CN111532399A

CN111532399A - Device and method suitable for overhauling equipment in underwater vehicle

Info

Publication number: CN111532399A
Application number: CN202010426837.8A
Authority: CN
Inventors: 牛军川; 贾睿昊; 田金鑫; 白国锋; 隋富生; 程晓斌
Original assignee: Shandong University
Current assignee: Shandong University
Priority date: 2020-05-19
Filing date: 2020-05-19
Publication date: 2020-08-14
Anticipated expiration: 2040-05-19
Also published as: CN111532399B

Abstract

The invention relates to a maintenance device and a method suitable for equipment in an underwater vehicle, belonging to the field of maintenance equipment of the underwater vehicle, wherein the device comprises a main frame, wherein a lifting platform for fixing a shell of the underwater vehicle is arranged on the main frame; platform guide rails are arranged on two sides of the main frame in the up-down movement direction of the lifting platform; an in-cabin guide rail is arranged in the underwater vehicle; the cabin inner guide rail comprises an upper cabin guide rail and a lower cabin guide rail which can be separated from each other; when the lower deck guide rail is butted against the upper surface of the platform guide rail, the upper deck guide rail can move to the platform guide rail; the upper cabin guide rail is used for fixing internal equipment of the underwater vehicle. Compared with the popular maintenance method, the maintenance device and the maintenance method greatly reduce the reserved space for operation in the cabin, reduce the maintenance difficulty and improve the maintenance efficiency.

Description

Device and method suitable for overhauling equipment in underwater vehicle

Technical Field

The utility model belongs to the maintenance equipment field of the ware of diving into the air, especially relate to a platform equipment that the ware internal plant of diving into the air takes out overhauls, the daily maintenance of the ware internal plant of mainly used diving into the air.

Background

The statements herein merely provide background related to the present disclosure and may not necessarily constitute prior art.

In the prior art, dock equipment is usually adopted for maintenance of the underwater vehicle, a ship can enter and exit after water is poured into the dock, the underwater vehicle can be placed on a dry bottom after water is drained, and maintainers can drill into the shell of a cabin body for daily maintenance. However, with the development of the related technology, equipment in the underwater vehicle is increasingly compact, the operation space reserved for the maintainers is smaller and smaller, and great difficulty is brought to the operation of the maintainers.

The latest development trend of the underwater vehicle is that equipment in the cabin is intelligentized, intensive and compact, no operation space is reserved in the cabin for maintenance personnel, the maintenance personnel cannot enter the cabin for operation at all and can only drag out the equipment in the cabin for maintenance, and when the equipment in the cabin is heavier, the equipment is difficult to push, install and drag out for maintenance.

Disclosure of Invention

Aiming at the problem that maintenance personnel in the prior art can not perform equipment maintenance inside the underwater vehicle at all, the disclosure provides a maintenance device and a method suitable for equipment in the underwater vehicle, so that the maintenance personnel can not enter the inside to perform equipment maintenance, and the maintenance efficiency is improved.

The device comprises a main frame, wherein a lifting platform for fixing a shell of the underwater vehicle is arranged on the main frame; platform guide rails are arranged on two sides of the main frame in the up-down movement direction of the lifting platform; an in-cabin guide rail is arranged in the underwater vehicle; the cabin inner guide rail comprises an upper cabin guide rail and a lower cabin guide rail which are separated from each other; the upper deck rail is movable to the platform rail when the upper surface of the lower deck rail abuts the upper surface of the platform rail. The upper cabin guide rail is used for fixing the internal equipment of the underwater vehicle.

Furthermore, the bottom of the lifting platform is connected with a plurality of lifters, and the lifters can be lifted by a motor or manually rotating a hand wheel of the lifter.

Furthermore, the main frame is provided with a groove for the lifting platform to vertically move up and down, the upright posts in the groove are provided with vertical rail grooves, and the four corners of the lifting platform are provided with sliding blocks capable of sliding in the vertical rail grooves.

Furthermore, the length of the upper cabin guide rail is greater than that of the lower cabin guide rail, rollers capable of moving on the platform guide rail are respectively arranged at two ends of the upper cabin guide rail in the length direction, and when the upper cabin guide rail is in butt joint with the lower cabin guide rail, the rollers are in a suspended state.

