An unpowered fixed positioning device for a vehicle and method of use thereof

Abstract

The application relates to the underwater vehicle storage technical field, and particularly provides a vehicle non-powered fixing and positioning device and a use method thereof. The device comprises a fixing support, a first rotating part, a second rotating part, a first connecting rod and a tension spring. When external force is applied to the underwater vehicle in the direction in which the second rotating part points to the first rotating part, the lower end of the first rotating part and the lower end of the second rotating part are turned upwards, the first rotating part is kept lifted under the action of the tension spring, and the locking of the fixing boss is released. When external force greater than a preset resistance is applied to the underwater vehicle in the direction in which the first rotating part points to the second rotating part, the lower end of the first rotating part and the lower end of the second rotating part are turned downwards, the first rotating part is clamped and fixed with the second rotating part to clamp the fixing boss, so that the underwater vehicle is locked and fixed on the storage platform. The device can automatically realize the locking and unlocking functions without relying on an electric driving mechanism.

Description

Technical Field

[0001] This application relates to the field of underwater vehicle storage technology, and more specifically, to a non-powered fixed positioning device for underwater vehicles and its usage method. Background Technology

[0002] Currently, underwater vehicle positioning devices suffer from two main technical shortcomings: First, existing devices rely on external power sources (such as servo motors or electric actuators), which not only requires dedicated power supply systems and control circuits but also increases system complexity and the risk of failure. Second, when loading and securing the vehicle, existing devices have overly stringent positioning accuracy requirements. The vehicle must be precisely placed in the designated position before the securing mechanism can perform the fixing operation. This positioning-then-fixing working mode often requires multiple adjustments in actual operation, severely impacting work efficiency. These problems make it difficult for existing positioning devices to meet the needs of rapid and reliable underwater vehicle securing.

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

[0004] The purpose of this application is to provide a non-powered fixed positioning device for an aircraft and its usage method, which can automatically achieve locking and unlocking functions without relying on an electric drive mechanism.

[0005] In a first aspect, this application provides a non-powered fixing and positioning device for underwater vehicles, used to fix underwater vehicles to a storage platform. The underwater vehicle is provided with a fixing boss. The non-powered fixing and positioning device includes: A fixed bracket is used to secure the storage platform. The first rotating component is hinged to one side of the fixed bracket; The second rotating component is hinged to the other side of the fixed bracket, and its rotation speed is less than that of the first rotating component. The first connecting rod has its two ends hinged to the first rotating component and the second rotating component, respectively. A tension spring, the two ends of which are respectively hinged to a fixed bracket and a first rotating component; When an external force greater than the preset clamping force is applied to the underwater vehicle in the direction from the second rotating member to the first rotating member, the lower ends of the first and second rotating members rotate upward until the hinge point between the first rotating member and the tension spring is higher than the hinge point between the first rotating member and the fixed bracket and the hinge point between the tension spring and the fixed bracket. At this time, the first rotating member remains raised under the action of the tension spring, and the locking of the fixed boss is released. The preset clamping force is the clamping force applied to the fixed boss by the cooperation of the first and second rotating members. When an external force greater than the preset resistance is applied to the underwater vehicle in the direction from the first rotating member to the second rotating member, the lower ends of the first and second rotating members rotate downwards until the first rotating member contacts the fixed boss and the hinge point between the first rotating member and the tension spring is lower than the hinge point between the first rotating member and the fixed bracket. At this time, the first rotating member, under the action of the tension spring, cooperates with the second rotating member to clamp the fixed boss, thereby locking and fixing the underwater vehicle on the storage platform. The preset resistance is the resistance that needs to be overcome to make the lower end of the second rotating member rotate downwards.

[0006] Optionally, the height of the hinge point between the first rotating member and the first connecting rod is less than the height of the hinge point between the second rotating member and the first connecting rod but greater than the height of the hinge point between the first rotating member and the fixed bracket. The height of the hinge point between the tension spring and the fixed bracket is the same as the height of the hinge point between the first rotating member and the fixed bracket but greater than the height of the hinge point between the second rotating member and the fixed bracket. When the underwater vehicle is locked and fixed on the storage platform, the height of the hinge point between the tension spring and the first rotating member is less than the height of the hinge point between the first rotating member and the fixed bracket, and the middle part of the tension spring is located below the hinge point between the first rotating member and the fixed bracket. When the locking of the fixed boss is released, the height of the hinge point between the tension spring and the first rotating member is greater than the height of the hinge point between the first rotating member and the fixed bracket, and the middle part of the tension spring is located above the hinge point between the first rotating member and the fixed bracket.

[0007] Optionally, the first rotating component is the second connecting rod, and the second rotating component is the third connecting rod.

[0008] Optionally, the second link includes a first vertical part, a first horizontal part, and a second horizontal part. The upper end of the first vertical part is hinged to one end of the first link, the first horizontal part is hinged to the fixed bracket, and the second horizontal part is hinged to one end of the tension spring. The first horizontal part and the second horizontal part are respectively connected to both sides of the first vertical part. When the underwater vehicle is locked and fixed on the storage platform, the height of the first horizontal part is greater than the height of the second horizontal part, and the lower end of the first vertical part contacts one side of the fixed boss.

[0009] Optionally, the third link includes a second vertical part and a third horizontal part. The upper end of the second vertical part is hinged to the other end of the first link, and the third horizontal part is connected to and hinged to the side of the second vertical part near the fixed bracket. When the underwater vehicle is locked and fixed on the storage platform, the lower end of the second vertical part contacts the other side of the fixed boss.

[0010] Optionally, the storage platform is provided with a first limiting hole and a second limiting hole, which are respectively located on both sides of the fixed bracket. The first limiting hole is used to limit the rotation angle of the second link, and the second limiting hole is used to limit the rotation angle of the third link.

[0011] Optionally, the fixing bracket adopts a U-shaped structure.

[0012] Secondly, this application also provides a method for using a non-powered fixed positioning device for underwater vehicles, used to fix an underwater vehicle on a storage platform, applied to the non-powered fixed positioning device for underwater vehicles provided in the first aspect above. The method for using the non-powered fixed positioning device for underwater vehicles includes the following steps: S1. When it is necessary to unlock the underwater vehicle, apply an external force greater than the preset clamping force to the underwater vehicle in the direction from the second rotating member to the first rotating member, so that the lower ends of the first rotating member and the lower ends of the second rotating member rotate upward until the hinge point between the first rotating member and the tension spring is higher than the hinge point between the first rotating member and the fixed bracket and the hinge point between the tension spring and the fixed bracket, so that the first rotating member is kept raised under the action of the tension spring and the lock of the fixed boss is released; the preset clamping force is the clamping force applied to the fixed boss by the cooperation of the first rotating member and the second rotating member. S2. When it is necessary to load the underwater vehicle onto the storage platform, an external force greater than the preset resistance is applied to the underwater vehicle in the direction from the first rotating member to the second rotating member, so that the lower ends of the first rotating member and the lower ends of the second rotating member rotate downward until the first rotating member contacts the fixed boss and the hinge point between the first rotating member and the tension spring is lower than the hinge point between the first rotating member and the fixed bracket. At this time, the first rotating member, under the action of the tension spring, cooperates with the second rotating member to clamp the fixed boss, thereby locking and fixing the underwater vehicle on the storage platform; the preset resistance is the resistance that needs to be overcome to make the lower end of the second rotating member rotate downward.

