A detachable in-situ decap support device and method of use thereof

Abstract

This application relates to the field of underwater equipment maintenance technology, specifically providing a detachable in-situ opening support device and its usage method. The device includes: a first fixed base and a second fixed base, which are detachably fixed to the cylinder and the end cap, respectively; a constraint support mechanism, whose two ends are respectively hinged to the first fixed base and the second fixed base, for establishing a single degree of freedom motion constraint between the cylinder and the end cap when the first fixed base and the second fixed base are respectively fixed to the cylinder and the end cap, and supporting the weight of the end cap when the end cap is separated from the cylinder; the device can provide motion constraint and effective support for the end cap separated from the cylinder without permanently altering the original structure of the underwater vehicle.

Description

Technical Field

[0001] This application relates to the field of underwater equipment maintenance technology, and more specifically, to a detachable in-situ opening cover support device and its usage method. Background Technology

[0002] The pressure chambers inside underwater vehicles typically use circumferential bolts to secure and seal the hatch covers (end caps) to the hull. When maintenance or adjustments are needed inside the pressure chambers while the vehicle is in dock or ashore, this connection method presents significant inconvenience in confined spaces without removing the pressure chambers. The specific reasons are as follows: 1. Fasteners falling off: Specifically, the internal equipment layout of AUVs is dense and the operating space is small. Traditional methods require maintenance personnel to disassemble the end caps and fasteners at the same time. This not only reduces work efficiency but also increases the risk of fasteners falling off. Fallen fasteners are extremely difficult to clean in a confined space and may pose a serious safety hazard to the subsequent operation of the aircraft.

[0003] 2. Existing technology lacks a safe and reliable support solution. Specifically, after the bolts are removed, the heavy hatch cover (the head of a small or medium-sized pressure tank can weigh up to 50 kg) lacks effective support and is at risk of sudden collapse. This sudden situation could not only damage the sealing surface but also endanger the safety of the operators. To completely remove the hatch cover, lifting equipment is required, which is often difficult to achieve in confined spaces.

[0004] 3. Existing auxiliary devices also have significant shortcomings: For example, while patent document CN207631432U utilizes a slide rail bracket fixed inside the pressure chamber to provide support and guidance, this slide rail bracket is a permanent installation structure, which has problems such as occupying additional space, complex structure, high cost, and poor versatility. These fixed designs cannot meet the requirements of pressure chambers of different models or installation locations, and contradict the extremely compact design requirements of underwater vehicles.

[0005] There is currently no effective technical solution to the above problems. Summary of the Invention

[0006] The purpose of this application is to provide a detachable in-situ opening support device and its usage method, which can provide motion restraint and effective support for the end cap separated from the cylinder without permanently altering the original structure of the underwater vehicle.

[0007] In a first aspect, this application provides a detachable in-situ opening cover support device, applied to the pressure chamber of an underwater vehicle. The pressure chamber includes a cylindrical body and a head, the head being detachably fixed to the cylindrical body. The detachable in-situ opening cover support device includes: The first fixed base and the second fixed base are detachably fixed to the cylinder and the end cap, respectively; The constraint support mechanism has its two ends hinged to the first fixed base and the second fixed base, respectively. It is used to establish a single degree of freedom motion constraint between the cylinder and the end cap when the first fixed base and the second fixed base are fixed to the cylinder and the end cap, respectively, and to support the weight of the end cap when the end cap is separated from the cylinder.

[0008] This application provides a detachable in-situ opening support device that, through the cooperation of a first fixed base, a second fixed base, and a constraint support mechanism, establishes a single-degree-of-freedom motion constraint and supports the weight of the end cap when the pressure chamber is opened. Therefore, this application can provide motion constraint and effective support for the end cap separated from the cylinder without permanently altering the original structure of the underwater vehicle, thereby effectively reducing the risk of fasteners falling off and preventing the end cap from falling.

[0009] Optionally, the constraint support mechanism includes a first link group, a second link group, a third link group, a fourth link group, a fifth link group, and a sixth link group. One end of the first link group and one end of the second link group are both hinged to the first fixed base. Both ends of the third link group are respectively hinged to the other ends of the first and second link groups. One end of the fourth and fifth link groups are respectively hinged to the second fixed base. One end of the sixth link group is respectively hinged to the other ends of the first and fourth link groups. The other end of the sixth link group is respectively hinged to the other ends of the second and fifth link groups. The height of the hinge point between the sixth link group and the first link group is the same as the height of the hinge point between the sixth link group and the second link group. The height of the hinge point between the sixth link group and the first link group is less than the height of the hinge point between the third and first link groups.

[0010] Optionally, the first linkage group includes two first links, the second linkage group includes two second links, the third linkage group includes two third links, the fourth linkage group includes two fourth links, the fifth linkage group includes two fifth links, and the sixth linkage group includes two sixth links. A first fixed base is provided with a first rotating shaft and a second rotating shaft, and a second fixed base is provided with a third rotating shaft and a fourth rotating shaft. One end of each of the two first links is connected to the first rotating shaft, one end of each of the two second links is connected to the second rotating shaft, one end of each of the two fourth links is connected to the third rotating shaft, and the two fifth links... One end of each link is connected to the fourth pivot, the two ends of the fifth pivot are connected to the other ends of the two first links respectively, the two ends of the sixth pivot are connected to the other ends of the two second links respectively, the two ends of the seventh pivot are connected to the other ends of the two fourth links respectively, the two ends of the eighth pivot are connected to the other ends of the two fifth links respectively, the two ends of the two third links are connected to the fifth and sixth pivots respectively, the two ends of the two sixth links are connected to the seventh and eighth pivots respectively, the two first links are both connected to the seventh pivot, and the two second links are both connected to the eighth pivot.

[0011] Optionally, the first, second, third, fourth, fifth, sixth, seventh, and eighth rotating shafts are each provided with a limiting bushing for limiting the position of the connecting rod.

[0012] Optionally, the detachable in-situ opening support device also includes a motion control unit, which is connected to the third link group and the fifth link group respectively. The motion control unit is used to adjust the moving speed of the end cap relative to the cylinder or to lock the position of the end cap on its moving path.

[0013] Optionally, the motion control unit includes a damping rod and a damping cylinder, the damping rod is connected to the damping cylinder, the end of the damping rod away from the damping cylinder is connected to the third link group, and the damping cylinder is hinged to the fifth link group.

[0014] Optionally, the end of the damping rod away from the damping cylinder is provided with two through holes. The detachable in-situ opening cover support device also includes two positioning pins and four elastic retaining rings. The two positioning pins are both set on the third connecting rod group and are respectively located in the two through holes. Each positioning pin is provided with two grooves. The two grooves on the same positioning pin are respectively located on both sides of the damping rod. Each groove is provided with an elastic retaining ring. The two elastic retaining rings corresponding to the same positioning pin cooperate to axially position the damping rod.

[0015] Optionally, the first fixed base is provided with at least one first axial mounting hole and at least one first radial mounting hole, the cylinder is provided with a second axial mounting hole corresponding to the first axial mounting hole and a second radial mounting hole corresponding to the first radial mounting hole, the second fixed base is provided with at least one third axial mounting hole and at least one third radial mounting hole, the end cap is provided with a fourth axial mounting hole corresponding to the third axial mounting hole and a fourth radial mounting hole corresponding to the third radial mounting hole, the first fixed base is also provided with a first elastic fitting member conforming to the cylinder, and the second fixed base is also provided with a second elastic fitting member conforming to the end cap.

[0016] Optionally, the end cap is also provided with an ejection auxiliary threaded hole.