Furthermore, limiting holes with the same size are formed in the upper cabin guide rail and the lower cabin guide rail at the same positions; the limiting hole of the upper cabin guide rail completely penetrates through the upper cabin guide rail in the cabin, and the limiting hole of the lower cabin guide rail does not penetrate through the lower cabin guide rail.

Furthermore, an anti-skid rubber pad is arranged between the upper cabin guide rail and the lower cabin guide rail.

Further, the platform guide rail is divided into a first platform guide rail and a second platform guide rail; the platform guide rail is divided into an upper guide rail, a middle guide rail and a lower guide rail from top to bottom, and the lower guide rail is fixed on the installation basis of the main frame; the upper guide rail and the middle guide rail are installed together and can move on the lower guide rail to be butted with the lower cabin guide rail in the cabin.

Furthermore, grooves for rolling the upper rollers of the upper cabin guide rail are formed in the upper surfaces of the upper guide rail and the lower cabin guide rail in the underwater vehicle cabin; the shape of the groove is required to satisfy the condition that the width of the bottom surface of the groove is equal to or larger than the width of the roller of the upper cabin guide rail, and the depth of the groove is required to satisfy the condition that the upper cabin guide rail does not contact with the upper rail of the long guide rail when the roller rolls in the groove.

Further, the outer shell of the underwater vehicle is provided with a plurality of cabin feet for preventing the outer shell from freely rolling; the bottom of the cabin foot is provided with a plurality of cabin foot fixing holes corresponding to the fixing holes on the lifting platform; the pod legs and the lift platform may be connected by bolts, keys or pins.

At least one embodiment of the present disclosure further discloses an overhaul method for an overhaul device suitable for equipment in a submersible vehicle, based on any one of the above, including the following steps:

fixing the outer shell of the cabin body of the underwater navigation cabin on the lifting platform through a hoisting device, and keeping the height of moving rollers at two ends of a guide rail in the cabin higher than that of the guide rail of the platform at the initial position of the underwater navigation cabin;

the platform guide rails extend out of the cabin until the end surfaces of the platform guide rails are overlapped with the end surfaces of the guide rails in the cabin; descending the lifting platform to enable the moving roller on the upper cabin guide rail to slowly press on the upper surface of the platform guide rail;

continuously descending the lifting platform until the lower cabin guide rail in the cabin is parallel to the upper surface of the platform guide rail; the upper rail of the guide rail in the cabin can be pulled out towards the direction of the platform guide rail together with the equipment arranged on the upper rail for maintenance.

The embodiment disclosed above achieves the following advantages:

according to the underwater vehicle, the platform guide rail is arranged on the main frame, the cabin inner guide rail is arranged in the underwater navigation cabin, internal equipment is arranged on the upper cabin guide rail in the cabin guide rail, and when the lower cabin guide rail is in butt joint with the platform guide rail, the upper cabin guide rail and the equipment fixed on the upper cabin guide rail can be pulled out to the main frame to start to overhaul the equipment; therefore, the equipment installed inside the cabin body of the underwater vehicle is convenient to take out, and the condition that the equipment enters the cabin body manually for overhauling is avoided, so that convenience is provided for daily internal equipment overhauling.

Drawings

The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.

Fig. 1 is a three-dimensional structural view of an inspection apparatus disclosed in an embodiment of the present disclosure;

FIG. 2 is a three-dimensional structural view of a main frame in an inspection and repair apparatus according to an embodiment of the present disclosure;

FIG. 3 is a three-dimensional structure diagram of a lifting platform in the maintenance device of the embodiment of the present disclosure;

FIG. 4 is a three-dimensional structure diagram of a long guide rail in the maintenance device of the embodiment of the present disclosure;

FIG. 5 is a front view of a long rail in an inspection and repair apparatus according to an embodiment of the present disclosure;

FIG. 6 is a cross-sectional view taken along line A-A of FIG. 5;

FIG. 7 is a three-dimensional structure diagram of a short guide rail in the maintenance device according to the embodiment of the present disclosure;

FIG. 8 is a three-dimensional structure view of an in-cabin guide rail in the maintenance device according to the embodiment of the present disclosure;

FIG. 9 is a front view of an inboard guide rail of an inspection device in accordance with an embodiment of the present disclosure;

FIG. 10 is a sectional view taken along line A-A of FIG. 9;

FIG. 11 is a schematic view of a three-dimensional structure of a cabin shell of an inspection and repair apparatus according to an embodiment of the disclosure;

FIG. 12 is a three-dimensional schematic view of an initial working state of the maintenance device;

FIG. 13 is a three-dimensional schematic view showing the state of the maintenance device extending into the long guide rail and the short guide rail;

FIG. 14 is a schematic view of the maintenance device lowering platform in elevation in three dimensions;

FIG. 15 is a schematic view showing separation of the guide rails in the cabin and suspension of the upper rails of the guide rails in the cabin of the maintenance device;

fig. 16 is a three-dimensional schematic view of the maintenance device in-cabin guide rail being pushed out and entering into a maintenance state.

