearing C17. The 12th mounting hole C131 matches the fifth screw hole A25. The second sprocket C12 is a motion and force transmission component with second sprocket teeth C123 having a certain number of teeth on its outer circumference. The second sprocket teeth C123 mesh with the chain H. The first shaft hole C121 is provided in the center, and the first flat keyway C122 is provided on the first shaft hole C121. The first shaft hole C121 matches the third shaft C142, and the first flat keyway C122 matches the flat key C16. The limiting cover C11 is a rotating body with an eleventh mounting hole C111 in the center. The eleventh mounting hole C111 matches the fifteenth screw hole C141. The end face of the limiting cover C11 contacts the end face of the second sprocket C12, restricting the axial sliding of the second sprocket C12.

[0023] Preferably, in the lifting device of the present invention, the guide rail section C2 is a load-bearing component for the lifting force of the aircraft G, including a guide rod C21, a lower ring clamp C22, an upper ring clamp C23, a linear bearing C24, and a limiting flange C25; the guide rod C21 is a shaft-like part, with a fifth shaft C211, a slide rail shaft C212, and a sixth shaft C213 sequentially arranged from one end. The fifth shaft C211 matches the left guide rod hole A26, and the sixth shaft C213 matches the right guide rod hole A35. The inner ring of the linear bearing C24 is slidably mounted on the slide rail shaft C212; one end of the lower ring clamp C22 is provided with a semi-circular lower semi-circular shaft hole C221 and multiple seventeenth screw holes C222, the lower semi-circular shaft hole C221 and the... The outer ring of the linear bearing C24 is matched, and the other end of the lower ring hoop C22 is provided with multiple twenty-sixth screw holes C223; one end of the upper ring hoop C23 is provided with a semi-circular upper semi-circular shaft hole C231 and multiple thirteenth mounting holes C232, the upper semi-circular shaft hole C231 is matched with the outer ring of the linear bearing C24; the thirteenth mounting hole C232 is matched with the seventeenth screw hole C222; the other end of the guide rod C21 is provided with a limiting flange C25, one end of the limiting flange C25 contacts the other end of the guide rod C21 to restrict the axial sliding of the guide rod C21, and the end face of the limiting flange C25 is provided with fourteenth mounting holes C251 evenly distributed along the circumference, the fourteenth mounting hole C251 is matched with the sixth screw hole A27;

[0024] Preferably, in the lifting device of the present invention, the transition plate C3 is a part with a square protrusion C31 on a flat plate, and the flat plate is provided with a plurality of fifteenth mounting holes C32, which match the sixteenth screw holes C151; the connecting plate C4 is a flat plate part, with a rectangular slider groove C43 and a plurality of eighteenth screw holes C42 in the middle, and a plurality of sixteenth mounting holes C41 on both sides, the slider groove C43 matches the square protrusion C31, transmits the axial thrust and movement of the lead screw C1, and does not bear the lifting force of the aircraft, the sixteenth mounting hole C41 matches the twenty-sixth screw hole C223; the support base C5 is a part with a boss on a flat plate, with a plurality of seventeenth mounting holes C51 on the flat plate, and a through square groove C52 on the boss, with two sets of second The shaft has a shaft hole C53 and a third shaft hole C54. The end face of the third shaft hole C54 is provided with multiple nineteenth screw holes C55 evenly distributed around the circumference. The seventeenth mounting hole C51 matches the eighteenth screw hole C42. The fixed shaft C6 is a stepped shaft, with the eighteenth mounting hole C63, the eighth shaft C62 and the seventh shaft C61 set on the end face in sequence from one end. The pulley C7 is a rotating body with a fourth shaft hole C72 at the center and a semi-circular annular groove C71 on the outer circle. The eighteenth mounting hole C63 matches the nineteenth screw hole C55, the seventh shaft C61 matches the second shaft hole C53, and the two pulleys C7 are set in the square groove C52. The fourth shaft hole C72 and the eighth shaft C62 match and can rotate relative to each other. The cable F first passes through the circular hole surrounded by the two semi-circular annular grooves C71 and then is fixedly connected to the cable winding part B. The structure employs a relatively rotatable pulley C7 and a semi-circular annular groove C71 to reduce cable F wear and lifting resistance.

[0025] Preferably, in the lifting device of the present invention, the sealed motor D is the execution component for energy conversion, motion, and force output of the device, including a body D1, a motor D2, a protective cover D3, a sealing socket D4, an airtight plug D5, an output shaft D6, a first sealing gasket D7, a sealing sleeve D8, a second sealing gasket D9, and an O-ring D10; the body D1 is a cylindrical body with one end open, and a fifth shaft hole D11 is provided on one side wall. Multiple non-penetrating twentieth screw holes D12 are provided on the end face of the fifth shaft hole D11, evenly distributed around the circumference. A socket hole D14 and an airtight screw hole D15 are provided on the two side walls. A sealed socket D4 for power and control transmission is installed in the socket hole D14, and an airtight screw hole D15 for airtightness testing is installed in the airtight screw hole D15. The airtight plug D5 has multiple nineteenth mounting holes D16 on its three side walls, which match the first screw hole A13 on the first mounting surface A11. Multiple twenty-first screw holes D13 are provided at the open end, and multiple non-penetrating twenty-second screw holes D17 are provided at the bottom. The motor D2 has multiple twentieth mounting holes D21 at its bottom and a motor output hole D22 on one side. The second sealing gasket D9 is a flat sealing gasket with multiple twenty-fourth mounting holes D91 on its end face, which match the twenty-first screw holes D13. The protective cover D3 is a cylindrical casing with one open end, and multiple twenty-first mounting holes D31 at the open end. The first sealing gasket D7 is a flat sealing gasket with multiple circumferentially distributed 22nd mounting holes D71 on its end face, which match the 20th screw hole D12; the sealing sleeve D8 is a rotary stepped bushing with a 10th shaft D82 on its exterior, which matches the 5th shaft hole D11, and multiple circumferentially distributed 23rd mounting holes D81 on its end face, which match the 22nd mounting hole D71; the inner cavity has a sealing hole D83 with an annular sealing groove D84, and an O-ring D10 is installed in the sealing groove D84; the output shaft D6 is a stepped shaft part, made of... Starting from one end, a ninth shaft D61, a step D62, and a sealing shaft D63 are sequentially arranged. An output boss D64 is provided at the end of the sealing shaft D63. A second pin hole D65 perpendicular to the plane of symmetry of the output boss D64 is provided on the output boss D64. The ninth shaft D61 matches the motor output hole D22 and transmits the output motion and torque of the motor D2 through a flat key and a flat keyway. The step D62 restricts the axial movement of the output shaft D6. The sealing shaft D63 matches the sealing hole D83 and cooperates with the O-ring seal D10 to achieve dynamic sealing between the output shaft D6 and the sealing sleeve D8. The output boss D64 matches the mounting groove B93, and the second pin hole D65 matches the first pin hole B94 and the pin B15.

