An underwater vehicle and a main frame thereof

Abstract

The application discloses an underwater vehicle and a main frame thereof. The main frame comprises two groups of main beam assemblies, each group of the main beam assemblies comprising a main beam and at least two first support members, the two main beams being spaced apart along a first direction, and the at least two first support members being spaced apart along a second direction on the main beams at one end and extending outward along the first direction at the other end, the second direction being perpendicular to the first direction; the end of the first support member away from the main beam abutting or being connected with an inner wall of the underwater vehicle; and a cross beam assembly connected between the two groups of main beam assemblies; in a mounted state, the two groups of main beam assemblies can be clamped in a space in the underwater vehicle by the cross beam assembly, and the space is divided into a first mounting space and a second mounting space. The main frame provided by the application can provide sufficient support strength for the underwater vehicle and effectively divide the mounting space in the underwater vehicle.

Description

Technical Field

[0001] This application relates to the field of underwater vehicle technology, and in particular to an underwater vehicle and its main frame. Background Technology

[0002] As an important piece of equipment for exploring the ocean and carrying out underwater operations, the rationality of the main frame structure of underwater vehicles directly affects the overall performance, assembly efficiency and reliability of the vehicles.

[0003] In existing technologies, the main frame of underwater vehicles mostly adopts a single beam or simple frame structure, which has the following shortcomings:

[0004] Low space utilization: Traditional main racks often divide the internal space with a single horizontal or vertical beam, resulting in unclear division of installation areas for core components such as control modules and energy modules, which can easily lead to equipment layout conflicts and affect the convenience of wiring and maintenance.

[0005] Insufficient assembly positioning accuracy: The connection between the main frame and the external shell such as the front cover and rear cover often relies on direct fixing with bolts or simple positioning pins. During assembly, misalignment is prone to occur, affecting the sealing performance of the shell and increasing the risk of underwater leakage.

[0006] Poor modular adaptability: The existing main frame has a fixed support layout, making it difficult to flexibly adjust the installation position of the upper and lower covers according to different mission requirements, or to adapt to equipment modules of different specifications, which limits the functional expansion of the aircraft.

[0007] Therefore, there is an urgent need for an underwater vehicle main frame structure that takes into account the rationality of space allocation, ease of assembly, and modular adaptability, in order to solve the above-mentioned problems in the existing technology. Utility Model Content

[0008] This application provides an underwater vehicle and its main frame to solve the problem that the unreasonable structural design of the main frame of existing underwater vehicles is detrimental to the assembly and operation of the underwater vehicle.

[0009] To solve the above-mentioned technical problems, one technical solution adopted in this application is to provide a main frame. This main frame is applied to an underwater vehicle, and the main frame includes:

[0010] Two sets of main beam assemblies, each set of main beam assemblies includes a main beam and at least two first support members. The two main beams are spaced apart along a first direction. One end of each of the at least two first support members is spaced apart on the main beam along a second direction, and the other end extends outward along the first direction, which is perpendicular to the first direction. The end of each first support member away from the main beam abuts against or connects to the inner wall of the underwater vehicle.

[0011] And a crossbeam assembly, which is connected between the two sets of main beam assemblies; in the installed state, the crossbeam assembly can divide the space between the two sets of main beam assemblies inside the underwater vehicle into a first installation space and a second installation space.

[0012] In some embodiments, the crossbeam assembly includes a first crossbeam and a second crossbeam, the first crossbeam being mounted at the midpoint of the two main beams; the second crossbeam being mounted at the ends of the two main beams; the first crossbeam confirms the first installation space and the second installation space; the second installation space is located between the first crossbeam and the second crossbeam.

[0013] In some embodiments, a first alignment column is installed at the first end of the main beam; a second alignment column is installed at the rear end of the main beam; a third alignment column and a fourth alignment column are respectively installed on both sides of the first support member along a third direction; the third alignment column and the fourth alignment column extend in opposite directions along the third direction, which is perpendicular to the first direction and the second direction.

[0014] In some embodiments, the main beam assembly further includes at least two second supports, one end of which is connected to the main beam at intervals along the second direction, and the other end of which extends outward along the third direction; in the installed state, the end of the second support away from the main beam extends downward outside the hull of the underwater vehicle.

