A scissor mechanism-based underwater vehicle capture device

Abstract

This utility model discloses an underwater vehicle capture device based on a scissor mechanism, including a drive mechanism, a left slider, a right slider, and several scissor groups. Two sliders are slidably mounted parallel to a pair of parallel second slide rods, with first slide rods fixed to the top of each slider along its length. Two connecting rods of each scissor group are hinged together at their midpoints, and the ends of the two connecting rods are respectively hinged to four connecting members. Several scissor groups share connecting members, forming a ring-shaped scissor mechanism. The four connecting members of any one scissor group are paired and fitted onto two first slide rods. On any one first slide rod, the connecting member located at the rear is fixed to the end of the first slide rod, while the connecting member located at the front is slidably mounted. The drive mechanism drives the two sliders to move closer or further apart, causing the ring-shaped scissor mechanism to contract or expand, thereby releasing or retrieving the underwater vehicle. This utility model achieves more stable and coordinated capture through symmetrical force output from both sides, and also has better applicability.

Description

Technical Field

[0001] This utility model relates to an underwater vehicle capture device, specifically an underwater vehicle capture device based on a scissor mechanism. Background Technology

[0002] As the exploration and development of marine resources deepens, the importance of underwater vehicles in marine operations is becoming increasingly prominent. Whether in civilian marine scientific research and resource exploration or military reconnaissance and monitoring missions, underwater vehicles play an irreplaceable role. After an underwater vehicle completes its mission, an efficient and reliable recovery process is crucial. The capture device, as the core component of the recovery system, directly determines the success or failure of the entire recovery operation.

[0003] CN113120201B discloses an underwater drone recovery device based on a ring-shaped scissor mechanism. A screw motor drives a threaded rod to rotate, and the threaded engagement pushes a threaded connector along the length of the threaded rod, thereby enabling the ring-shaped scissor mechanism, composed of six scissor sets, to release and retrieve the underwater drone. The existing technical problem is that, due to the use of a single-sided threaded drive, stress asymmetry, unstable capture, and uncoordinated movement can easily occur during the capture and clamping process of the underwater drone. Utility Model Content

[0004] Purpose of the utility model: The purpose of this utility model is to provide an underwater vehicle capture device based on a scissor mechanism with symmetrical force output from both sides.

[0005] Technical Solution: This utility model discloses an underwater vehicle capture device based on a scissor mechanism, comprising a drive mechanism, a left slider, a right slider, and several scissor groups. Two sliders are slidably mounted parallel to a pair of parallel second slide rods, with first slide rods fixed to the top of each slider along its length. Two connecting rods of each scissor group are hinged together at their midpoints, and the ends of the two connecting rods are respectively hinged to four connecting members. The several scissor groups share connecting members, forming a ring-shaped scissor mechanism. The four connecting members of any one scissor group are paired and fitted onto two first slide rods. On any one first slide rod, the connecting member located at the rear is fixed to the end of the first slide rod, while the connecting member located at the front is slidably mounted. The drive mechanism drives the two sliders to move closer or further apart, causing the ring-shaped scissor mechanism to retract or expand, thereby retrieving and deploying the underwater vehicle.

[0006] Furthermore, the underwater vehicle capture device based on the scissor mechanism also includes two baffles, and two second sliding rods are fixed between the two baffles.

[0007] Furthermore, the driving mechanism includes two pulleys that are rotatably mounted on two baffles respectively. The two pulleys are connected by a belt that passes through the two baffles. A drive motor is installed on either baffle to drive the corresponding pulley to rotate, so that the belt drives the two sliders to move closer or further apart.

[0008] Furthermore, the left slider engages with the belt through the concave-convex structure at its top, and the right slider engages with the belt through the concave-convex structure at its bottom. Grooves are provided at the bottom of the left slider and the top of the right slider for the pulley to pass through.

[0009] This invention utilizes a single drive motor in combination with a pulley drive and an opposing slider, resulting in a simple overall structure.

[0010] Furthermore, the underwater vehicle capture device based on the scissor mechanism also includes a base plate, on which two baffles are fixed.

