An underwater vehicle recovery device based on a floating bladder cable delivery device

Abstract

This application discloses an underwater vehicle recovery device based on a floating bladder cable delivery device, which relates to the field of positioning and recovery. The device comprises an end cap, a floating bladder, and a gas cylinder. The end cap is connected to a hollow cylinder, which is connected to the vehicle. The end cap is connected to the outside of the cylinder via a connecting device. The cylinder has a through hole. The gas cylinder is connected to the side of the end cap facing the center of the cylinder and inserted into the cylinder through the through hole. The floating bladder is sleeved on the outside of the gas cylinder. A breaking device is also connected to the side of the end cap facing the cylinder to break the connecting device and cause the end cap to eject the gas cylinder and floating bladder from the through hole. The end cap is connected to the inner wall of the cylinder via a cable, ensuring that the supercavitating vehicle can be recovered quickly, efficiently, and at low cost.

Description

Technical Field

[0001] This technical method mainly involves the field of positioning and recovery, and the specific application engineering direction is the field of underwater positioning and recovery of navigation bodies. Background Art

[0002] Underwater supercavitating vehicles are typically designed with negative buoyancy. After testing, the vehicle models often sink to the bottom, necessitating salvage. However, due to the secrecy and information isolation of the waters, these salvage operations typically involve AUVs or frogmen, which are costly and complex. This salvage operation, especially at great depths, often presents significant safety risks.

[0003] Bao Guanqi et al. [1] invented an underwater docking and recovery mechanism for underwater vehicles, which is used for docking and recovery of underwater vehicles. The docking and recovery mechanism includes a bracket, a guide cover, a cylinder and a positioning locking column. It can cope with complex underwater situations to carry out docking and recovery operations, reduce the error of the relative position and attitude of the underwater vehicle when docking, and at the same time reduce the change range of the underwater vehicle, so as to achieve a high success rate of recovery. Kanaoka Hide and Yamato Hiroyuki [2] invented an underwater vehicle control method, a launch method, a recovery method, a control system and a launch and recovery device for the control system. The underwater vehicle control method uses a sound positioning mechanism provided on the water control mechanism to control the movement of the water control mechanism through the mobile mechanism when controlling multiple underwater vehicles sailing underwater through a water control mechanism having a mobile mechanism that can move near the water surface, so that the multiple underwater vehicles are located in a control area where the water control mechanism can locate the multiple underwater vehicles. However, supercavitating vehicles have technical problems such as small size and space, large navigation overload, and limited floating time. The above invention does not provide an effective solution to the above problems.

[0004] References

[0005] 【1】Bao Guanqi, Zhou Difeng, Wang Rong, Gong Feng, An underwater docking and recovery mechanism for underwater vehicles, CN202111565674.2.

[0006] 【2】Hide Kanaoka and Hiroyuki Yamato; Underwater vehicle control method, deployment method, recovery method, control system, and deployment and recovery equipment for the control system, CN201880021293.8. Summary of the Invention

[0007] The technical problem solved by the present invention is to overcome the shortcomings of the existing technology and provide a design of an underwater vehicle recovery device based on a floating bladder cable delivery device to ensure that the supercavitation vehicle can be recovered quickly, efficiently and at low cost.

[0008] Specifically, by changing the ventilation volume, the size of the float bag can be precisely controlled to meet engineering requirements such as the floating time.

[0009] The technical solution of the present invention is:

[0010] An underwater vehicle recovery device based on a floating bladder cable delivery device, comprising an end cover, a floating bladder, and a gas cylinder;

[0011] The end cover is connected to the hollow cylinder, and the cylinder is connected to the navigation body;

[0012] The end cap is connected to the outside of the cylinder through a connecting device. The cylinder is provided with a through hole. The gas cylinder is connected to the side of the end cap facing the center of the cylinder and inserted into the cylinder through the through hole. The float bag is sleeved on the outside of the gas cylinder.

[0013] The end cap is also connected to a side facing the cylinder body with a blasting device for blasting off the connecting device and causing the end cap to drive the gas cylinder and the float bag to pop out from the through hole;

[0014] The end cover is connected to the inner wall of the cylinder by a cable.

[0015] The connecting device is a connecting bolt, and the end cover is provided with a plurality of connecting holes, and the connecting bolt passes through the connecting holes and is threadedly connected to the cylinder.

[0016] The explosive device includes an annular groove and an electric squib. The annular groove is arranged on the side of the end cover facing the cylinder. The distance between the annular groove and the connecting hole is 1.5mm-2.5mm. The electric squib is fixed in the annular groove.

[0017] The annular groove is arranged on the inner sides of the plurality of connecting holes.

[0018] The gas cylinder is provided with an inertia switch.

[0019] The end cover is connected to a boss on one side facing the cylinder, the outer diameter of the boss is smaller than the inner diameter of the through hole, the gas cylinder and the float are both connected to the boss, the boss is provided with a mooring hole, and the cable is connected to the end cover through the mooring hole.