[0015] In some embodiments, the first support member is also supported on the second support member, and the main beam and the second support member are provided with perforated holes.

[0016] In some embodiments, the second crossbeam is an arc-shaped crossbeam, and a locking plate is connected to the arc-shaped top of the second crossbeam.

[0017] In some embodiments, the beam assembly further includes a third beam and a first arc-shaped guard plate, wherein the third beam is an arc-shaped beam connected between the two main beams and located between the first beam and the second beam;

[0018] The first arc-shaped guard plate is connected to the side of the two main beams away from the third crossbeam, and is provided corresponding to the first crossbeam and the third crossbeam.

[0019] In some embodiments, the beam assembly further includes a first sub-beam, a second sub-beam, and a second arc-shaped guard plate. The first sub-beam and the second sub-beam are both arc-shaped sub-beams, both connected between the two main beams, and located on the same side of the two main beams as the first arc-shaped guard plate. The first sub-beam is connected to the tail end of the two main beams, and the second sub-beam is located between the first sub-beam and the first arc-shaped guard plate.

[0020] The second arc-shaped guard plate is connected to the side of the two main beams opposite to the first arc-shaped guard plate, and is located between the second crossbeam and the third crossbeam.

[0021] In some embodiments, slide rails are also installed on opposite sides of the two main beams, and the slide rails are located in the second installation space.

[0022] To solve the above-mentioned technical problems, another technical solution adopted in this application is to provide an underwater vehicle. The underwater vehicle includes a front cover, a rear cover, an upper cover, a lower cover, control devices, power devices, and a main frame as described above. The control devices and the power devices are respectively disposed in the first mounting space and the second mounting space. The front cover, the rear cover, the upper cover, and the lower cover are respectively connected to the main frame.

[0023] The beneficial effects of this application are as follows: Unlike existing technologies, this application discloses an underwater vehicle and its main frame. By setting two sets of main beam assemblies, supported between the two sets of main beam assemblies by crossbeam assemblies, a robust frame structure is formed to ensure the structural stability of the underwater vehicle. Simultaneously, the frame structure is divided into a first installation space and a second installation space for the separate installation of energy devices and control devices, reducing the conflicts that easily occur during the installation of energy devices and control devices in traditional methods. Compared with existing technologies, the main frame provided by this application not only has sufficiently strong support strength and torsional resistance, but also, through the rational distribution of crossbeam assemblies, defines a first installation space and a second installation space with different installation functions, further optimizing the layout of energy devices and control devices in the underwater vehicle. This greatly improves the assembly efficiency of the underwater vehicle while maintaining its structural stability and reliability. Attached Figure Description

[0024] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort, wherein:

[0025] Figure 1This is a schematic diagram of the structure of an embodiment of the underwater vehicle provided in this application;

[0026] Figure 2 Is it like this? Figure 1 A schematic diagram of the main frame of the underwater vehicle shown.

[0027] Figure 3 Is it like this? Figure 2 A side view of the main frame structure shown;

[0028] Figure 4 Is it like this? Figure 2 The diagram shows the structural schematic of the load-bearing head in the main frame;

[0029] Figure 5 Is it like this? Figure 4 The diagram shows the exploded structure of the load-bearing head. Detailed Implementation

[0030] 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. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0031] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices.

[0032] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0033] This application provides an underwater vehicle 200, in conjunction with reference to [reference needed]. Figures 1 to 3 , Figure 1 This is a schematic diagram of the structure of an embodiment of the underwater vehicle provided in this application. Figure 2 Is it like this? Figure 1 The diagram shows the structure of the main frame of the underwater vehicle. Figure 3 Is it like this? Figure 2 The diagram shows a side view of the main frame structure.

[0034] The underwater vehicle 200 includes a main frame 100, an outer shell 210, control devices (not shown) and power devices (not shown). The outer shell 210 is mounted on the main frame 100, the control devices are mounted in the control cavity inside the main frame 100, and the power devices are mounted in the power cavity inside the main frame 100.

[0035] The outer casing 210 includes a front cover 211, a rear cover 212, an upper cover 213, and a lower cover 214, which are respectively installed at corresponding positions on the main frame 100.

