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CN-122009997-A - Lifting device applied to underwater vehicle deployment and recovery system

CN122009997ACN 122009997 ACN122009997 ACN 122009997ACN-122009997-A

Abstract

The invention discloses a lifting device applied to an underwater vehicle deployment and recovery system, which comprises a support, a cable winding part, a cable discharging part, a sealing motor, a self-locking part and a chain, wherein the support is a supporting body of the device, the cable winding part and the cable discharging part are arranged on the inner side of the support, the sealing motor and the self-locking part are arranged on the outer side of the support, the chain is connected between the cable winding part and the cable discharging part, and the sealing motor rotates and transmits rotary motion to the cable winding part and the cable discharging part, and meanwhile, cable winding and orderly cable discharging are realized. The invention has the advantages of flexible use, suitability for various operation scenes, high integration degree, stable function, high safety, wide application range and the like, is key equipment of an underwater vehicle deployment and recovery system, and can meet the lifting requirement of the underwater vehicle deployment and recovery under complex sea conditions.

Inventors

  • JIANG SHAOBO
  • SUN MEI
  • HE HUIJUAN
  • ZHAO XIANG
  • ZHU ENZHAO
  • YANG JINSONG
  • GAO CHENGXING
  • DENG XI
  • JIANG YIDONG
  • DENG LEI

Assignees

  • 昆明船舶设备集团有限公司

Dates

Publication Date
20260512
Application Date
20260302

Claims (7)