[0026] Preferably, in the lifting device of the present invention, the self-locking part E is a one-way locking positioning mechanism, including a pawl E1, a mounting block E2, a support body E3, an adjusting screw E4, a tension spring E5, a handle E6, and a mounting shaft E7; the pawl E1 is a plate-shaped part, one end of which is provided with a pawl tooth E11 that matches and meshes with the ratchet tooth B52, and the other end is provided with a twenty-third screw hole E13, and the side is provided with a sixth shaft hole E12 and a tension spring boss E14; the mounting block E2 The component is Z-shaped, with a 25th mounting hole E21 on one step and multiple 26th mounting holes E22 on the other step. The 26th mounting holes E22 match the 8th screw hole A36. The support body E3 is an L-shaped bent plate component with multiple 27th mounting holes E31 at the bottom and a waist-shaped force adjustment groove E32 on the side. The 27th mounting holes E31 match the 9th screw hole A37. An adjusting screw E4 is installed in the force adjustment groove E32, and one end of the tension spring E5 is fixed. The first end is fixed to the adjusting screw E4, and the other end is fixed to the tension spring boss E14; the tension spring E5 applies tension to the pawl E1, allowing the pawl teeth E11 and the ratchet teeth B52 to remain in a tight and meshed state. By sliding the adjusting screw E4 in the force adjustment groove E32, the tension force of the tension spring E5 on the pawl E1 can be adjusted; the handle E6 is an L-shaped bent plate part with multiple twenty-eighth mounting holes E61 at the bottom, which match the twenty-third screw hole E13; the mounting screw E6 is a L-shaped bent plate part with multiple twenty-eighth mounting holes E61 at the bottom, which match the twenty-third screw hole E13; the handle E6 is a L-shaped bent plate part with multiple twenty-eighth mounting holes E61 at the bottom, which match the twenty-eighth mounting holes E61 and B52. Shaft E7 is a stepped shaft, followed by the eleventh shaft E73 and the twelfth shaft E74. The eleventh shaft E73 has multiple circumferentially distributed twenty-fourth threaded holes E71 at its end. The twelfth shaft E74 has a twenty-fifth threaded hole E72 at its center. The twelfth shaft E74 is installed in the positioning hole A38. The twenty-fourth threaded hole E71 matches the third mounting hole A39, and the twenty-fifth threaded hole E72 matches the twenty-fifth mounting hole E21. The twelfth shaft E74 is installed in the sixth shaft hole E12. The pawl E1 can rotate around the axis of the twelfth shaft E74 to manually lock or unlock the locking ratchet B5.

[0027] Preferably, in the lifting device of the present invention, the matching relationship between the number of teeth Z1 of the first sprocket B10, the number of teeth Z2 of the second sprocket C12, the pitch P of the cross thread C144, and the diameter θ of the cable F is as follows:

[0028] ;

[0029] By setting different numbers of teeth Z1 for the first sprocket B10, Z2 for the second sprocket C12, and P of the cross thread C144, it can adapt to different cable diameters and load capacities.

[0030] In summary, the present invention is applicable to the lifting device of underwater vehicles and has the following advantages:

[0031] 1. This device adopts a linkage mode with unified motion input to realize cable winding and cable laying operations, with good synchronization and good cable winding and laying effect.

[0032] 2. This device adopts a cross-screw cable arrangement structure, with cables arranged neatly, tightly, orderly, and in multiple layers, making them less prone to knotting and tangling, and allowing for the storage of a large amount of cables.

[0033] 3. This device is flexible in use because it adopts different sprocket tooth counts and cross thread pitch matching settings to adapt to different cable diameters and load capacities.

[0034] 4. This device adopts a sealed electrical component design, making it suitable not only for surface deployment, retrieval, and lifting operations, but also for underwater salvage and deployment / retrieval operations. It has a wide range of applications and is suitable for various operational scenarios.

[0035] 5. This device was designed based on a full consideration of the dangers and complexities of marine recovery operations and combined with practical experience in marine operations. It has a simple and reliable structure and low cost. Attached Figure Description

[0036] To more clearly illustrate the technical solution of this application, the accompanying drawings involved in the description of this invention will be briefly introduced below. It should be noted that the drawings only show some embodiments of the invention. For those skilled in the art, other related drawings can be derived from these drawings without creative effort.

[0037] Figure 1 This is a schematic diagram of the lifting device according to an embodiment of the present invention;

[0038] Figure 2 This is an exploded view of the support frame of the lifting device according to an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the right support base structure of the lifting device according to an embodiment of the present invention;

[0040] Figure 4 This is a schematic diagram of the cable winding section of the lifting device according to an embodiment of the present invention;

[0041] Figure 5 This is an exploded schematic diagram of the cable winding section of the lifting device according to an embodiment of the present invention;

[0042] Figure 6 This is an exploded view of the fixing device of the lifting device according to an embodiment of the present invention;

[0043] Figure 7 This is an exploded view of the cable-laying section of the lifting device according to an embodiment of the present invention;

[0044] Figure 8This is an exploded view of the lead screw section of the lifting device according to an embodiment of the present invention;

[0045] Figure 9 This is an exploded view of the guide rail section of the lifting device according to an embodiment of the present invention;

[0046] Figure 10 This is a schematic diagram of the sealed motor structure of the lifting device according to an embodiment of the present invention;

[0047] Figure 11 for Figure 10 Enlarged view of part I in the image;

[0048] Figure 12 This is a schematic diagram of the explosion of the sealed motor of the lifting device according to an embodiment of the present invention;

[0049] Figure 13 This is an exploded view of the self-locking part of the lifting device according to an embodiment of the present invention;

[0050] Figure 14 This is a schematic diagram of the lifting device carrying the aircraft according to an embodiment of the present invention.