[0036] like Figures 1 to 3 As shown, the main frame 100 includes a skeleton 101 and a load-bearing head 30 mounted on the skeleton 101. The load-bearing head 30 is used to connect the hook on the unhooking device to facilitate the hoisting and transportation of the underwater vehicle.

[0037] The frame 101 includes two sets of main beam assemblies 10 and crossbeam assemblies 20. The two sets of main beam assemblies 10 are spaced apart, and each set of main beam assemblies 10 includes a main beam 12 and at least two first support members 11. The two main beams 12 are spaced apart along a first direction A, and the at least two first support members 11 are spaced apart on the main beams 12 along a second direction B and extend outward along the first direction A. A first alignment column 121 is installed at the first end of the main beam 12, and a second alignment column 122 is installed at the tail end of the main beam 12. The second direction B is perpendicular to the crossbeam. The crossbeam assembly 20 is perpendicular to the first direction A; it is connected between the two sets of main beam assemblies 10. Specifically, the crossbeam assembly 20 includes a first crossbeam 21 and a second crossbeam 22. The first crossbeam 21 is erected at the middle section of the two main beams 12. In the installed state, the first crossbeam 21 can divide the space between the two main beams 12 within the underwater vehicle 200 into a first installation space 102 and a second installation space 103. The first installation space 102 and the second installation space 103 can be separated by the position of the first crossbeam 21. The second crossbeam 22 is mounted on the tail end of the two main beams 12, and the second installation space 103 is located between the first crossbeam 21 and the second crossbeam 22. The two first alignment columns 121 are used to connect the front cover 211, and the two second alignment columns 122 are used to connect the rear cover 212. The two sides of the first support member 11 are used to connect the upper cover 213 and the lower cover 214, respectively. The first installation space 102 serves as one of the control cavity and the energy cavity, and the second installation space 103 serves as the other of the control cavity and the energy cavity. The control cavity is used to load control devices, and the energy cavity is used to load energy devices.

[0038] The two sets of main beam assemblies 10 and crossbeam assemblies 20 together form a robust frame structure, which can firmly support the various other components on the underwater vehicle 200, ensuring the structural stability and operational safety of the underwater vehicle 100, and providing a solid guarantee for underwater exploration missions.

[0039] The two sets of main beam assemblies 10 and crossbeam assemblies 20 are made of high-strength metal materials, such as stainless steel, copper alloy or aluminum alloy, to ensure that the frame 101 formed thereon can adequately support and accommodate the components.

[0040] The frame 101 also adopts a lightweight design to reduce its overall weight. The main beam assembly 10 and the crossbeam assembly 20 are covered with perforations of various sizes and shapes while meeting their respective strength requirements. This can greatly reduce the weight of the frame 101, thereby reducing the weight of the underwater vehicle 200 and improving the maneuverability and endurance of the underwater vehicle 200.

[0041] Two sets of main beam assemblies 10 are arranged in parallel and spaced apart, with crossbeam assemblies 20 connecting the two sets of main beam assemblies 10 to form a stable support structure. The two main beams 12 are symmetrically distributed, with the first crossbeam 21 and the second crossbeam 22 located at the middle and tail of the main beam 12 respectively, ensuring balanced stress distribution and enhancing torsional resistance. The crossbeam assemblies 20 are fixed to the main beams 12 with high-strength bolts to ensure a firm and reliable connection, preventing damage to the structure from vibrations and impacts in the underwater environment.

[0042] Each of the two main beams 12 has an equal number of first support members 11 on its opposite side. Each main beam assembly 10 may contain two or three equal numbers of first support members 11. The number of first support members 11 can be freely adjusted according to specific needs to adapt to different specifications and models of underwater vehicles 200.

[0043] In this embodiment, each main beam assembly 10 includes two first support members 11, which are connected to the main beam 12 at intervals. The two main beams 12 are spaced apart along a first direction A. The first support members 11 connected to each main beam 12 are spaced apart along a second direction B, and the first support members 11 also extend outward along the first direction A. The first support members 11 are fixed to the main beams 12 with screws to ensure a stable connection and facilitate disassembly and maintenance. The end of the first support member 11 away from the main beam 12 abuts against or connects to the inner wall of the underwater vehicle 20. The upper cover 213 and lower cover 214 of the underwater vehicle 20 are distributed along a third direction C and are respectively connected to both sides of the first support members 11 on the two main beam assemblies 10 to cover and protect the components inside the frame 101, forming a closed space to effectively isolate external environmental interference.