[0013] Optionally, the formula for calculating the preset resistance is: ; Where F1 represents the preset resistance, k represents the preset stiffness of the tension spring, L02 represents the length of the tension spring when the first rotating component is held up, L0 represents the preset initial length of the tension spring, Lh2 represents the vertical distance from the tension spring to the hinge point between the first rotating component and the fixed support when the first rotating component is held up, L3 represents the distance from the hinge point between the second rotating component and the fixed support to the hinge point between the second rotating component and the first connecting rod when the underwater vehicle is locked and fixed on the storage platform, θ4 represents the angle between the line connecting the hinge point between the second rotating component and the fixed support to the hinge point between the second rotating component and the first connecting rod and the first connecting rod when the first rotating component is held up, and L1 represents the underwater vehicle's... When the underwater vehicle is locked and fixed on the storage platform, L33 represents the distance from the hinge point between the first rotating component and the fixed bracket to the hinge point between the first rotating component and the first connecting rod. L33 represents the distance from the hinge point between the second rotating component and the fixed bracket to the contact point between the second rotating component and the fixed boss when the underwater vehicle is locked and fixed on the storage platform. θ3 represents the angle between the line connecting the hinge point between the first rotating component and the fixed bracket to the hinge point between the first rotating component and the first connecting rod when the first rotating component is held up. θ44 represents the angle between the line connecting the hinge point between the second rotating component and the fixed bracket to the contact point between the second rotating component and the fixed boss when the first rotating component is up and the fixed boss is in contact with the second rotating component.

[0014] Optionally, the formula for calculating the preset clamping force is: ; Where F2 represents the preset clamping force, k represents the preset stiffness of the tension spring, L01 represents the length of the tension spring when the underwater vehicle is locked and fixed on the storage platform, L0 represents the preset initial length of the tension spring, Lh1 represents the vertical distance from the tension spring to the hinge point between the first rotating component and the fixed bracket when the underwater vehicle is locked and fixed on the storage platform, L3 represents the distance from the hinge point between the second rotating component and the fixed bracket to the hinge point between the second rotating component and the first connecting rod when the underwater vehicle is locked and fixed on the storage platform, θ2 represents the angle between the line connecting the hinge point between the second rotating component and the fixed bracket to the hinge point between the second rotating component and the first connecting rod and the first connecting rod when the underwater vehicle is locked and fixed on the storage platform, L1 represents the distance from the hinge point between the first rotating component and the fixed bracket to the hinge point between the first rotating component and the first connecting rod when the underwater vehicle is locked and fixed on the storage platform, and L33 represents... θ1 represents the distance from the hinge point between the second rotating component and the fixed bracket to the contact point between the second rotating component and the fixed boss when the underwater vehicle is locked and fixed on the storage platform. θ33 represents the angle between the line connecting the hinge point between the first rotating component and the fixed bracket to the hinge point between the first rotating component and the first connecting rod and the first connecting rod when the underwater vehicle is locked and fixed on the storage platform. θ43 represents the angle between the line connecting the hinge point between the second rotating component and the fixed bracket to the contact point between the second rotating component and the fixed boss and the fixed boss when the underwater vehicle is locked and fixed on the storage platform. L11 represents the distance from the hinge point between the first rotating component and the fixed bracket to the contact point between the first rotating component and the fixed boss when the underwater vehicle is locked and fixed on the storage platform. θ11 represents the angle between the line connecting the hinge point between the first rotating component and the fixed bracket to the contact point between the first rotating component and the fixed boss and the fixed boss when the underwater vehicle is locked and fixed on the storage platform.

[0015] As can be seen from the above, the unpowered fixed positioning device and its usage method for a vessel provided in this application automatically realize the locking and unlocking functions when an external force is applied through a mechanical structure including a fixed bracket, a first rotating component, a second rotating component, a connecting rod and a tension spring. It does not rely on an electric drive mechanism, thereby simplifying the device design and improving the reliability and operational efficiency in harsh environments. It has the advantages of simple structure, convenient operation, high reliability and low maintenance cost. Attached Figure Description

[0016] Figure 1 A schematic diagram of a non-powered fixed positioning device for a vehicle in a locked state, provided in an embodiment of this application.

[0017] Figure 2 A schematic diagram of the structure of a non-powered fixed positioning device for a vehicle in an unlocked state, provided in an embodiment of this application.

[0018] Figure 3 for Figure 2 A magnified structural diagram of point A in the diagram.

[0019] Figure 4 This is a schematic diagram of the structure of the first rotating member, the first connecting rod, and the second rotating member provided in the embodiments of this application.

[0020] Figure 5 A schematic diagram of the force analysis of a vehicle's unpowered fixed positioning device in a locked state, provided in an embodiment of this application.

[0021] Figure 6 A schematic diagram of the force analysis of a non-powered fixed positioning device for a vehicle in an unlocked state, provided in an embodiment of this application.

[0022] Figure 7 This is a schematic diagram showing the unpowered fixed positioning device for a vehicle, provided in an embodiment of this application, switching from a locked state to an unlocked state.

[0023] Figure 8 This is a schematic diagram showing the unpowered fixed positioning device for a vehicle, provided in an embodiment of this application, switching from an unlocked state to a locked state.

[0024] Reference numerals: 1. Underwater vehicle; 2. Storage platform; 3. Fixed bracket; 4. First rotating component; 41. First vertical part; 42. First horizontal part; 43. Second horizontal part; 5. Second rotating component; 51. Second vertical part; 52. Third horizontal part; 6. First connecting rod; 7. Fixed boss; 8. Tension spring; 9. First limiting hole; 10. Second limiting hole. Detailed Implementation

[0025] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of the embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0026] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] Firstly, such as Figures 1-8As shown, this application provides a non-powered positioning device for underwater vehicles, used to fix an underwater vehicle 1 to a storage platform 2. The underwater vehicle 1 is provided with a fixing boss 7. The non-powered positioning device for underwater vehicles includes: The fixed bracket 3 is fixed on the storage platform 2; The first rotating component 4 is hinged to one side of the fixed bracket 3; The second rotating component 5 is hinged to the other side of the fixed bracket 3, and its rotation speed is less than that of the first rotating component 4. The first connecting rod 6 has its two ends hinged to the first rotating member 4 and the second rotating member 5, respectively; The tension spring 8 has its two ends hinged to the fixed bracket 3 and the first rotating part 4, respectively. When an external force greater than the preset clamping force is applied to the underwater vehicle 1 in the direction from the second rotating member 5 to the first rotating member 4, the lower ends of the first rotating member 4 and the second rotating member 5 rotate upward until the hinge point between the first rotating member 4 and the tension spring 8 is higher than the hinge point between the first rotating member 4 and the fixed bracket 3 and the hinge point between the tension spring 8 and the fixed bracket 3. At this time, the first rotating member 4 is kept raised under the action of the tension spring 8, and the locking of the fixed boss 7 is released. The preset clamping force is the clamping force applied to the fixed boss 7 by the cooperation of the first rotating member 4 and the second rotating member 5. When an external force greater than the preset resistance is applied to the underwater vehicle 1 in the direction from the first rotating member 4 to the second rotating member 5, the lower ends of the first rotating member 4 and the second rotating member 5 rotate downwards until the first rotating member 4 contacts the fixed boss 7 and the hinge point between the first rotating member 4 and the tension spring 8 is lower than the hinge point between the first rotating member 4 and the fixed bracket 3. At this time, the first rotating member 4, under the action of the tension spring 8, cooperates with the second rotating member 5 to clamp the fixed boss 7, so as to lock and fix the underwater vehicle 1 on the storage platform 2. The preset resistance is the resistance that needs to be overcome to make the lower end of the second rotating member 5 rotate downwards.