[0020] Two recovery devices are provided on each cylinder, and the installation angles of the two recovery devices present a phase difference of 180°.

[0021] The cable is made of Kevlar, which has the characteristics of light weight and large load-bearing capacity. The density of the Kevlar can be made equal to the density of water, thereby achieving a load-free floating process of the float bag.

[0022] The cylinder forms a sealed cabin after being connected to the recovery device.

[0023] The outer surface of the end cover has the same curvature as that of the outer surface of the cylinder.

[0024] In summary, this application has at least the following beneficial technical effects:

[0025] (1) The design method of the present invention breaks through the design of underwater vehicle recovery device based on floating bladder cable delivery device.

[0026] (2) The present invention utilizes an underwater vehicle recovery system based on a floating bladder cable delivery device. Because the size of the floating bladder can be quantitatively and precisely controlled based on the amount of air inflated, the vehicle's surfacing time can be effectively controlled. Effective control of the bladder's surfacing time allows for effective estimation of the vehicle's timing. Therefore, the surfacing time of the floating bladder cable delivery device can be programmed into the control circuit for precise recovery of the vehicle.

[0027] The floating bladder cable delivery device used in this invention is a flexible, deformable body that effectively resists impact loads. Therefore, an underwater vehicle recovery system based on this device can be used for vehicle recovery missions in high-impact environments. The floating bladder recovery device in this invention is suitable for vehicle recovery operations under 30g mechanical loads. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 This is a general schematic diagram of the method for realizing the floating bladder positioning and cable delivery according to the present invention;

[0029] Figure 2 This is a diagram showing the relative positions of the recovery device installed on the vessel cylinder;

[0030] Figure 3 This is a schematic diagram of the structure of the recovery device with the float bladder in the folded state;

[0031] Figure 4 This is a schematic diagram of the structure of the recovery device when the float bag is inflated.

[0032] Explanation of the accompanying symbols: 1. Cylinder; 2. Cable; 3. Buoy; 4. Float; 5. End cover; 6. Mooring hole; 7. Gas cylinder. DETAILED DESCRIPTION

[0033] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0034] After the test, the vehicle often sinks to the bottom of the water, and due to the concealment of the water area and information isolation, it is difficult to achieve rapid and accurate salvage. The embodiment of the present application discloses an underwater vehicle recovery device based on a floating bladder 4 cable delivery device, which ensures the rapid, efficient and low-cost recovery of the supercavitating vehicle.

[0035] like Figure 1 and Figure 3As shown, an underwater vehicle recovery device based on a floating bag 4 cable delivery device is installed on the cylinder 1 of the vehicle. The cylinder 1 is coaxially connected to the main body of the vehicle. The interior of the cylinder 1 is hollow. The recovery device includes an end cover 5, a floating bag 4, and a gas cylinder 7.

[0036] like Figure 2 and Figure 3 As shown, the cylinder 1 has a through-hole. An end cap 5 is connected to the outside of the cylinder 1 via a connecting device. The outer surface of the end cap 5 matches the curvature of the outer surface of the cylinder 1. A boss is connected to the side of the end cap 5 facing the cylinder 1. The boss's outer diameter is smaller than the inner diameter of the through-hole. The boss is inserted into the cylinder 1 through the through-hole. A gas cylinder 7 and a float bladder 4 are both connected to the boss. The gas cylinder 7 is connected to the end of the boss facing the center of the cylinder 1. The float bladder 4 is sleeved outside the gas cylinder 7, which is equipped with an inertia switch. A rupture device is also connected to the side of the end cap 5 facing the cylinder 1, which is used to rupture the connecting device and eject the gas cylinder 7 and float bladder 4 from the through-hole. The end cap 5 is connected to the inner wall of the cylinder 1 by a cable 2. Specifically, the boss has a mooring hole 6, through which the cable 2 is connected to the end cap 5. The cable 2 is made of Kevlar, which is lightweight and does not hinder the buoyancy of the air bladder. After the cylinder 1 is connected to the recovery device, it becomes a sealed chamber.

[0037] The connecting device is a connecting bolt. The end cover 5 is provided with a plurality of connecting holes. The connecting bolts pass through the connecting holes and are threadedly connected to the cylinder 1 .

[0038] like Figure 3 and Figure 4 As shown, the explosive device includes an annular groove and an electric squib. The annular groove is located on the side of the end cap 5 facing the cylinder 1. The annular groove is set inside the multiple connection holes. The distance between the annular groove and the connection holes is 2 mm. The electric squib is fixed in the annular groove. A control system is connected to the cylinder 1 and is connected to the electric squib via a cable. The control system is used to send explosion control signals to the electric squib and supply power to the electric squib.

