An underwater vehicle and a main frame thereof

Abstract

The application discloses an underwater vehicle and a main frame thereof. The main frame is applied to the underwater vehicle and comprises a framework and a load-bearing head movably connected to the framework. A channel is formed in the load-bearing head for a cable to pass through. In the installed state, the framework is fixedly arranged in the underwater vehicle, and the load-bearing head is at least partially exposed outside the underwater vehicle. In this way, the main frame can provide resistance to external pressure for the underwater vehicle, lock the cable connected to the underwater vehicle in the cable channel through the load-bearing head, provide stable support and protection for the cable, and effectively avoid the cable winding.

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] When underwater vehicles perform tasks such as exploration and operations, their main frame must simultaneously bear critical functions such as cable laying and unhooking device connection. However, the existing main frame's load-bearing and cable fixing structures have the following shortcomings:

[0003] Poor cable fixation reliability: Traditional main frames fix cables with straps, clips or single sleeves. Under the impact of high-pressure water flow underwater or changes in the attitude of the vehicle, cables are prone to loosening, displacement or even wear, affecting the stability of signal transmission or energy supply; and there is also the risk of cable entanglement.

[0004] The connection structure of the unhooking device is complex: the existing load-bearing head and the hook of the unhooking device are mostly rigidly welded or connected by multiple bolts. Precise alignment is required during assembly, which is cumbersome to operate and inconvenient to maintain. If emergency unhooking is required during underwater operations, the response may be delayed due to structural jamming.

[0005] Therefore, there is an urgent need for a main frame structure that integrates efficient cable locking and convenient unhooking connection to solve the problems of unreliable fixation of underwater vehicles, complex operation and poor compatibility in the existing technology. Utility Model Content

[0006] This application provides an underwater vehicle and its main frame to solve the problems of inconvenient cable storage and insufficient fixation reliability of the load-bearing head in current underwater vehicles.

[0007] To solve the above-mentioned technical problems, one technical solution adopted in this application is to provide an underwater vehicle and its main frame. The main frame is applied to the underwater vehicle and includes: a skeleton and a load-bearing head movably connected to the skeleton;

[0008] The load-bearing head has a channel for cables to pass through;

[0009] In the installed state, the frame is fixedly installed inside the underwater vehicle; the load-bearing head is at least partially exposed outside the underwater vehicle.

[0010] In some embodiments, the load-bearing head includes a base and a load-bearing body movably connected to the base; the base is mounted on the frame; a cable channel extending into the interior of the load-bearing body is provided at one end away from the base; at least one channel opening communicating with the cable channel is provided at one end of the load-bearing body near the base; the cable extends from the channel opening to the exterior of the load-bearing body via the cable channel.

[0011] In some embodiments, the load-bearing body includes two load-bearing arms and a nut. One end of each of the two load-bearing arms is movably connected to the base, and the nut is screwed to the other end of the two load-bearing arms. A cable channel is formed between the two load-bearing arms, and a through hole communicating with the cable channel is provided on the nut. The channel opening is provided on at least one end of the load-bearing arm near the base, or the channel opening is formed by the two load-bearing arms together.

[0012] In some embodiments, the load-bearing arm includes an integral half-cable tube and a rotating arm, and the half-cable tubes on the two load-bearing arms are combined to form the cable channel; the rotating arms on the two load-bearing arms are rotatably connected to the base; in the installed state, the channel opening for cable extension is formed between the two rotating arms.

[0013] In some embodiments, the semi-conduit includes an integrally formed threaded section, flanged section, and pipe section. The flanged section is located between the threaded section and the pipe section. Two mating threaded sections are used to screw onto the nut, and two mating flanged sections are used to form a stop.

[0014] In some embodiments, the load-bearing head further includes a movable member rotatably connected between the base and the rotating arms of the two load-bearing arms. The movable member rotates relative to the base about a first axis, and the two load-bearing arms rotate relative to the movable member about a second axis, wherein the first axis is perpendicular to the second axis.