[0017] Secondly, this application also provides a method for using a detachable in-situ opening support device, applied to the detachable in-situ opening support device provided in the first aspect above. The method for using the detachable in-situ opening support device includes the following steps: S1. Fix the first fixed base and the second fixed base to the cylinder and the end cap respectively; S2. Disassemble the fasteners used to connect the end cap and the cylinder; S3. Use external force to push the end cap away from the cylinder so that the end cap moves to the preset maintenance position under the single degree of freedom motion constraint of the constraint support mechanism. S4. After the maintenance is completed, use external force to push the end cap toward the cylinder so that the end cap moves to the distance between it and the cylinder under the single degree of freedom motion constraint of the constraint support mechanism. S5. Secure the end cap to the cylinder using fasteners, and then remove the first and second fixed bases.

[0018] As can be seen from the above, the detachable in-situ opening support device and its usage method provided in this application establish a single degree of freedom motion constraint and support the weight of the end cap when the pressure chamber is opened by the cooperation of the first fixed base, the second fixed base and the constraint support mechanism. Therefore, this application can provide motion constraint and effective support for the end cap separated from the cylinder without permanent modification to the original structure of the underwater vehicle, thereby effectively reducing the risk of fasteners falling off and avoiding the situation of the end cap falling. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of a detachable in-situ opening cover support device provided in an embodiment of this application.

[0020] Figure 2 This is a top view of a detachable in-situ opening support device provided in an embodiment of this application.

[0021] Figure 3 This is an equivalent schematic diagram of a detachable in-situ opening cover support device provided in an embodiment of this application.

[0022] Figure 4 This is a schematic diagram of the structure of the motion control unit provided in an embodiment of this application.

[0023] Figure 5 This is a schematic diagram of the positioning pin and elastic retaining ring provided in an embodiment of this application.

[0024] Figure 6 The diagram shows the structure of the detachable in-situ opening support device, cylinder and end cap provided in the embodiments of this application.

[0025] Figure 7 This is a schematic diagram of the structure of the cylinder and end cap provided in the embodiments of this application.

[0026] Figure 8 This is a schematic diagram illustrating the opening operation using a detachable in-situ opening support device, as provided in an embodiment of this application.

[0027] Reference numerals: 1. Cylinder body; 2. End cap; 3. First fixed base; 4. Second fixed base; 5. Constraint support mechanism; 51. First linkage group; 52. Second linkage group; 53. Third linkage group; 54. Fourth linkage group; 55. Fifth linkage group; 56. Sixth linkage group; 6. First rotating shaft; 7. Second rotating shaft; 8. Third rotating shaft; 9. Fourth rotating shaft; 10. Fifth rotating shaft; 11. Sixth rotating shaft; 12. Seventh rotating shaft; 13. Eighth rotating shaft; 14. Limiting bushing; 15. Motion control unit; 151, damping rod; 152, damping cylinder; 16, through hole; 17, locating pin; 18, elastic retaining ring; 19, first axial mounting hole; 20, first radial mounting hole; 21, second axial mounting hole; 22, second radial mounting hole; 23, third axial mounting hole; 24, third radial mounting hole; 25, fourth axial mounting hole; 26, fourth radial mounting hole; 27, first elastic fitting; 28, second elastic fitting; 29, ejection auxiliary threaded hole. Detailed Implementation

[0028] 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, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can 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.

[0029] 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.

[0030] Firstly, such as Figures 1-7 As shown, this application provides a detachable in-situ opening cover support device, applied to the pressure chamber of an underwater vehicle. The pressure chamber includes a cylindrical body 1 and a head 2, the head 2 being detachably fixed to the cylindrical body 1. The detachable in-situ opening cover support device includes: The first fixed base 3 and the second fixed base 4 are detachably fixed to the cylinder 1 and the end cap 2, respectively. The constraint support mechanism 5 has its two ends hinged to the first fixed base 3 and the second fixed base 4 respectively. It is used to establish a single degree of freedom motion constraint between the cylinder 1 and the end cap 2 when the first fixed base 3 and the second fixed base 4 are fixed on the cylinder 1 and the end cap 2 respectively, and to support the weight of the end cap 2 when the end cap 2 is separated from the cylinder 1.

[0031] For ease of understanding, some key terms in this embodiment are explained below. The detachable in-situ opening support device of this embodiment is an independent external tool. This device can be temporarily and securely installed on the pressure tank cylinder 1 and the end cap 2 via the first fixed base 3 and the second fixed base 4. At this time, simply removing the fasteners connecting the pressure tank cylinder 1 to the end cap 2 allows the cylinder 1 and end cap 2 to be separated by translating the end cap 2. Since the constraint support mechanism 5 can establish a single-degree-of-freedom motion constraint between the cylinder 1 and the end cap 2, and support the weight of the end cap 2 when it separates from the cylinder 1, this embodiment can effectively support the end cap 2 separated from the cylinder 1 without the need for lifting equipment, thus preventing damage to the sealing surface or endangering the safety of operators due to the accidental fall of the end cap 2. In this embodiment, the cylinder 1 is the main body of the pressure tank of the underwater vehicle. The cylinder 1 is typically cylindrical and is used to house internal equipment and withstand external water pressure. In this embodiment, the end cap 2 is the end cover portion of the pressure chamber of the underwater vehicle. The end cap 2 is detachably fixed to the cylinder 1, forming a sealed space with the cylinder 1 and providing a maintenance passage when equipment within this sealed space needs to be inspected. The first fixed base 3 and the second fixed base 4 in this embodiment are structural components used to temporarily and securely install a detachable in-situ opening support device onto the pressure chamber cylinder 1 and the end cap 2. The constraint support mechanism 5 in this embodiment is a mechanical linkage system, with its two ends hinged to the first fixed base 3 and the second fixed base 4 respectively. It provides a single degree of freedom constraint on the movement of the end cap 2 when it separates from the cylinder 1 (i.e., when the end cap 2 separates from the cylinder 1, the end cap 2 in this embodiment can only move in a single degree of freedom direction, for example, only in the horizontal direction), and supports the weight of the end cap 2.

[0032] Specifically, the detachable in-situ opening support device of this embodiment includes a first fixed base 3 and a second fixed base 4. The first fixed base 3 is preferably fixed to the cylinder 1, and the second fixed base 4 is preferably fixed to the end cap 2. The first fixed base 3 can be designed as an arc-shaped structure that matches the shape of the cylinder 1, and can be detachably fixed to the cylinder 1 by means of bolts, snaps, or magnets. For example, the first fixed base 3 can be connected by bolts, with threaded holes pre-drilled on the cylinder 1, and the first fixed base 3 can be fastened to the surface of the cylinder 1 by bolts. The second fixed base 4 is implemented in a similar way to the first fixed base 3, and can be designed as an arc-shaped structure that matches the shape of the end cap 2, and can be detachably fixed to the end cap 2 by means of bolts, snaps, or magnets. For example, the second fixed base 4 can be connected by snaps, with a slot provided on the edge of the end cap 2. The second fixed base 4 can be quickly installed and removed by engaging with the slot through the snap structure. This detachable mounting method allows the device to be installed and removed as needed, avoiding permanent modifications to the original structure of the underwater vehicle, thus saving space on the underwater vehicle and improving the versatility of the device.