  1. 1. The lifting device applied to the underwater vehicle deployment and recovery system is characterized by comprising a bracket (A), a cable winding part (B), a cable arranging part (C), a sealing motor (D), a self-locking part (E) and a chain (H), wherein: The support (A) is a supporting body of the device, the cable winding part (B) and the cable discharging part (C) are arranged on the inner side of the support (A), the sealing motor (D) and the self-locking part (E) are arranged on the outer side of the support (A), the chain (H) is connected between the cable winding part (B) and the cable discharging part (C), the sealing motor (D) rotates and transmits rotary motion to the cable winding part (B), a cable (F) with one end fixedly connected with the aircraft (G) and the other end fixedly connected with the cable winding part (B) is wound and accommodated in the cable winding part (B), the aircraft (G) is lifted, meanwhile, the rotary motion of the cable winding part (B) is transmitted to the cable discharging part (C) through the chain (H), the cable (F) is orderly, tightly, hierarchically and orderly accommodated in the cable winding part (B), and the self-locking part (E) realizes reverse locking and forward rotation of the cable winding part (B).
  2. 2. The lifting device according to claim 1, wherein the bracket (a) comprises a base (A1), a left support (A2), a right support (A3), wherein: The base (A1) is a Z-shaped part and is provided with a first installation surface (A11) and a second installation surface (A12), a plurality of first screw holes (A13) are formed in the first installation surface (A11), and a plurality of second screw holes (A14) and a plurality of third screw holes (A15) are formed in the second installation surface (A12); the left supporting seat (A2) is a plate-shaped part, a plurality of first installation holes (A21) are arranged on the bottom surface, the first installation holes (A21) are matched with the second screw holes (A14), a first bearing hole (A22), a second bearing hole (A24) and two left guide rod holes (A26) are arranged on the end surface, the two left guide rod holes (A26) are arranged at the upper and lower positions of the second bearing hole (A24), a plurality of fourth screw holes (A23) uniformly distributed along the circumference are arranged on the end surface of the first bearing hole (A22), a plurality of fifth screw holes (A25) uniformly distributed along the circumference are arranged on the end surface of the second bearing hole (A24), a plurality of sixth screw holes (A27) uniformly distributed along the circumference are arranged on the end surface of the left guide rod hole (A26), the right supporting seat (A3) is a plate-shaped part, a plurality of second installation holes (A31) are arranged on the bottom surface, the second installation holes (A31) are matched with the third screw holes (A15), a plurality of first bearing holes (A32) and a positioning hole (A38) are arranged on the end surface of the right supporting seat (A3), the two right guide rod holes (A35) are arranged at the upper and lower positions of the fourth bearing hole (A34), a plurality of seventh screw holes (A33) uniformly distributed along the circumference are formed in the end face of the third bearing hole (A32), a plurality of third mounting holes (A39) are formed in the bottom of the positioning hole (A38), a plurality of eighth screw holes (A36) and a plurality of ninth screw holes (A37) are formed near the positioning hole (A38), the left support seat (A2) and the right support seat (A3) are installed oppositely, and the first bearing hole (A22) and the third bearing hole (A32), the second bearing hole (A24) and the fourth bearing hole (A34), and the left guide rod hole (A26) and the right guide rod hole (A35) are coaxial.
  3. 3. The lifting device according to claim 1, wherein the cable winding part (B) is an execution assembly for lifting and winding and storing a cable (F) of an aircraft (G), and comprises a fixing device (B1), a turntable (B2), a first spindle bearing (B3), an end cover (B4), a ratchet (B5), a retainer ring (B6), a second spindle bearing (B7), a bearing end cover (B8), a connecting shaft (B9), a first sprocket (B10) and a pin (B15), wherein: The rotary table (B2) is a rotary body, a tenth screw hole (B21) is formed in the end face of one end of the rotary table, a retainer shaft (B22), a square shaft (B23) with a square cross section, a first shaft (B24), a flange (B25), a semicircular ring groove (B26) with a semicircular cross section, a cable drum (B27) and a second shaft (B28) are sequentially formed from one end to the other end of the rotary table (B2), a plurality of eleventh screw holes (B29) which are uniformly distributed along the circumference are formed in the end face of the other end of the rotary table (B2), the cable (F) is accommodated in a space which is surrounded by the outer side of the cable drum (B27) and the two flanges (B25), a plurality of groups of twelfth screw holes (B251) and thirteenth screw holes (B252) which are uniformly distributed along the circumference are formed in the end face of the flange (B25), the inner ring of the first radial bearing (B3) is mounted on the first shaft (B24), the outer ring is mounted in the third bearing hole (A32), a plurality of sixth screw holes (B41) which are uniformly distributed along the circumference are formed in the end face of the rotary table (B2), a plurality of tooth numbers (B41) which are uniformly distributed along the circumference are arranged on the