[0028] For ease of understanding, some key terms in this embodiment are explained below. This embodiment provides a non-powered positioning device for underwater vehicles, enabling the underwater vehicle 1 to be fixed to a storage platform 2 without the need for a power source. Specifically, the underwater vehicle 1 can be any type of unmanned or manned submersible capable of underwater missions, such as an autonomous underwater vehicle (AUV) or a remotely operated underwater vehicle (ROV). The storage platform 2 can be a structure within an underwater mother platform used to carry and store the underwater vehicle 1, or it can be any other underwater or surface platform requiring the fixation of the underwater vehicle 1. The fixing boss 7 in this embodiment is a protruding structure on the underwater vehicle 1. Its function is to provide a clamping contact point for the non-powered positioning device. When the fixing boss 7 is clamped and fixed by the non-powered positioning device, the underwater vehicle 1 cannot move relative to the storage platform 2, thereby achieving a locking and fixing of the underwater vehicle 1 on the storage platform 2. The fixed bracket 3 in this embodiment is the basic component of the unpowered positioning device for the underwater vehicle. Its main function is to provide a stable mounting platform to securely connect the entire positioning device to the storage platform 2. The first rotating member 4 and the second rotating member 5 in this embodiment are key moving parts in the unpowered positioning device for the underwater vehicle. They are hinged to both sides of the fixed bracket 3. These two rotating members engage with the fixed boss 7 of the underwater vehicle 1 through rotation, achieving clamping or releasing of the vehicle. The rotation speed of the second rotating member 5 is designed to be lower than that of the first rotating member 4. This difference in rotation speed is an important basis for realizing the unpowered automatic locking and unlocking mechanism. The first connecting rod 6 in this embodiment is used to connect the first rotating member 4 and the second rotating member 5 to ensure linkage between them, thereby achieving effective clamping (locking) or release (unlocking) of the fixed boss 7. The tension spring 8 in this embodiment is an energy storage and force application element in the unpowered fixed positioning device of the aircraft. Its two ends are respectively hinged to the fixed bracket 3 and the first rotating member 4. Through its own elastic deformation, the tension spring 8 provides the first rotating member 4 with an upward or downward tilting force in different states, so that the first rotating member 4 can switch between the two states of maintaining the raised and pressing the fixed boss 7.

[0029] This application proposes a non-powered fixing and positioning device for underwater vehicles 1, used to fix underwater vehicles 1 onto a storage platform 2. Through ingenious mechanical structure design, this device achieves the function of fixing and releasing the underwater vehicle 1 without an external power source, thus effectively solving the problems of power source dependence, complex structure, and high positioning accuracy requirements in existing technologies. Specifically, the device includes a fixing bracket 3, which is firmly fixed to the storage platform 2, providing stable support for the entire device. The underwater vehicle 1 is provided with a fixing boss 7, which serves as the target for clamping or releasing by the device. The device also includes a first rotating member 4 and a second rotating member 5. The first rotating member 4 is hinged to one side of the fixed bracket 3, and the second rotating member 5 is hinged to the other side of the fixed bracket 3. Ensuring that the rotational speed of the second rotating member 5 is less than that of the first rotating member 4 is key to achieving automatic locking and unlocking without power. This embodiment achieves this by making the rotational arm length of the first rotating member 4 (the distance from the hinge point between the first rotating member 4 and the fixed bracket 3 to the hinge point between the first rotating member 4 and the first connecting rod 6) less than the rotational arm length of the second rotating member 5 (the distance from the hinge point between the second rotating member 5 and the fixed bracket 3 to the hinge point between the second rotating member 5 and the second connecting rod). To coordinate the movement of the first rotating member 4 and the second rotating member 5, the device also includes a first connecting rod 6, whose two ends are hinged to the first rotating member 4 and the second rotating member 5 respectively. The first connecting rod 6 can be a rigid rod connected to the first rotating member 4 and the second rotating member 5 via a pivot, ensuring that the first rotating member 4 and the second rotating member 5 maintain linkage during movement. The device also includes a tension spring 8, whose two ends are hinged to the fixed bracket 3 and the first rotating member 4, respectively. The tension spring 8 keeps the first rotating member 4 raised when the device is in the unlocked state and presses the first rotating member 4 against the fixed boss 7 when the device is in the locked state. When an external force greater than the preset clamping force is applied to the underwater vehicle 1 in the direction from the second rotating member 5 to the first rotating member 4, the lower ends of the first rotating member 4 and the second rotating member 5 will rotate upward. This external force can be the thrust that pushes the underwater vehicle 1 out of the storage platform 2 when releasing the underwater vehicle 1, or it can be the thrust provided by the storage platform 2. Since there is a difference in the rotation speed of the rotating members, as the lower end of the rotating member rotates upward, the hinge point between the first rotating member 4 and the tension spring 8 will gradually rise until its height is higher than the hinge point between the first rotating member 4 and the fixed bracket 3 and the hinge point between the tension spring 8 and the fixed bracket 3. At this time, the force of the tension spring 8 will keep the first rotating member 4 raised, thereby releasing the lock on the fixed boss 7. When an external force greater than the preset resistance is applied to the underwater vehicle 1 in the direction from the first rotating member 4 to the second rotating member 5, the lower ends of the first rotating member 4 and the second rotating member 5 will rotate downward. This external force is usually the thrust experienced by the underwater vehicle 1 when it enters the storage platform 2.As the lower end of the rotating component rotates downward, the first rotating component 4 will contact the fixed boss 7, and the hinge point between the first rotating component 4 and the tension spring 8 will be lower than the hinge point between the first rotating component 4 and the fixed bracket 3. At this time, the force of the tension spring 8 will cause the first rotating component 4 and the second rotating component 5 to cooperate in clamping the fixed boss 7, thereby locking the underwater vehicle 1 onto the storage platform 2.