[0044] When the underwater vehicle 200 is navigating underwater in a normal attitude, the first direction A and the second direction B are two directions perpendicular to each other on the horizontal plane, while the third direction C is a vertical direction perpendicular to the horizontal plane.

[0045] The first alignment column 121 and the second alignment column 122 installed at both ends of the main beam 12 both extend along the second direction B. The front cover 211 is provided with alignment holes corresponding to the first alignment column 121. After the alignment holes on the front cover 211 are precisely matched with the first alignment column 121, the position of the front cover 211 relative to the frame 101 can be accurately locked and the positional consistency can be maintained. Furthermore, an elastic sleeve can be provided between the first alignment column 121 and the alignment hole to buffer minor deviations during the installation process and improve assembly accuracy. The connection structure between the second alignment column 122 and the rear cover 212 is similar. The rear cover 212 is provided with alignment holes corresponding to the second alignment column 122 to accurately position the rear cover 212 relative to the frame 101 and ensure the consistency of the installation position of the rear cover 212. An elastic sleeve can also be provided between the second alignment column 122 and the alignment hole of the rear cover 212 to buffer minor deviations during the installation process and improve assembly accuracy.

[0046] Furthermore, the first alignment post 121 and the second alignment post 122 may also be provided with screw holes, and the front cover 211 is further locked to the first alignment post 121 by screws, and the rear cover 212 is also locked to the second alignment post 122 by screws.

[0047] The rear cover 212 can be further connected to the second crossbeam 22, so that the second alignment column 122 and the second crossbeam 22 form a stable rear support structure for the rear cover 212, enhancing the stability of the connection of the rear cover 212 and enabling it to maintain structural stability in complex underwater environments.

[0048] The front end of the main beam 12 is also connected to a support beam or support frame (not shown in the figure), and the front cover 211 is connected to the support beam or support frame to form a front support structure for the front cover 211, ensuring the stability of the front cover 211 and enabling it to maintain structural stability in complex underwater environments.

[0049] Optionally, the upper cover 213 and the lower cover 214 can be directly fixed to both sides of each of the first support members 11 by screws.

[0050] In this embodiment, the first support member 11 is equipped with a third alignment post 113 and a fourth alignment post 114 on both sides along the third direction C. Each third alignment post 113 is used to connect to the upper cover 213, and each fourth alignment post 114 is used to connect to the lower cover 214. The third alignment post 113 and the fourth alignment post 114 extend in opposite directions along the third direction C, which is perpendicular to the first direction A and the second direction B.

[0051] The third alignment post 113 and the fourth alignment post 114 are both fixed to the first support member 11 by screws. The upper cover 213 is provided with alignment holes corresponding to the third alignment post 113, and the lower cover 214 is provided with alignment holes corresponding to the fourth alignment post 114. This ensures that the third alignment post 113 and the fourth alignment post 114 can be accurately aligned and installed with the upper cover 213 and the lower cover 214, thereby improving the positional consistency of the upper cover 213 and the lower cover 214 with the frame 101 and the stability of the overall structure.

[0052] Furthermore, the ends of the third alignment post 113 and the fourth alignment post 114 are provided with threaded holes. The upper cover 213 is locked to the third alignment post 113 by screws, and the lower cover 214 is also locked to the fourth alignment post 114 by screws to enhance the connection stability of the upper cover 213 and the lower cover 214.

[0053] The underwater vehicle 200 also includes two handles 215 disposed on both sides of the upper cover 213 and the lower cover 214 along the first direction A, and the ends of the two first support members 11 in each main beam assembly 10 away from the main beam 12 are also used to connect the two ends of the handles 215.

[0054] The handles 215 on both sides are for the user to grip, so as to facilitate the user's movement of the underwater vehicle 200. In addition, the connection between the handles 215 and the two first support members 11 further enhances the torsional resistance of the main beam assembly 10.

