Large-swing-angle heavy-load spherical hinge pulley mechanism and underwater test equipment

Abstract

The invention relates to a large-swing-angle heavy-load spherical hinge pulley mechanism and underwater test equipment, the large-swing-angle heavy-load spherical hinge pulley mechanism comprises a spherical hinge assembly, the spherical hinge assembly comprises a spherical hinge base and a ball head pressing plate, the spherical hinge base and the ball head pressing plate are mutually connected to jointly form a ball socket rotationally connected with a ball head rod, and the ball head rod comprises a ball head located in the ball socket; the shaft rod is connected with the ball head and extends out of the ball head pressing plate; the pulley assembly comprises a pulley base rotationally connected with the shaft rod, the end, away from the spherical hinge assembly, of the pulley base is fixedly connected with two parallel vertical plates arranged in a spaced mode, a pulley disc is rotationally connected between the two vertical plates through a pin shaft, the width of the vertical plates is larger than the height of the vertical plates, and the height of the vertical plates is larger than the diameter of the pulley disc. The pulley assembly freely rotates at multiple angles around the spherical hinge base and the spherical head pressing plate through the spherical head rod, so that the pulley assembly adjusts the posture along with the traction rope. And the contact sliding friction surface between the two sides or the top of the vertical plate and the traction rope is increased, so that self-adaptive rotation of the pulley assembly is corrected in a more labor-saving manner.

Description

Technical Field

[0001] This application relates to the field of underwater operation testing technology, and in particular to a large swing angle heavy-duty ball hinge pulley mechanism and underwater testing equipment. Background Technology

[0002] As underwater exploration continues to advance, underwater vehicles and diving equipment are playing an increasingly important role. To ensure they possess good maneuverability, stability, stealth, and adaptability, researchers need to conduct reliable underwater tests and research.

[0003] Traditional underwater vehicles or diving equipment mainly rely on their own sinking and surfacing to conduct underwater tests (such as underwater acoustic tests). This usually requires a lot of installation and debugging work in the early stage to meet the underwater self-sinking and floating test conditions, which makes the test work difficult, costly and risky.

[0004] To address the aforementioned issues, relevant technologies involve sinking ballast blocks to the bottom of the test water area, using the underwater ballast blocks in conjunction with towing ropes to tow underwater vehicles or diving equipment into the water for underwater testing. After the test, the underwater vehicles or diving equipment are separated from the ballast blocks, which remain on the bottom of the water, while the underwater vehicles and diving equipment are retrieved by surfacing.

[0005] The traction rope is slidably connected to the ballast block submerged in the water via a pulley system. A winch located on shore then lowers the traction rope to tow the underwater vehicle or diving equipment into the water for underwater testing. However, the angle between the traction rope and the pulley system is difficult to adaptively adjust, leading to wear or breakage of the pulley system and traction rope. Summary of the Invention

[0006] This application provides a large swing angle heavy-duty ball joint pulley mechanism and underwater testing equipment to solve the problem in related technologies that during underwater testing of underwater vehicles or diving equipment, the angle between the traction rope and the pulley block is difficult to adaptively adjust with the traction rope, resulting in wear or breakage of the pulley block and traction rope.

[0007] The first aspect of this application provides a large swing angle heavy-duty ball joint pulley mechanism, including: A ball joint assembly, comprising a ball joint base and a ball head plate, wherein the ball joint base and the ball head plate are connected to each other to form a ball socket for rotatably connecting a ball head rod, and the ball head rod comprises a ball head located in the ball socket and a shaft connecting the ball head and extending out of the ball head plate; A pulley assembly includes a pulley base rotatably connected to the shaft. Two parallel and spaced vertical plates are fixedly connected to one end of the pulley base away from the ball joint assembly. A pulley disc is rotatably connected between the two vertical plates by a pin. The width of the vertical plate is greater than its height, and the height of the vertical plate is greater than the diameter of the pulley disc.

[0008] In some embodiments: the ball joint base and the ball head pressure plate are connected to each other by a plurality of bolts, the bottom of the ball joint base is provided with a lower flange, and the top of the ball joint base is provided with an annular groove; The ball head pressure plate has a circular ring structure, and a central through hole extending out of the shaft is provided on the ball head pressure plate. The bottom of the ball head pressure plate is provided with an annular boss extending into the annular groove.

[0009] In some embodiments: the ball socket includes a lower ball socket located at the top of the ball joint base and concentrically disposed with the annular groove, and an upper ball socket located at the bottom of the ball head pressure plate and concentrically disposed with the annular boss; The ball head portion is exposed outside the ball head pressure plate, and the ball head pressure plate has a plurality of first stepped holes surrounding the outer periphery of the central through hole. The ball joint base has a plurality of first threaded holes surrounding the outer periphery of the lower ball socket.