end face of the rotary table, a plurality of the outer ring (B4) which is fixedly matched with the outer ring (B) and the first radial bearing (B3) is fixedly arranged in a certain number of a circle, the square hole (B51) is matched with the square shaft (B23), the retainer ring (B6) is a revolving body with a seventh mounting hole (B61) and a limiting hole (B62) at the center, the seventh mounting hole (B61) is matched with a tenth screw hole (B21), the limiting hole (B62) is contacted with the retainer ring shaft (B22) and the end surface is contacted with the end surface of the ratchet wheel (B5); The bearing end cover (B8) is a disc-shaped part, a plurality of eighth mounting holes (B81) which are uniformly distributed along the circumference are formed in the end face of the bearing end cover (B8), one end face of the bearing end cover (B8) is in contact with the outer ring of the second bidirectional mandrel (B7), the eighth mounting holes (B81) are matched with the fourth screw holes (A23), a flange is arranged at one end of the connecting shaft (B9), a plurality of through square mounting grooves (B93) which are perpendicular to the central line of the first pin holes (B94) and symmetrical to the rotation center of the connecting shaft (B9) are formed in the other end of the connecting shaft (B9), a flange is arranged at one end of the connecting shaft (B9), a plurality of fourteenth screw holes (B91) and ninth mounting holes (B92) which are uniformly distributed along the circumference are formed in the end face of the bearing end cover, and the ninth mounting holes (B92) are matched with the eleventh screw holes (B29), and a pin shaft (B15) is arranged in the first pin hole (B94), a plurality of tenth mounting holes (B101) which are uniformly distributed along the circumference and a plurality of transmission teeth (B102) are formed in the end face of the connecting shaft (B10), and a transmission tooth number (B102) is meshed with the first sprocket (B102) and the first sprocket (H) and the tenth sprocket (102) is meshed with the first sprocket (101); The fixing device (B1) is an execution assembly for releasing or compacting a mooring rope (F), and comprises a sliding block (B11), a screw (B12), an adjusting nut (B13) and a sliding rail (B14); the sliding block (B11) is a part with lugs (B112) with rectangular cross sections at two sides, one end of the sliding block is provided with an annular pressing groove (B111) with a semicircular cross section, and the other end of the sliding block is provided with a half-waist-shaped groove (B113) and a waist-shaped baffle groove (B114); the screw rod (B12) is characterized in that a boss (B121), an annular groove (B122) and an external thread (B123) are sequentially arranged from one end, the boss (B121) is arranged in a kidney-shaped baffle groove (B113), the annular groove (B122) is arranged in a kidney-shaped baffle groove (B114), the kidney-shaped baffle groove (B114) limits the axial movement of the screw rod (B12) relative to a sliding block (B11), the adjusting nut (B13) is a boss part with a plate belt perpendicular to the plate, a plurality of fourth mounting holes (B131) are arranged on the plate, an adjusting internal thread (B132) is arranged on the boss, the fourth mounting hole (B131) is matched with a thirteenth screw hole (B252), the adjusting internal thread (B132) is matched with the external thread (B123), the sliding rail (B14) is a part with a rectangular section of which is arranged on one side, a plurality of fifth mounting holes (B142) are arranged on the other side of the sliding rail (B14), the two sliding rails (B14) are arranged on two sides of the sliding block (B11), the fifth mounting hole (B142) is matched with the twelfth screw hole (B251), the lug (B112) can be mounted in the sliding rail groove (B141) in a relatively sliding manner, the free end of the cable (F) is mounted in a circular space formed by the pressing groove (B111) and the semicircular ring groove (B26), and the sliding block (B11) is driven to slide in the sliding rail groove (B141) by rotating the screw (B12), so that the cable (F) is released or pressed.
  4. 4. A lifting device according to claim 3, wherein the cable-arranging part (C) is an execution assembly of orderly, compact, layered and orderly cable-arranging of cables (F), comprising a screw part (C1), two guide rail parts (C2), a transition plate (C3), a connecting plate (C4), a supporting seat (C5), two fixed shafts (C6) and two pulleys (C7), wherein: The screw rod part (C1) is an execution assembly of orderly, compact and orderly cable arrangement, and comprises a limit cover (C11), a second sprocket (C12), a bearing limit end cover (C13), a cross screw rod (C14), a cross nut (C15), a flat key (C16) and two angular contact bearings (C17), wherein the cross screw rod (C14) is a shaft part, a fifteenth screw hole (C141) is arranged at one end face, a third shaft (C142), a fourth shaft (C145), cross threads (C144) and a fourth shaft (C145) are sequentially arranged at one end, a kidney-shaped second flat key groove (C143) is arranged on the third shaft (C142), a flat key (C16) is arranged in the second flat key groove (C143), two fourth shaft (C145) are matched with an inner ring of the angular contact bearing (C17), one outer ring of the angular contact bearing (C17) is matched with a second bearing hole (A24), the other outer ring of the cross screw rod (C17) is matched with a fourth bearing hole (A34), a plurality of sixteen cross nuts (C15) are arranged on the third shaft (C142), a plurality