[0033] Furthermore, the detachable in-situ opening support device of this embodiment also includes a constraint support mechanism 5. The two ends of the constraint support mechanism 5 are hinged to the first fixed base 3 and the second fixed base 4, respectively. This hinged connection allows the constraint support mechanism 5 to rotate freely within a certain range, thereby guiding and supporting the movement of the end cap 2. For example, the constraint support mechanism 5 can be formed by connecting multiple links via pins, creating a multi-link mechanism. When the first fixed base 3 and the second fixed base 4 are fixed to the cylinder 1 and the end cap 2, respectively, the constraint support mechanism 5 establishes a single-degree-of-freedom motion constraint between the cylinder 1 and the end cap 2. This means that the end cap 2 can only move along a specific axis during separation, such as only along the X-axis, Y-axis, or Z-axis. This single-degree-of-freedom motion constraint ensures the stability and controllability of the end cap 2 during disassembly and repositioning. When the end cap 2 separates from the cylinder 1, the constraint support mechanism 5 also supports the weight of the end cap 2, thereby avoiding the risk of the end cap 2 suddenly falling during disassembly. In this way, the constraint support mechanism 5 not only provides single-degree-of-freedom motion guidance, but also undertakes the support function of the end cap 2, ensuring the safety and convenience of operation.

[0034] The following example further illustrates the above technical solution: Suppose that during a maintenance mission of an underwater vehicle, it is necessary to inspect the equipment inside the pressure chamber. Traditional maintenance methods, due to the dense layout of equipment and limited operating space inside the underwater vehicle, require maintenance personnel to simultaneously handle both the pressure chamber head 2 and the fasteners when disassembling it. This makes it difficult to operate with both hands at the same time, resulting in slow disassembly speed and the risk of fasteners falling off. Furthermore, the heavy hatch cover lacks reliable support after the bolts are removed, and may suddenly fall, damaging the sealing surface or endangering personnel safety. Maintenance personnel can solve these problems by using the detachable in-situ opening cover support device proposed in this application.

[0035] First, maintenance personnel secure the first fixing base 3 and the second fixing base 4 to the cylinder 1 and end cap 2 of the pressure chamber, respectively. Specifically, the first fixing base 3 is preferably designed as an arc-shaped structure matching the shape of the cylinder 1 and is fastened to the threaded holes pre-drilled on the surface of the cylinder 1 with bolts. The second fixing base 4 is also designed as an arc-shaped structure matching the shape of the end cap 2 and is fastened to the threaded holes pre-drilled on the surface of the end cap 2 with bolts. This detachable fixing method allows the device to be quickly installed and removed on the pressure chamber, avoiding permanent modifications to the original structure of the underwater vehicle. Subsequently, maintenance personnel begin to disassemble the fasteners connecting the end cap 2 and the cylinder 1. Since the detachable in-situ opening support device has been installed, and the restraint support mechanism 5 can support the weight of the end cap 2, maintenance personnel do not need to lift the end cap 2 by hand, meaning they do not need to keep an eye on the end cap 2. This allows maintenance personnel to focus on the disassembly and storage of the fasteners, effectively increasing the disassembly speed and effectively reducing the risk of fasteners falling off. After all fasteners have been removed, maintenance personnel use external force to push the end cap 2 away from the cylinder 1. At this time, the constraint support mechanism 5 comes into play, establishing a single-degree-of-freedom motion constraint between the cylinder 1 and the end cap 2. This means that the end cap 2 can only move smoothly outward along a preset straight trajectory without tilting or swaying. Simultaneously, the constraint support mechanism 5 also supports the weight of the end cap 2, preventing it from suddenly falling. Therefore, maintenance personnel can easily move the end cap 2 to a preset maintenance position (e.g., maintaining a 180mm gap between the end cap 2 and the cylinder 1) for internal equipment maintenance. After maintenance is completed, maintenance personnel use external force to push the end cap 2 towards the cylinder 1. The constraint support mechanism 5 continues to provide single-degree-of-freedom motion constraint and weight support to guide the end cap 2 back smoothly. When the gap between the end cap 2 and the cylinder 1 is 0, maintenance personnel use fasteners to re-secure the end cap 2 to the cylinder 1. Finally, the maintenance personnel disassembled the first fixed base 3 and the second fixed base 4 to remove the cover support device from the pressure chamber, so as to avoid permanent space occupation of the underwater vehicle.

[0036] As can be seen from the above examples, the detachable in-situ opening support device proposed in this application, through the detachable fixing of the first fixed base 3 and the second fixed base 4, realizes the temporary installation and disassembly of the device, avoiding permanent modifications to the original structure of the underwater vehicle, thereby saving space and improving versatility. When the end cap 2 separates from the cylinder 1, the constraint support mechanism 5 not only establishes a single-degree-of-freedom motion constraint, ensuring the stability and controllability of the end cap 2's movement path, but also supports the weight of the end cap 2, effectively solving the problems of limited operating space, lack of reliable support, and large space occupation and poor versatility of existing devices in traditional maintenance methods. Compared with traditional solutions that require manual lifting of the end cap 2 or the use of heavy hoisting equipment, the device of this application allows maintenance personnel to focus on disassembling the fasteners, improving operational efficiency and safety, reducing the risk of fasteners falling, and avoiding damage or personal injury that may be caused by the end cap 2 falling. This synergistic effect makes the entire maintenance process safer, more convenient, and more efficient.

[0037] In some preferred embodiments, the constraint support mechanism 5 includes a first link group 51, a second link group 52, a third link group 53, a fourth link group 54, a fifth link group 55, and a sixth link group 56. One end of the first link group 51 and one end of the second link group 52 are both hinged to the first fixed base 3. The two ends of the third link group 53 are respectively hinged to the other ends of the first link group 51 and the second link group 52. One end of the fourth link group 54 and one end of the fifth link group 55 are respectively hinged to the second fixed base 3. Seat 4 is hinged. One end of the sixth link group 56 is hinged to the other end of the first link group 51 and the fourth link group 54, respectively. The other end of the sixth link group 56 is hinged to the other end of the second link group 52 and the fifth link group 55, respectively. The height of the hinge point between the sixth link group 56 and the first link group 51 is the same as the height of the hinge point between the sixth link group 56 and the second link group 52. The height of the hinge point between the sixth link group 56 and the first link group 51 is less than the height of the hinge point between the third link group 53 and the first link group 51.

[0038] The first link group 51, the second link group 52, the third link group 53, the fourth link group 54, the fifth link group 55, and the sixth link group 56 are the basic units constituting the constraint support mechanism 5. They are connected by hinges to form a kinematic chain. Each link group can consist of a single link or multiple parallel links to increase the rigidity and stability of the mechanism. For example, each link group can consist of two parallel links to form a link in a planar four-bar linkage. One end of the first link group 51 and one end of the second link group 52 are both hinged to the first fixed base 3. This hinged connection allows the first link group 51 and the second link group 52 to rotate around a fixed axis on the first fixed base 3, thereby providing a stable reference point for the entire linkage mechanism. The two ends of the third link group 53 are hinged to the other ends of the first link group 51 and the second link group 52, respectively. This connection connects the free ends of the first link group 51 and the second link group 52, forming a closed kinematic chain or an intermediate support structure. This helps to limit the relative movement between the first link group 51 and the second link group 52 and transmit torque. One end of the fourth link group 54 and one end of the fifth link group 55 are hinged to the second fixed base 4, similar to the connection method of the first fixed base 3. This hinge allows the fourth link group 54 and the fifth link group 55 to rotate around the fixed axis on the second fixed base 4, thereby connecting the linkage mechanism to the end cap 2 and realizing the support and guidance of the end cap 2. One end of the sixth link group 56 is hinged to the other ends of the first link group 51 and the fourth link group 54, respectively. This connection method links the kinematic chain from the first fixed base 3 (through the first link group 51) with the kinematic chain from the second fixed base 4 (through the fourth link group 54), which is a key link in achieving overall coordinated motion of the mechanism. The other end of the sixth link group 56 is hinged to the other ends of the second link group 52 and the fifth link group 55, respectively. This further improves the kinematic chain of the linkage mechanism, ensuring that all link groups work together to achieve precise guidance of the end cap 2. The hinge point height between the sixth link group 56 and the first link group 51 is the same as the hinge point height between the sixth link group 56 and the second link group 52. This geometric constraint ensures the symmetry of the linkage mechanism during motion, which helps maintain the smooth movement of the end cap 2 in a single degree of freedom direction and reduces the possibility of tilting or deflection. The height of the hinge point between the sixth link group 56 and the first link group 51 is less than the height of the hinge point between the third link group 53 and the first link group 51. This height difference design is the key to achieving a specific motion trajectory, so that the linkage mechanism can form a specific geometric configuration when it is deployed, thereby guiding the end cap 2 to move along a preset single-degree-of-freedom path, avoiding unnecessary degrees of freedom, and ensuring the stability and controllability of the motion.