[0010] In some embodiments: the bottom of the pulley base is provided with a lower shaft seat and a lower shaft cover that are rotatably connected to the shaft rod, and the lower shaft seat and the lower shaft cover are connected to each other by bolts and form a shaft rod cavity that partially accommodates the shaft rod; The outer periphery of the shaft away from the ball head is provided with a bearing positioning groove located in the shaft cavity. Two semi-circular bearings are installed on the shaft and surround the bearing positioning groove. The lower shaft cover axially positions the semi-circular bearings in the shaft cavity.

[0011] In some embodiments: the lower shaft cover is an annular structure, the lower shaft cover has a shaft hole for inserting the shaft rod, the lower shaft cover has a plurality of second stepped holes surrounding the outer periphery of the shaft hole, and the lower shaft seat has a plurality of second threaded holes surrounding the outer periphery of the shaft rod cavity, the second stepped holes and the second threaded holes correspond one-to-one.

[0012] In some embodiments: the bottom surface of the upright plate is a plane and is welded to the pulley base. The upright plate is welded to the outer wall surface of the pulley plate away from the pulley plate with multiple horizontal and vertical reinforcing ribs that are perpendicular to each other. The multiple vertical reinforcing ribs are welded to the pulley base.

[0013] In some embodiments: the left and right end faces of the upright plate are both arc surfaces, the top surface of the upright plate is a plane, and the inner wall surface of the upright plate near the pulley is provided with protective rubber strips arranged along the contours of the left, right and top surfaces of the upright plate. The edge of the upright plate has multiple fixing holes for connecting the protective rubber strip. The protective rubber strip is a nylon plate of a set thickness and is fixedly connected to the upright plate by screws.

[0014] In some embodiments: an upward-opening arc-shaped curved plate is connected between the two upright plates at one end near the pulley base, and guide pulleys are provided between the two upright plates at both ends of the arc-shaped curved plate; The two upright plates are provided with pin seats through which the pin passes. The two ends of the pin are respectively fixed on the pin seats on the two upright plates. The pin is rotatably connected to the pulley by a bearing.

[0015] A second aspect of this application provides an underwater testing device, comprising: The underwater ballast carrier includes a ballast counterweight and a buoyancy tank assembly connected to each other for sinking to the bottom of the water, and the top of the buoyancy tank assembly is connected to the large swing angle heavy-duty ball joint pulley mechanism described in any of the above embodiments. The pulley assembly of the large swing angle heavy-duty ball joint pulley mechanism is wound with a traction rope. One end of the traction rope is connected to a traction power mechanism, and the other end of the traction rope is used to connect to the self-floating model under test.

[0016] In some embodiments, the buoyancy tank assembly is provided with an inlet / outlet and an outlet / vent. The inlet / outlet is connected to an inlet / outlet valve, and the outlet / vent is connected to an air compressor unit via a gas pipeline.

[0017] The beneficial effects of the technical solution provided in this application include: This application provides a large-angle heavy-duty ball joint pulley mechanism and an underwater testing device. The large-angle heavy-duty ball joint pulley mechanism of this application includes a ball joint assembly, which comprises a ball joint base and a ball head pressure plate. The ball joint base and the ball head pressure plate are interconnected to form a ball socket that rotatably connects to a ball head rod. The ball head rod includes a ball head located within the ball socket and a shaft connecting the ball head and extending beyond the ball head pressure plate. A pulley assembly includes a pulley base rotatably connected to the shaft. Two parallel and spaced vertical plates are fixedly connected to the end of the pulley base away from the ball joint assembly. A pulley disc is rotatably connected between the two vertical plates via a pin. The width of the vertical plates is greater than their height, and the height of the vertical plates is greater than the diameter of the pulley disc.

[0018] Therefore, the large-angle heavy-duty ball joint pulley mechanism of this application consists of an interconnected ball joint assembly and a pulley assembly. The ball joint assembly's ball joint base and ball head pressure plate are interconnected to form a ball socket that rotatably connects to the ball head rod. The ball head of the ball head rod is located within the ball socket, forming a spherical kinematic pair. The pulley assembly's lower axle seat, lower axle cover, bearing positioning groove on the ball head rod, and two semi-circular bearings form a rotational kinematic pair that moves around the axis of the ball head rod. Simultaneously, the two semi-circular bearings also connect the pulley assembly and the ball head rod. Through the spherical kinematic pair formed by the ball head and ball socket, and the rotational kinematic pair between the pulley assembly and the ball head rod, the pulley assembly can freely rotate around three coordinate axes in three-dimensional space. It can freely rotate 360° around the axis of the ball head rod and rotate more than 45° around the axis perpendicular to the ball head rod. This allows the pulley assembly to adaptively adjust its posture at large angles according to the position and direction of the traction rope. The addition of the rotational pair with the two semi-circular bearings further improves the flexibility of the pulley assembly in adjusting its posture and extends the service life of the ball joint assembly, traction rope, and pulley.