[0051] Figure captions: A-Bracket, B-Cable winding section, C-Cable laying section, D-Sealed motor, E-Self-locking section, F-Cable, G-Vehicle, H-Chain, A1-Base, A2-Left support, A3-Right support, A11-First mounting surface, A12-Second mounting surface, A13-First screw hole, A14-Second screw hole, A15-Third screw hole, A21-First mounting hole, A22-First bearing hole, A23-Fourth screw hole, A24-Second bearing hole, A25-Fifth screw hole, A26-Left guide rod hole, A27-Sixth screw hole, A31-Second mounting hole, A32-Third bearing hole, A33-Seventh screw hole, A34-Fourth bearing hole, A35-Right guide rod hole, A36-Eighth screw hole, A37-Ninth screw hole Screw hole, A38-positioning hole, A39-third mounting hole, B1-fixing device, B2-turntable, B3-first radial bearing, B4-end cover, B5-ratchet, B6-retaining ring, B7-second radial bearing, B8-bearing end cover, B9-connecting shaft, B10-first sprocket, B15-pin, B11-slider, B12-screw, B13-adjusting nut, B14-slide rail, B111-clamping groove, B112-lug, B113-waisted groove, B114-waisted retaining groove, B121-bore, B122-annular groove, B123-external thread, B131-fourth mounting hole, B132-adjusting internal thread, B141-slide rail groove, B142-fifth mounting hole, B21-tenth screw hole, B 22-Retaining ring shaft, B23-Square shaft, B24-First shaft, B25-Flange, B26-Semi-circular annular groove, B27-Cable drum, B28-Second shaft, B29-Eleventh screw hole, B251-Twelfth screw hole, B252-Thirteenth screw hole, B41-Sixth mounting hole, B51-Square hole, B52-Ratchet tooth, B61-Seventh mounting hole, B62-Limiting hole, B81-Eighth mounting hole, B91-Fourteenth screw hole, B92-Ninth mounting hole, B93-Mounting groove, B94-First pin hole, B101-Tenth mounting hole, B102-First sprocket tooth, C1-Lead screw section, C2-Guide rail section, C3-Transition plate, C4-Connecting plate, C5-Support base, C6-Fixed shaft, C7-Pulley C11 - Limiting cover, C12 - Second sprocket, C13 - Bearing limiting end cover, C14 - Cross screw, C15 - Cross nut, C16 - Flat key, C17 - Angular contact bearing, C111 - Eleventh mounting hole, C121 - First shaft hole, C122 - First flat keyway, C123 - Second sprocket tooth, C131 - Twelfth mounting hole, C141 - Fifteenth threaded hole, C142 - Third shaft, C143 - Second flat keyway, C144 - Cross thread, C145 - Fourth shaft, C151 - Sixteenth threaded hole, C21 - Guide rod, C22 - Lower ring clamp, C23 - Upper ring clamp, C24 - Linear bearing, C25 - Limiting flange, C211 - Fifth shaft, C212 - Slide rail shaft, C213 - Sixth shaftC221 - Lower semi-circular shaft hole, C222 - Seventeenth screw hole, C223 - Twenty-sixth screw hole, C231 - Upper semi-circular shaft hole, C232 - Thirteenth mounting hole, C251 - Fourteenth mounting hole, C31 - Square protrusion, C32 - Fifteenth mounting hole, C41 - Sixteenth mounting hole, C42 - Eighteenth screw hole, C43 - Slider groove, C51 - Seventeenth mounting hole, C52 - Square groove, C53 - Second shaft hole, C54 - Third shaft hole, C55 - Nineteenth screw hole, C6 1-Seventh axis, C62-Eighth axis, C63-Eighteenth mounting hole, C71-Annular groove, C72-Fourth axis hole, D1-Body, D2-Motor, D3-Guard cover, D4-Sealing socket, D5-Airtight plug, D6-Output shaft, D7-First sealing gasket, D8-Sealing sleeve, D9-Second sealing gasket, D10-O-ring seal, D11-Fifth axis hole, D12-Twentieth threaded hole, D13-Twentieth threaded hole, D14-Socket hole, D15-Airtight threaded hole, D16 - Nineteenth mounting hole, D17 - Twenty-second screw hole, D21 - Twentieth mounting hole, D22 - Motor output hole, D31 - Twenty-first mounting hole, D61 - Ninth axis, D62 - Step, D63 - Sealing shaft, D64 - Output boss, D65 - Second pin hole, D71 - Twenty-second mounting hole, D81 - Twenty-third mounting hole, D82 - Tenth axis, D83 - Sealing hole, D84 - Sealing groove, D91 - Twenty-fourth mounting hole, E1 - Pawl, E2 - Mounting block E3 - Support body, E4 - Adjusting screw, E5 - Tension spring, E6 - Handle, E7 - Mounting shaft, E11 - Pawl tooth, E12 - Sixth shaft hole, E13 - Twenty-third screw hole, E14 - Tension spring boss, E21 - Twenty-fifth mounting hole, E22 - Twenty-sixth mounting hole, E31 - Twenty-seventh mounting hole, E32 - Force adjustment groove, E61 - Twenty-eighth mounting hole, E71 - Twenty-fourth screw hole, E72 - Twenty-fifth screw hole, E73 - Eleventh shaft, E74 - Twelfth shaft. Detailed Implementation

[0052] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0053] It should be noted that, unless otherwise specified, the following embodiments and features can be combined with each other; and, based on the embodiments of this disclosure, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this disclosure.

[0054] It should be noted that various aspects of embodiments within the scope of the appended claims are described below. It is obvious that the aspects described herein can be embodied in many forms, and any particular structure and / or function described herein is merely illustrative. Based on this disclosure, those skilled in the art will understand that one aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects set forth herein can be used to implement the device and / or practice the method. Additionally, this device and / or method can be implemented using structures and / or functions other than one or more of the aspects set forth herein.

[0055] This invention provides a lifting device for use in underwater vehicle deployment and recovery systems, such as... Figure 1 , Figure 14 As shown, this device includes: a bracket A, a cable winding section B, a cable unwinding section C, a sealed motor D, a self-locking section E, and a chain H;

[0056] The support A serves as the carrier of the device. The cable winding section B and the cable laying section C are installed inside the support A, while the sealing motor D and the self-locking part E are installed on the outside of the support A. The chain H connects the cable winding section B and the cable laying section C. The sealing motor D rotates and transmits the rotational motion to the cable winding section B, winding and storing the cable F, which is fixedly connected at one end to the aircraft G and at the other end to the cable winding section B, inside the cable winding section B, thus lifting the aircraft G. At the same time, the rotational motion of the cable winding section B is transmitted to the cable laying section C through the chain H. The cable laying section C reciprocates and lays the cable F neatly, tightly, layered, and orderly stored in the cable winding section B. The self-locking part E enables the cable winding section B to be locked in the reverse direction and rotated in the forward direction.

[0057] like Figure 2 , Figure 3 As shown, in the lifting device of the present invention, the bracket A includes a base A1, a left support A2, and a right support A3;

[0058] The base A1 is a Z-shaped part with a first mounting surface A11 and a second mounting surface A12. The first mounting surface A11 has multiple first screw holes A13, and the second mounting surface A12 has multiple second screw holes A14 and multiple third screw holes A15. The left support A2 is a plate-shaped part with multiple first mounting holes A21 on its bottom surface, which match the second screw holes A14. Its end face has one first bearing hole A22, one second bearing hole A24, and two left guide rod holes A26, positioned above and below the second bearing hole A24. The end face of the first bearing hole A22 has multiple fourth screw holes A23 evenly distributed circumferentially, the end face of the second bearing hole A24 has multiple fifth screw holes A25 evenly distributed circumferentially, and the end face of the left guide rod holes A26 has multiple sixth screw holes A25 evenly distributed circumferentially. 27; The right support A3 is a plate-shaped part with multiple second mounting holes A31 on its bottom surface, which match the third screw holes A15. Its end face has a third bearing hole A32, a fourth bearing hole A34, two right guide rod holes A35, and a non-through positioning hole A38. The two right guide rod holes A35 are positioned above and below the fourth bearing hole A34. Multiple seventh screw holes A33 are evenly distributed along the circumference on the end face of the third bearing hole A32. Multiple third mounting holes A39 are provided at the bottom of the positioning hole A38. Multiple eighth screw holes A36 and multiple ninth screw holes A37 are provided near the positioning hole A38. The left support A2 and right support A3 are mounted opposite each other. The first bearing hole A22 and the third bearing hole A32, the second bearing hole A24 and the fourth bearing hole A34, and the left guide rod hole A26 and the right guide rod hole A35 are coaxial.

[0059] like Figure 4 , Figure 5 As shown, in the lifting device of the present invention, the cable winding part B is an execution component for lifting the aircraft G and winding and storing the cable F, including a fixing device B1, a turntable B2, a first radial bearing B3, an end cover B4, a ratchet B5, a retaining ring B6, a second radial bearing B7, a bearing end cover B8, a connecting shaft B9, a first sprocket B10, and a pin B15.