[0039] The constraint support mechanism 5 in this embodiment achieves single-degree-of-freedom motion constraint and stable weight support for the end cap 2 relative to the cylinder 1 through a sophisticated six-bar linkage structure. Specifically, one end of the first linkage group 51 and the second linkage group 52 are both hinged to the first fixed base 3, firmly connecting the base of the entire mechanism to the cylinder 1 and providing a stable support point for subsequent movement. At the same time, one end of the fourth linkage group 54 and the fifth linkage group 55 are respectively hinged to the second fixed base 4, reliably connecting the other end of the mechanism to the end cap 2, ensuring that the movement of the end cap 2 can be precisely controlled by the mechanism. The two ends of the third linkage group 53 are respectively hinged to the other ends of the first linkage group 51 and the second linkage group 52, forming an intermediate support structure connecting the first and second linkage groups 52, enhancing the overall rigidity of the mechanism and preventing unnecessary deformation or shaking during the movement of the end cap 2. The sixth linkage 56 plays a crucial coordinating role, with one end hinged to the other ends of the first linkage 51 and the fourth linkage 54, and the other end hinged to the other ends of the second linkage 52 and the fifth linkage 55. This cross-connection method allows the six linkages to form a complete kinematic chain, ensuring that the linkages work together during the movement of the end cap 2, restricting the movement of the end cap 2 to a predetermined single-degree-of-freedom trajectory. By setting the hinge point heights of the sixth linkage 56 and the first linkage 51, and the sixth linkage 56 and the second linkage 52, the symmetry and balance of the mechanism's motion are guaranteed, effectively reducing the tilting or deflection of the end cap 2 during movement. Furthermore, the height of the hinge point between the sixth link group 56 and the first link group 51 is less than the height of the hinge point between the third link group 53 and the first link group 51. This ingenious geometric design further precisely controls the deployment path of the linkage mechanism, enabling the end cap 2 to move along a smooth and predictable trajectory, avoiding jamming or irregular movement. The solution in this application, through the aforementioned multi-link cooperative structure, establishes a precise single-degree-of-freedom motion constraint between the cylinder 1 and the end cap 2, based on the first fixed base 3 and the second fixed base 4 respectively fixed to the cylinder 1 and the end cap 2. This structure not only stably supports the weight of the end cap 2, preventing it from suddenly falling, but also efficiently and reliably guides the end cap 2 to move smoothly along a predetermined path in confined spaces, greatly improving the convenience and safety of opening and maintaining the pressure chamber of the underwater vehicle.

[0040] In some preferred embodiments, the first link group 51 includes two first links, the second link group 52 includes two second links, the third link group 53 includes two third links, the fourth link group 54 includes two fourth links, the fifth link group 55 includes two fifth links, and the sixth link group 56 includes two sixth links. The first fixed base 3 is provided with a first rotating shaft 6 and a second rotating shaft 7, and the second fixed base 4 is provided with a third rotating shaft 8 and a fourth rotating shaft 9. One end of each of the two first links is connected to the first rotating shaft 6, one end of each of the two second links is connected to the second rotating shaft 7, and one end of each of the two fourth links is connected to the third rotating shaft 8. One end of each of the two fifth links is connected to the fourth pivot 9. The two ends of the fifth pivot 10 are connected to the other ends of the two first links respectively. The two ends of the sixth pivot 11 are connected to the other ends of the two second links respectively. The two ends of the seventh pivot 12 are connected to the other ends of the two fourth links respectively. The two ends of the eighth pivot 13 are connected to the other ends of the two fifth links respectively. The two ends of the two third links are connected to the fifth pivot 10 and the sixth pivot 11 respectively. The two ends of the two sixth links are connected to the seventh pivot 12 and the eighth pivot 13 respectively. Both first links are connected to the seventh pivot 12. Both second links are connected to the eighth pivot 13.

[0041] This embodiment is equivalent to each link group in the constraint support mechanism 5 consisting of two independent links. This double-link design provides stronger structural stability and helps to distribute the load, avoiding excessive force at a single point. The first fixed base 3 is provided with a first rotating shaft 6 and a second rotating shaft 7, and the second fixed base 4 is provided with a third rotating shaft 8 and a fourth rotating shaft 9. These shafts serve as the main connection points between the constraint support mechanism 5 and the fixed base. These shafts can be made of high-strength alloy steel and precision-machined to ensure dimensional accuracy and surface finish, reducing friction and wear. One end of each of the two first links is connected to the first rotating shaft 6, one end of each of the two second links is connected to the second rotating shaft 7, one end of each of the two fourth links is connected to the third rotating shaft 8, and one end of each of the two fifth links is connected to the fourth rotating shaft 9. This connection method typically employs a hinged structure, for example, by using bearings or bushings to fit the ends of the links onto the rotating shafts, and using retaining rings or nuts for axial fixation, allowing the links to rotate freely around the rotating shafts. The two ends of the fifth pivot 10 are connected to the other ends of the two first links, the two ends of the sixth pivot 11 are connected to the other ends of the two second links, the two ends of the seventh pivot 12 are connected to the other ends of the two fourth links, and the two ends of the eighth pivot 13 are connected to the other ends of the two fifth links. These pivots serve as intermediate connecting hubs, ensuring stable rotational support during link movement. The two ends of the two third links are connected to the fifth pivot 10 and the sixth pivot 11, respectively, and the two ends of the two sixth links are connected to the seventh pivot 12 and the eighth pivot 13, respectively. These connections also employ a hinged method, enabling the third link group 53 and the sixth link group 56 to effectively transmit force and motion, thereby achieving precise guidance of the end cap 2. Both first links are connected to the seventh pivot 12, and both second links are connected to the eighth pivot 13. This connection method further enhances the rigidity and stability of the constraint support mechanism 5, eliminating potential gaps and sway by increasing connection points, ensuring the smoothness of the end cap 2 during movement.