[0055] The main beam assembly 10 also includes at least two second support members 13. One end of each of the at least two second support members 13 is connected to the main beam 12 at intervals along a second direction B. The other end of each second support member 13 extends along a third direction C away from the upper cover 213. The second support members 13 are used to pass through the lower cover 214 connected to the first support member 11 and extend beyond the lower cover 214. The end of the second support member 13 away from the main beam 12 is used to connect to the suspension component. In this embodiment, the end of the second support member 12 away from the main beam 12 can extend downward beyond the hull of the underwater vehicle 20.

[0056] The second support member 13 can be provided corresponding to the first support member 11 and further support the first support member 11 to jointly enhance their stability. Alternatively, the second support member 13 may not be connected to the first support member 11 and may be provided independently.

[0057] In this embodiment, the first support member 11 and the second support member 13 are superimposed and both are fixed to the same side of the main beam 12 by screws. The first support member 11 is also supported on and connected to the second support member 12. That is, the first support member 11 is also fixed to the second support member 12 by screws. Thus, the first support member 11 and the second support member 13 can support each other to form a more robust structural system. As a result, the impact resistance and stability of the first support member 11 and the second support member 13 can be significantly improved, ensuring that they can reliably support the components connected to them in complex environments.

[0058] Among them, the main beam 12 and the second support member 13 have larger structural dimensions. The first support member 11 is larger, so various hollow holes can be opened on the main beam 12 and the second support member 13 to reduce the weight of the main beam assembly 10 and achieve the lightweighting of the main beam assembly 10.

[0059] The second support member 13 extends beyond the lower cover 214 at one end away from the main beam 12, forming a cantilever structure for use as a suspension component to enhance the suspension stability of the underwater vehicle 200. This suspension component can be a suspension ball or suspension plate or other suspension system. The suspension system effectively balances the floating and sinking state of the underwater vehicle 200 by adjusting buoyancy, ensuring its stable operation in different water depth environments.

[0060] As can be seen, the underwater vehicle 200 has modular features in many components such as the outer shell 210, control devices, energy devices and suspension components. These components are quickly connected to the frame 101. When one of the components fails, the user can quickly disassemble and replace it, which greatly improves maintenance efficiency and reduces the maintenance cost of the underwater vehicle 200.

[0061] The first crossbeam 21 connects the middle of the two main beams 12. The main beams 12 have positioning holes in their middle sections, and positioning posts are installed at both ends of the first crossbeam 21. The positioning posts align with the positioning holes, and screws are used to secure the main beams 12 and the first crossbeam 21, ensuring a stable connection. Simultaneously, the first crossbeam 21 divides the space between the two sets of main beam assemblies 10 into different functional areas along the second direction B, facilitating the separate installation of control devices and energy devices, thereby achieving independence and non-interference between each functional area. A partition is installed on the first crossbeam 21 to isolate the first installation space 102 and the second installation space 103.

[0062] The second crossbeam 22 is connected to the tail end of the two main beams 12 by screws, so that the first crossbeam 21 and the second crossbeam 22 can cooperate to further enhance the overall rigidity of the two sets of main beam assemblies 10.

[0063] The second crossbeam 22 is an arc-shaped crossbeam to form an inlet leading to the second installation space 103, which facilitates the entry of control devices or energy devices into the second installation space 103 through the inlet and reduces the interference of the second crossbeam 22 on the installation of control devices or energy devices.

[0064] The arc-shaped top of the second crossbeam 22 is connected to a locking plate 221, which is used to further lock the rear cover 212 with fasteners, thereby forming a more stable support structure for the rear cover 212 in conjunction with the two second alignment posts 122, ensuring that the rear cover 212 is securely installed.

[0065] The crossbeam assembly 20 also includes a third crossbeam 23 and a first arc-shaped guard plate 24. The third crossbeam 23 is an arc-shaped crossbeam, which is connected between the two main beams 12 and located between the first crossbeam 21 and the second crossbeam 22. The top ends of the first crossbeam 21 and the third crossbeam 23 are connected to a bearing plate 28, which can further enhance the structural stability of the first crossbeam 21 and the third crossbeam 23, and serve as the installation position of the load-bearing head 30. The first arc-shaped guard plate 24 is connected to the side of the two main beams 12 away from the third crossbeam 23 and is set corresponding to the first crossbeam 21 and the third crossbeam 23, so that a good protective space can be formed between the first arc-shaped guard plate 24 and the first crossbeam 21 and the third crossbeam 23, so that important devices that require higher protection levels can be placed in this protective space, and better protection can be provided for the placed devices.