[0019] Furthermore, the large-angle heavy-duty ball joint pulley mechanism of this application has two parallel and spaced vertical plates fixedly connected to the end of the pulley base away from the ball joint assembly. A pulley disc is rotatably connected between the two vertical plates via a pin. The width of the vertical plates is greater than their height, and the height of the vertical plates is greater than the diameter of the pulley disc. The traction rope passes between the two vertical plates and is wound around the pulley disc. The sliding friction points between the traction rope and the two vertical plates are located on both sides of the vertical plates, or on one side and the top of the vertical plates. Because the width of the vertical plates is greater than their height, and the height of the vertical plates is greater than the diameter of the pulley disc, the contact sliding friction surface between the sides or the top of the vertical plates and the traction rope is increased, increasing the lever arm for the traction rope to twist the vertical plates, and making the adaptive rotation of the pulley assembly more effortless. The traction cable is constrained and kept in the groove of the pulley disc by the two vertical plates, the curved plate, and the guide pulleys at both ends, eliminating the need to install guide wheels on both sides of the pulley shaft, further reducing the risk of wear or breakage of the traction rope. Attached Figure Description

[0020] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a three-dimensional structural view of the large swing angle heavy-duty ball joint pulley mechanism according to an embodiment of this application; Figure 2 This is a front view of the structure of the large swing angle heavy-duty ball joint pulley mechanism according to an embodiment of this application; Figure 3This is a structural cross-sectional view of the large swing angle heavy-duty ball joint pulley mechanism according to an embodiment of this application; Figure 4 This is a schematic diagram of the large swing angle heavy-duty ball joint pulley mechanism under rightward tension according to an embodiment of this application; Figure 5 This is a schematic diagram of the large swing angle heavy-duty ball joint pulley mechanism under leftward tension according to an embodiment of this application; Figure 6 This is a schematic diagram of the upward tension of the large swing angle heavy-duty ball joint pulley mechanism in an embodiment of this application; Figure 7 This is a perspective view of the ball joint base according to an embodiment of this application; Figure 8 This is a perspective view of the ball-head pressure plate in an embodiment of this application; Figure 9 This is a perspective view of the ball head shaft according to an embodiment of this application; Figure 10 This is a perspective view of the pulley assembly according to an embodiment of this application; Figure 11 This is a schematic diagram of the underwater testing equipment according to an embodiment of this application; Figure 12 This is a front view of the underwater pressure carrier and the large swing angle heavy-duty ball joint pulley mechanism in the embodiment of this application.

[0022] Figure label: 100. Large swing angle heavy-duty ball joint pulley mechanism; 110. Ball joint assembly; 111. Ball joint base; 112. Ball head pressure plate; 113. Ball head rod; 120. Pulley assembly; 121. Pulley base; 122. Vertical plate; 123. Pulley disc; 124. Pin; 125. Lower shaft seat; 126. Lower shaft cover; 127. Semi-circular bearing; 128. Protective rubber strip; 129. Bearing; 130. Arc-shaped bent plate; 131. Guide pulley; 132. Pin seat; 133. Transverse reinforcing rib; 134. Longitudinal reinforcing rib; 140. Traction rope; 200. Underwater ballast carrier; 210. Buoy; 220. Release mechanism; 230. Traction power mechanism; 240. Ballast counterweight; 250. Buoyancy tank assembly; 300. Test self-floating model; 1111 Lower flange; 1112 Annular recess; 1113 Lower ball socket; 1114 First threaded hole; 1121 Central through hole; 1122 Upper ball socket; 1123 First stepped hole; 1124 Annular boss; 1131 Ball head; 1132 Shaft; 1133 Bearing positioning groove; 1251 Shaft cavity; 1261 Second stepped hole. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, 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 some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0024] This application provides a large swing angle heavy-duty ball joint pulley mechanism and underwater testing equipment, which can solve the problem in related technologies that the angle between the traction rope and the pulley block is difficult to adaptively adjust with the traction rope during underwater testing of underwater vehicles or diving equipment, resulting in wear or breakage of the pulley block and traction rope.

[0025] See Figures 1 to 3 and Figure 9 As shown, this application embodiment provides a large swing angle heavy-duty ball joint pulley mechanism, the large swing angle heavy-duty ball joint pulley mechanism 100 includes: The ball joint assembly 110 includes a ball joint base 111 and a ball head plate 112. The ball joint base 111 and the ball head plate 112 are interconnected to form a ball socket that rotatably connects to a ball head rod 113. The ball head rod 113 includes a ball head 1131 located within the ball socket and a shaft 1132 connecting the ball head 1131 and extending out of the ball head plate 112. The ball head 1131 of the ball head rod 113 is rotatably located within the ball socket formed by the ball joint base 111 and the ball head plate 112, allowing the ball head rod 113 to rotate freely 360° and swing at a large angle greater than 45° relative to the ball joint base 111 and the ball head plate 112.