of intersecting nuts (C15) are uniformly distributed along the circumference of the cross nut (C13) and are meshed with the circular end cover (C13), the second sprocket (C12) is a rotary body with a second sprocket tooth (C123) with a certain tooth number, the second sprocket tooth (C123) is meshed with a chain (H), a first shaft hole (C121) is arranged in the center, a first flat key groove (C122) is arranged on the first shaft hole (C121), the first shaft hole (C121) is matched with a third shaft (C142), the first flat key groove (C122) is matched with a flat key (C16), the limiting cover (C11) is a rotary body with an eleventh mounting hole (C111) in the center, the eleventh mounting hole (C111) is matched with a fifteenth screw hole (C141), and the end face of the limiting cover (C11) is in contact with the end face of the second sprocket (C12); The guide rail part (C2) is a bearing assembly for lifting force of an aircraft (G), and comprises a guide rod (C21), a lower hoop (C22), an upper hoop (C23), a linear bearing (C24) and a limiting flange (C25), wherein the guide rod (C21) is a shaft part, a fifth shaft (C211), a sliding rail shaft (C212) and a sixth shaft (C213) are sequentially arranged from one end, the fifth shaft (C211) is matched with a left guide rod hole (A26), the sixth shaft (C213) is matched with a right guide rod hole (A35), the sliding rail shaft (C212) is slidably provided with a linear bearing (C24) inner ring, one end of the lower hoop (C22) is provided with a semicircular lower semicircular shaft hole (C221) and a plurality of seventeenth screw holes (C222), the lower semicircular shaft hole (C221) is matched with an outer ring of the linear bearing (C24), the other end of the lower hoop (C22) is provided with a plurality of twenty-sixth screw holes (C223), one end of the upper hoop (C211) is provided with a left guide rod hole (A26), the guide rod (C213) is slidably provided with a plurality of semicircular bearing (C21) and the other end of the guide rod (C25) is provided with a thirteen semicircular hole (C25), the guide rod (C) is matched with the semicircular bearing (C25) and the other end of the guide rod (C) is provided with the semicircular bearing (C25), the end face of the limit flange (C25) is provided with fourteenth mounting holes (C251) uniformly distributed along the circumference, and the fourteenth mounting holes (C251) are matched with sixth screw holes (A27); The transition plate (C3) is a part with square protrusions (C31) on a flat plate, a plurality of fifteenth mounting holes (C32) are formed in the flat plate, the fifteenth mounting holes (C32) are matched with sixteenth screw holes (C151), the connecting plate (C4) is a flat plate-shaped part, a rectangular sliding block groove (C43) and a plurality of eighteenth screw holes (C42) are formed in the middle of the connecting plate, a plurality of sixteenth mounting holes (C41) are formed in two sides of the connecting plate, the sliding block groove (C43) is matched with the square protrusions (C31), the sixteenth mounting holes (C41) are matched with twenty-sixth screw holes (C223), the supporting seat (C5) is a part with a boss on the flat plate, a plurality of seventeenth mounting holes (C51) are formed in the flat plate, a penetrating square groove (C52) is formed in the boss, two groups of second shaft holes (C53) and a third shaft hole (C54) are formed in two sides of the square groove (C52), a plurality of nineteenth mounting holes (C55) along the circumference are formed in the end face of the third shaft hole (C54), the seventeenth mounting holes (C55) are uniformly distributed on the end face of the circular shaft (C54), the nineteenth mounting holes (C55) are uniformly distributed on the boss, and the eighteenth mounting holes (C51) are distributed on the end face of the boss in sequence, and the eighteenth mounting hole (C52) is arranged on the boss, and the eighteenth mounting hole is arranged on the boss hole (C3) and has a hole, and the eighteenth mounting hole is matched with a hole The cable winding device comprises an eighth shaft (C62) and a seventh shaft (C61), wherein the pulley (C7) is a revolving body, a fourth shaft hole (C72) is formed in the center of the revolving body, a ring groove (C71) with a semicircular section is formed in the outer circle of the revolving body, an eighteenth mounting hole (C63) is matched with a nineteenth screw hole (C55), the seventh shaft (C61) is matched with a second shaft hole (C53), the two pulleys (C7) are arranged in a square groove (C52), the fourth shaft hole (C72) is matched with the eighth shaft (C62) and can rotate relatively, and a cable (F) passes through a round hole surrounded by the two semicircular ring grooves (C71) and is fixedly connected with a cable winding part (B).
  5. 5. The lifting device according to claim 4, wherein the matching relationship between the number of teeth Z1 of the first sprocket (B10), the number of teeth Z2 of the second sprocket (C12), the pitch P of the cross threads (C144), and the diameter θ of the cable (F) is: 。