[0060] The turntable B2 is a rotating body. One end face has a tenth screw hole B21. From one end to the other, it is sequentially arranged with a retaining ring shaft B22, a square shaft B23 (square cross-section), a first shaft B24, a flange B25, a semi-circular annular groove B26 (semi-circular cross-section), a cable drum B27, and a second shaft B28. The other end face of the turntable B2 has multiple eleventh screw holes B29 evenly distributed around the circumference. The cable F is housed in the space enclosed by the cable drum B27 and the two flanges B25. The end face of the flange B25 has multiple sets of twelfth screw holes B251 and thirteenth screw holes B252 evenly distributed around the circumference. The inner ring of the first radial bearing B3 is mounted on the first shaft B24, and the outer ring is mounted in the third bearing hole A32. The end cover B4 is a disc-shaped part with multiple circumferentially distributed screw holes on its end face. The sixth mounting hole B41, one end face of the end cap B4 contacts the outer ring of the first radial bearing B3, restricting the axial sliding of the first radial bearing B3. The sixth mounting hole B41 matches the seventh screw hole A33. The ratchet B5 is a part with a square hole B51 at its center and ratchet teeth B52 with a certain number of teeth on its outer circle. The square hole B51 matches the square shaft B23, and the ratchet teeth B52 mesh with the pawl teeth E11. The retaining ring B6 is a rotating body with a seventh mounting hole B61 and a limiting hole B62 at its center. The seventh mounting hole B61 matches the tenth screw hole B21, and the limiting hole B62 is with the retaining ring shaft B22. The end face of the retaining ring B62 contacts the end face of the ratchet B5, restricting the axial sliding of the ratchet B5. The inner ring of the second radial bearing B7 is mounted on the second shaft B28, and the outer ring is mounted in the first bearing hole A22.

[0061] The bearing end cover B8 is a disc-shaped part with multiple circumferentially distributed eighth mounting holes B81 on its end face. One end face of the bearing end cover B8 contacts the outer ring of the second radial bearing B7, restricting the axial sliding of the second radial bearing B7. The eighth mounting holes B81 match the fourth screw hole A23. The connecting shaft B9 has a flange at one end and a through first pin hole B94 and a through square mounting groove B93 perpendicular to the center line of the first pin hole B94 and symmetrical to the rotation center of the connecting shaft B9 at the other end. One end of the connecting shaft B9 is provided with... The flange has multiple fourteenth screw holes B91 and ninth mounting holes B92 evenly distributed around the circumference on its end face. The ninth mounting hole B92 matches the eleventh screw hole B29. The pin B15 is installed in the first pin hole B94. The first sprocket B10 is a motion and force transmission component with multiple tenth mounting holes B101 evenly distributed around the circumference on its end face and first sprocket teeth B102 with a certain number of teeth on its outer circle. The tenth mounting holes B101 match the fourteenth screw holes B91. The first sprocket teeth B102 mesh with the chain H.

[0062] like Figure 6As shown, in the lifting device of the present invention, the fixing device B1 is an actuating component for releasing or tightening the cable F, including a slider B11, a screw B12, an adjusting nut B13, and a slide rail B14; the slider B11 is a part with rectangular cross-section lugs B112 on both sides, one end is provided with a semi-circular annular clamping groove B111, and the other end is provided with a semi-waist-shaped groove B113 and a waist-shaped retaining groove B114; the screw B12 is provided with a boss B121, an annular groove B122, and an external thread B123 sequentially from one end, the boss B121 is installed in the waist-shaped groove B113, the annular groove B122 is installed in the waist-shaped retaining groove B114, and the waist-shaped retaining groove B114 restricts the axial movement of the screw B12 relative to the slider B11; the adjusting nut B13 is a boss perpendicular to the plate. The component has multiple fourth mounting holes B131 on the plate and an adjusting internal thread B132 on the boss. The fourth mounting holes B131 match the thirteenth screw hole B252, and the adjusting internal thread B132 matches the external thread B123. The slide rail B14 is a component with a slide rail groove B141 with a rectangular cross-section on one side and multiple fifth mounting holes B142 on the other side. Two slide rails B14 are set on both sides of the slider B11. The fifth mounting holes B142 match the twelfth screw hole B251. The lug B112 can be slidably installed in the slide rail groove B141. The free end of the cable F is installed in the circular space formed by the clamping groove B111 and the semi-circular annular groove B26. By rotating the screw B12, the slider B11 is driven to slide in the slide rail groove B141, thereby releasing or clamping the cable F.

[0063] like Figure 7 As shown, in the lifting device of the present invention, the cable laying section C is an execution component for laying cables F neatly, tightly, in layers, and in an orderly manner, including: a lead screw section C1, two guide rail sections C2, a transition plate C3, a connecting plate C4, a support seat C5, two fixed shafts C6, and two pulleys C7.

[0064] like Figure 8As shown, in the lifting device of the present invention, the lead screw C1 is an actuator for neatly, tightly, and orderly arranging the cable F, including a limiting cover C11, a second sprocket C12, a bearing limiting end cover C13, a cross lead screw C14, a cross nut C15, a flat key C16, and two angular contact bearings C17; wherein: the cross lead screw C14 is a shaft-like part, with a fifteenth screw hole C141 provided on one end face, and a third shaft C142, a fourth shaft C145, a cross thread C144, and a fourth shaft C145 are arranged sequentially from one end; the third shaft C142 is provided with a waist-shaped second flat keyway C143, and a flat key C16 is installed in the second flat keyway C143; the two fourth shafts C145 are connected to the angular contact bearings. The inner rings of C17 are matched, one outer ring of angular contact bearing C17 matches the second bearing hole A24, and the outer ring of another angular contact bearing C17 matches the fourth bearing hole A34; the cross nut C15 is provided with multiple sixteenth screw holes C151, and the cross nut C15 meshes with the cross thread C144; the cross screw is a mechanical transmission structure that can drive the cross nut to reciprocate without changing the rotation direction of the screw. The cross screw is provided with two thread grooves with the same pitch but opposite rotation directions. The starting ends of the thread grooves are connected by a transition curve to form a closed helical track, realizing the unidirectional rotation of the cross screw. The cross nut reciprocates within the starting range of the cross thread of the cross screw and transmits axial thrust. The bearing limiting end cap C13 is a disc-shaped part with multiple 12th mounting holes C131 evenly distributed along its circumference on its end face. One end face of the bearing limiting end cap C13 contacts the outer ring of the angular contact bearing C17, restricting the axial sliding of the angular contact bearing C17. The 12th mounting hole C131 matches the fifth screw hole A25. The second sprocket C12 is a motion and force transmission component with second sprocket teeth C123 having a certain number of teeth on its outer circumference. The second sprocket teeth C123 mesh with the chain H. The first shaft hole C121 is provided in the center, and the first flat keyway C122 is provided on the first shaft hole C121. The first shaft hole C121 matches the third shaft C142, and the first flat keyway C122 matches the flat key C16. The limiting cover C11 is a rotating body with an eleventh mounting hole C111 in the center. The eleventh mounting hole C111 matches the fifteenth screw hole C141. The end face of the limiting cover C11 contacts the end face of the second sprocket C12, restricting the axial sliding of the second sprocket C12.

[0065] like Figure 9As shown, in the lifting device of the present invention, the guide rail section C2 is the load-bearing component for the lifting force of the aircraft G, including a guide rod C21, a lower ring clamp C22, an upper ring clamp C23, a linear bearing C24, and a limiting flange C25; the guide rod C21 is a shaft-like part, with a fifth shaft C211, a slide rail shaft C212, and a sixth shaft C213 sequentially arranged from one end. The fifth shaft C211 matches the left guide rod hole A26, and the sixth shaft C213 matches the right guide rod hole A35. The inner ring of the linear bearing C24 is slidably mounted on the slide rail shaft C212; one end of the lower ring clamp C22 is provided with a semi-circular lower semi-circular shaft hole C221 and multiple seventeenth screw holes C222. The lower semi-circular shaft hole C221 matches the outer ring of the linear bearing C24, as shown. Figure 7 As shown, the lower ring clamp C22 has multiple twenty-sixth screw holes C223 at one end; the upper ring clamp C23 has a semi-circular upper semi-circular shaft hole C231 and multiple thirteenth mounting holes C232 at one end, the upper semi-circular shaft hole C231 matches the outer ring of the linear bearing C24; the thirteenth mounting hole C232 matches the seventeenth screw hole C222; the guide rod C21 has a limit flange C25 at the other end, one end of the limit flange C25 contacts the other end of the guide rod C21 to restrict the axial sliding of the guide rod C21, and the end face of the limit flange C25 has fourteenth mounting holes C251 evenly distributed along the circumference, the fourteenth mounting hole C251 matches the sixth screw hole A27.