In the figure: 1. a main frame; 2. a lifting system; 3. a long guide rail; 4. an in-cabin guide rail; 5. a cabin shell; 6. a short guide rail; 7. a mounting base is reserved for the lifting system; 8. a main frame column; 9. a main frame base; 10. a mounting base is reserved for the long guide rail; 11. erecting a rail groove; 12. a short guide rail reserved installation foundation; 13. a main frame cross bar; 14. an elevator; 15. a lifting platform; 16. a lifting platform fixing hole; 17. a vertical rail slide block; 18. a long guide rail lower rail; 19. a long guide rail middle rail; 20. a long guide rail hand wheel; 21. the long guide rail is arranged on the upper rail; 22. a cabin inner guide rail lower rail; 23. the anti-skid rubber pad of the guide rail in the cabin; 24. a limiting hole; 25. an in-cabin guide rail is arranged on the rail; 26. a roller; 27. a cabin foot fixing hole; 28. a cabin foot; 29. a guide rail installation foundation in the cabin; 30. lifting lugs; 31. a hull; 32. a short guide rail lower rail; 33. a short guide rail middle rail; 34. a short guide rail hand wheel; 35. and (4) short guide rails are arranged on the upper rail.

Detailed Description

It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs.

In the description of the present disclosure, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present disclosure and simplifying the description, and do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present disclosure.

The embodiment discloses an overhaul device suitable for equipment in an underwater vehicle, which mainly comprises a main frame 1, a lifting system 2 and an outer shell 5 of a cabin body of the underwater vehicle, wherein the lifting system can enable the outer shell of the underwater vehicle to move up and down, long guide rails 3 and short guide rails 6 are arranged on the main frame at two sides of the up-and-down movement direction of the underwater vehicle, the upper surfaces of the long guide rails 3 and the short guide rails 6 are positioned on the same horizontal plane, an in-cabin guide rail 4 is arranged in the underwater vehicle, the in-cabin guide rails comprise an upper cabin guide rail and a lower cabin guide rail which are separated from each other, the equipment in the underwater vehicle is arranged on the upper cabin guide rail in the in-cabin guide rails, when the upper surface of the lower cabin guide rail in the in-cabin guide rails is parallel to the upper surface of the platform guide rail, the upper cabin guide rail is moved to the long guide rail 3 or the short cabin guide rail 6 of the main frame, and the equipment outside the cabin is maintained, so that the reserved space for operation in the cabin can be reduced, the equipment arranged inside the cabin body of the underwater vehicle is convenient to take out, and convenience is provided for daily internal equipment maintenance.

As shown in fig. 2, the main frame 1 of the present apparatus is reserved with an installation base 7 for the elevator system, an installation platform 10 for the long guide rail 3, and an installation platform 12 for the short guide rail 6. The main frame base 9 is reserved with mounting holes, and is convenient to fix on a flat, horizontal and firm basis. A vertical rail groove 11 for assisting the vertical movement of the lifting system is reserved on the vertical column of the main frame at the installation position of the lifting system 2.

The main frame 1 is formed by connecting steel plates, section steel, steel pipes and thin-wall section steel profiles in a fixed connection mode such as welding, riveting and bolts. The design principle is to provide mounting locations and sufficient strength for other components. The design parameters of the main frame 1 include the height of a main frame upright post 8, and the requirement that the height of the cabin inner guide rail 4 is properly higher than the heights of the long guide rail 3 and the short guide rail 6 when the lifting system 2 is at a high position is met; the length of the main frame cross bar 13 should match the distance between the cabin guide rails installed inside the cabin shell, so that the corresponding long guide rail 3, the cabin guide rail 4 and the short guide rail 6 are in the same vertical plane.