[0026] The pulley assembly 120 includes a pulley base 121 rotatably connected to a shaft 1132. Two parallel and spaced vertical plates 122 are fixedly connected to the end of the pulley base 121 away from the ball joint assembly 110. The pulley assembly 120 can not only rotate freely 360° relative to the ball joint base 111 and ball joint pressure plate 112 via the ball joint rod 113, but also swing at a large angle greater than 45°. It can also rotate freely 360° around the shaft 1132, giving the pulley assembly 120 greater freedom of movement. A pulley disc 123 is rotatably connected between the two vertical plates 122 via a pin 124. The width of the vertical plate 122 is greater than its height, and the height of the vertical plate 122 is greater than the diameter of the pulley disc 123. This pin 122 acts as a guide wheel on both sides of the pulley disc 123 to constrain the traction cable and prevent it from slipping out of the pulley groove.

[0027] The large swing angle heavy-duty ball joint pulley mechanism 100 of this application embodiment is composed of a ball joint assembly 110 and a pulley assembly 120 connected to each other. The ball joint base 111 and the ball head pressure plate 112 of the ball joint assembly 110 are connected to each other to form a ball socket for rotating connection of the ball head rod 113. The ball head 1131 of the ball head rod 113 is located in the ball socket, and the shaft 1132 of the ball head rod 113 extends out of the ball head pressure plate 112 and is rotatably connected to the pulley assembly 120.

[0028] The pulley assembly 120 can rotate freely at multiple angles around the ball joint base 111 and the ball joint pressure plate 112 via the ball joint rod 113, allowing the pulley assembly 120 to adjust its own posture in accordance with the traction rope 140. The pulley base 121 of the pulley assembly 120 is rotatably connected to the shaft 1132 to increase the degree of freedom of rotation of the pulley assembly 120 relative to the ball joint assembly 110, further improving the flexibility of the pulley assembly 120 in adjusting its own posture and extending the service life of the ball joint assembly 110 and the traction rope 140.

[0029] Furthermore, the large-angle heavy-duty ball joint pulley mechanism 100 of this application has two parallel and spaced vertical plates 122 fixedly connected to the end of the pulley base 121 away from the ball joint assembly 110. A pulley disc 123 is rotatably connected between the two vertical plates 122 via a pin 124. The width of the vertical plate 122 is greater than its height, and the height of the vertical plate 122 is greater than the diameter of the pulley disc 123. A traction rope 140 passes between the two vertical plates 122 and is wound around the pulley disc 123. The sliding friction points between the traction rope 140 and the two vertical plates 122 are located on both sides of the vertical plates 122, or on one side and the top of the vertical plates 122.

[0030] Because the width of the upright plate 122 is greater than its height, and the height of the upright plate 122 is greater than the diameter of the pulley plate 123, the left and right sides of the upright plate 122 are widened, and the top of the upright plate 122 is raised. This significantly increases the contact sliding friction surface between the sides or top of the upright plate 122 and the traction rope 140. When the pulling direction of the traction rope 140 changes, the lever arm of the traction rope 140 to twist the upright plate 122 is increased. The corrective pulley assembly 120 adapts to the rotation of the traction rope 140 with less effort. The two upright plates 122, the arc-shaped curved plate 130, and the guide pulleys 131 at both ends constrain the traction cable to stay in the groove of the pulley plate. There is no need to install guide wheels on both sides of the pulley plate 123, avoiding the high contact stress between the small-diameter guide wheels and the traction cable 140 and the resulting friction and wear. This further reduces the risk of wear or breakage of the pulley assembly 120 and the traction rope 140.

[0031] In some alternative embodiments, see Figures 1 to 3 and Figures 7 to 9As shown, this application embodiment provides a large swing angle heavy-duty ball joint pulley mechanism. The ball joint base 111 and the ball head pressure plate 112 of the large swing angle heavy-duty ball joint pulley mechanism 100 are connected to each other by multiple bolts. A lower flange 1111 is provided at the bottom of the ball joint base 111, and multiple mounting holes are opened on the circumference of the lower flange 1111. The lower flange 1111 is used to install the ball joint base 111 at a fixed mounting point.

[0032] An annular groove 1112 is provided on the top of the ball joint base 111. The ball head pressure plate 112 is an integrally machined annular structure. A central through hole 1121 for extending the shaft 1132 is provided on the ball head pressure plate 112. An annular boss 1124 extending into the annular groove 1112 is provided on the bottom of the ball head pressure plate 112. When the ball head pressure plate 112 is fixed to the top of the ball joint base 111 by multiple bolts, the annular boss 1124 of the ball head pressure plate 112 is coaxially located in the annular groove 1112 of the ball joint base 111.

[0033] In this embodiment, the annular boss 1124 of the ball joint plate 112 and the annular groove 1112 of the ball joint base 111 cooperate with each other to radially limit the ball joint plate 112 on the ball joint base 111. When the traction rope 140 applies a radial force to the ball joint plate 112 through the pulley assembly 120 and the ball joint rod 113, the bolts are protected from shearing under the limiting effect of the annular boss 1124 and the annular groove 1112. In addition, since the ball joint plate 112 is a one-piece machined annular structure, multiple bolts can jointly resist radial force, especially protecting the ball joint assembly 110 from damage by external forces under heavy load conditions.