[0066] like Figure 7As shown, in the lifting device of the present invention, the transition plate C3 is a part with a square protrusion C31 on a flat plate. Multiple fifteenth mounting holes C32 are provided on the flat plate, and the fifteenth mounting holes C32 match the sixteenth screw holes C151. The connecting plate C4 is a flat plate part with a rectangular slider groove C43 and multiple eighteenth screw holes C42 in the middle, and multiple sixteenth mounting holes C41 on both sides. The slider groove C43 matches the square protrusion C31, transmitting the axial thrust and movement of the lead screw C1, and does not bear the lifting force of the aircraft. The sixteenth mounting hole C41 matches the twenty-sixth screw hole C223. The support base C5 is a part with a boss on a flat plate. Multiple seventeenth mounting holes C51 are provided on the flat plate, and a through square groove C52 is provided on the boss. Two sets of second shafts are provided on both sides of the square groove C52. Hole C53 and third shaft hole C54, the end face of the third shaft hole C54 is provided with multiple nineteenth screw holes C55 evenly distributed along the circumference, the seventeenth mounting hole C51 matches the eighteenth screw hole C42; the fixed shaft C6 is a stepped shaft, with the eighteenth mounting hole C63, the eighth shaft C62 and the seventh shaft C61 set on the end face in sequence from one end; the pulley C7 is a rotating body with a fourth shaft hole C72 set in the center and an annular groove C71 with a semi-circular cross section set on the outer circle; the eighteenth mounting hole C63 matches the nineteenth screw hole C55, the seventh shaft C61 matches the second shaft hole C53, the two pulleys C7 are set in the square groove C52, the fourth shaft hole C72 and the eighth shaft C62 match and can rotate relative to each other, the cable F first passes through the circular hole surrounded by two semi-circular annular grooves C71 and then is fixedly connected to the cable winding part B. The structure employs a relatively rotatable pulley C7 and a semi-circular annular groove C71 to reduce cable F wear and lifting resistance.

[0067] like Figure 10 , Figure 11 As shown, in the lifting device of the present invention, the sealed motor D is the actuating component for energy conversion, motion, and force output of the device, including a body D1, a motor D2, a protective cover D3, a sealing socket D4, an airtight plug D5, an output shaft D6, a first sealing gasket D7, a sealing sleeve D8, a second sealing gasket D9, and an O-ring D10; Figure 12As shown, the main body D1 is a cylindrical body with one open end. A fifth shaft hole D11 is provided on one side wall. Multiple non-penetrating twentieth screw holes D12 are evenly distributed circumferentially on the end face of the fifth shaft hole D11. A socket hole D14 and an airtight screw hole D15 are provided on its two side walls. A sealed socket D4 for power and control transmission is installed in the socket hole D14, and an airtight plug D5 for airtightness inspection is installed in the airtight screw hole D15. Multiple nineteenth mounting holes D16 are provided on its three side walls. The nineteenth mounting holes D16 match the first screw hole A13 on the first mounting surface A11. Multiple twenty-first screw holes D13 are provided at the open end. The first sealing gasket D7 is provided with multiple non-penetrating twenty-second screw holes D17; the motor D2 has multiple twentieth mounting holes D21 at its bottom and a motor output hole D22 on one side; the second sealing gasket D9 is a flat sealing gasket with multiple twenty-fourth mounting holes D91 on its end face, which match the twenty-fourth screw holes D13; the protective cover D3 is a cylindrical casing with one open end, and multiple twenty-first mounting holes D31 on its open end, which match the twenty-fourth mounting holes D91; the first sealing gasket D7 is a flat sealing gasket with multiple circumferentially distributed twenty-second mounting holes D17 on its end face. 71. The twenty-second mounting hole D71 matches the twentieth screw hole D12; the sealing sleeve D8 is a rotary stepped bushing, with a tenth shaft D82 on the outside, which matches the fifth shaft hole D11. Multiple circumferentially distributed twenty-third mounting holes D81 are provided on the end face, matching the twenty-second mounting hole D71. A sealing hole D83 is provided in the inner cavity, with an annular sealing groove D84 on the sealing hole D83, and an O-ring D10 installed in the sealing groove D84; the output shaft D6 is a stepped shaft part, with the ninth shaft D61, step D62, and sealing shaft D6 sequentially arranged from one end. 3. An output boss D64 is provided at the end of the sealing shaft D63. A second pin hole D65 perpendicular to the plane of symmetry of the output boss D64 is provided on the output boss D64. The ninth shaft D61 matches the motor output hole D22 and transmits the output motion and torque of the motor D2 through a flat key and a flat keyway. The step D62 restricts the axial movement of the output shaft D6. The sealing shaft D63 matches the sealing hole D83. The sealing shaft D63 cooperates with the O-ring seal D10 to achieve dynamic sealing between the output shaft D6 and the sealing sleeve D8. The output boss D64 matches the mounting groove B93. The second pin hole D65 matches the first pin hole B94 and the pin B15.

[0068] like Figure 13As shown, in the lifting device of the present invention, the self-locking part E is a one-way locking positioning mechanism, including a pawl E1, a mounting block E2, a support body E3, an adjusting screw E4, a tension spring E5, a handle E6, and a mounting shaft E7; the pawl E1 is a plate-shaped part, one end of which is provided with a pawl tooth E11 that matches and meshes with the ratchet tooth B52, and the other end is provided with a twenty-third screw hole E13, and the side is provided with a sixth shaft hole E12 and a tension spring boss E14; the mounting block E2 is... The Z-shaped part has a 25th mounting hole E21 on one step and multiple 26th mounting holes E22 on the other step. The 26th mounting holes E22 match the 8th screw hole A36. The support body E3 is an L-shaped bent plate part with multiple 27th mounting holes E31 at the bottom and a waist-shaped force adjustment groove E32 on the side. The 27th mounting holes E31 match the 9th screw hole A37. An adjusting screw E4 is installed in the force adjustment groove E32, and one end of the tension spring E5 is fixed. The first end is fixed to the adjusting screw E4, and the other end is fixed to the tension spring boss E14; the tension spring E5 applies tension to the pawl E1, allowing the pawl teeth E11 and the ratchet teeth B52 to remain in a tight and meshed state. By sliding the adjusting screw E4 in the force adjustment groove E32, the tension force of the tension spring E5 on the pawl E1 can be adjusted; the handle E6 is an L-shaped bent plate part with multiple twenty-eighth mounting holes E61 at the bottom, which match the twenty-third screw hole E13; the mounting screw E6 is a L-shaped bent plate part with multiple twenty-eighth mounting holes E61 at the bottom, which match the twenty-third screw hole E13; the handle E6 is a L-shaped bent plate part with multiple twenty-eighth mounting holes E61 at the bottom, which match the twenty-eighth mounting holes E61 and B52. Shaft E7 is a stepped shaft, followed by the eleventh shaft E73 and the twelfth shaft E74. The eleventh shaft E73 has multiple circumferentially distributed twenty-fourth threaded holes E71 at its end. The twelfth shaft E74 has a twenty-fifth threaded hole E72 at its center. The twelfth shaft E74 is installed in the positioning hole A38. The twenty-fourth threaded hole E71 matches the third mounting hole A39, and the twenty-fifth threaded hole E72 matches the twenty-fifth mounting hole E21. The twelfth shaft E74 is installed in the sixth shaft hole E12. The pawl E1 can rotate around the axis of the twelfth shaft E74, allowing manual locking or unlocking of the ratchet B5.