Further, as shown in fig. 3, the schematic structural diagram of the lifting system disclosed in this embodiment is shown, the lifting system includes a lifting platform 15 and a lift 14, the lifting platform is used for fixing a shell of the underwater vehicle cabin, wherein a plurality of lifting platform fixing holes 16 are reserved on the lifting platform for fixing the cabin shell 5 which is hoisted, vertical rail sliders 17 matched with the vertical rail grooves 11 reserved on the vertical columns of the main frame 1 are installed on four corners of the lifting platform 15, and the posture of the lifting platform 15 is constrained to be a horizontal posture by the vertical rail sliders. The elevator may be provided with several platforms, which are uniformly arranged at the bottom of the elevator platform, and in this embodiment of the present application, the elevator platform is preferably driven by an electric motor, but in some other embodiments, the elevator platform may also be driven by a manual means in the elevator 14 to move up and down.

In order to realize the butt joint of the platform guide rail and the cabin guide rail, as shown in fig. 4, the long guide rail 3 in the present embodiment is composed of a long guide rail lower rail 18, a long guide rail middle rail 19, a long guide rail hand wheel 20, and a long guide rail upper rail 21. The long guide rail lower rail 18 is fixed on the long guide rail reserved installation base 10 of the main frame 1 and is immovable. The long guide rail middle rail 19 and the long guide rail upper rail 21 are mounted together to be movable on the upper surface of the long guide rail lower rail 18. The movement of the upper cabinet of the long guide rail can be realized by rotating the hand wheel 20 on the left side of the long guide rail, which belongs to the prior art and is not repeated, and when the underwater vehicle cabin descends to a set position, the upper cabinet of the movable long guide rail realizes the butt joint of the guide rails in the cabin.

In view of machining accuracy, the relative positions of the long guide middle rail 19 and the long guide upper rail 21 may be slightly dislocated to maintain the overall linearity and parallelism with the long guide lower rail 18. The long guide rail lower rail 18 can be manufactured in sections and partially installed on the premise of ensuring the strength, so that the cost is saved, the precision is ensured, and the installation is convenient.

As shown in fig. 5-6, the upper surface of the upper rail 21 of the long guide rail is provided with a groove, the shape of the groove is required to satisfy that the width of the bottom surface of the groove is equal to or slightly larger than the width of the roller 26 on the guide rail 4 in the cabin, and the depth of the groove is required to satisfy that the upper rail 25 of the guide rail in the cabin does not contact with the upper rail of the long guide rail when the roller 26 rolls in the groove. I.e. a design principle enabling a light movement of the cabin track upper rail 25 on the long track upper rail 21.

As shown in fig. 7, the short guide rail 6 of the present apparatus is composed of a short guide rail lower rail 32, a short guide rail middle rail 33, a short guide rail hand wheel 34, and a short guide rail upper rail 35. The structure of which is substantially identical to that of the long guide rail 3. The short guide rail lower rail 32 is fixed on the long guide rail reserved installation base 12 of the main frame 1 and is immovable. The installation and use method of the short guide rail 6 and the design principle of the upper surface shape of the short guide rail upper rail 35 are basically consistent with the long guide rail 3. Will not be described in detail

Further, as shown in fig. 8, the cabin interior rail 4 in the embodiment is composed of a cabin interior rail lower rail 22, a cabin interior rail anti-skid rubber pad 23, a cabin interior rail upper rail 25, and rollers 26. The lower rail 22 of the guide rail in the cabin and the upper rail 25 of the guide rail in the cabin are separable, and the anti-skidding rubber pad 23 of the guide rail in the cabin is arranged between the upper cabinet and the lower rail and is integrally installed with the upper rail 25 of the guide rail in the cabin, so that the slippage between the upper and lower rails in the non-overhaul working condition is avoided.

The lower rails 22 of the cabin guide rails are mounted on a pre-set mounting platform 29 of the cabin shell 5 and are immovable, for example bolted.

As shown in fig. 9-10, a plurality of limiting holes 24 with the same size are reserved in the same position on the cabin interior guide rail lower rail 22 and the cabin interior guide rail upper rail 25, wherein the limiting holes on the cabin interior guide rail upper rail completely penetrate through the cabin interior guide rail upper rail 25, and the lower rail limiting holes may not penetrate through the cabin interior guide rail lower rail 22. The upper limiting hole of the upper rail 25 of the cabin interior guide rail and the upper limiting hole of the lower rail 22 of the cabin interior guide rail should be completely aligned up and down when the upper rail 25 of the cabin interior guide rail is pushed into the lower rail 22 of the cabin interior guide rail. The fully aligned position-limiting holes 24 may be inserted with bolts, keys or pins to ensure that the upper and

lower rails

25, 22 do not slide relative to each other.