[0034] The ball joint recess includes a lower ball joint recess 1113 located at the top of the ball joint base 111 and concentrically arranged with the annular recess 1112, and an upper ball joint recess 1122 located at the bottom of the ball head pressure plate 112 and concentrically arranged with the annular boss 1124. The end of the ball head 1131 near the shaft 1132 protrudes outside the ball head pressure plate 112 to increase the swing angle of the ball head 1131 within the ball joint recess, which can exceed 45°. The ball head pressure plate 112 has a plurality of first stepped holes 1123 surrounding the outer periphery of the central through hole 1121, and the ball joint base 111 has a plurality of first threaded holes 1114 surrounding the outer periphery of the lower ball joint recess 1113.

[0035] The ball joint socket in this embodiment consists of a lower ball joint 1113 and an upper ball joint 1122. When the ball joint base 111 and the ball head pressure plate 112 are closed together, the ball head 1131 is positioned in the ball joint socket, and the ball head 1131 has the freedom of rotation and swing within the ball joint socket. Multiple first stepped holes 1123 and multiple first threaded holes 1114 are positioned one-to-one, and bolts are inserted into the first stepped holes 1123 and threadedly fastened to the first threaded holes 1114, thus securing the ball head pressure plate 112 to the ball joint base 111.

[0036] In some alternative embodiments, see Figures 1 to 3 and Figures 9 to 10 As shown, this application embodiment provides a large swing angle heavy-duty ball joint pulley mechanism. The bottom of the pulley base 121 of the large swing angle heavy-duty ball joint pulley mechanism 100 is provided with a lower shaft seat 125 and a lower shaft cover 126 for rotatingly connecting the shaft 1132. The lower shaft seat 125 and the lower shaft cover 126 are connected to each other by bolts and form a shaft cavity 1251 that partially accommodates the shaft 1132.

[0037] A bearing positioning groove 1133 is formed on the outer periphery of the end of the shaft 1132 away from the ball joint 1131, located within the shaft cavity 1251. Two semi-circular bearings 127 are mounted on the shaft 1132, surrounding the bearing positioning groove 1133. The two semi-circular bearings 127 surround the bearing positioning groove 1133, allowing the lower shaft seat 125 and the lower shaft cover 126 to rotate freely relative to the shaft 1132 via the two semi-circular bearings 127. After the lower shaft cover 126 is fastened to the lower shaft seat 125, the two semi-circular bearings 127 are axially positioned within the shaft cavity 1251, preventing the shaft 1132 from dislodging from the shaft cavity 1251, and forming a kinematic pair that can rotate freely 360° around the bearings of the shaft 1132, further improving the movement flexibility of the pulley assembly 120 relative to the ball joint assembly 110.

[0038] The lower shaft cover 126 is an integrally machined ring structure. The lower shaft cover 126 has a shaft hole for inserting the shaft rod 1132. The lower shaft cover 126 has multiple second stepped holes 1261 surrounding the shaft hole. The lower shaft seat 125 has multiple second threaded holes surrounding the shaft rod cavity 1251. The second stepped holes and the second threaded holes correspond one-to-one. After the bolt is inserted into the second stepped hole, it is threadedly fastened to the second threaded hole to fasten the lower shaft cover 126 to the lower shaft seat 125.

[0039] In this embodiment, the bottom of the pulley base 121 is provided with a lower shaft seat 125 and a lower shaft cover 126 for rotating connecting shaft 1132. The connecting shaft 1132 is provided with a bearing positioning groove 1133 for connecting two semi-circular bearings 127. When the connecting shaft 1132 and the two semi-circular bearings 127 are installed in the shaft cavity 1251 formed by the lower shaft seat 125 and the lower shaft cover 126, the pulley assembly 120 can rotate freely 360° relative to the ball joint assembly 110 with the center line of the ball joint 113 as the rotation axis, further improving the movement flexibility of the pulley assembly 120 relative to the ball joint assembly 110.

[0040] In some alternative embodiments, see Figure 3 and Figure 10 As shown in the figure, this application embodiment provides a large-angle heavy-duty ball joint pulley mechanism. The bottom surface of the upright plate 122 of the large-angle heavy-duty ball joint pulley mechanism 100 is flat and welded to the pulley base 121. Multiple horizontal reinforcing ribs 133 and longitudinal reinforcing ribs 134 are welded to the outer wall surface of the upright plate 122 away from the pulley disc 123. The multiple longitudinal reinforcing ribs 134 are welded to the pulley base 121 to improve the connection strength between the upright plate 122 and the pulley base 121.

[0041] The left and right end faces of the upright plate 122 are both arc surfaces, while the top surface of the upright plate 122 is flat. Protective rubber strips 128 are provided on the inner wall of the upright plate 122 near the pulley plate 123, arranged along the contours of the left, right, and top surfaces of the upright plate 122. Multiple fixing holes for connecting the protective rubber strips 128 are provided along the edge of the upright plate 122. The protective rubber strips 128 are nylon sheets of a predetermined thickness and are fixedly connected to the upright plate 122 by screws, facilitating the disassembly and replacement of the protective rubber strips 128.