[0042] This embodiment, by specifying the structure of the constraint support mechanism 5, solves the problems of structural instability, assembly difficulties, and insufficient motion accuracy that may occur in the support and guidance process of the linkage mechanism in the prior art. Specifically, by designing each linkage group (including the first linkage group 51, the second linkage group 52, the third linkage group 53, the fourth linkage group 54, the fifth linkage group 55, and the sixth linkage group 56) as consisting of two independent linkages, a symmetrical and balanced support structure is formed. This double linkage design can effectively distribute the weight of the end cap 2, avoid the mechanism shaking caused by uneven force at a single point, and thus significantly improve the stability of the entire device. The first rotating shaft 6 and the second rotating shaft 7 set on the first fixed base 3, and the third rotating shaft 8 and the fourth rotating shaft 9 set on the second fixed base 4, serve as fixed reference points between the constraint support mechanism 5 and the pressure chamber cylinder 1 and the end cap 2, ensuring the precise anchoring of the linkages. This precise fixing method reduces the accumulation of errors during the assembly process, allowing the linkage mechanism to be assembled with the expected geometric configuration. One end of each link (first link, second link, fourth link, and fifth link) is connected to these fixed pivots, forming a stable initial connection. Subsequently, the other ends of different link groups are connected via the fifth pivot 10, sixth pivot 11, seventh pivot 12, and eighth pivot 13 as intermediate hubs. For example, the fifth pivot 10 connects the other ends of the two first links, the sixth pivot 11 connects the other ends of the two second links, the seventh pivot 12 connects the other ends of the two fourth links, and the eighth pivot 13 connects the other ends of the two fifth links. These intermediate pivots coordinate the linkage of multiple links, ensuring that the end cap 2 can move smoothly along a preset trajectory during movement, avoiding loss of freedom. Furthermore, the two ends of the two third links are connected to the fifth pivot 10 and the sixth pivot 11 respectively, and the two ends of the two sixth links are connected to the seventh pivot 12 and the eighth pivot 13 respectively. This cross-connection method enables the third link group 53 and the sixth link group 56 to form an effective linkage mechanism. This linkage mechanism optimizes the execution efficiency of single-degree-of-freedom constraints, ensuring that the end cap 2 maintains a single translational degree of freedom during opening and closing, avoiding unnecessary tilting or rotation. Furthermore, both first links are connected to the seventh rotating shaft 12, and both second links are connected to the eighth rotating shaft 13. This additional connection point further synchronizes the movement of the linkage group, eliminating potential gaps and ensuring the smoothness and positional accuracy of the end cap 2 during movement. Through this refined linkage and rotating shaft layout, the constraint support mechanism 5, as a whole, establishes a stable single-degree-of-freedom motion constraint between the cylinder 1 and the end cap 2 when the first fixed base 3 and the second fixed base 4 are respectively fixed to the cylinder 1 and the end cap 2. When the end cap 2 separates from the cylinder 1, it firmly supports the weight of the end cap 2 and guides it to move along a preset path, thus achieving reliable and safe opening operations in confined spaces.

[0043] In some preferred embodiments, the first rotating shaft 6, the second rotating shaft 7, the third rotating shaft 8, the fourth rotating shaft 9, the fifth rotating shaft 10, the sixth rotating shaft 11, the seventh rotating shaft 12, and the eighth rotating shaft 13 are all provided with limiting bushings 14 for restricting the position of the connecting rods. The limiting bushing 14 is an annular or cylindrical part, and its main function is to restrict the axial movement of the connecting rods (first connecting rod, second connecting rod, third connecting rod, fourth connecting rod, fifth connecting rod, and sixth connecting rod) on the rotating shafts (first rotating shaft 6, second rotating shaft 7, third rotating shaft 8, fourth rotating shaft 9, fifth rotating shaft 10, sixth rotating shaft 11, seventh rotating shaft 12, and eighth rotating shaft 13), thereby ensuring the precise axial positioning of the connecting rods on the rotating shafts and preventing unnecessary displacement along the axial direction.

[0044] This embodiment effectively solves the problem of axial displacement or sliding of the connecting rods on the rotating shafts by setting limiting bushings 14 on each rotating shaft of the constraint support mechanism 5. Specifically, in the above-mentioned detachable in-situ opening cover support device, the constraint support mechanism 5 includes multiple connecting rod groups, which are interconnected by hinge shaft systems such as the first rotating shaft 6, the second rotating shaft 7, the third rotating shaft 8, the fourth rotating shaft 9, the fifth rotating shaft 10, the sixth rotating shaft 11, the seventh rotating shaft 12, and the eighth rotating shaft 13. When the device supports the weight of the end cap 2 or guides the end cap 2 to perform single-degree-of-freedom movement, the connecting rods may be subjected to axial force on the rotating shafts and undergo unexpected displacement. The limiting bushings 14 are precisely set on these rotating shafts to precisely limit the axial range of motion of the connecting rods on the rotating shafts. This ensures that the relative positional relationship between the connecting rods and the rotating shafts remains stable, thereby ensuring that the motion trajectory of the entire constraint support mechanism 5 is more accurate and the single-degree-of-freedom motion constraint is more reliable. It is precisely because of the introduction of the limiting bushing 14 that the constraint support mechanism 5 can stably maintain its structural integrity and motion accuracy during complex movements and load-bearing processes, thereby reliably supporting the end cap 2 and preventing it from accidentally falling or damaging the sealing surface.

[0045] In some preferred embodiments, the detachable in-situ opening support device further includes a motion control unit 15, which is connected to the third link group 53 and the fifth link group 55 respectively. The motion control unit 15 is used to adjust the moving speed of the end cap 2 relative to the cylinder 1 or to lock the position of the end cap 2 on its moving path.

[0046] The motion control unit 15 in this embodiment is a device capable of actively intervening in and adjusting the motion state of a mechanical system. Its core function is to receive external commands or internal feedback and output corresponding control or damping forces to influence the motion trajectory, speed, or position of the controlled object. This unit can be implemented using various technologies. For example, it can be a hydraulic or pneumatic damper that dissipates energy and provides adjustable damping force through fluid resistance; or it can be an electric actuator that provides active thrust or braking force through motor drive. The motion control unit 15 is connected to the third link group 53 and the fifth link group 55 in the constraint support mechanism 5, aiming to effectively transmit the control or damping force generated by the motion control unit 15 to the entire linkage mechanism, thereby affecting the movement of the end cap 2. This connection method can be a hinge, allowing relative rotation between the link group and the motion control unit 15 to accommodate the motion trajectory of the linkage mechanism; or it can be a fixed connection, providing stronger rigid support in specific application scenarios. This embodiment enables the end cap 2 to move at a predetermined speed during separation or resetting by adjusting the moving speed of the end cap 2 relative to the cylinder 1 using the motion control unit 15. This avoids impact or damage caused by excessive speed and operational efficiency caused by insufficient speed. Speed ​​adjustment can be achieved in ways including, but not limited to: for dampers, adjusting the damping force by changing their internal damping coefficient or fluid channel size; for electric actuators, adjusting the thrust or braking force by controlling the motor speed or output torque. Locking the position of the end cap 2 along its moving path means that after the end cap 2 moves to a specific position (e.g., a maintenance position), the motion control unit 15 keeps it stationary, preventing accidental movement. This effectively improves the stability and safety of maintenance operations, allowing operators to focus on maintenance work without worrying about changes in the position of the end cap 2. Position locking can be achieved through a locking mechanism integrated within the motion control unit 15. For example, a hydraulic damper can integrate a hydraulic lock to cut off the fluid passage at a specific position, thereby locking the piston rod. A mechanical brake can achieve position locking through a mechanical chuck or a holding brake mechanism. An electric actuator can achieve position locking through a self-locking function or an external brake.