[0069] like Figure 5 , Figure 7 As shown, in the lifting device of the present invention, the matching relationship between the number of teeth Z1 of the first sprocket B10, the number of teeth Z2 of the second sprocket C12, the pitch P of the cross thread C144, and the diameter θ of the cable F is as follows:

[0070] ;

[0071] By setting different numbers of teeth Z1 for the first sprocket B10, Z2 for the second sprocket C12, and P of the cross thread C144, it can adapt to different cable diameters and load capacities.

[0072] The working principle of the device of the present invention is as follows:

[0073] like Figures 1-14 As shown, when the aircraft G needs to be recovered, firstly, the other end of the cable F, which is fixedly connected to the aircraft G, passes through the circular hole enclosed by two semi-circular annular grooves C71. The rotating screw B12 drives the slider B11 to slide within the slide rail groove B141, thereby fixing and pressing the cable F within the circular space formed by the pressing groove B111 and the semi-circular annular groove B26. Secondly, the sealing motor D is started, driving the cable winding section B, the first sprocket B10, and the ratchet B5 to rotate, and the cable F is wound around the outer surface of the cable drum B27. Simultaneously, the first sprocket B10 drives the chain H and the second sprocket C12 to rotate, transmitting the rotational motion of the cable winding section B to the lead screw C1 of the cable unwinding section C. The cross lead screw C14 drives the cross nut C15 to reciprocate linearly within the effective thread range of the cross thread C144. The distance traveled by the cross nut C15 per revolution is... The cable F has a uniform diameter. While the cable F is wound around the outer surface of the cable drum B27, it is simultaneously and neatly, tightly, layered, and orderly stored in the cable winding section B. At the same time, under the tension of the tension spring E5 on the pawl E1, the pawl tooth E11 closely adheres to and engages with the ratchet tooth B52, so that the cable winding section B can rotate in the forward direction when it is working. When the sealed motor D is not working, the cable winding section B can be locked in the reverse direction and bear the self-weight torque of the aircraft G, reducing the power-off self-locking requirement of the sealed motor D.

[0074] When the vehicle G needs to be recovered or deployed, the release cable F needs to be released. By applying force to the end of the handle E6, the pawl E1 is lifted and the engagement between the pawl tooth E11 and the ratchet tooth B52 is released, and the reverse lock of the cable winding part B is released. The sealing motor D can be rotated in reverse or manually rotated in reverse to release the cable F, and the vehicle G can be deployed or hoisted to the recovery and deployment platform.

[0075] While the foregoing discussion contains several specific implementation details, these details should not be construed as limiting the scope of this application. The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of this application is not limited to technical solutions formed by specific combinations of the above-described technical features. Furthermore, this application should also cover other technical solutions formed by any combination of the above-described technical features or their equivalents without departing from the foregoing disclosed concept.

[0076] Those skilled in the art should also understand that modifications can be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features, without departing from the spirit and scope of the technical solutions of the embodiments of this application. These modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the core spirit and scope of the technical solutions of the embodiments of this application.

Claims

1. A lifting device for use in an underwater vehicle deployment and recovery system, characterized in that, The device includes: a bracket (A), a cable winding section (B), a cable unwinding section (C), a sealing motor (D), a self-locking section (E), and a chain (H); wherein: The bracket (A) serves as the support for the device. The cable winding section (B) and cable unwinding section (C) are installed inside the bracket (A), while the sealing motor (D) and self-locking section (E) are installed on the outside of the bracket (A). The chain (H) connects the cable winding section (B) and the cable unwinding section (C). The sealing motor (D) rotates and transmits the rotational motion to the cable winding section (B), winding and storing the cable (F), which is fixedly connected at one end to the vehicle (G) and at the other end to the cable winding section (B), and lifting the vehicle (G). At the same time, the chain (H) transmits the rotational motion of the cable winding section (B) to the cable unwinding section (C). The cable unwinding section (C) reciprocates and unwinds the cable, neatly, tightly, layered, and orderly storing the cable (F) in the cable winding section (B). The self-locking section (E) enables the cable winding section (B) to be locked in the reverse direction and rotated in the forward direction.

2. The lifting device according to claim 1, characterized in that, The bracket (A) includes a base (A1), a left support (A2), and a right support (A3); wherein: The base (A1) is a Z-shaped part with a first mounting surface (A11) and a second mounting surface (A12). The first mounting surface (A11) has multiple first screw holes (A13), and the second mounting surface (A12) has multiple second screw holes (A14) and multiple third screw holes (A15). The left support (A2) is a plate-shaped part with multiple first mounting holes (A21) on its bottom surface, which match the second screw holes (A14). A [missing information - likely a screw hole] is located on its end face. The bearing has a first bearing hole (A22), a second bearing hole (A24), and two left guide rod holes (A26). The two left guide rod holes (A26) are positioned above and below the second bearing hole (A24). The end face of the first bearing hole (A22) has multiple fourth screw holes (A23) evenly distributed around the circumference. The end face of the second bearing hole (A24) has multiple fifth screw holes (A25) evenly distributed around the circumference. The end face of the left guide rod hole (A26) has multiple sixth screw holes (A27) evenly distributed around the circumference. The right support (A3) is a plate-shaped part with multiple second mounting holes (A31) on its bottom surface, which match the third screw holes (A15). Its end face has a third bearing hole (A32), a fourth bearing hole (A34), two right guide rod holes (A35), and a non-through positioning hole (A38). The two right guide rod holes (A35) are positioned above and below the fourth bearing hole (A34). The end face of the third bearing hole (A32) has multiple... The seventh screw hole (A33) is evenly distributed along the circumference. The bottom of the positioning hole (A38) is provided with multiple third mounting holes (A39). Multiple eighth screw holes (A36) and multiple ninth screw holes (A37) are provided near the positioning hole (A38). The left support seat (A2) and the right support seat (A3) are mounted opposite each other. The first bearing hole (A22) and the third bearing hole (A32), the second bearing hole (A24) and the fourth bearing hole (A34), and the left guide rod hole (A26) and the right guide rod hole (A35) are coaxial.