  6. 6. The lifting device according to claim 1, wherein the sealed motor (D) is an energy conversion, movement and force output of the device and comprises a body (D1), a motor (D2), a shield (D3), a sealed socket (D4), a gas tight plug (D5), an output shaft (D6), a first sealing gasket (D7), a sealing sleeve (D8), a second sealing gasket (D9), An O-ring seal (D10); the body (D1) is a cylinder body with one end being opened, a fifth shaft hole (D11) is arranged on one side wall of the body, a plurality of non-penetrating twenty-first screw holes (D12) which are uniformly distributed along the circumference are arranged on the end face of the fifth shaft hole (D11), a socket hole (D14) and an airtight screw hole (D15) are arranged on the two side walls of the body, a sealing socket (D4) is arranged in the socket hole (D14), an airtight plug (D5) is arranged in the airtight screw hole (D15), a plurality of nineteenth mounting holes (D16) are arranged on the three side walls of the body, the nineteenth mounting holes (D16) are matched with a first screw hole (A13) on a first mounting surface (A11), a plurality of twenty-first screw holes (D13) are arranged at the opening end, a plurality of twenty-second screw holes (D17) which are not penetrated are arranged at the bottom of the body, a plurality of twenty-second mounting holes (D21) are arranged at the bottom of the motor (D2), a sealing socket (D4) is arranged in one side of the socket hole (D14), a sealing gasket (D9) is a flat plate-shaped sealing gasket, a plurality of twenty-fourth mounting holes (D91) are arranged on the end face, a twenty-fourth mounting holes (D91) are matched with the twenty-first screw holes (D31) are arranged at the twenty-first end face (D31), twenty-first twenty-second screw holes (D31) are matched with the twenty-first screw holes (D31) and the twenty-first screw holes (D31) are arranged at the twenty-first end face one end, and the twenty-second screw holes are all mutually connected, the end face is provided with a plurality of twenty-second mounting holes (D71) uniformly distributed along the circumference, the twenty-second mounting holes (D71) are matched with twenty-second screw holes (D12), the sealing sleeve (D8) is a rotary step shaft sleeve, a tenth shaft (D82) is arranged outside the sealing sleeve, the tenth shaft (D82) is matched with a fifth shaft hole (D11), the end face is provided with a plurality of twenty-third mounting holes (D81) uniformly distributed along the circumference, the twenty-third mounting holes (D81) are matched with the twenty-second mounting holes (D71), the inner cavity is provided with a sealing hole (D83), an annular sealing groove (D84) is arranged on the sealing hole (D83), an O-shaped sealing ring (D10) is arranged in the sealing groove (D84), the output shaft (D6) is a step shaft part, a ninth shaft (D61) is sequentially arranged from one end, A step (D62), Sealing shaft (D63), sealing shaft (D63) end is provided with output boss (D64), be provided with on output boss (D64) with output boss (D64) symmetry plane vertically second pinhole (D65), ninth axle (D61) and motor output hole (D22) assorted, and through the output motion and the moment of flat key and flat key groove transmission motor (D2), step (D62) restriction output shaft (D6) axial leap, sealing shaft (D63) and sealing hole (D83) assorted, sealing shaft (D63) and O shape sealing washer (D10) cooperate, realize the dynamic seal between output shaft (D6) and seal cover (D8), output boss (D64) and mounting groove (B93) assorted, second pinhole (D65) and first pinhole (B94) and round pin axle (B15) assorted.
  7. 7. The lifting device according to claim 1, wherein the self-locking part (E) is a one-way locking positioning mechanism and comprises a pawl (E1), a mounting block (E2), a support body (E3), an adjusting screw (E4), a tension spring (E5), a handle (E6) and a mounting shaft (E7), wherein the pawl (E1) is a plate-shaped part, one end of the pawl (E1) is provided with a pawl tooth (E11) which is matched with a ratchet tooth (B52) and meshed with the ratchet tooth (B52), the other end of the pawl tooth is provided with a twenty-third screw hole (E13), the side surface of the pawl is provided with a sixth shaft hole (E12) and a tension spring boss (E14), the mounting block (E2) is a Z-shaped part, one step is provided with a twenty-fifth mounting hole (E21), the other step is provided with a plurality of twenty-sixth mounting holes (E22) which are matched with an eighth screw hole (A36), the support body (E3) is an L-shaped plate part, the bottom of the support body (E3) is provided with a plurality of twenty-seventh mounting holes (E31), the side part is provided with a side part of the tension spring (E31) which is provided with a twenty-fifth mounting hole (E22) and the tension spring boss (E32) is provided with a twenty-sixth mounting hole (E22) which is provided with a twenty-sixth mounting hole (E) and a force adjusting screw (E) is provided with a twenty-sixth mounting hole (E4) and a force adjusting screw) which is provided with a force adjusting screw (E4) and a force adjusting screw (E3) is provided with a force-adjusting screw (E3) which is provided with a force-high, the bottom is provided with a plurality of twenty-eighth mounting holes (E61), the twenty-eighth mounting holes (E61) are matched with twenty-third screw holes (E13), the mounting shaft (E7) is a step shaft, the eleventh shaft (E73) and the twelfth shaft (E74) are sequentially arranged, the shaft end of the eleventh shaft (E73) is provided with a plurality of twenty-fourth screw holes (E71) uniformly distributed along the circumference, the center of the twelfth shaft (E74) is provided with twenty-fifth screw holes (E72), the twelfth shaft (E74) is mounted in the positioning hole (A38), the twenty-fourth screw holes (E71) are matched with the third mounting holes (A39), the twenty-fifth screw holes (E72) are matched with the twenty-fifth mounting holes (E21), and the twelfth shaft (E74) is mounted in the sixth shaft hole (E12).