[0030] This application provides a powerless fixing and positioning device for an underwater vehicle based on a four-bar linkage (fixed bracket 3, first rotating member 4, second rotating member 5 and first link 6). The device achieves powerless clamping and powerless release of the underwater vehicle 1 by the difference in rotational speed generated by the four-bar linkage during movement and the tension provided by the tension spring 8. Since this application only requires pushing the underwater vehicle 1 into the storage platform 2 to lock and fix the underwater vehicle 1 onto the storage platform 2, and this application only requires applying an external force greater than the preset resistance to the underwater vehicle 1 in the direction from the first rotating member 4 to the second rotating member 5 to unlock the underwater vehicle 1, this application does not require setting a power source (such as a servo motor or electric cylinder) for the underwater vehicle 1 fixing device, nor does it require adopting a working mode of first accurately placing the underwater vehicle 1 in a designated position and then locking and fixing the underwater vehicle 1. This effectively simplifies the structure of the underwater vehicle 1 fixing device and reduces the failure risk of the underwater vehicle 1 fixing device and the locking efficiency of the underwater vehicle 1, thereby effectively meeting the usage requirements of fast and reliable fixing of the underwater vehicle 1.

[0031] The following is a more specific example to illustrate the above technical solution in more detail: When it is necessary to lock an underwater vehicle 1 on the storage platform 2, the operator only needs to push the underwater vehicle 1 towards the fixing and positioning device in the direction from the first rotating member 4 to the second rotating member 5. At this time, the fixing boss 7 on the underwater vehicle 1 will first contact the second rotating member 5. As the thrust is continuously applied, when the external force is greater than the preset resistance, the lower end of the second rotating member 5 begins to rotate downward, and drives the lower end of the first connecting rod 6 to rotate downward synchronously. Since the rotation speed of the second rotating member 5 is less than that of the first rotating member 4, the lower end of the first rotating member 4 will rotate downward at a faster speed until it contacts the fixed boss 7 and the hinge point of the first rotating member 4 and the tension spring 8 is lower than the hinge point of the first rotating member 4 and the fixed bracket 3. At this time, the tension of the tension spring 8 will cause the first rotating member 4 to press against one side of the fixed boss 7. Since the other side of the fixed boss 7 is in contact with the second rotating member 5, the first rotating member 4 can cooperate with the second rotating member 5 to apply clamping force to the fixed boss 7 from both sides, thereby firmly locking and fixing the underwater vehicle 1 to the storage platform 2. When it is necessary to release the lock on the underwater vehicle 1, the operator applies an external force to the underwater vehicle 1 in the direction from the second rotating member 5 to the first rotating member 4 (equivalent to applying an external force to push the underwater vehicle 1 out of the storage platform 2). When the external force is greater than the preset clamping force, the lower end of the first rotating member 4 and the lower end of the second rotating member 5 begin to rotate upward. As the rotating members rotate upward, the hinge point between the first rotating member 4 and the tension spring 8 will gradually rise to a height higher than the hinge point between the first rotating member 4 and the fixed bracket 3 and the hinge point between the tension spring 8 and the fixed bracket 3. At this time, the tension of the tension spring 8 will keep the first rotating member 4 in a raised state, thereby releasing the lock on the fixed boss 7, and the underwater vehicle 1 can be smoothly moved away from the storage platform 2. It should be understood that after the locking of the fixed boss 7 is released, the tension spring 8 will continue to provide a downward pulling force to the first rotating part 4. However, the first rotating part 4 cannot continue to rotate under the action of the fixed bracket 3 and the second rotating part 5. Therefore, the pulling force will keep the first rotating part 4 in a raised state so that the underwater vehicle 1 can be pushed into the storage platform 2 later.

[0032] This application achieves unpowered fixed positioning of the underwater vehicle 1 through ingenious mechanical linkage and the physical properties of springs. Compared to traditional fixing devices that require a power source, the solution in this application eliminates the need for power supply and communication, significantly simplifying the overall structure and reducing system complexity. The device can lock or unlock the underwater vehicle 1 simply by using external force to push or push it into or out of the storage platform 2. In other words, the fixing device of this application effectively reduces the initial positioning accuracy requirements of the underwater vehicle 1 during locking, thereby significantly improving the convenience and efficiency of locking the underwater vehicle 1. This unpowered, self-adaptive fixing method provides a reliable and efficient solution for the storage and deployment of the underwater vehicle 1.

[0033] In some preferred embodiments, the height of the hinge point between the first rotating member 4 and the first connecting rod 6 is less than the height of the hinge point between the second rotating member 5 and the first connecting rod 6 but greater than the height of the hinge point between the first rotating member 4 and the fixed bracket 3. The height of the hinge point between the tension spring 8 and the fixed bracket 3 is the same as the height of the hinge point between the first rotating member 4 and the fixed bracket 3 but greater than the height of the hinge point between the second rotating member 5 and the fixed bracket 3. When the underwater vehicle 1 is locked and fixed on the storage platform 2, the height of the hinge point between the tension spring 8 and the first rotating member 4 is less than the height of the hinge point between the first rotating member 4 and the fixed bracket 3, and the middle part of the tension spring 8 is located below the hinge point between the first rotating member 4 and the fixed bracket 3. When the locking of the fixed boss 7 is released, the height of the hinge point between the tension spring 8 and the first rotating member 4 is greater than the height of the hinge point between the first rotating member 4 and the fixed bracket 3, and the middle part of the tension spring 8 is located above the hinge point between the first rotating member 4 and the fixed bracket 3.

[0034] The precise hinge point height relationship is the core of this solution. Specifically, the hinge point height between the first rotating member 4 and the first connecting rod 6 is less than the hinge point height between the second rotating member 5 and the first connecting rod 6, but greater than the hinge point height between the first rotating member 4 and the fixed bracket 3. This configuration ensures that when the first connecting rod 6 connects the first rotating member 4 and the second rotating member 5, it can form a four-bar linkage configuration that is conducive to force transmission and motion conversion. This configuration enables the first rotating member 4, the first connecting rod 6, and the second rotating member 5 to move in tandem and generate a speed difference between the first rotating member 4 and the second rotating member 5, so as to realize the clamping or releasing action of the fixed boss 7. Therefore, this asymmetrical hinge point height design is one of the key geometric conditions for realizing the powerless self-locking and unlocking mechanism. The height of the hinge point between the tension spring 8 and the fixed bracket 3 is the same as the height of the hinge point between the first rotating member 4 and the fixed bracket 3, and greater than the height of the hinge point between the second rotating member 5 and the fixed bracket 3. This height relationship ensures that the hinge point of the tension spring 8 on the fixed bracket 3 and the rotation axis of the first rotating member 4 are on the same horizontal plane. Since the height of the hinge point of the tension spring 8 on the fixed bracket 3 is different from that of the hinge point of the tension spring 8 on the first rotating member 4 when the device is locked or unlocked, the tension spring 8 is tilted in the horizontal direction when the device is locked or unlocked. At this time, the tension spring 8 can apply a pulling force to the first rotating member 4 at an inclined angle to generate the required torque. The hinge point of the tension spring 8 and the fixed bracket 3 is higher than the hinge point of the second rotating member 5 and the fixed bracket 3, which helps to effectively match the force direction and lever arm length of the tension spring 8 with the movement of the first rotating member 4 and the second rotating member 5 during the entire movement of the mechanism, avoiding interference and optimizing mechanical performance.