[0066] The crossbeam assembly 20 also includes a first sub-beam 25, a second sub-beam 26, and a second arc-shaped guard plate 27. Both the first sub-beam 25 and the second sub-beam 26 are arc-shaped sub-beams, connected between the two main beams 12, and located on the same side of the two main beams 12 as the first arc-shaped guard plate 24. The first sub-beam 25 is connected to the tail end of the two main beams 12 and cooperates with the second crossbeam 22 to form an inlet leading to the second installation space 103, which can further increase the stability of the inlet. The second sub-beam 26 is located between the first sub-beam 25 and the first arc-shaped guard plate 27. The second arc-shaped guard plate 27 is connected to the side of the two main beams 12 away from the first arc-shaped guard plate 24 and is located between the second crossbeam 22 and the third crossbeam 23, so that the entire second installation space 103 can be protected.

[0067] Meanwhile, the first arc-shaped guard plate 24, the first secondary beam 25, the second secondary beam 26, and the second arc-shaped guard plate 27 are all connected between the two main beams 12, which greatly improves the overall rigidity of the formed frame 101.

[0068] The first crossbeam 21, the second crossbeam 23, the first arc-shaped guard plate 24, and the second arc-shaped guard plate 27, which have large structural dimensions, are all provided with hollow holes for weight reduction, so as to improve the overall lightweight of the frame 101.

[0069] Furthermore, each of the two main beams 12 is equipped with a slide rail 14 on one side facing each other. The slide rail 14 may be provided with a slide groove or slide rail for sliding assembly. The slide rail 14 is located in the second installation space 103 and is used to accept the sliding assembly of control devices or energy devices, so as to improve the convenience of installing control devices or energy devices into the second installation space 103 and improve assembly efficiency.

[0070] In the underwater vehicle 200, the control device and the power device are respectively installed in the first installation space 102 and the second installation space 103. The front cover 211 is aligned and connected with two first alignment posts 121, the rear cover 212 is aligned and connected with two second alignment posts 122, the upper cover 213 is installed on each of the first support members 11 from below the main frame 100, and the upper cover 214 is installed on each of the first support members 11 from above the main frame 100.

[0071] Of course, the main frame 100 is also equipped with multiple propulsion mounting positions, which provide propulsion for the underwater vehicle 200. The arrangement and selection of the propulsion can be found in existing technology.

[0072] See also Figures 1 to 4 ,in Figure 4 Is it like this? Figure 2 The diagram shows the structural schematic of the load-bearing head in the main frame.

[0073] The load-bearing head 30 is mounted on the load-bearing plate 28 and is securely connected to the load-bearing plate 28 by fasteners.

[0074] Specifically, the load-bearing head 30 includes a base 31, two load-bearing arms 32, and a nut 33. The base 31 is fixed to the bearing plate 28 of the frame 101. The two load-bearing arms 32 are movably connected to the base 31. The nut 33 is screwed onto the head of the two load-bearing arms 32, so that the two load-bearing arms 32 combine to form a cable channel 320 for the cable to pass through. The head of the two load-bearing arms 32 is used to connect to the hook on the release device. The nut 33 is used to be sleeved on the cable. The two load-bearing arms 32 are used to change from open to closed to store the cable in the formed cable channel 320. Then the nut 33 is screwed onto the head of the two load-bearing arms 32 to lock the cable in the cable channel 320.

[0075] The cable can be a pull rope, a conductive cable, a communication cable, or a combination cable formed by a combination of conductive and communication cables, and can be electrically connected to the corresponding cable interface of the underwater vehicle 200.

[0076] The two load-bearing arms 32 can be separated and closed to store the cable in the cable channel 320. The heads of the two load-bearing arms 32 are then locked by the nut 33 to ensure that the cable cannot fall out of the cable channel 320, thereby connecting the cable with the load-bearing head 30.

[0077] When it is necessary to remove the cable from the cable channel 320, simply loosen the nut 33 to open the two load-bearing arms 32, and the cable can be easily removed. The operation is simple, safe and reliable.

[0078] When deploying or recovering the underwater vehicle 200, a release device is used to connect the load-bearing head on the underwater vehicle 200. The user then holds the release device to move the underwater vehicle 200. Therefore, a load-bearing head 30 needs to be installed on the underwater vehicle 200 to facilitate connection or separation from the release device.