[0015] In some embodiments, the skeleton includes:

[0016] Two sets of main beam assemblies are spaced apart. Each set of main beam assemblies includes a main beam and at least two first support members. One end of the first support member is disposed on the main beam, and the other end extends outward along the interval direction between the two sets of main beam assemblies and is movably installed on the inner wall of the underwater vehicle.

[0017] A crossbeam assembly; the crossbeam assembly is used to divide the space between the two main beams into a first installation space and a second installation space; the first installation space and the second installation space are used as a control cavity and an energy cavity.

[0018] In some embodiments, the crossbeam assembly includes a first crossbeam, a second crossbeam, and a third crossbeam. The first crossbeam connects two main beams, dividing the space between the two main beams into a first installation space and a second installation space. The second crossbeam connects the tail ends of the two main beams, and the second installation space is located between the first crossbeam and the second crossbeam. The third crossbeam connects the two main beams and is located between the first crossbeam and the second crossbeam. The top ends of the first crossbeam and the third crossbeam are connected to a bearing plate, and the load-bearing head is movably connected to the bearing plate.

[0019] In some embodiments, at least two aligning columns are provided on the main beam.

[0020] To solve the aforementioned technical problems, another technical solution adopted in this application is to provide an underwater vehicle. This underwater vehicle includes the main frame as described above.

[0021] The beneficial effects of this application are as follows: Unlike the prior art, this application discloses an underwater vehicle and its main frame. The frame is located inside the underwater vehicle to support it against external pressure. Furthermore, combined with the design of the load-bearing head connecting to the frame and the cable passageway on the load-bearing head, the cables connected to the underwater vehicle are locked within the cable passageway by the load-bearing head, providing stable support and protection for the cables. This effectively prevents the underwater vehicle from being entangled in cables and also effectively improves the service life of the cables. Attached Figure Description

[0022] 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:

[0023] Figure 1 This is a schematic diagram of the structure of an embodiment of the underwater vehicle provided in this application;

[0024] Figure 2 Is it like this? Figure 1 A schematic diagram of the main frame of the underwater vehicle shown.

[0025] Figure 3 Is it like this? Figure 2 A side view of the main frame structure shown;

[0026] Figure 4 Is it like this? Figure 2 The diagram shows the structural schematic of the load-bearing head in the main frame;

[0027] Figure 5 Is it like this? Figure 4 The diagram shows the exploded structure of the load-bearing head. 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 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.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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 can cooperate with a release device to facilitate the towing or release of the underwater vehicle. In the installed state, the skeleton 101 is fixedly installed inside the underwater vehicle 200, and the load-bearing head 30 is wholly or partially exposed on the outside of the underwater vehicle 200.

[0035] 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 along a second direction B on the main beams 12 and extend outward along the first direction A. A first alignment post 121 is installed at the first end of the main beam 12, and a second alignment post 122 is installed at the tail end of the main beam 12. The second direction B is perpendicular to the first direction A. The crossbeam assembly 20 can divide the space between the two main beams 12 into at least two installation spaces, and control devices (such as control circuit boards, chips, etc.) and energy devices (such as batteries, etc.) can be placed in independent installation spaces. Specifically, the crossbeam assembly 20... The beam assembly 20 includes a first crossbeam 21 and a second crossbeam 22. The first crossbeam 21 connects two main beams 12, dividing the space between the two main beams 12 into a first installation space 102 and a second installation space 103. The second crossbeam 22 connects the tail ends of the two main beams 12. The second installation space 103 is located between the first crossbeam 21 and the second crossbeam 22. Two first alignment posts 121 are used to connect the front cover 211, and two second alignment posts 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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. One end of the first support member 11 is fixed to the main beam 12 with screws to ensure a stable connection and facilitate disassembly and maintenance. The other end of the first support member 11 can be movably installed inside the underwater vehicle 200. Specifically, the upper cover 213 and the lower cover 214 are distributed along a third direction C and 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.

[0042] 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.

[0043] 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.