[0035] This embodiment ensures the stability of the tension spring 8 in different states of the device by precisely setting the height relationship of each hinge point, thereby solving the reliability problem in the locking and unlocking process. When the underwater vehicle 1 is pushed into the storage platform 2, the fixed boss 7 contacts the second rotating member 5. When the external force pushing the underwater vehicle 1 into the storage platform 2 is greater than the preset resistance, the lower end of the second rotating member 5 rotates downward, and drives the lower end of the first rotating member 4 to rotate downward through the first connecting rod 6. The hinge point between the tension spring 8 and the first rotating member 4 will move from a position higher than the hinge point between the first rotating member 4 and the fixed bracket 3 to a position lower than that hinge point. Once this conversion is completed, the tension of the tension spring 8 will generate an upward tilting torque on the first rotating member 4. When both the first rotating member 4 and the second rotating member 5 are in contact with the fixed boss 7, this torque will cause the first rotating member 4 to press against the fixed boss 7, so that the device is in a stable self-locking state. Conversely, when unlocking is required, an external force is applied to the underwater vehicle 1 to push it out of the storage platform 2, causing the lower ends of the first rotating member 4 and the second rotating member 5 to rotate upwards. During this process, the hinge point between the tension spring 8 and the first rotating member 4 moves from a position below the hinge point between the first rotating member 4 and the fixed bracket 3 to a position above that hinge point. Once this critical point is crossed, the tension of the tension spring 8 generates an upward torque on the first rotating member 4, causing it to actively lift and remain in the lifted state. The middle part of the tension spring 8 is located above the hinge point between the first rotating member 4 and the fixed bracket 3. At this time, the torque provided by the tension spring 8 is canceled out, so that the first rotating member 4 remains lifted and the device can automatically remain in the open state, thus facilitating the removal or reloading of the underwater vehicle 1. This ingenious geometric configuration enables the entire unpowered positioning device to reliably switch and maintain between two stable states (locked and unlocked) without external power intervention, greatly improving the stability and ease of operation of the device.

[0036] In some preferred embodiments, the first rotating member 4 is the second connecting rod, and the second rotating member 5 is the third connecting rod. This embodiment, by specifying the first rotating member 4 and the second rotating member 5 as the second and third connecting rods, constructs a more stable and precise four-bar linkage. In the unpowered fixed positioning device for the aircraft, the second and third connecting rods serve as the active and driven rods, respectively, forming a linkage mechanism together with the first connecting rod 6 and the fixed bracket 3. The rigid structure of the second and third connecting rods ensures the reliability of force transmission and avoids instability in clamping force caused by structural ambiguity or flexible deformation. At the same time, the inherent motion characteristics of the linkage mechanism give it a clear motion trajectory and limit point during clamping and releasing, thereby reducing dependence on external positioning accuracy. When an external force causes the mechanism to rotate, the second and third connecting rods, connected by the first connecting rod 6, work together to rotate upward to release the lock, or rotate downward to clamp the fixed boss 7. The tension spring 8 provides force for clamping the fixed boss 7 or lifting the first rotating member 4, thus achieving self-locking and unlocking functions without a power source. This structural design allows the entire device to maintain the advantage of being unpowered while significantly improving the stability and control precision of the clamping action, ensuring that the underwater vehicle 1 can be reliably fixed on the storage platform 2.

[0037] In some preferred embodiments, the second link includes a first vertical part 41, a first horizontal part 42, and a second horizontal part 43. The upper end of the first vertical part 41 is hinged to one end of the first link 6, the first horizontal part 42 is hinged to the fixed bracket 3, and the second horizontal part 43 is hinged to one end of the tension spring 8. The first horizontal part 42 and the second horizontal part 43 are respectively connected to both sides of the first vertical part 41. When the underwater vehicle 1 is locked and fixed on the storage platform 2, the height of the first horizontal part 42 is greater than the height of the second horizontal part 43, and the lower end of the first vertical part 41 contacts one side of the fixed boss 7.

[0038] In this embodiment, the first vertical portion 41, the first horizontal portion 42, and the second horizontal portion 43 are preferably integrally formed. The first vertical portion 41 is the part of the second connecting rod that directly contacts the fixed boss 7. Its main function is to directly apply the clamping force generated by the second connecting rod to the fixed boss 7, thereby fixing the underwater vehicle 1. The first horizontal portion 42 is the part where the hinge point between the second connecting rod and the fixed bracket 3 is located. It provides a stable axis of rotation for the second connecting rod. The second horizontal portion 43 is the part where the tension spring 8 is connected to the second connecting rod. The upper end of the first vertical portion 41 is hinged to one end of the first connecting rod 6. This hinge point is a key node for force and motion transmission in the four-bar linkage, ensuring coordinated movement between the second connecting rod and the first connecting rod 6. This hinge can be implemented using a pin connection to maintain the reliability of the connection while allowing relative rotation between the two connecting rods. The first horizontal section 42 is hinged to the fixed bracket 3. This hinge point serves as the fixed pivot of the second connecting rod, providing a stable rotation center for the entire clamping mechanism. This hinge can be implemented using a bearing or bushing structure to reduce friction and improve the lifespan of the mechanism. The second horizontal section 43 is hinged to one end of the tension spring 8. This hinge point is the key position where the tension spring 8 applies force. Its relative position determines the magnitude and direction of the torque generated by the spring force on the second connecting rod. This hinge can be implemented using a hook mounted on a pin. The first horizontal section 42 and the second horizontal section 43 are respectively connected to both sides of the first vertical section 41. This connection method aims to enhance the overall structural strength and stability of the second connecting rod, ensuring that the force is evenly distributed when under load, avoiding local stress concentration or torsional deformation. When the underwater vehicle 1 is locked and fixed on the storage platform 2, the height of the first horizontal section 42 is greater than the height of the second horizontal section 43. This geometric configuration is the core of achieving self-locking and stable clamping of the mechanism. When the first horizontal section 42 (as the pivot point) is higher than the second horizontal section 43 (the point of application of the spring), the tension of the tension spring 8 will generate a torque. This torque tends to cause the first rotating member 4 to rotate further toward the fixed boss 7, thereby pressing the first vertical section 41 against the fixed boss 7 to form a stable clamping state. The lower end of the first vertical section 41 contacts one side of the fixed boss 7, which clarifies the direct point of application between the second connecting rod and the underwater vehicle 1, ensuring that the clamping force can be accurately and effectively applied to the preset fixed boss 7.

[0039] In some preferred embodiments, the third link includes a second vertical part 51 and a third horizontal part 52. The upper end of the second vertical part 51 is hinged to the other end of the first link 6. The third horizontal part 52 is connected to the side of the second vertical part 51 near the fixed bracket 3 and is hinged to the fixed bracket 3. When the underwater vehicle 1 is locked and fixed on the storage platform 2, the lower end of the second vertical part 51 contacts the other side of the fixed boss 7.