[0079] The cable can be threaded through the release device, which can connect to the load-bearing head 30 along the cable, so that the head of the load-bearing head 30 can automatically engage with the hook of the release device, achieving a quick connection with the release device; the release device is also equipped with a pull rope, which allows the user to pull the pull rope to drive the hook to swing, thereby easily separating the release device from the load-bearing head 30, thus facilitating remote separation of the release device and the load-bearing head 30.

[0080] Optionally, the two load-bearing arms 32 can be directly connected to the base 31 via a pivot, so that the two load-bearing arms 32 can be separated and closed, and the two load-bearing arms 32 locked by the nut 33 can swing relative to the base 31 to adaptively adjust the posture of the load-bearing head 30.

[0081] In this embodiment, the load-bearing head 30 also includes a movable member 34, which is rotatably connected between the base 31 and the rotating arms 322 of the two load-bearing arms 32. The movable member 34 rotates relative to the base 31 around the first axis E, and the two load-bearing arms 32 rotate relative to the movable member 34 around the second axis F. The first axis E is perpendicular to the second axis F.

[0082] Specifically, one end of the movable part 34 is rotatably connected to the base 31 via a pivot, and the other end of the movable part 34 is rotatably connected to the two load-bearing arms 32 via another pivot, so that the two load-bearing arms 32 locked by the nut 33 can have greater freedom relative to the base 31 and can adaptively adjust their posture within a larger space.

[0083] The heads of the two load-bearing arms 32 can be joined together to form a complete external thread, so that the nut 33 can be screwed onto the heads of the two joined load-bearing arms 32.

[0084] Specifically, the load-bearing arm 32 includes an integral half-cable tube 321 and a rotating arm 322. The half-cable tubes 321 on the two load-bearing arms 32 can be combined to form a cable channel 320. The rotating arms 322 on the two load-bearing arms 32 are rotatably connected to the base 31 (indirectly set relative to the base 31 through the movable part 34, or can also be directly rotatably connected to the base 31) and are spaced apart from each other to form a passage space 323 for cable extension. The cable passes through the cable channel 320 and then through the passage space 323, and is extended to the underwater vehicle 200.

[0085] The half-tube conduit 321 is a half-tube structure. Two half-tube conduits 321 can be spliced ​​together to form a complete tube structure to store the cable in the cable channel 320.

[0086] The outer wall of the semi-cable conduit 321 is provided with a flange that can be connected to the hook of the release device.

[0087] Specifically, the semi-cable conduit 321 includes a threaded section 324, a flange section 325, and a pipe section 326, which are integrally structured. The flange section 325 is located between the threaded section 324 and the pipe section 326. The two threaded sections 324 that fit together are used to screw onto the nut 33, and the flange section 325 is used to connect to the hook on the release device.

[0088] The threaded section 324 and the flange section 325 constitute the head of the semi-cable conduit 321. The nut 33 is threadedly connected to the two spliced ​​threaded sections 324 and stops on the flange section 325. The nut 33 has a tapered inclined surface 330 on its outside. The large end of the tapered inclined surface 330 is set towards the flange section 325. The tapered inclined surface 330 is used to guide and push the hook in the hook release device to open, so that the flange section 325 can pass through the hook and the hook can lock the pipe section 326, and the flange section 325 and the hook can form a connection.

[0089] Unlike existing technologies, this application discloses an underwater vehicle and its main frame. By setting two sets of main beam assemblies, supported between the two sets by crossbeam assemblies, a robust frame structure is formed to ensure the structural stability of the underwater vehicle. Simultaneously, the frame structure is divided into a first installation space and a second installation space for the separate installation of energy devices and control devices, reducing the potential for conflicts during installation in traditional methods. Furthermore, a first alignment post is provided at the front end of the main beam for precise alignment with the front cover of the underwater vehicle, and a second alignment post is provided at the rear end of the main beam for precise alignment with the rear cover. At least two first support members are provided on opposite sides of the two main beams, each supporting member supporting and connecting the upper and lower covers of the underwater vehicle, thus connecting the front cover, rear cover, and upper cover. The lower cover can be modularly assembled onto the main frame, and covers the first and second installation spaces separated in the main frame. Therefore, the main frame provided by this application has sufficient support strength and torsional resistance characteristics. Furthermore, through the reasonable distribution of the crossbeam components, it defines the first and second installation spaces with different installation functions, optimizing the layout of energy devices and control devices in the underwater vehicle. At the same time, the first support components and the first and second alignment columns enable the front cover, rear cover, upper cover, and lower cover of the underwater vehicle to be modularly assembled onto the main frame. This greatly improves the efficiency of installing each module onto the main frame and ensures the consistency of the installation of each module. It can greatly improve the assembly efficiency of the underwater vehicle and maintain the structural stability and reliability of the underwater vehicle.