In addition, the length of the upper rail 25 of the guide rail in the cabin is longer than that of the lower rail of the guide rail in the cabin, and the rollers 26 are installed at the two ends of the upper rail 25 of the guide rail in the cabin in the length direction, and the rollers 26 can freely roll around the installation shafts, and the bearing capacity of the rollers is enough to support the weight of equipment installed on the guide rail in the cabin. And a plurality of rollers 26 which are arranged at two ends of the upper rail 25 of the guide rail in the cabin are all suspended after limiting holes on the upper rail and the lower rail in the cabin are completely aligned. By this, the rollers 26 can slide on the under-deck rail and the platform rail when the under-deck rail is flush with the upper surface of the platform rail.

Further, as shown in fig. 11, the body of the cabin shell 5 is a cabin shell 31 of the underwater vehicle, a plurality of cabin feet 28 and lifting lugs 30 are connected to the cabin shell 31, and an cabin guide rail mounting platform 29 is arranged in the cabin.

The tank foot 28 is designed in such a way that it can keep the tank shell cylinder 31 free from rolling and can bear the entire weight of the tank shell and its internal equipment.

The bottom of the cabin foot 28 is provided with a plurality of cabin foot fixing holes 27 corresponding to the lifting platform fixing holes 16 reserved on the lifting platform 15 in the lifting system 2.

When equipment such as a crane is hoisted and the nacelle shell 5 is placed on the lifting platform 15 by the lifting lugs 30, all the lifting platform fixing holes 16 and the nacelle foot fixing holes 27 are aligned, and bolts, keys or pins are inserted to fix the lifting platform 15 and the nacelle shell 5.

The opening positions of the lifting platform fixing holes 16 and the cabin foot fixing holes 27 follow the following principle:

after the two are aligned, the cabin guide rail 4 at the corresponding position is positioned in the same vertical plane with the long guide rail 3 and the short guide rail 6. The fixing holes are uniformly distributed on the two sides of the cabin foot as much as possible.

Further, the disclosure also provides an overhaul method based on the overhaul device, firstly, the outer shell of the cabin body of the underwater navigation cabin is placed on the lifting platform and fixed through the hoisting device, the initial position is kept at the posture shown in fig. 12, the long guide rail 3 and the short guide rail 6 are completely retracted, the outer shell 5 of the cabin body is fixed on the lifting platform 15, and the height of the inner guide rail 4 is higher than that of the long guide rail 3 and the short guide rail 6.

As shown in fig. 13, after the above conditions are met, the fixing device mounted in the upper limiting hole 24 of the guide rail in the cabin is taken out, so that the lower rail 22 of the guide rail in the cabin and the upper rail 25 of the guide rail in the cabin can be separated, and the upper rails of the long guide rail 3 and the short guide rail 6 extend towards the cabin until the end surfaces coincide with the end surfaces of the guide rail 4 in the cabin.

As shown in fig. 14, the elevating platform 15 is slowly lowered so that the rollers are slowly pressed against the upper surfaces of the long guide rail 3 and the short guide rail 6.

The elevating platform 15 is further lowered, and at this time, the lower rail 22 of the cabin guide rail 4 and the upper rail 25 of the cabin guide rail are separated as shown in fig. 15. And the lifting platform 15 is descended until the bottom surface of the groove on the upper surface of the lower rail 22 of the guide rail in the cabin, the bottom surface of the groove on the upper surface of the upper rail 21 of the long guide rail and the bottom surface of the groove on the upper surface of the upper rail 35 of the short guide rail are flush.

As shown in fig. 16, the cabin track upper rail 25 can be pulled out in the direction of the long track 3 together with the device mounted thereon. At the moment, the process of taking out the equipment in the cabin is finished, and the equipment in the cabin can be overhauled outside the cabin.

And after the overhaul is finished, the taking-out step is carried out, and the inverse operation is carried out, so that the installation of the equipment in the cabin can be finished.

Therefore, the maintenance method avoids manual operation entering the cabin of the underwater navigation cabin to carry out equipment maintenance, and improves the convenience of equipment maintenance in the cabin.

Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the scope of the present invention, and it should be understood by those skilled in the art that various modifications and variations can be made without inventive efforts by those skilled in the art based on the technical solution of the present invention.