[0040] In this embodiment, the second vertical portion 51 and the third horizontal portion 52 are preferably integrally formed. The second vertical portion 51 mainly serves to contact the fixed boss 7 and transmit clamping force, while the third horizontal portion 52 mainly provides a rotation fulcrum and structural stability. The upper end of the second vertical portion 51 is hinged to the other end of the first connecting rod 6, ensuring motion coupling between the third connecting rod and the first connecting rod 6. The hinge point can be a pin connection, ball joint connection, or other methods to allow relative rotation and force transmission. When the underwater vehicle 1 is locked and fixed on the storage platform 2, the lower end of the second vertical portion 51 directly contacts the other side of the fixed boss 7 to form a critical clamping point. This direct contact ensures that the second rotating member 5 can cooperate with the first rotating member 4 to generate clamping force for clamping the fixed boss 7, thereby accurately locking and fixing the underwater vehicle 1. The contact surface can be designed as a flat surface, a curved surface, or a surface with anti-slip texture to adapt to the shape of the fixed boss 7 and increase friction to prevent slippage.

[0041] In some preferred embodiments, the storage platform 2 is provided with a first limiting hole 9 and a second limiting hole 10, which are respectively located on both sides of the fixed bracket 3. The first limiting hole 9 is used to limit the rotation angle of the second connecting rod, and the second limiting hole 10 is used to limit the rotation angle of the third connecting rod. The first limiting hole 9 and the second limiting hole 10 are physical structures provided on the storage platform 2, which serve to provide physical boundaries for the rotation of the second and third connecting rods, thereby precisely controlling their range of motion. The first limiting hole 9 and the second limiting hole 10 can be manifested as grooves, holes, protrusions, or blocks formed on the storage platform 2 or the fixed bracket 3, with their inner walls or surfaces serving as stop surfaces for the connecting rods. For example, the limiting hole can be designed as a U-shaped groove, in which the end of the connecting rod moves and is restricted by the groove wall; or, the limiting hole can be a set of mutually cooperating protrusions and grooves, in which the protrusions engage with the grooves when the connecting rod rotates to a specific position, thereby restricting its further rotation. The second and third links are key rotating components of the unpowered fixed positioning device for the underwater vehicle, enabling locking and unlocking without a power source. They are hinged to the first link 6 and contact the fixed boss 7 to clamp and release the underwater vehicle 1. Limiting the rotation angle of the second and third links involves physically constraining their swing range through the first limiting hole 9 and the second limiting hole 10. This ensures that during clamping and unlocking, they can only move within a preset, precise angle range, preventing excessive or insufficient rotation.

[0042] This embodiment provides clear physical boundaries for the rotation of the second and third links by setting a first limiting hole 9 and a second limiting hole 10 on the storage platform 2, respectively, and positioning them on both sides of the fixed bracket 3. When the unpowered fixed positioning device of the aircraft is in the clamped state, the second and third links rotate downward under the action of the tension spring 8 until they contact the fixed boss 7 and apply clamping force. When it is necessary to release the locked state, the second and third links rotate upward under the action of external force until their rotation angle is limited by the limiting holes, ensuring that the second link is raised to a position sufficient to release the lock on the fixed boss 7 while avoiding excessive lifting of the second link.

[0043] In some preferred embodiments, the fixing bracket 3 adopts a U-shaped structure. The U-shaped structure consists of a bottom and two upwardly extending sidewalls, with a cross-sectional shape resembling the letter U. This structure can be integrally formed from a single metal sheet through stamping and bending processes to create a U-shaped body with good integrity and strength. To optimize the support foundation of the device and address the problems of installation complexity, insufficient stability, and high dependence on the positioning accuracy of the storage platform 2 that may exist with traditional fixing brackets 3, this embodiment adopts a U-shaped structure for the fixing bracket 3. This U-shaped structure design allows the fixing bracket 3 to form an open frame with good load-bearing capacity. Specifically, the two sidewalls of the U-shaped structure can conveniently provide stable hinge points for the first rotating component 4 and the second rotating component 5, while the bottom can be firmly fixed to the storage platform 2. That is, the fixing bracket 3 with a U-shaped structure not only provides stable mechanical support, ensuring the precise movement trajectory and force stability of the first rotating component 4, the second rotating component 5, and the tension spring 8 during clamping and releasing actions, but its openness also simplifies the installation and maintenance process of the components. By adopting a U-shaped structure, the fixed bracket 3 can better cover or accommodate some moving parts, thereby enhancing the overall compactness of the device and reducing the excessively high requirements on the positioning accuracy of the storage platform 2 due to the instability of the bracket structure, so that the entire fixed positioning device can work reliably under various working conditions.

[0044] Secondly, this application also provides a method for using a non-powered fixed positioning device for an underwater vehicle, used to fix an underwater vehicle 1 on a storage platform 2, applied to the non-powered fixed positioning device for an underwater vehicle provided in the first aspect above. The method for using the non-powered fixed positioning device for an underwater vehicle includes the following steps: S1. When it is necessary to unlock the underwater vehicle 1, an external force greater than the preset clamping force is applied to the underwater vehicle 1 in the direction from the second rotating member 5 to the first rotating member 4, so that the lower ends of the first rotating member 4 and the second rotating member 5 rotate upward until the hinge point of the first rotating member 4 and the tension spring 8 is higher than the hinge point of the first rotating member 4 and the fixed bracket 3 and the hinge point of the tension spring 8 and the fixed bracket 3, so that the first rotating member 4 is kept raised under the action of the tension spring 8 and the locking of the fixed boss 7 is released; the preset clamping force is the clamping force applied to the fixed boss 7 by the cooperation of the first rotating member 4 and the second rotating member 5. S2. When it is necessary to load the underwater vehicle 1 onto the storage platform 2, an external force greater than the preset resistance is applied to the underwater vehicle 1 in the direction from the first rotating member 4 to the second rotating member 5, so that the lower ends of the first rotating member 4 and the second rotating member 5 rotate downward until the first rotating member 4 contacts the fixed boss 7 and the hinge point of the first rotating member 4 and the tension spring 8 is lower than the hinge point of the first rotating member 4 and the fixed bracket 3. At this time, the first rotating member 4, under the action of the tension spring 8, cooperates with the second rotating member 5 to clamp the fixed boss 7, thereby locking and fixing the underwater vehicle 1 onto the storage platform 2; the preset resistance is the resistance that needs to be overcome to make the lower end of the second rotating member 5 rotate downward.

[0045] The method of using the unpowered fixed positioning device for a vehicle provided in this embodiment is applied to the unpowered fixed positioning device for a vehicle provided in the first aspect above. The principle of the method of using the unpowered fixed positioning device for a vehicle provided in this embodiment is the same as the principle of the unpowered fixed positioning device for a vehicle provided in the first aspect above, and will not be repeated here.