Description

Lifting device applied to underwater vehicle deployment and recovery system Technical Field The application relates to the technical field of underwater vehicles, in particular to a lifting device applied to an underwater vehicle deployment and recovery system. Background With the high deployment of national ocean strategy, the demand of the ocean field on underwater vehicles is increasing, the equipment structure forms are diversified, the system application is gradually put into practical use, and the scientific detection also tends to be serialized. However, under the requirement of less humanized operation of marine operation, the safe and convenient recovery of the underwater vehicle becomes a common problem at home and abroad, and the efficiency and reliability of the arrangement and recovery operation are directly related to the success rate and economy of the whole task. In the past, the deployment and recovery of underwater vehicles are seriously realized by divers, simple actions on land are extremely difficult under the action of comprehensive factors such as sea waves, gushes and turbulent flows in the operation process, and meanwhile, serious product and personnel safety problems exist, so that the safe and convenient deployment and recovery of the underwater vehicles become the difficult problem puzzling the development of the industry, and the use of the vehicles by customers is limited. The lifting device for safely, efficiently and stably recycling the aircraft with the tasks completed to the deck of the mother ship from the water area is a key link and main equipment in the whole operation chain, and realizes key actions of pulling the aircraft far away from the mother ship and lifting the aircraft to the deck of the mother ship. Currently, the main current recovery lifting mode generally depends on a hoisting winch or crane on the deck of a mother ship. The standard operation flow can be briefly described as that after the capture and hooking of the aircraft are completed, the aircraft is vertically lifted off the water through a steel cable, rotated and lowered to a specified position on the deck. Although this approach is technically mature and widely used, the lifting process itself has a series of inherent defects determined by basic principles, especially when the system exceeds calm sea conditions (usually referred to as class 4 sea conditions and above), these defects can be greatly amplified, resulting in high operational risk, low success rate and frequent equipment damage. The specific expression is as follows: 1. dynamic sway is risky to collide with the hull. In the lifting process, the aircraft is rigidly connected with a mother ship which does rolling and pitching movements along with sea waves through a steel cable, so that a complex offshore 'hanging and swinging system' is formed. The movement of the mother ship is transmitted through the steel cable, so that the aircraft can generate irregular and large-amplitude pendulum type swing under water and after water is discharged. The operator is difficult to completely restrain the swing in real time by operating the crane, so that the aircraft is extremely easy to collide with the side of the ship body or the recovery structure violently, the external equipment such as the aircraft shell, the acoustic guiding equipment, the optical camera and the like are damaged, and the safety of deck operators is seriously threatened. 2. The impact load is huge at the moment of water discharge. The moment the craft is lifted from the water into the air, its load-bearing state undergoes an abrupt change from "buoyancy partial support" to "full support of the slings". The dynamic impact load of the dead weight of the aircraft caused by the surge is superimposed. The periodic or instantaneous overload not only makes a serious test on the fatigue strength of the lifting point structure of the aircraft body, but also directly influences the service life and the safety margin of shipborne lifting equipment (such as a winch and a lifting arm). 3. The operation control is complex and difficult. The whole lifting operation requires an operator to level and restore a heavy load which moves irregularly in a three-dimensional space through visual judgment and manual operation under the condition that the operator shakes along with the ship body. This is essentially a highly difficult dynamic control problem, which is highly dependent on the personal experience and on-site psychological diathesis of the operator. Under wind and wave interference, the operation process tends to become extremely slow and the fault tolerance is extremely low, any manipulation errors may immediately exacerbate sway or cause collisions, resulting in low recovery efficiency and often forced to cease under severe sea conditions. 4. The cost of the system is high to compensate for the defect. To partially overcome the above drawbacks, the prior art has had to introduce high-e