[0047] This embodiment, based on the aforementioned constraint support mechanism 5, further introduces a motion control unit 15, enabling the device to provide single-degree-of-freedom motion constraint and support the weight of the end cap 2 while achieving precise control over the movement of the end cap 2. During the opening and maintenance of the pressure chamber of the underwater vehicle, the first fixed base 3 and the second fixed base 4 are first fixed to the cylinder 1 and the end cap 2 respectively. The constraint support mechanism 5 then establishes a single-degree-of-freedom motion constraint between the cylinder 1 and the end cap 2 and bears the weight of the end cap 2. When it is necessary to move the end cap 2, the motion control unit 15, through its connection with the third link group 53 and the fifth link group 55, can directly act on the kinematic chain of the linkage mechanism. By adjusting the output of the motion control unit 15, such as changing its damping force or braking force, the moving speed of the end cap 2 relative to the cylinder 1 can be precisely controlled, thereby avoiding impact or operational inconvenience caused by excessively fast or slow speeds during the separation or repositioning of the end cap 2. Furthermore, when the end cap 2 moves to the preset maintenance position, the motion control unit 15 can activate its internal locking function to firmly lock the end cap 2 in that position, ensuring the stability and safety of the maintenance operation. This design allows the constraint support mechanism 5 to provide basic motion constraint and support functions while enabling fine-grained management of the movement of the end cap 2 through the motion control unit 15. This effectively solves the problems of uncontrollable movement speed and inability to lock the position of the end cap 2, significantly improving the safety and ease of operation of the device. In addition, since the motion control unit 15 of this application can lock the position of the end cap 2 on its movement path, the detachable in-situ opening support device of this embodiment can be used to effectively support the end cap 2 of a vertically placed pressure chamber (the end cap 2 of a vertically placed pressure chamber moves in the vertical direction; if the position of the end cap 2 cannot be locked, the end cap 2 will fall), thereby effectively expanding the applicable scenarios of the detachable in-situ opening support device.

[0048] Reference Figure 3 , Figure 3 In this context, 'a' and 'e' represent the first fixed base 3 and the second fixed base 4, respectively. Figure 3 In this context, b, c, d, f, g, h, and i represent the second link group 52, the third link group 53, the first link group 51, the fifth link group 55, the sixth link group 56, the fourth link group 54, and the motion control unit 15 (preferably a two-stage damper), respectively. Specifically, b, c, d, f, and i are moving parts, a is a fixed part, and e, g, and h are virtual constraints (i.e., removing e, g, and h does not affect the overall motion of the device; setting e, g, and h only increases the overall structural stiffness of the device). The number of lower pairs is P. i The number of higher sub-subs is 7, P h The value is 0, and according to the formula for calculating degrees of freedom, F = 3n - 2P i -P hIt can be seen that (in the formula, F represents the degrees of freedom, n represents the number of moving parts, and P...) i P represents the number of lower secondary components. h (representing the number of higher pairs). The degree of freedom of the detachable in-situ opening device of this application is 1. It should be understood that the degree of freedom of the detachable in-situ opening device of this application is also 1 without the motion control unit 15. Therefore, the motion control unit 15 of this embodiment only serves to limit the movement speed and whether the end cap 2 moves (locks) in this one degree of freedom.

[0049] In some preferred embodiments, the motion control unit 15 includes a damping rod 151 and a damping cylinder 152. The damping rod 151 is connected to the damping cylinder 152, and the end of the damping rod 151 away from the damping cylinder 152 is connected to a third link group 53. The damping cylinder 152 is hinged to a fifth link group 55. The damping rod 151 is the main moving component in the motion control unit 15. One end of its component is connected to the controlled moving component, and the other end extends into the damping cylinder 152 as a piston rod, interacting with the damping medium to generate damping force. The damping cylinder 152 is the main body of the motion control unit 15, filled with a damping medium (such as hydraulic oil or gas), and houses the piston portion of the damping rod 151. When the damping rod 151 moves within the damping cylinder 152, the damping medium flows through specific channels or valves, thereby generating resistance and achieving buffering of motion and energy dissipation. In this embodiment, the damping rod 151 and the damping cylinder 152 together constitute a conventional damper. The end of the damping rod 151 furthest from the damping cylinder 152 is connected to the third linkage group 53. This connection allows the damping rod 151 to directly act on the third linkage group 53 in the constraint support mechanism 5, thereby applying damping force to the entire linkage mechanism and affecting the movement of the end cap 2. The damping cylinder 152 is hinged to the fifth linkage group 55, allowing the damping cylinder 152 to swing flexibly with the movement of the linkage mechanism, while ensuring that the damping force is stably transmitted to the fifth linkage group 55, thus affecting the movement of the end cap 2. Through the synergistic action of the damping rod 151 and the damping cylinder 152, the motion control unit 15 can precisely control the moving speed of the end cap 2 and lock it in any position when needed, thereby improving the safety and convenience of operation. This structure, combined with the single-degree-of-freedom motion constraint provided by the constraint support mechanism 5, allows the end cap 2 to move smoothly along a predetermined trajectory under controlled conditions, effectively avoiding the risk of accidental falling or damage that may occur during traditional opening processes.

[0050] In some preferred embodiments, the end of the damping rod 151 away from the damping cylinder 152 is provided with two through holes 16. The detachable in-situ opening cover support device also includes two positioning pins 17 and four elastic retaining rings 18. The two positioning pins 17 are both set on the third connecting rod group 53 and are respectively located in the two through holes 16. Each positioning pin 17 is provided with two grooves, and the two grooves on the same positioning pin 17 are respectively located on both sides of the damping rod 151. Each groove is provided with an elastic retaining ring 18. The two elastic retaining rings 18 corresponding to the same positioning pin 17 cooperate to axially position the damping rod 151. The end of the damping rod 151 away from the damping cylinder 152 is provided with two through holes 16. These through holes 16 are holes that penetrate the body of the damping rod 151, and their function is to provide an interface for the positioning pins 17 to pass through. Providing two through holes 16 can provide a more stable connection point, forming a double-point support, thereby enhancing the fixing strength and torsional resistance of the damping rod 151 and the third connecting rod group 53. This application also includes two locating pins 17, which are cylindrical or tapered pins used for precisely fixing and connecting two or more components. In this application, the locating pins 17 are used to connect the damping rod 151 to the third linkage group 53. This application also includes four elastic retaining rings 18, which are elastic annular fasteners typically used in grooves in shafts or holes to prevent axial movement of components. In this application, the elastic retaining rings 18 are used for axial positioning of the damping rod 151. The locating pins 17 pass through through holes 16 on the damping rod 151 and are fixed to the third linkage group 53, thereby connecting the damping rod 151 to the third linkage group 53 to ensure that the movement of the damping rod 151 can be effectively transmitted and controlled by the third linkage group 53. Each of the two locating pins 17 has two grooves, which are annular grooves on the surface of the locating pins 17 for installing the elastic retaining rings 18. These grooves provide a reliable installation position for the elastic retaining rings 18, ensuring that the elastic retaining rings 18 can be firmly engaged, thereby achieving axial fixation of the locating pins 17. In addition, by setting the grooves on both sides of the damping rod 151, the elastic retaining rings 18 can be clamped from both ends of the damping rod 151 after installation, forming a bidirectional axial constraint. This symmetrical fixing method can effectively prevent the damping rod 151 from shifting or falling off axially when under force. With the above settings, when the damping rod 151 is subjected to axial push and pull forces, the connection point between it and the third link group 53 will not experience axial movement, thereby ensuring the stable operation of the damper. Whether adjusting the moving speed of the end cap 2 or locking the end cap 2 in a preset position, reliable support and control can be provided. This structure effectively solves the problem of unstable axial fixation of the damping rod 151, significantly improving the operational reliability and safety of the entire detachable in-situ opening cover support device.