[0011] Furthermore, the first slide bar is fixed to the top of the slider by an end fixing plate.

[0012] Furthermore, the connecting rod and the connecting piece are hinged together by rivets.

[0013] Beneficial Effects: Compared with the prior art, this utility model has the following advantages: This utility model uses a driving mechanism to bring the two sliders closer together or further apart, achieving symmetrical force output from both sides, making the capture more stable and coordinated, and improving the overall efficiency of underwater vehicle recovery operations. Furthermore, this utility model eliminates the arc-shaped plate inside the scissor assembly, utilizing the excellent extension characteristics of the scissor structure to adapt to capture tasks of underwater vehicles of different sizes and shapes. Attached Figure Description

[0014] Figure 1 and Figure 2 This is a schematic diagram of different states of an underwater vehicle capture device based on a scissor mechanism provided by an embodiment of this utility model, wherein... Figure 1 It is in the unfolded state. Figure 2 It is in a contracted state; Figure 3 This is a schematic diagram of the scissor lift assembly in an embodiment of this utility model; Figure 4 This is a schematic diagram of the drive mechanism in an embodiment of this utility model; Figure 5 This is a cross-sectional view of the drive mechanism in an embodiment of this utility model; Figure 6 This is a schematic diagram of the structure of the left and right sliders in an embodiment of this utility model; Figure 7 This is a schematic diagram of a partial structure of the belt in an embodiment of this utility model; Figure 8This is a schematic diagram of the motion of the drive mechanism in an embodiment of this utility model; Figure 9 This is a schematic diagram of the hexagonal plane enclosed by the scissor mechanism in an embodiment of this utility model; Figures 10 to 12 This is a schematic diagram of the underwater vehicle capture device capturing underwater vehicles of different diameters in an embodiment of this utility model. Figure 10 The diameter is 360mm. Figure 11 The diameter is 270mm. Figure 12 The diameter is 180mm. Detailed Implementation

[0015] The present invention will be further described below with reference to the accompanying drawings.

[0016] Appendix Figures 1 to 12 The accompanying figure labels are as follows: 1. Underwater vehicle; 2. Rivet; 3. Linkage rod; 4. Connector; 5. First slide bar; 6. Belt; 7. Pulley; 8. Baffle; 9. Second slide bar; 10. Slider; 101. Left slider; 102. Right slider; 11. End fixing plate; 12. Base plate.

[0017] like Figure 1 and Figure 2 As shown, this utility model embodiment provides an underwater vehicle capture device based on a scissor mechanism, including a drive mechanism, a baffle 8, a slider 10, a base plate 12, and six scissor groups, wherein there are two sliders 10, including a left slider 101 and a right slider 102.

[0018] There are two baffles 8, which are fixed parallel to each other on the base plate 12. Two second sliding rods 9 are fixed parallel to each other between the two baffles 8. The left slider 101 and the right slider 102 have through holes for the two second sliding rods 9 to pass through, and the two sliders are slidably mounted parallel to each other on the two second sliding rods 9.

[0019] The top of the two sliders is fixed with a first sliding rod 5 along the length direction. Specifically, the first sliding rod 5 is fixed to the top of the slider by an end fixing plate 11.

[0020] Combination Figure 3 The scissor lift assembly includes two connecting rods 3 of equal length, which are hinged together at their midpoint. The ends of the two connecting rods 3 are respectively hinged to four connecting pieces 4 via rivets 2. The six scissor lift assemblies share the connecting pieces 4, forming a regular hexagonal ring-shaped scissor lift mechanism. The four connecting pieces 4 of any scissor lift assembly are paired and fitted onto two first sliding rods 5. On any first sliding rod 5, the connecting piece 4 located at the rear is fixedly mounted at its end, while the connecting piece 4 located at the front is slidably mounted.

[0021] Combination Figures 4 to 8The drive mechanism includes two pulleys 7 rotatably mounted on two baffles 8, connected by a belt 6 that passes through the two baffles 8. A drive motor is mounted on either baffle 8 to drive the corresponding pulley 7 to rotate. The left slider 101 engages with the belt 6 via a concave-convex structure on its top, and the right slider 102 engages with the belt 6 via a concave-convex structure on its bottom. Grooves are provided at the bottom of the left slider 101 and the top of the right slider 102 for the pulleys 7 to pass through.