[0044] 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.

[0045] 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.

[0046] 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] The main beam assembly 10 also includes at least two second support members 13, which are connected to the main beam 12 at intervals along the second direction B. The second support members 13 extend away from the upper cover 213 along the third direction C. 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 member.

[0054] 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.

[0055] 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.

[0056] 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 provided 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] 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.

[0062] 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.

[0063] In this embodiment, 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. The bearing plate 28 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. Thus, 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] The load-bearing head 30 includes a base 31 and a load-bearing body 32 movably connected to the base 31. A cable channel 320 extending into the load-bearing body 32 is provided on the end of the load-bearing body 32 away from the base 31. At least one channel opening 323 communicating with the cable channel is provided on the end of the load-bearing body away from the base. The cable can extend from the channel opening 323 to the outside of the load-bearing body 32 through the cable channel.

[0073] In this embodiment, the load-bearing body 32 includes two load-bearing arms 321 and a nut 322. The base 31 is fixed to the bearing plate 28 of the frame 101. One end of each load-bearing arm 321 is movably connected to the base 31, and the nut 322 is screwed to the other end of each load-bearing arm 321, so that the two load-bearing arms 321 combine to form a cable channel 320 for the cable to pass through. The nut 322 has a through hole that connects to the cable channel 320. The heads of the two load-bearing arms 321 are used to cooperate with the unhooking device to perform traction or release actions. The nut 322 is used to be sleeved on the cable, and the two load-bearing arms 321 are used to change from open to closed to store the cable in the formed cable channel 320. Then the nut 322 is screwed to the heads of the two load-bearing arms 321 to lock the cable in the cable channel 320. In this embodiment of the application, a channel opening 323 may be opened on one end of at least one load-bearing arm 321 near the base 31, or the channel opening 323 may be formed by two load-bearing arms 321.

[0074] It should be noted that in other embodiments of this application, the load-bearing body may also be an integral structure.

[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 321 can be separated and closed to store the cable in the cable channel 320. The heads of the two load-bearing arms 321 are then locked by the nut 322 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 322 to open the two load-bearing arms 321, 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 321 can be directly connected to the base 31 via a pivot, so that the two load-bearing arms 321 can be separated and closed, and the two load-bearing arms 321 locked by the nut 322 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 33, which is rotatably connected between the base 31 and the rotating arms 3212 of the two load-bearing arms 321. The movable member 33 rotates relative to the base 31 around the first axis E, and the two load-bearing arms 321 rotate relative to the movable member 33 around the second axis F. The first axis E is perpendicular to the second axis F.

[0082] Specifically, one end of the movable part 33 is rotatably connected to the base 31 via a pivot, and the other end of the movable part 33 is rotatably connected to the two load-bearing arms 321 via another pivot, so that the two load-bearing arms 321 locked by the nut 322 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 321 can be joined together to form a complete external thread, so that the nut 322 can be screwed onto the heads of the two joined load-bearing arms 321.

[0084] Specifically, the load-bearing arm 321 includes an integral half-cable tube 3211 and a rotating arm 3212. The half-cable tubes 3211 on the two load-bearing arms 321 can be combined to form a cable channel 320. The rotating arms 3212 on the two load-bearing arms 321 are rotatably connected to the base 31 (indirectly set relative to the base 31 through the movable part 33, or can also be directly rotatably connected to the base 31) and are spaced apart from each other to form a channel opening 323 for cable extension. The cable passes through the cable channel 320 and then through the channel opening 323, and is extended to the underwater vehicle 200.

[0085] The half-tube conduit 3211 is a half-tube structure. Two half-tube conduits 3211 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 3211 is provided with a flange that can be connected to the hook of the release device.

[0087] Specifically, the semi-cable conduit 3211 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 322, 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 form the head of the semi-cable conduit 3211. The nut 322 is threadedly connected to the two mating threaded sections 324 and stops on the stop portion formed by the two mating flange sections 325. The nut 322 is provided with a tapered inclined surface 330. 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, and achieves engagement with the hook release device through the stop portion.