[0042] In this embodiment, the left and right end faces of the upright plate 122 are both arc-shaped. A protective rubber strip 128 is provided on the inner wall of the upright plate 122 near the pulley disc 123, arranged along the contours of the left, right, and top ends of the upright plate 122. This protective rubber strip 128 is used for frictional sliding connection with the traction rope 140 to protect the traction rope 140 from frictional cutting damage by the upright plate 122. The protective rubber strip 128 is preferably, but not limited to, made of nylon sheet. Nylon sheet has excellent properties such as high strength, wear resistance, and self-lubrication, improving the service life of the traction rope 140.

[0043] In some alternative embodiments, see Figure 3 and Figure 10 As shown, this application embodiment provides a large swing angle heavy-duty ball joint pulley mechanism. The two upright plates 122 of the large swing angle heavy-duty ball joint pulley mechanism 100 are connected to each other at one end near the pulley base 121 by an arc-shaped curved plate 130 with an upward opening. Guide pulleys 131 located at both ends of the arc-shaped curved plate 130 are provided between the two upright plates 122.

[0044] Two upright plates 122 are provided with pin seats 132 for inserting pins 124. The two ends of the pins 124 are respectively fixed to the pin seats 132 on the two upright plates 122. A bearing 129 is rotatably connected between the pins 124 and the pulley 123. A rope passage for the traction rope 140 is formed between the curved plate 130 and the pulley 123. The guide pulleys 131 located at both ends of the curved plate 130 provide guidance for the traction rope 140 to enter or exit the rope passage.

[0045] When the large swing angle heavy-duty ball joint pulley mechanism 100 of this application embodiment is used in conjunction with the traction rope 140, such as Figure 4 As shown, when the large-angle heavy-duty ball joint pulley mechanism 100 is pulled to the right by the traction rope 140, the pulley assembly 120 deflects to the right relative to the ball joint assembly 110 via the ball joint rod 113. Figure 5 As shown, when the large-angle heavy-duty ball joint pulley mechanism 100 is pulled to the left by the traction rope 140, the pulley assembly 120 deflects to the left relative to the ball joint assembly 110 via the ball joint rod 113. Figure 6 As shown, when the large swing angle heavy-duty ball joint pulley mechanism 100 is pulled upward by the traction rope 140, the pulley assembly 120 and the ball joint assembly 110 remain in the center.

[0046] See Figure 11 and Figure 12 As shown, a second aspect of this application provides an underwater testing device, comprising: The underwater ballast carrier 200 includes a ballast counterweight 240 and a buoyancy tank assembly 250 connected to each other for sinking to the bottom of the water. A large-angle heavy-duty ball joint pulley mechanism 100, as described in any of the above embodiments, is connected to the top of the buoyancy tank assembly 250. A traction rope 140 is wound around the pulley assembly 120 of the large-angle heavy-duty ball joint pulley mechanism 100. One end of the traction rope 140 is connected to a traction power mechanism 230, which is preferably, but not limited to, a winch fixed on shore. The other end of the traction rope 140 is used to connect to the self-floating model 300 under test.

[0047] At the other end of the traction rope 140, there is a float 210 that lifts the other end of the traction rope 140, and a release mechanism 220 connected to the self-buoyant model 300 under test. The traction rope 140 is connected to the self-buoyant model 300 under test through the release mechanism 220, thereby sinking the self-buoyant model 300 under test into the water to achieve underwater testing. The buoyancy tank assembly 250 is provided with inlet and outlet ports and exhaust ports. The inlet and outlet ports are connected to inlet and outlet valves, and the exhaust ports are connected to an air compressor unit through gas pipelines.

[0048] The air compressor unit and inlet / outlet valves are used to control the inflation and deflation of the buoyancy tank assembly 250 and its water intake and drainage. When the air compressor unit and inlet / outlet valves control the buoyancy tank assembly 250 to drain and inflate, the buoyancy tank assembly 250 can drive the ballast counterweight 240 to float on the water surface. When the air compressor unit and inlet / outlet valves control the buoyancy tank assembly 250 to take in water and vent air, the buoyancy tank assembly 250 and the ballast counterweight 240 sink together to the bottom of the water to provide ballast for the underwater test of the self-floating model 300.

[0049] The self-floating model 300 under test achieves underwater sinking testing through an underwater pressure carrier 200, a large-angle heavy-duty ball joint pulley mechanism 100, a traction rope 140, and a traction power mechanism 230. The self-floating model 300 under test does not require the installation of buoyancy control equipment, thereby reducing the extensive installation and debugging work required beforehand, lowering the difficulty and cost of the test, eliminating the need for personnel to conduct underwater testing, and reducing the risks associated with underwater testing.