[0039] like Figure 2 As shown, two recovery devices are installed on each cylinder 1, and the installation angles present a phase difference of 180 degrees to prevent one side of the projectile from contacting the ground after sinking to the bottom of the water and preventing the recovery device from popping out.

[0040] The use process of the recovery device is as follows: Figure 4As shown, after the navigating body cylinder 1 sinks to the bottom of the water, the electric squib starts to work at a current of 5 to 10A (reliable detonation within 50ms) through timing control, blows off the connecting device in the connecting hole, and blows out the end cover 5 in the direction away from the outer currency of the cylinder 1, and the end cover 5 pops out of the through hole with the gas cylinder 7 and the float bladder 4; at the same time, the inertia valve of the gas cylinder 7 opens and inflates the float bladder 4. Under the action of the inflation of the gas cylinder 7, the volume of the float bladder 4 gradually increases and wraps the gas cylinder 7 inside. Under the action of buoyancy, the float bladder 4 pulls the cable and begins to float to the water surface.

[0041] The float bladder 4 is ejected when in working state; the float bladder 4 begins to float up when inflated; the position of the underwater vehicle is located by observing the position of the float bladder 4 on the water surface; in addition, the cable 2 is 50 to 80 meters long and is designed to have positive buoyancy and can withstand a tensile force of 1 ton, so the underwater vehicle can be recovered through the cable 2.

[0042] The above description is only the best specific implementation method of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or replacements that can be easily thought of by any technician familiar with this technical field within the technical scope disclosed by the present invention should be covered by the scope of protection of the present invention.

[0043] The contents not described in detail in the specification of the present invention belong to the common knowledge of professionals in this field.

Claims

1. An underwater vehicle recovery device based on a floating bladder (4) cable delivery device, characterized in that: It comprises an end cover (5), a float bag (4), and a gas cylinder (7); The end cover (5) is connected to the hollow cylinder (1), and the cylinder (1) is connected to the navigation body; The end cover (5) is connected to the outside of the cylinder (1) through a connecting device. The cylinder (1) is provided with a through hole. The gas cylinder (7) is connected to the side of the end cover (5) facing the center of the cylinder (1) and is inserted into the cylinder (1) through the through hole. The float bag (4) is sleeved on the outside of the gas cylinder (7). A breaking device is also connected to the side of the end cover (5) facing the cylinder (1) for breaking the connection device and causing the end cover (5) to drive the gas cylinder (7) and the float bag (4) to pop out from the through hole; The end cover (5) is connected to the inner wall of the cylinder (1) via a cable (2); The connecting device is a connecting bolt, and the end cover (5) is provided with a plurality of connecting holes, and the connecting bolt passes through the connecting holes and is threadedly connected to the cylinder (1); The explosive device comprises an annular groove and an electric squib, wherein the annular groove is provided on a side of the end cover (5) facing the cylinder (1), the distance between the annular groove and the connecting hole is 1.5 mm to 2.5 mm, and the electric squib is fixed in the annular groove; The gas cylinder (7) is provided with an inertia valve; Two recovery devices are provided on each cylinder (1), and the installation angles of the two recovery devices present a phase difference of 180°; When the navigation body cylinder (1) sinks to the bottom of the water, the electric squib works to blow off the connecting device in the connecting hole through time control, and blows out the end cover (5) in a direction away from the outer wall of the cylinder (1), and the end cover (5) pops out from the through hole with the gas cylinder (7) and the float (4); at the same time, the inertia valve of the gas cylinder (7) opens and inflates the float (4). Under the action of the inflation of the gas cylinder (7), the volume of the float (4) gradually increases and wraps the gas cylinder (7) inside. Under the action of buoyancy, the float (4) breaks the cable and begins to float to the water surface.

2. The underwater vehicle recovery device based on the floating bladder (4) cable delivery device according to claim 1 is characterized in that: The annular groove is arranged on the inner sides of the plurality of connecting holes.

3. The underwater vehicle recovery device based on the floating bladder (4) cable delivery device according to claim 1, characterized in that: The end cover (5) is connected to a boss on one side facing the cylinder (1), the outer diameter of the boss is smaller than the inner diameter of the through hole, the gas cylinder (7) and the float (4) are both connected to the boss, the boss is provided with a mooring hole (6), and the cable (2) is connected to the end cover (5) through the mooring hole (6).

4. The underwater vehicle recovery device based on the floating bladder (4) cable delivery device according to claim 1, characterized in that: The material of the cable (2) is Kevlar.

5. The underwater vehicle recovery device based on the floating bladder (4) cable delivery device according to claim 1, characterized in that: The cylinder (1) forms a sealed cabin after being connected to the recovery device.

6. The underwater vehicle recovery device based on the floating bladder (4) cable delivery device according to claim 1, characterized in that: The outer surface of the end cover (5) has the same curvature as that of the outer surface of the cylinder (1).

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