[0051] In some preferred embodiments, the first fixed base 3 is provided with at least one first axial mounting hole 19 and at least one first radial mounting hole 20, the cylinder 1 is provided with a second axial mounting hole 21 corresponding to the first axial mounting hole 19 and a second radial mounting hole 22 corresponding to the first radial mounting hole 20, the second fixed base 4 is provided with at least one third axial mounting hole 23 and at least one third radial mounting hole 24, the end cap 2 is provided with a fourth axial mounting hole 25 corresponding to the third axial mounting hole 23 and a fourth radial mounting hole 26 corresponding to the third radial mounting hole 24, the first fixed base is also provided with a first elastic fitting member 27, the first elastic fitting member 27 is conformal to the cylinder 1, and the second fixed base 4 is also provided with a second elastic fitting member 28, the second elastic fitting member 28 is conformal to the end cap 2.

[0052] The first axial mounting hole 19 and the first radial mounting hole 20 are structures provided on the first fixed base 3 for connection and fixation. The axial mounting hole is a hole whose center line is parallel to the axis of the cylinder 1, and is used to bear axial force or provide axial positioning. The radial mounting hole is a hole whose center line is perpendicular to the axis of the cylinder 1, and is used to bear radial force or provide radial positioning. This embodiment provides the first fixed base 3 with multi-directional fixing points by setting the first axial mounting hole 19 and the first radial mounting hole 20, so as to ensure its stable installation on the cylinder 1. The cylinder 1 is provided with a second axial mounting hole 21 corresponding to the first axial mounting hole 19 and a second radial mounting hole 22 corresponding to the first radial mounting hole 20. These holes are mounting structures on the cylinder 1 that match the first axial mounting holes 19 and the first radial mounting holes 20 on the first fixed base 3. They mate with the mounting holes on the first fixed base 3 to form the connection interface between the first fixed base 3 and the cylinder 1, ensuring precise alignment and reliable fixation. It should be understood that the second axial mounting holes 21 and the second radial mounting holes 22 require less space, thus avoiding the fasteners used to connect the cylinder 1 and the end cap 2. Similarly, the third axial mounting holes 23 and the third radial mounting holes 24 are structures on the second fixed base 4 for connection and fixation. Similar to the mounting holes on the first fixed base 3, they provide multi-directional fixing points for the second fixed base 4 to ensure its stable installation on the end cap 2. The end cap 2 is provided with a fourth axial mounting hole 25 corresponding to the third axial mounting hole 23 and a fourth radial mounting hole 26 corresponding to the third radial mounting hole 24. These holes are provided on the end cap 2 and are mounting structures that match the third axial mounting holes 23 and the third radial mounting holes 24 on the second fixed base 4. They cooperate with the mounting holes on the second fixed base 4 to form the connection interface between the second fixed base 4 and the end cap 2, ensuring precise alignment and reliable fixation during installation. The first elastic fitting 27 is a flexible material component provided on the first fixed base 3. Its shape matches the outer surface of the cylinder 1 (usually the flange arc surface). This fitting can be made of elastic materials such as rubber, silicone, and polyurethane. The fitting is preferably installed on the first fixed base 3 by means of adhesion, snap-fit, or mechanical fixation. The function of this fitting is to provide cushioning, increase friction, and compensate for any minor irregularities that may exist on the surface of the cylinder 1, thereby achieving a tighter and more uniform contact between the first fixed base 3 and the cylinder 1.The second elastic fitting 28 is a flexible material component disposed on the second fixed base 4. Its shape matches the outer surface of the end cap 2 (usually the flange arc surface). Similar to the first elastic fitting 27, it can be made of elastic materials such as rubber, silicone, and polyurethane. It is installed on the second fixed base 4 by means of bonding, snapping, or mechanical fixing. Its function is to provide cushioning, increase friction, and compensate for any minor irregularities that may exist on the surface of the end cap 2, thereby achieving a tighter and more uniform contact between the second fixed base 4 and the end cap 2. At the same time, the softness of the first elastic fitting 27 and the second elastic fitting 28 can effectively prevent the metal first fixed base 3 and the second fixed base 4 from scratching the expensive anti-corrosion coating on the surface of the pressure tank cylinder 1 or the end cap 2 during installation and load-bearing.

[0053] This embodiment constructs a multi-point, multi-directional fixing mechanism by providing multi-directional mounting holes on the first fixed base 3 and the second fixed base 4, which, in conjunction with corresponding mounting holes on the cylinder 1 and the end cap 2. Specifically, the first axial mounting hole 19 and the first radial mounting hole 20 on the first fixed base 3 precisely correspond to the second axial mounting hole 21 and the second radial mounting hole 22 on the cylinder 1, allowing the first fixed base 3 to be firmly fixed to the cylinder 1 in both axial and radial directions. Similarly, the third axial mounting hole 23 and the third radial mounting hole 24 on the second fixed base 4 match the fourth axial mounting hole 25 and the fourth radial mounting hole 26 on the end cap 2, ensuring the stable installation of the second fixed base 4 on the end cap 2. This multi-directional mounting hole design enables precise alignment of the fixed bases during installation and provides sufficient anti-torsion and anti-slip capabilities, thereby significantly simplifying the installation process and improving installation efficiency and stability within a limited operating space. Building upon this, to further enhance the tightness and adaptability of the fit between the fixed base and the cylinder 1 and the end cap 2, this application provides a first elastic fitting element 27 on the first fixed base 3, which is conformal to the cylinder 1; simultaneously, a second elastic fitting element 28 is provided on the second fixed base 4, which is conformal to the end cap 2. These elastic fitting elements can adapt to possible curvature changes or minor irregularities on the surfaces of the cylinder 1 and the end cap 2, filling the tiny gaps between them through deformation, thereby ensuring uniform and tight contact between the fixed base and the pressure chamber surface. This tight fit not only effectively protects the coating on the pressure chamber surface, avoiding damage caused by hard contact, but also significantly increases the friction between the fixed base and the pressure chamber, further preventing slippage that may occur during opening or maintenance, thus ensuring the installation firmness and stability of the entire support device. By combining the multi-directional fixing mechanism of the mounting holes with the adaptive tight fit of the elastic fitting elements, the fixed base of this application can not only be positioned quickly and accurately during installation, but also provides stability and reliability far exceeding traditional methods. This design allows maintenance personnel to focus on disassembling fasteners when opening the pressure chamber in the confined space inside the underwater vehicle, without worrying about the accidental movement or fall of the end cap 2, greatly improving the safety and efficiency of the operation. At the same time, because the fixed base and the pressure chamber surface achieve uniform stress distribution, it also avoids potential damage to the pressure chamber structure caused by localized stress concentration.

[0054] In some preferred embodiments, the end cap 2 is further provided with an auxiliary ejection threaded hole 29. The auxiliary ejection threaded hole 29 is a pre-machined hole with internal threads on the end cap 2. Its main function is to provide a stable connection point for external tools, facilitating the application of axial thrust to help the end cap 2 separate from the cylinder 1. The auxiliary ejection threaded hole 29 is preferably located on the outer edge of the flange face of the end cap 2 to facilitate the application of force by the operator. This embodiment solves the difficulty of initial separation of the end cap 2 by setting an ejection auxiliary threaded hole 29 on the end cap 2. Specifically, when the first fixed base 3 and the second fixed base 4 of the detachable in-situ opening support device are fixed on the cylinder 1 and the end cap 2 respectively, and the constraint support mechanism 5 has established a single degree of freedom motion constraint and supported the weight of the end cap 2, if the end cap 2 is difficult to move initially due to the adhesion of the sealing surface, internal negative pressure or its own weight, the operator can screw an external ejection tool (such as a bolt) into the ejection auxiliary threaded hole 29 and tighten the bolt so that its end abuts against the cylinder 1, thereby generating a controllable axial thrust so that the end cap 2 can be smoothly separated from the cylinder 1.