[0022] like Figure 9 As shown, in this embodiment, the diameter of the inscribed circle of the regular hexagonal plane enclosed by the scissor mechanism is 750 mm when unfolded and 120 mm when folded, with a diameter ratio of 6.25. Due to the relative motion characteristics of the slider, the centroid of the regular hexagon is always located on the straight line OD.

[0023] The working principle of this utility model is as follows: After the drive motor is started, pulley 7 drives belt 6 to move. Since belt 6 engages with the sliders, and the upper and lower sides of belt 6 move in opposite directions, it can move the two sliders closer together or further apart. During the slider movement, it moves the connecting piece 4 on the first sliding rod 5, causing each scissor lift assembly to extend or retract. When the two sliders approach each other, each connecting rod 3 retracts, thus grabbing the underwater vehicle 1. After capture, the drive motor rotates in the opposite direction, the two sliders move away from each other, each connecting rod 3 unfolds and resets, releasing the underwater vehicle 1. Baffle 8 limits the maximum movement distance of the sliders, preventing them from detaching from the second sliding rod 9.

[0024] This invention can achieve the capture mission of underwater vehicles of different diameters. For example... Figures 10 to 12 As shown, the scissor mechanism retracts by the opposing movement of two sliders. The resulting hexagonal frame has an inner diameter adapted to underwater vehicles with outer diameters of 360mm, 270mm, and 180mm. The hexagonal frame, through the coordinated contraction of multiple sets of connecting rods 3, stably encloses the underwater vehicle, achieving reliable capture through structural rigidity. The base plate 12 provides stable support, ensuring that the entire device does not shift during the capture process.

Claims

1. A scissor mechanism based underwater vehicle capture device, characterized by, The device includes a drive mechanism, a left slider (101), a right slider (102), and several scissor groups. The two sliders are slidably mounted on a pair of parallel second slide rods (9). The tops of the two sliders are fixed with first slide rods (5) along the length direction. The two connecting rods (3) of the scissor groups are hinged to each other at the midpoint. The ends of the two connecting rods (3) are respectively hinged to four connecting parts (4). The several scissor groups share connecting parts (4) to form a ring-shaped scissor mechanism. The four connecting parts (4) of any scissor group are connected to the two first slide rods (5) in pairs. On any first slide rod (5), the connecting part (4) located on the rear side is fixedly mounted on the end of the first slide rod (5), and the connecting part (4) located on the front side is slidably mounted. The drive mechanism is used to drive the two sliders to move closer or further apart, so that the ring-shaped scissor mechanism can be contracted or expanded to retract and deploy the underwater vehicle (1).

2. The fork-based underwater vehicle capture device of claim 1, wherein, It also includes two baffles (8) and two second sliding rods (9) fixed between the two baffles (8).

3. The fork-based AUV capture device of claim 2, wherein, The driving mechanism includes two pulleys (7) that are rotatably mounted on two baffles (8). The two pulleys (7) are connected by a belt (6), which passes through the two baffles (8). A drive motor is installed on any one of the baffles (8) to drive the corresponding pulley (7) to rotate, so that the belt (6) drives the two sliders to move closer or further apart.

4. The fork-based AUV capture device of claim 3, wherein, The left slider (101) engages with the belt (6) through the concave-convex structure at its top, and the right slider (102) engages with the belt (6) through the concave-convex structure at its bottom. The bottom of the left slider (101) and the top of the right slider (102) are provided with grooves for the pulley (7) to pass through.

5. The fork-based AUV capture device of claim 2, wherein, It also includes a base plate (12), and two baffles (8) are fixed on the base plate (12).

6. The fork-based AUV capture device of claim 1, wherein, The first slide bar (5) is fixed to the top of the slider by the end fixing plate (11).

7. The fork-based AUV capture device of claim 1, wherein, The connecting rod (3) and the connecting piece (4) are hinged by rivets (2).

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