[0050] Working principle This application provides a large-angle heavy-duty ball joint pulley mechanism and an underwater testing device. The large-angle heavy-duty ball joint pulley mechanism 100 of this application is equipped with a ball joint assembly 110, which includes a ball joint base 111 and a ball head pressure plate 112. The ball joint base 111 and the ball head pressure plate 112 are interconnected to form a ball socket that rotatably connects to a ball head rod 113. The ball head rod 113 includes a ball head 1131 located within the ball socket, and a component connecting the ball head 1131 and extending beyond the ball head. The pressure plate 112 has an outer shaft 1132; a pulley assembly 120, which includes a pulley base 121 rotatably connected to the shaft 1132. Two parallel and spaced vertical plates 122 are fixedly connected to one end of the pulley base 121 away from the ball joint assembly 110. A pulley disc 123 is rotatably connected between the two vertical plates 122 by a pin 124. The width of the vertical plate 122 is greater than the height of the vertical plate 122, and the height of the vertical plate 122 is greater than the diameter of the pulley disc 123.

[0051] Therefore, the large swing angle heavy-duty ball joint pulley mechanism 100 of this application is composed of a ball joint assembly 110 and a pulley assembly 120 connected to each other. The ball joint base 111 and the ball head pressure plate 112 of the ball joint assembly 110 are connected to each other to form a ball socket for rotating connection of the ball head rod 113. The ball head 1131 of the ball head rod 113 is located in the ball socket, and the shaft 1132 of the ball head rod 113 extends out of the ball head pressure plate 112 and is rotatably connected to the pulley assembly 120. The pulley assembly 120 can rotate freely at multiple angles around the ball joint base 111 and the ball head pressure plate 112 via the ball head rod 113. It can rotate freely 360° around the axis of the ball head rod and swing freely more than 45° around other axes perpendicular to the axis of the ball head rod 113, so that the pulley assembly 120 can adjust its own posture with the traction rope 140. The pulley base 121 of the pulley assembly 120 and the shaft 1132 form a kinematic pair that can rotate freely 360° through the lower shaft seat 125, the lower shaft cover 126, and the semi-circular bearing 127. This increases the degree of freedom of movement of the pulley assembly 120 relative to the ball joint assembly 110, further improves the flexibility of the pulley assembly 120 in adjusting its own posture, and increases the service life of the ball joint assembly 110 and the traction rope 140.

[0052] Furthermore, the large-angle heavy-duty ball joint pulley mechanism 100 of this application has two parallel and spaced vertical plates 122 fixedly connected to the end of the pulley base 121 away from the ball joint assembly 110. A pulley disc 123 is rotatably connected between the two vertical plates 122 via a pin 124. The width of the vertical plate 122 is greater than its height, and the height of the vertical plate 122 is greater than the diameter of the pulley disc 123. A traction rope 140 passes between the two vertical plates 122 and is wound around the pulley disc 123. The sliding friction points between the traction rope 140 and the two vertical plates 122 are located on both sides of the vertical plates 122, or on one side and the top of the vertical plates 122. Since the width of the upright plate 122 is greater than its height, and the height of the upright plate 122 is greater than the diameter of the pulley disk 123, the contact sliding friction surface between the sides or top of the upright plate 122 and the traction rope 140 is increased. This increases the lever arm of the traction rope 140 in twisting the upright plate 122, making it easier to correct the adaptive rotation of the pulley assembly 120. The two upright plates 122, the arc-shaped curved plate 130, and the guide pulleys 131 at both ends constrain the traction cable to remain in the groove of the pulley disk. There is no need to install guide wheels on both sides of the pulley disk 123, avoiding the high contact stress between the small-diameter guide wheels and the traction cable 140 and the resulting friction and wear, further reducing the risk of wear or breakage of the pulley assembly 120 and the traction rope 140.

[0053] In the description of this application, it should be noted that the terms "upper," "lower," etc., indicating the orientation or positional relationship are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Unless otherwise expressly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication between two elements. For those skilled in the art, the specific meaning of the above terms in this application can be understood according to the specific circumstances.

[0054] It should be noted that in this application, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0055] The above description is merely a specific embodiment of this application, enabling those skilled in the art to understand or implement this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features claimed herein.

Claims

1. A large-angle, heavy-duty ball joint pulley mechanism, characterized in that, include: A ball joint assembly (110) includes a ball joint base (111) and a ball head pressure plate (112). The ball joint base (111) and the ball head pressure plate (112) are connected to each other to form a ball socket for rotating connection of a ball head rod (113). The ball head rod (113) includes a ball head (1131) located in the ball socket and a shaft (1132) connecting the ball head (1131) and extending out of the ball head pressure plate (112). The pulley assembly (120) includes a pulley base (121) rotatably connected to the shaft (1132). Two parallel and spaced vertical plates (122) are fixedly connected to one end of the pulley base (121) away from the ball joint assembly (110). A pulley disc (123) is rotatably connected between the two vertical plates (122) by a pin (124). The width of the vertical plate (122) is greater than the height of the vertical plate (122), and the height of the vertical plate (122) is greater than the diameter of the pulley disc (123).