[0055] Secondly, such as Figure 8 As shown, this application also provides a method for using a detachable in-situ opening cover support device, applied to the detachable in-situ opening cover support device provided in the first aspect above. The method for using the detachable in-situ opening cover support device includes the following steps: S1. Fix the first fixed base 3 and the second fixed base 4 onto the cylinder 1 and the end cap 2 respectively; S2. Disassemble the fasteners used to connect the end cap 2 and the cylinder 1; S3. Use external force to push the end cap 2 away from the cylinder 1 so that the end cap 2 moves to the preset maintenance position under the single degree of freedom motion constraint of the constraint support mechanism 5. S4. After the maintenance is completed, use external force to push the end cap 2 toward the cylinder 1 so that the end cap 2 moves to the distance between it and the cylinder 1 under the single degree of freedom motion constraint of the constraint support mechanism 5. S5. Secure the end cap 2 to the cylinder 1 using fasteners, and then remove the first fixed base 3 and the second fixed base 4.

[0056] The method of using the detachable in-situ opening support device provided in this embodiment is applied to the detachable in-situ opening support device provided in the first aspect above. The principle of the method of using the detachable in-situ opening support device provided in this embodiment is the same as the principle of the detachable in-situ opening support device provided in the first aspect above, and will not be repeated here.

[0057] As can be seen from the above, the detachable in-situ opening support device and its usage method provided in this application establish a single degree of freedom motion constraint and support the weight of the end cap 2 when the pressure chamber is opened by the cooperation of the first fixed base 3, the second fixed base 4 and the constraint support mechanism 5. Therefore, this application can provide motion constraint and effective support for the end cap 2 separated from the cylinder 1 without permanent modification to the original structure of the underwater vehicle, thereby effectively reducing the risk of fasteners falling off and preventing the end cap 2 from falling.

[0058] 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.

[0059] 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.

[0060] The above are merely embodiments of this application and are not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A detachable in-situ opening cover support device, applied to the pressure chamber of an underwater vehicle, the pressure chamber comprising a cylindrical body and a head, the head being detachably fixed to the cylindrical body, characterized in that, The detachable in-situ opening support device includes: The first fixed base and the second fixed base are detachably fixed to the cylinder and the end cap, respectively. The constraint support mechanism has its two ends hinged to the first fixed base and the second fixed base, respectively, and is used to establish a single degree of freedom motion constraint between the cylinder and the end cap when the first fixed base and the second fixed base are respectively fixed to the cylinder and the end cap, and to support the weight of the end cap when the end cap is separated from the cylinder.

2. The detachable in-situ decap support apparatus of claim 1, wherein, The constraint support mechanism includes a first link group, a second link group, a third link group, a fourth link group, a fifth link group, and a sixth link group. One end of the first link group and one end of the second link group are both hinged to the first fixed base. Both ends of the third link group are respectively hinged to the other ends of the first link group and the second link group. One end of the fourth link group and one end of the fifth link group are respectively hinged to the second fixed base. One end of the sixth link group is respectively hinged to the other ends of the first link group and the fourth link group. The other end of the sixth link group is respectively hinged to the other ends of the second link group and the fifth link group. The height of the hinge point between the sixth link group and the first link group is the same as the height of the hinge point between the sixth link group and the second link group. The height of the hinge point between the sixth link group and the first link group is less than the height of the hinge point between the third link group and the first link group.

3. The detachable in-situ decap support apparatus of claim 2, wherein, The first linkage group includes two first linkages, the second linkage group includes two second linkages, the third linkage group includes two third linkages, the fourth linkage group includes two fourth linkages, the fifth linkage group includes two fifth linkages, and the sixth linkage group includes two sixth linkages. A first rotating shaft and a second rotating shaft are provided on the first fixed base, and a third rotating shaft and a fourth rotating shaft are provided on the second fixed base. One end of each of the two first linkages is connected to the first rotating shaft, one end of each of the two second linkages is connected to the second rotating shaft, one end of each of the two fourth linkages is connected to the third rotating shaft, and the two fifth linkages... One end of each of the three links is connected to the fourth pivot, the two ends of the fifth pivot are respectively connected to the other ends of the two first links, the two ends of the sixth pivot are respectively connected to the other ends of the two second links, the two ends of the seventh pivot are respectively connected to the other ends of the two fourth links, the two ends of the eighth pivot are respectively connected to the other ends of the two fifth links, the two ends of the two third links are respectively connected to the fifth and sixth pivots, the two ends of the two sixth links are respectively connected to the seventh and eighth pivots, both first links are connected to the seventh pivot, and both second links are connected to the eighth pivot.

4. The detachable in-situ opening cover support device according to claim 3, characterized in that, The first rotating shaft, the second rotating shaft, the third rotating shaft, the fourth rotating shaft, the fifth rotating shaft, the sixth rotating shaft, the seventh rotating shaft, and the eighth rotating shaft are all provided with limiting bushings for limiting the position of the connecting rod.

5. The detachable in-situ opening cover support device according to claim 2, characterized in that, The detachable in-situ opening support device also includes a motion control unit, which is connected to the third link group and the fifth link group respectively. The motion control unit is used to adjust the moving speed of the end cap relative to the cylinder or to lock the position of the end cap on its moving path.

6. The detachable in-situ opening cover support device according to claim 5, characterized in that, The motion control unit includes a damping rod and a damping cylinder. The damping rod is connected to the damping cylinder, and the end of the damping rod away from the damping cylinder is connected to the third link group. The damping cylinder is hinged to the fifth link group.

7. The detachable in-situ opening cover support device according to claim 6, characterized in that, The damping rod has two through holes at the end away from the damping cylinder. The detachable in-situ opening cover support device also includes two positioning pins and four elastic retaining rings. The two positioning pins are both set on the third connecting rod group and are respectively located in the two through holes. The two positioning pins are each provided with two grooves. The two grooves on the same positioning pin are respectively located on both sides of the damping rod. Each groove is provided with an elastic retaining ring. The two elastic retaining rings corresponding to the same positioning pin cooperate to axially position the damping rod.

8. The detachable in-situ opening cover support device according to claim 1, characterized in that, The first fixed base is provided with at least one first axial mounting hole and at least one first radial mounting hole. The cylinder is provided with a second axial mounting hole corresponding to the first axial mounting hole and a second radial mounting hole corresponding to the first radial mounting hole. The second fixed base is provided with at least one third axial mounting hole and at least one third radial mounting hole. The end cap is provided with a fourth axial mounting hole corresponding to the third axial mounting hole and a fourth radial mounting hole corresponding to the third radial mounting hole. The first fixed base is also provided with a first elastic fitting member, which is conformal to the cylinder. The second fixed base is also provided with a second elastic fitting member, which is conformal to the end cap.

9. The detachable in-situ opening cover support device according to claim 1, characterized in that, The end cap is also provided with an auxiliary ejection threaded hole.

10. A method of using a detachable in-situ opening cover support device, characterized in that, When applied to the detachable in-situ opening support device as described in any one of claims 1-9, the method of using the detachable in-situ opening support device includes the following steps: S1. Fix the first fixed base and the second fixed base to the cylinder and the end cap respectively; S2. Disassemble the fasteners used to connect the end cap and the cylinder; S3. Use external force to push the end cap away from the cylinder to move the end cap to a preset maintenance position under the single-degree-of-freedom motion constraint of the constraint support mechanism. S4. After the maintenance is completed, use external force to push the end cap toward the cylinder so that the end cap moves to the distance between it and the cylinder under the single degree of freedom motion constraint of the constraint support mechanism. S5. Use the fasteners to fix the end cap to the cylinder, and then remove the first fixing base and the second fixing base.

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