Claims

1. The utility model provides an overhaul device suitable for equipment in ware of diving into navigation which characterized in that:

the underwater vehicle comprises a main frame, wherein a lifting platform for fixing a submersible vehicle shell is arranged on the main frame; platform guide rails are arranged on two sides of the main frame in the up-down movement direction of the lifting platform; an in-cabin guide rail is arranged in the underwater vehicle; the cabin inner guide rail comprises an upper cabin guide rail and a lower cabin guide rail which can be separated from each other; when the lower deck guide rail is butted against the upper surface of the platform guide rail, the upper deck guide rail can move to the platform guide rail; the upper cabin guide rail is used for fixing internal equipment of the underwater vehicle.

2. A service device suitable for equipment in a submersible vehicle according to claim 1, characterized in that: the bottom of the lifting platform is connected with a plurality of lifters, and the lifters can rotate hand wheels on the lifters manually or by a motor to realize the up-and-down movement of the lifting platform.

3. The maintenance device for equipment in a submarine according to claim 1, wherein the main frame is provided with a groove for the lifting platform to vertically move up and down, the upright posts in the groove are provided with vertical rail grooves, and four corners of the lifting platform are provided with sliding blocks capable of sliding in the vertical rail grooves.

4. A service device suitable for equipment in a submersible vehicle according to claim 1, characterized in that; the length of the upper cabin guide rail is greater than that of the lower cabin guide rail, the two ends of the upper cabin guide rail in the length direction are respectively provided with a roller capable of moving on the platform guide rail, and when the upper cabin guide rail is in butt joint with the lower cabin guide rail, the rollers are in a suspended state.

5. A service device suitable for equipment in a submersible vehicle according to claim 1, characterized in that; limiting holes with the same size are formed in the upper cabin guide rail and the lower cabin guide rail at the same positions; the limiting hole of the upper cabin guide rail completely penetrates through the upper cabin guide rail, and the limiting hole of the lower cabin guide rail does not penetrate through or penetrates through the lower cabin guide rail.

6. An inspection and repair arrangement for equipment within a submersible vehicle according to any one of claims 4 to 5; an anti-skid rubber pad is arranged between the upper cabin guide rail and the lower cabin guide rail.

7. A service device suitable for equipment in a submersible vehicle according to claim 1, characterized in that; the platform guide rails on the two sides of the lifting platform are a first platform guide rail and a second platform guide rail; the platform guide rail is divided into an upper guide rail, a middle guide rail and a lower guide rail from top to bottom, and the lower guide rail is fixed on the installation basis of the main frame; the upper guide rail and the middle guide rail are installed together and can move on the upper surface of the lower guide rail to be butted with the lower cabin guide rail in the cabin.

8. An inspection and repair arrangement for equipment within a submersible vehicle according to claim 7, wherein; grooves for rolling the upper rollers of the upper cabin guide rails are arranged on the upper surfaces of the upper guide rails and the lower cabin guide rails in the underwater navigation cabin; the shape of the groove needs to satisfy the condition that the width of the bottom surface of the groove is equal to or larger than the width of the roller of the upper cabin guide rail, and the depth of the groove needs to satisfy the condition that the upper cabin guide rail cannot contact with the long guide rail when the roller rolls in the groove.

9. A service device suitable for equipment in a submersible vehicle according to claim 1, characterized in that; the underwater vehicle shell is provided with a plurality of cabin feet for preventing the shell from rotating; the bottom of the cabin foot is provided with a plurality of cabin foot fixing holes corresponding to the fixing holes on the lifting platform; the cabin foot and the lifting platform can be connected through a bolt, a key or a pin; and the underwater vehicle shell is also provided with a plurality of lifting lugs convenient for taking out the cabin body shell.

10. A method for servicing a service device for equipment in a submersible vehicle according to any one of claims 1 to 9, characterized in that: comprises the following steps

Fixing the outer shell of the cabin body of the underwater navigation cabin on a lifting platform through a hoisting device, and keeping the height of rollers at two ends of a guide rail in the cabin higher than that of a platform guide rail of a main frame at the initial position of the underwater navigation cabin;

continuously descending the lifting platform until the lower cabin guide rail in the cabin is parallel to the upper surface of the platform guide rail; the upper cabin guide rail can be pulled out towards the platform guide rail together with the equipment arranged on the upper cabin guide rail for maintenance.