3. The lifting device according to claim 1, characterized in that, The cable winding section (B) is an actuator for lifting the vehicle (G) and winding and storing the cable (F), including a fixing device (B1), a turntable (B2), a first radial bearing (B3), an end cap (B4), a ratchet (B5), a retaining ring (B6), a second radial bearing (B7), a bearing end cap (B8), a connecting shaft (B9), a first sprocket (B10), and a pin (B15); wherein: The turntable (B2) is a rotating body. One end face has a tenth screw hole (B21). From one end to the other, it is sequentially arranged with a retaining ring shaft (B22), a square shaft (B23) with a square cross-section, a first shaft (B24), a flange (B25), a semi-circular annular groove (B26) with a semi-circular cross-section, a cable drum (B27), and a second shaft (B28). The other end face of the turntable (B2) has multiple eleventh screw holes (B29) evenly distributed around the circumference. The cable (F) is housed in the space enclosed by the cable drum (B27) and the two flanges (B25). The end face of the flange (B25) has multiple sets of twelfth screw holes (B251) and thirteenth screw holes (B252) evenly distributed around the circumference in each set. The inner ring of the first radial bearing (B3) is mounted on the first shaft (B24), and the outer ring is mounted in the third bearing hole (A32). The end cap (B4) is a disc-shaped part with multiple sixth mounting holes (B41) evenly distributed around its circumference on its end face. One end face of the end cap (B4) contacts the outer ring of the first radial bearing (B3), and the sixth mounting holes (B41) match the seventh screw holes (A33). The ratchet (B5) is a part with a square hole (B51) at its center and ratchet teeth (B52) with a certain number of teeth on its outer circumference. The square hole (B51) matches the seventh screw hole (A33). The shaft (B23) is matched; the retaining ring (B6) is a rotating body with a seventh mounting hole (B61) and a limiting hole (B62) at its center. The seventh mounting hole (B61) matches the tenth screw hole (B21), and the limiting hole (B62) contacts the retaining ring shaft (B22) and the end face contacts the end face of the ratchet (B5); the inner ring of the second radial bearing (B7) is installed on the second shaft (B28), and the outer ring is installed in the first bearing hole (A22); The bearing end cover (B8) is a disc-shaped part with multiple circumferentially distributed eighth mounting holes (B81) on its end face. One end face of the bearing end cover (B8) contacts the outer ring of the second radial bearing (B7), and the eighth mounting holes (B81) match the fourth screw holes (A23). The connecting shaft (B9) has a flange at one end and a through first pin hole (B94) and a through square mounting groove (B93) perpendicular to the center line of the first pin hole (B94) and symmetrical to the rotation center of the connecting shaft (B9). The connecting shaft (B9) has a flange at one end and multiple circumferentially distributed eighth mounting holes (B81) on its end face. The fourteenth screw hole (B91) and the ninth mounting hole (B92) are evenly distributed around the circumference. The ninth mounting hole (B92) matches the eleventh screw hole (B29). The pin (B15) is installed in the first pin hole (B94). The first sprocket (B10) is a motion and force transmission component with multiple tenth mounting holes (B101) evenly distributed around the circumference on its end face and first sprocket teeth (B102) with a certain number of teeth on its outer circle. The tenth mounting hole (B101) matches the fourteenth screw hole (B91). The first sprocket teeth (B102) mesh with the chain (H). The fixing device (B1) is an actuating component for releasing or tightening the cable (F), including a slider (B11), a screw (B12), an adjusting nut (B13), and a slide rail (B14); the slider (B11) is a part with rectangular cross-section lugs (B112) on both sides, a semi-circular cross-section annular clamping groove (B111) at one end, and a semi-waist-shaped groove (B113) and a waist-shaped stop groove (B114) at the other end; The screw (B12) is provided with a boss (B121), an annular groove (B122), and an external thread (B123) sequentially from one end. The boss (B121) is installed in the waist-shaped groove (B113), and the annular groove (B122) is installed in the waist-shaped retaining groove (B114). The waist-shaped retaining groove (B114) restricts the axial movement of the screw (B12) relative to the slider (B11). The adjusting nut (B13) is a boss part with a strip perpendicular to the plate, and the plate is provided with... The component has multiple fourth mounting holes (B131), and an adjusting internal thread (B132) is provided on the boss. The fourth mounting holes (B131) match the thirteenth threaded hole (B252), and the adjusting internal thread (B132) matches the external thread (B123). The slide rail (B14) is a part with a slide rail groove (B141) with a rectangular cross-section on one side and multiple fifth mounting holes (B142) on the other side. Two slide rails (B14) are set on the slide rail. On both sides of block (B11), the fifth mounting hole (B142) matches the twelfth screw hole (B251), and the lug (B112) can be slidably installed in the slide rail groove (B141); the free end of the cable (F) is installed in the circular space formed by the clamping groove (B111) and the semi-circular annular groove (B26); by rotating the screw (B12), the slider (B11) is driven to slide in the slide rail groove (B141), thereby releasing or clamping the cable (F).

4. The lifting device according to claim 3, characterized in that, The cable laying section (C) is the execution component for neatly, tightly, layeredly, and orderly laying of cables (F), including: a lead screw section (C1), two guide rail sections (C2), a transition plate (C3), a connecting plate (C4), a support base (C5), two fixed shafts (C6), and two pulleys (C7); wherein: The lead screw section (C1) is the actuator for neatly, tightly, and orderly laying the cable (F), including a limit cover (C11), a second sprocket (C12), a bearing limit end cover (C13), a cross lead screw (C14), a cross nut (C15), a flat key (C16), and two angular contact bearings (C17); wherein: the cross lead screw (C14) is a shaft part, with a fifteenth threaded hole (C141) on one end face, and from one end sequentially arranged a third shaft (C142), a fourth shaft (C145), a cross thread (C144), and a fourth shaft. (C145), the third shaft (C142) is provided with a waist-shaped second flat keyway (C143), and a flat key (C16) is installed in the second flat keyway (C143). The two fourth shafts (C145) are matched with the inner rings of angular contact bearings (C17), the outer ring of one angular contact bearing (C17) is matched with the second bearing hole (A24), and the outer ring of the other angular contact bearing (C17) is matched with the fourth bearing hole (A34). The cross nut (C15) is provided with multiple sixteenth screw holes (C151), and the cross nut (C15) is matched with the cross nut. The bearing is engaged by a forked thread (C144); the bearing limiting end cap (C13) is a disc-shaped part with multiple 12th mounting holes (C131) evenly distributed around its circumference on its end face. One end face of the bearing limiting end cap (C13) contacts the outer ring of the angular contact bearing (C17), restricting the axial sliding of the angular contact bearing (C17). The 12th mounting hole (C131) matches the fifth threaded hole (A25); the second sprocket (C12) is a motion and force transmission component with second sprocket teeth (C123) having a certain number of teeth on its outer circumference. 3) Engages with the chain (H), with a first shaft hole (C121) at the center, a first flat keyway (C122) on the first shaft hole (C121), the first shaft hole (C121) matching the third shaft (C142), and the first flat keyway (C122) matching the flat key (C16); the limiting cover (C11) is a rotating body with an eleventh mounting hole (C111) at the center, the eleventh mounting hole (C111) matching the fifteenth screw hole (C141), and the end face of the limiting cover (C11) contacting the end face of the second sprocket (C12); The guide rail section (C2) is the load-bearing component for the lift of the aircraft (G), including a guide rod (C21), a lower ring clamp (C22), an upper ring clamp (C23), a linear bearing (C24), and a limiting flange (C25). The guide rod (C21) is a shaft-type part, with a fifth shaft (C211), a slide rail shaft (C212), and a sixth shaft (C213) sequentially arranged from one end. The fifth shaft (C211) matches the left guide rod hole (A26), and the sixth shaft (C213) matches the right guide rod hole (A35). The inner ring of the linear bearing (C24) is slidably mounted on the slide rail shaft (C212). One end of the lower ring clamp (C22) is provided with a semi-circular lower semi-circular shaft hole (C221) and multiple seventeenth screw holes (C222). 1) Matching the outer ring of the linear bearing (C24), the other end of the lower ring (C22) is provided with multiple twenty-sixth screw holes (C223); one end of the upper ring (C23) is provided with a semi-circular upper semi-circular shaft hole (C231) and multiple thirteenth mounting holes (C232), the upper semi-circular shaft hole (C231) matches the outer ring of the linear bearing (C24); the thirteenth mounting hole (C232) matches the seventeenth screw hole (C222); the other end of the guide rod (C21) is provided with a limit flange (C25), one end of the limit flange (C25) contacts the other end of the guide rod (C21), and the end face of the limit flange (C25) is provided with fourteenth mounting holes (C251) evenly distributed along the circumference, the fourteenth mounting hole (C251) matches the sixth screw hole (A27); The transition plate (C3) is a flat plate with a square protrusion (C31). The flat plate has multiple fifteenth mounting holes (C32), which match the sixteenth screw holes (C151). The connecting plate (C4) is a flat plate with a rectangular slider groove (C43) and multiple eighteenth screw holes (C42) in the center. Multiple sixteenth mounting holes (C41) are provided on both sides. The slider groove (C43) matches the square protrusion (C31), and the sixteenth mounting holes (C41) match the twenty-sixth screw holes (C223). The support base (C5) is a flat plate with a boss. The flat plate has multiple seventeenth mounting holes (C51), and a through square groove (C52) is provided on the boss. Two sets of second shaft holes (C53) and third shaft holes (C54) are provided on both sides of the square groove (C52). The third shaft holes (C54)... The end face is provided with multiple nineteenth screw holes (C55) evenly distributed along the circumference, and the seventeenth mounting hole (C51) matches the eighteenth screw hole (C42); the fixed shaft (C6) is a stepped shaft, with the eighteenth mounting hole (C63), the eighth shaft (C62) and the seventh shaft (C61) set on the end face in sequence from one end; the pulley (C7) is a rotating body with a fourth shaft hole (C72) set in the center and a semi-circular annular groove (C71) on the outer circle; the eighteenth mounting hole (C63) matches the nineteenth screw hole (C55), the seventh shaft (C61) matches the second shaft hole (C53), the two pulleys (C7) are set in the square groove (C52), the fourth shaft hole (C72) and the eighth shaft (C62) match and can rotate relative to each other, and the cable (F) first passes through the circular hole surrounded by two semi-circular annular grooves (C71) and then is fixedly connected to the cable winding part (B).