[0089] Unlike existing technologies, this application discloses an underwater vehicle and its main frame. The frame is housed inside the underwater vehicle to support it against external pressure. Furthermore, the design incorporates a load-bearing head connected to the frame and a cable routing channel on the load-bearing head. This design locks the cables connected to the underwater vehicle within the cable channel, providing stable support and protection for the cables. This effectively prevents the underwater vehicle from becoming entangled in cables and significantly extends the cable's lifespan. Simultaneously, guided by the cables, the head of the load-bearing head can conveniently and efficiently engage with the unhooking device.

[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: The frame and the load-bearing head movably connected to the frame; The load-bearing head has a channel for cables to pass through; In the installed state, the frame is fixedly installed inside the underwater vehicle; the load-bearing head is at least partially exposed outside the underwater vehicle.

2. The main frame according to claim 1, characterized in that, The load-bearing head includes a base and a load-bearing body movably connected to the base; the base is mounted on the frame; a cable channel extending into the interior of the load-bearing body is provided at one end away from the base; at least one channel opening communicating with the cable channel is provided at one end of the load-bearing body near the base; the cable extends from the channel opening to the outside of the load-bearing body via the cable channel.

3. The main frame according to claim 2, characterized in that, The load-bearing body includes two load-bearing arms and a nut. One end of each of the two load-bearing arms is movably connected to the base, and the nut is screwed to the other end of each of the two load-bearing arms. A cable channel is formed between the two load-bearing arms, and a through hole communicating with the cable channel is provided on the nut component; The channel opening is formed on at least one end of the load-bearing arm near the base, or the channel opening is formed by two load-bearing arms together.

4. The main frame according to claim 3, characterized in that, The load-bearing arm includes an integral half-cable tube and a rotating arm, and the half-cable tubes on the two load-bearing arms are combined to form the cable channel. The rotating arms on both load-bearing arms are rotatably connected to the base; In the installed state, a channel opening is formed between the two rotating arms, allowing the cable to extend outwards.

5. The main frame according to claim 4, characterized in that, The semi-conduit cable includes a threaded section, a flanged section, and a pipe section, all of which are integrally formed. The flanged section is located between the threaded section and the pipe section. The two threaded sections that fit together are used to screw onto the nut, and the two flanged sections that fit together are used to form a stop.

6. The main frame according to claim 3, characterized in that, The load-bearing head also includes a movable component, which is rotatably connected between the base and the rotating arms of the two load-bearing arms. The movable component rotates relative to the base about a first axis, and the two load-bearing arms rotate relative to the movable component about a second axis. The first axis is perpendicular to the second axis.

7. The main frame according to claim 1, characterized in that, The skeleton includes: Two sets of main beam assemblies are spaced apart. Each set of main beam assemblies includes a main beam and at least two first support members. One end of the first support member is disposed on the main beam, and the other end extends outward along the interval direction between the two sets of main beam assemblies and is movably installed on the inner wall of the underwater vehicle. A crossbeam assembly; the crossbeam assembly is used to divide the space between the two main beams into a first installation space and a second installation space; the first installation space and the second installation space are used as a control cavity and an energy cavity.

8. The main frame according to claim 7, characterized in that, The crossbeam assembly includes a first crossbeam, a second crossbeam, and a third crossbeam. The first crossbeam connects the two main beams, dividing the space between the two main beams into a first installation space and a second installation space. The second crossbeam connects the tail ends of the two main beams, and the second installation space is located between the first crossbeam and the second crossbeam. The third crossbeam connects the two main beams and is located between the first crossbeam and the second crossbeam. The top ends of the first crossbeam and the third crossbeam are connected to a bearing plate, and the load-bearing head is movably connected to the bearing plate.

9. The main frame according to claim 8, characterized in that, At least two aligning columns are provided on the main beam.

10. An underwater vehicle, characterized in that, The underwater vehicle includes a mainframe as described in any one of claims 1 to 9.

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