[0046] In some preferred embodiments, the formula for calculating the preset resistance is: ; Where F1 represents the preset resistance (reference) Figure 6 In the figure, F1), k represents the preset stiffness of the tension spring 8, and L02 represents the length of the tension spring 8 when the first rotating member 4 is held up (refer to the reference). Figure 6 In the figure, L0 represents the preset initial length of the tension spring 8, and Lh2 represents the vertical distance from the tension spring 8 to the hinge point between the first rotating member 4 and the fixed bracket 3 when the first rotating member 4 is held up (reference). Figure 6 In the diagram, Lh2 and L3 represent the distances from the hinge point between the second rotating component 5 and the fixed bracket 3 to the hinge point between the second rotating component 5 and the first connecting rod 6 when the underwater vehicle 1 is locked and fixed on the storage platform 2 (reference). Figure 5In the diagram, L3 and θ4 represent the angle between the line connecting the hinge point of the second rotating member 5 and the fixed bracket 3 to the hinge point of the second rotating member 5 and the first connecting rod 6 when the first rotating member 4 is held raised, and the first connecting rod 6 (reference). Figure 6 In the figure, θ4), L1 represents the distance from the hinge point between the first rotating component 4 and the fixed bracket 3 to the hinge point between the first rotating component and the first connecting rod 6 when the underwater vehicle 1 is locked and fixed on the storage platform 2 (reference). Figure 5 L1 and L33 represent the distances from the hinge point between the second rotating member 5 and the fixed bracket 3 to the contact point between the second rotating member 5 and the fixed boss 7 when the underwater vehicle 1 is locked and fixed on the storage platform 2 (reference). Figure 5 In L33), θ3 represents the angle between the line connecting the hinge point of the first rotating member 4 and the fixed bracket 3 to the hinge point of the first rotating member and the first connecting rod 6 when the first rotating member 4 is held raised, and the first connecting rod 6 (reference). Figure 6 In the reference section, θ3 and θ44 represent the angle between the line connecting the hinge point of the second rotating member 5 and the fixed bracket 3 to the contact point between the second rotating member 5 and the fixed boss 7 when the first rotating member 4 is raised and the fixed boss 7 is in contact with the second rotating member 5 (reference). Figure 6 (θ44 in the text).

[0047] In some preferred embodiments, the formula for calculating the preset clamping force is: ; Where F2 represents the preset clamping force (reference) Figure 5 In the figure, F2), k represents the preset stiffness of the tension spring 8, L01 represents the length of the tension spring 8 when the underwater vehicle 1 is locked and fixed on the storage platform 2, L0 represents the preset initial length of the tension spring 8, and Lh1 represents the vertical distance from the tension spring 8 to the hinge point between the first rotating part 4 and the fixed bracket 3 when the underwater vehicle 1 is locked and fixed on the storage platform 2 (reference). Figure 5 In the diagram, Lh1 and L3 represent the distance from the hinge point between the second rotating component 5 and the fixed support 3 to the hinge point between the second rotating component 5 and the first connecting rod 6 when the underwater vehicle 1 is locked and fixed on the storage platform 2. θ2 represents the angle between the line connecting the hinge point between the second rotating component 5 and the fixed support 3 to the hinge point between the second rotating component 5 and the first connecting rod 6 and the first connecting rod 6 (reference). Figure 5In the diagram, θ2), L1 represents the distance from the hinge point between the first rotating component 4 and the fixed support 3 to the hinge point between the first rotating component and the first connecting rod 6 when the underwater vehicle 1 is locked and fixed on the storage platform 2; L33 represents the distance from the hinge point between the second rotating component 5 and the fixed support 3 to the contact point between the second rotating component 5 and the fixed boss 7 when the underwater vehicle 1 is locked and fixed on the storage platform 2; θ1 represents the angle between the line connecting the hinge point between the first rotating component 4 and the fixed support 3 to the hinge point between the first rotating component and the first connecting rod 6 and the first connecting rod 6 (reference). Figure 5 In the figure, θ1) and θ33 represent the angle between the line connecting the hinge point of the second rotating part 5 and the fixed bracket 3 to the contact point between the second rotating part 5 and the fixed boss 7 when the underwater vehicle 1 is locked and fixed on the storage platform 2, and the fixed boss 7 (reference). Figure 5 In the figure, θ33), L11 represents the distance from the hinge point between the first rotating part 4 and the fixed bracket 3 to the contact point between the first rotating part 4 and the fixed boss 7 when the underwater vehicle 1 is locked and fixed on the storage platform 2 (reference). Figure 5 In the diagram, L11), θ11 represents the angle between the line connecting the hinge point of the first rotating component 4 and the fixed bracket 3 to the contact point between the first rotating component 4 and the fixed boss 7 when the underwater vehicle 1 is locked and fixed on the storage platform 2, and the fixed boss 7 (reference). Figure 5 (θ11 in the middle).

[0048] As can be seen from the above, the unpowered fixed positioning device and its usage method for a vessel provided in this application automatically realize the locking and unlocking functions when an external force is applied through a mechanical structure including a fixed bracket, a first rotating component, a second rotating component, a connecting rod and a tension spring. It does not rely on an electric drive mechanism, thereby simplifying the device design and improving the reliability and operational efficiency in harsh environments. It has the advantages of simple structure, convenient operation, high reliability and low maintenance cost.

[0049] In the embodiments provided in this application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the division of the above units is only a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another robot, or some features may be ignored or not executed.

[0050] In this document, relational terms such as first and second are used only to distinguish one entity or operation from another entity or operation, without necessarily requiring or implying any such actual relationship or order between these entities or operations.

[0051] The above are merely embodiments of this application and are not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. An unpowered fixed positioning device for an underwater vehicle for securing the underwater vehicle to a storage platform, the device comprising: The underwater vehicle is provided with a fixed boss, and the unpowered fixed positioning device for the vehicle includes: A fixed bracket is attached to the storage platform. The first rotating component is hinged to one side of the fixed bracket; The second rotating component is hinged to the other side of the fixed bracket, and its rotation speed is less than that of the first rotating component. The first connecting rod has its two ends hinged to the first rotating member and the second rotating member, respectively; A tension spring, the two ends of which are respectively hinged to the fixed bracket and the first rotating component; When an external force greater than the preset clamping force is applied to the underwater vehicle in the direction from the second rotating member to the first rotating member, the lower ends of the first rotating member and the second rotating member rotate upward until the hinge point between the first rotating member and the tension spring is higher than the hinge point between the first rotating member and the fixed bracket and the hinge point between the tension spring and the fixed bracket. At this time, the first rotating member remains raised under the action of the tension spring, and the locking of the fixed boss is released. The preset clamping force is the clamping force applied to the fixed boss by the cooperation of the first rotating member and the second rotating member. When an external force greater than a preset resistance is applied to the underwater vehicle in the direction from the first rotating member to the second rotating member, the lower ends of the first and second rotating members rotate downwards until the first rotating member contacts the fixed boss and the hinge point between the first rotating member and the tension spring is lower than the hinge point between the first rotating member and the fixed bracket. At this time, the first rotating member, under the action of the tension spring, cooperates with the second rotating member to clamp the fixed boss, thereby locking and fixing the underwater vehicle on the storage platform. The preset resistance is the resistance that needs to be overcome to make the lower end of the second rotating member rotate downwards. The height of the hinge point between the first rotating member and the first connecting rod is less than the height of the hinge point between the second rotating member and the first connecting rod, but greater than the height of the hinge point between the first rotating member and the fixed bracket. The height of the hinge point between the tension spring and the fixed bracket is the same as the height of the hinge point between the first rotating member and the fixed bracket, but greater than the height of the hinge point between the second rotating member and the fixed bracket. When the underwater vehicle is locked and fixed on the storage platform, the height of the hinge point between the tension spring and the first rotating member is less than the height of the hinge point between the first rotating member and the fixed bracket, and the middle part of the tension spring is located below the hinge point between the first rotating member and the fixed bracket. When the locking of the fixed boss is released, the height of the hinge point between the tension spring and the first rotating member is greater than the height of the hinge point between the first rotating member and the fixed bracket, and the middle part of the tension spring is located above the hinge point between the first rotating member and the fixed bracket.