[0090] The above description is merely an embodiment of this application and does not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A main frame, applied to an underwater vehicle, characterized in that, The main frame includes: Two sets of main beam assemblies, each set of main beam assemblies includes a main beam and at least two first support members. The two main beams are spaced apart along a first direction. One end of each of the at least two first support members is spaced apart on the main beam along a second direction, and the other end extends outward along the first direction, which is perpendicular to the first direction. The end of each first support member away from the main beam abuts against or connects to the inner wall of the underwater vehicle. And a crossbeam assembly, which is connected between the two sets of main beam assemblies; in the installed state, the crossbeam assembly can divide the space between the two sets of main beam assemblies inside the underwater vehicle into a first installation space and a second installation space.

2. The main frame according to claim 1, characterized in that, The crossbeam assembly includes a first crossbeam and a second crossbeam. The first crossbeam is mounted at the middle section of the two main beams. The second crossbeam is mounted at the ends of the two main beams. The first installation space and the second installation space are separated by the first crossbeam. The second installation space is located between the first crossbeam and the second crossbeam.

3. The main frame according to claim 2, characterized in that, A first alignment column is installed at the first end of the main beam; a second alignment column is installed at the rear end of the main beam; a third alignment column and a fourth alignment column are respectively installed on both sides of the first support member along a third direction; the third alignment column and the fourth alignment column extend in opposite directions along the third direction, which is perpendicular to the first direction and the second direction.

4. The main frame according to claim 3, characterized in that, The main beam assembly also includes at least two second support members, one end of which is connected to the main beam at intervals along the second direction, and the other end of which extends outward along the third direction; in the installed state, the end of the second support member away from the main beam extends downward to the outside of the underwater vehicle hull.

5. The main frame according to claim 4, characterized in that, The first support member is also supported on the second support member; the main beam and the second support member are provided with hollow holes.

6. The main frame according to claim 2, characterized in that, The second crossbeam is an arc-shaped crossbeam, and a locking plate is connected to the arc-shaped top of the second crossbeam.

7. The main frame according to claim 6, characterized in that, The crossbeam assembly also includes a third crossbeam and a first arc-shaped guard plate. The third crossbeam is an arc-shaped crossbeam, which is connected between the two main beams and located between the first crossbeam and the second crossbeam. The first arc-shaped guard plate is connected to the side of the two main beams away from the third crossbeam, and is provided corresponding to the first crossbeam and the third crossbeam.

8. The main frame according to claim 7, characterized in that, The crossbeam assembly also includes a first sub-beam, a second sub-beam, and a second arc-shaped guard plate. The first sub-beam and the second sub-beam are both arc-shaped sub-beams, both connected between the two main beams, and located on the same side of the two main beams as the first arc-shaped guard plate. The first sub-beam is connected to the tail end of the two main beams, and the second sub-beam is located between the first sub-beam and the first arc-shaped guard plate. The second arc-shaped guard plate is connected to the side of the two main beams opposite to the first arc-shaped guard plate, and is located between the second crossbeam and the third crossbeam.

9. The main frame according to claim 1, characterized in that, Each of the two main beams is also equipped with a slide rail on one side facing each other, and the slide rail is located in the second installation space.

10. An underwater vehicle, characterized in that, The underwater vehicle includes a front cover, a rear cover, an upper cover, a lower cover, a control device, a power device, and a main frame as described in any one of claims 1 to 9. The control device and the power device are respectively disposed in the first installation space and the second installation space. The front cover, the rear cover, the upper cover, and the lower cover are respectively connected to the main frame.

Images