2. The large swing angle heavy-duty ball joint pulley mechanism as described in claim 1, characterized in that: The ball joint base (111) and the ball head pressure plate (112) are connected to each other by multiple bolts. The bottom of the ball joint base (111) is provided with a lower flange (1111), and the top of the ball joint base (111) is provided with an annular groove (1112). The ball head pressure plate (112) has a circular ring structure. The ball head pressure plate (112) has a central through hole (1121) extending out of the shaft (1132). The bottom of the ball head pressure plate (112) has an annular boss (1124) extending into the annular groove (1112).

3. The large swing angle heavy-duty ball joint pulley mechanism as described in claim 2, characterized in that: The ball socket includes a lower ball socket (1113) located at the top of the ball joint base (111) and concentrically arranged with the annular groove (1112), and an upper ball socket (1122) located at the bottom of the ball head pressure plate (112) and concentrically arranged with the annular boss (1124). The ball head (1131) is partially exposed outside the ball head pressure plate (112). The ball head pressure plate (112) has a plurality of first stepped holes (1123) surrounding the outer periphery of the central through hole (1121). The ball joint base (111) has a plurality of first threaded holes (1114) surrounding the outer periphery of the lower ball socket (1113).

4. The large swing angle heavy-duty ball joint pulley mechanism as described in claim 1, characterized in that: The bottom of the pulley base (121) is provided with a lower shaft seat (125) and a lower shaft cover (126) that are rotatably connected to the shaft (1132). The lower shaft seat (125) and the lower shaft cover (126) are connected to each other by bolts and form a shaft cavity (1251) that partially accommodates the shaft (1132). The outer periphery of the shaft (1132) away from the ball head (1131) is provided with a bearing positioning groove (1133) located in the shaft cavity (1251). Two semi-circular bearings (127) are installed on the shaft (1132) and are arranged in the bearing positioning groove (1133). The lower shaft cover (126) axially positions the semi-circular bearings (127) in the shaft cavity (1251).

5. The large swing angle heavy-duty ball joint pulley mechanism as described in claim 4, characterized in that: The lower shaft cover (126) has a circular structure. The lower shaft cover (126) has a shaft hole through which the shaft rod (1132) passes. The lower shaft cover (126) has a plurality of second stepped holes (1261) surrounding the outer circumference of the shaft hole. The lower shaft seat (125) has a plurality of second threaded holes surrounding the outer circumference of the shaft rod cavity (1251). The second stepped holes (1261) and the second threaded holes correspond one-to-one.

6. The large swing angle heavy-duty ball joint pulley mechanism as described in claim 1, characterized in that: The bottom surface of the upright plate (122) is flat and is welded to the pulley base (121). The upright plate (122) is welded to the outer wall surface of the pulley disc (123) with multiple horizontal reinforcing ribs (133) and longitudinal reinforcing ribs (134) that are perpendicular to each other. The multiple longitudinal reinforcing ribs (134) are welded to the pulley base (121).

7. A large swing angle heavy-duty ball joint pulley mechanism as described in claim 1 or 6, characterized in that: The left and right end faces of the upright plate (122) are both arc surfaces, the top surface of the upright plate (122) is a plane, and the inner wall surface of the upright plate (122) near the pulley plate (123) is provided with protective rubber strips (128) arranged along the contours of the left, right and top end faces of the upright plate (122). The edge of the upright plate (122) is provided with a plurality of fixing holes for connecting the protective rubber strip (128). The protective rubber strip (128) is a nylon plate of a set thickness. The protective rubber strip (128) is fixedly connected to the upright plate (122) by screws.

8. A large swing angle heavy-duty ball joint pulley mechanism as described in claim 1 or 6, characterized in that: An upward-opening arc-shaped curved plate (130) is connected between the two upright plates (122) near the pulley base (121), and guide pulleys (131) are provided between the two upright plates (122) at both ends of the arc-shaped curved plate (130). The two upright plates (122) are provided with pin seats (132) through which the pin (124) passes. The two ends of the pin (124) are respectively fixed on the pin seats (132) on the two upright plates (122). The pin (124) and the pulley (123) are rotatably connected by a bearing (129).

9. An underwater testing device, characterized in that, include: The underwater ballast carrier (200) includes a ballast counterweight (240) and a buoyancy tank assembly (250) connected to each other for sinking to the bottom of the water, the top of the buoyancy tank assembly (250) being connected to a large swing angle heavy-duty ball joint pulley mechanism (100) as described in any one of claims 1 to 8. The pulley assembly (120) of the large swing angle heavy-duty ball joint pulley mechanism (100) is wound with a traction rope (140), one end of which is connected to a traction power mechanism (230), and the other end of which is used to connect to the self-floating model under test (300).

10. The underwater testing equipment as described in claim 9, characterized in that: The buoyancy tank assembly (250) is provided with an inlet / outlet and an outlet / vent. The inlet / outlet is connected to an inlet / outlet valve, and the outlet / vent is connected to an air compressor unit through a gas pipeline.

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