2. The unpowered fixed positioning device of a vehicle of claim 1, wherein, The first rotating component is the second connecting rod, and the second rotating component is the third connecting rod.

3. The unpowered fixed positioning device of a vehicle of claim 2, wherein, The second connecting rod includes a first vertical part, a first horizontal part, and a second horizontal part. The upper end of the first vertical part is hinged to one end of the first connecting rod. The first horizontal part is hinged to the fixed bracket. The second horizontal part is hinged to one end of the tension spring. The first horizontal part and the second horizontal part are respectively connected to both sides of the first vertical part. When the underwater vehicle is locked and fixed on the storage platform, the height of the first horizontal part is greater than the height of the second horizontal part. The lower end of the first vertical part contacts one side of the fixed boss.

4. The unpowered fixed positioning device of a vehicle of claim 3, wherein, The third link includes a second vertical part and a third horizontal part. The upper end of the second vertical part is hinged to the other end of the first link. The third horizontal part is connected to the side of the second vertical part near the fixed bracket and is hinged to the fixed bracket. When the underwater vehicle is locked and fixed on the storage platform, the lower end of the second vertical part contacts the other side of the fixed boss.

5. The unpowered fixed positioning device of a vehicle of claim 2, wherein, The storage platform is provided with a first limiting hole and a second limiting hole. The first limiting hole and the second limiting hole are respectively located on both sides of the fixed bracket. The first limiting hole is used to limit the rotation angle of the second connecting rod, and the second limiting hole is used to limit the rotation angle of the third connecting rod.

6. The unpowered fixed positioning device of a vehicle of claim 1, wherein, The fixed bracket adopts a U-shaped structure.

7. A method of using a non-powered fixed positioning device for an underwater vehicle to secure the underwater vehicle to a storage platform, the method comprising: When applied to the unpowered fixed positioning device for a vehicle as described in any one of claims 1-6, the method of using the unpowered fixed positioning device for a vehicle includes the following steps: S1. When it is necessary to unlock the underwater vehicle, an external force greater than the preset clamping force is applied to the underwater vehicle in the direction from the second rotating member to the first rotating member, so that the lower ends of the first rotating member and the lower ends of the second rotating member rotate upward until the hinge point between the first rotating member and the tension spring is higher than the hinge point between the first rotating member and the fixed bracket and the hinge point between the tension spring and the fixed bracket, thereby keeping the first rotating member raised under the action of the tension spring and releasing the lock of the fixed boss; the preset clamping force is the clamping force applied to the fixed boss by the cooperation of the first rotating member and the second rotating member; S2. When it is necessary to load the underwater vehicle onto the storage platform, an external force greater than the preset resistance is applied to the underwater vehicle in the direction from the first rotating member to the second rotating member, so that the lower ends of the first rotating member and the lower ends of the second rotating member rotate downwards until the first rotating member contacts the fixed boss and the hinge point of the first rotating member and the tension spring is lower than the hinge point of the first rotating member and the fixed bracket. At this time, the first rotating member cooperates with the second rotating member under the action of the tension spring to clamp the fixed boss, thereby locking and fixing the underwater vehicle on the storage platform; the preset resistance is the resistance that needs to be overcome to make the lower end of the second rotating member rotate downwards.

8. The method of using the unpowered fixed positioning device for a spacecraft according to claim 7, characterized in that, The formula for calculating the preset resistance is: ； Where F1 represents the preset resistance, k represents the preset stiffness of the tension spring, L02 represents the length of the tension spring when the first rotating component is held up, L0 represents the preset initial length of the tension spring, Lh2 represents the vertical distance from the tension spring to the hinge point between the first rotating component and the fixed support when the first rotating component is held up, L3 represents the distance from the hinge point between the second rotating component and the fixed support to the hinge point between the second rotating component and the first connecting rod when the underwater vehicle is locked and fixed on the storage platform, θ4 represents the angle between the line connecting the hinge point between the second rotating component and the fixed support to the hinge point between the second rotating component and the first connecting rod and the first connecting rod when the first rotating component is held up, and L1 represents the underwater vehicle's... When the underwater vehicle is locked and fixed on the storage platform, L33 represents the distance from the hinge point between the first rotating component and the fixed bracket to the hinge point between the first rotating component and the first connecting rod. L33 represents the distance from the hinge point between the second rotating component and the fixed bracket to the contact point between the second rotating component and the fixed boss when the underwater vehicle is locked and fixed on the storage platform. θ3 represents the angle between the line connecting the hinge point between the first rotating component and the fixed bracket to the hinge point between the first rotating component and the first connecting rod when the first rotating component is held up. θ44 represents the angle between the line connecting the hinge point between the second rotating component and the fixed bracket to the contact point between the second rotating component and the fixed boss when the first rotating component is up and the fixed boss is in contact with the second rotating component.

9. The method of claim 7, wherein, The formula for calculating the preset clamping force is: ； Where F2 represents the preset clamping force, k represents the preset stiffness of the tension spring, L01 represents the length of the tension spring when the underwater vehicle is locked and fixed on the storage platform, L0 represents the preset initial length of the tension spring, Lh1 represents the vertical distance from the tension spring to the hinge point between the first rotating component and the fixed bracket when the underwater vehicle is locked and fixed on the storage platform, L3 represents the distance from the hinge point between the second rotating component and the fixed bracket to the hinge point between the second rotating component and the first connecting rod when the underwater vehicle is locked and fixed on the storage platform, θ2 represents the angle between the line connecting the hinge point between the second rotating component and the fixed bracket to the hinge point between the second rotating component and the first connecting rod and the first connecting rod when the underwater vehicle is locked and fixed on the storage platform, L1 represents the distance from the hinge point between the first rotating component and the fixed bracket to the hinge point between the first rotating component and the first connecting rod when the underwater vehicle is locked and fixed on the storage platform, and L33 represents... θ1 represents the distance from the hinge point between the second rotating component and the fixed bracket to the contact point between the second rotating component and the fixed boss when the underwater vehicle is locked and fixed on the storage platform. θ33 represents the angle between the line connecting the hinge point between the first rotating component and the fixed bracket to the hinge point between the first rotating component and the first connecting rod and the first connecting rod when the underwater vehicle is locked and fixed on the storage platform. θ43 represents the angle between the line connecting the hinge point between the second rotating component and the fixed bracket to the contact point between the second rotating component and the fixed boss and the fixed boss when the underwater vehicle is locked and fixed on the storage platform. L11 represents the distance from the hinge point between the first rotating component and the fixed bracket to the contact point between the first rotating component and the fixed boss when the underwater vehicle is locked and fixed on the storage platform. θ11 represents the angle between the line connecting the hinge point between the first rotating component and the fixed bracket to the contact point between the first rotating component and the fixed boss and the fixed boss when the underwater vehicle is locked and fixed on the storage platform.

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