5. The lifting device according to claim 4, characterized in that, The matching relationship between the number of teeth Z1 of the first sprocket (B10), the number of teeth Z2 of the second sprocket (C12), the pitch P of the cross thread (C144), and the diameter θ of the cable (F) is as follows: 。 6. The lifting device according to claim 1, characterized in that, The sealed motor (D) is the actuator for energy conversion, motion, and force output of the device, including a body (D1), a motor (D2), a protective cover (D3), a sealing socket (D4), an airtight plug (D5), an output shaft (D6), a first sealing gasket (D7), a sealing sleeve (D8), a second sealing gasket (D9), and an O-ring (D10). The body (D1) is a cylindrical body with one open end, and a fifth shaft hole (D11) is provided on one side wall. Multiple non-penetrating twentieth screw holes (D12) are provided on the end face of the fifth shaft hole (D11) evenly distributed along the circumference. The other two side walls... The device is equipped with a socket hole (D14) and an airtight screw hole (D15). A sealed socket (D4) is installed in the socket hole (D14), and an airtight plug (D5) is installed in the airtight screw hole (D15). Multiple nineteenth mounting holes (D16) are provided on its three side walls. The nineteenth mounting holes (D16) match the first screw hole (A13) on the first mounting surface (A11). Multiple twenty-first screw holes (D13) are provided at the open end, and multiple non-penetrating twenty-second screw holes (D17) are provided at the bottom. The motor (D2) has multiple twentieth mounting holes (D21) at its bottom. The first sealing gasket (D7) is a flat gasket with a motor output hole (D22) on one side; the second sealing gasket (D9) is a flat gasket with multiple twenty-fourth mounting holes (D91) on its end face, which match the twenty-first screw hole (D13); the protective cover (D3) is a cylindrical casing with one open end, and multiple twenty-first mounting holes (D31) on the open end, which match the twenty-fourth mounting hole (D91); the first sealing gasket (D7) is a flat gasket with multiple twenty-second mounting holes (D71) evenly distributed around its circumference on its end face, and the... The 22nd mounting hole (D71) matches the 20th screw hole (D12); the sealing sleeve (D8) is a rotary stepped bushing with a 10th shaft (D82) on the outside, which matches the 5th shaft hole (D11). The end face is provided with multiple 23rd mounting holes (D81) evenly distributed along the circumference, which match the 22nd mounting hole (D71). The inner cavity is provided with a sealing hole (D83), and an annular sealing groove (D84) is provided on the sealing hole (D83). An O-ring (D10) is installed in the sealing groove (D84).The output shaft (D6) is a stepped shaft component, consisting of a ninth shaft (D61), a step (D62), and a sealing shaft (D63) arranged sequentially from one end. An output boss (D64) is located at the end of the sealing shaft (D63). A second pin hole (D65) perpendicular to the plane of symmetry of the output boss (D64) is located on the output boss (D64). The ninth shaft (D61) matches the motor output hole (D22) and transmits the output motion and torque of the motor (D2) through a key and keyway. The step (D62) restricts the axial movement of the output shaft (D6). The sealing shaft (D63) matches the sealing hole (D83) and engages with an O-ring seal (D10) to achieve a dynamic seal between the output shaft (D6) and the sealing sleeve (D8). The output boss (D64) matches the mounting groove (B93), and the second pin hole (D65) matches the first pin hole (B94) and the pin (B15).

7. The lifting device according to claim 1, characterized in that, The self-locking part (E) is a one-way locking positioning mechanism, including a pawl (E1), a mounting block (E2), a support body (E3), an adjusting screw (E4), a tension spring (E5), a handle (E6), and a mounting shaft (E7). The pawl (E1) is a plate-shaped part, with a pawl tooth (E11) at one end that matches and meshes with the ratchet tooth (B52), and a twenty-third screw hole (E13) at the other end. The side has a sixth shaft hole (E12) and a tension spring. The boss (E14) and the mounting block (E2) are Z-shaped parts, with a twenty-fifth mounting hole (E21) on one step and multiple twenty-sixth mounting holes (E22) on the other step. The twenty-sixth mounting hole (E22) matches the eighth screw hole (A36). The support body (E3) is an L-shaped bent plate part, with multiple twenty-seventh mounting holes (E31) on the bottom and a waist-shaped force adjustment groove (E32) on the side. The twenty-seventh mounting hole (E31) matches the ninth screw hole. (A37) Matching, the force adjustment groove (E32) is provided with an adjusting screw (E4), one end of the tension spring (E5) is fixed to the adjusting screw (E4), and the other end is fixed to the tension spring boss (E14); the handle (E6) is an L-shaped bent plate part, with multiple twenty-eighth mounting holes (E61) at the bottom, which match the twenty-third screw hole (E13); the mounting shaft (E7) is a stepped shaft, namely the eleventh shaft (E73) and the twelfth shaft. (E74), the eleventh axis (E73) has multiple twenty-fourth screw holes (E71) evenly distributed around the circumference at its end, the twelfth axis (E74) has a twenty-fifth screw hole (E72) at its center, the twelfth axis (E74) is installed in the positioning hole (A38), the twenty-fourth screw hole (E71) matches the third mounting hole (A39), the twenty-fifth screw hole (E72) matches the twenty-fifth mounting hole (E21), and the twelfth axis (E74) is installed in the sixth axis hole (E12).

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