Destroying device for underwater unexploded ordnance

Abstract

The invention discloses a destroying device for underwater unexploded ordnance. The destroying device comprises a base, a flexible supporting plate, a shaped charge, three sets of rotating rod mechanisms and three sets of rope winding and unwinding devices. Two sets of rotating rod mechanisms are arranged on one side of the base at intervals, a set of rotating rod mechanism is arranged on the other side of the base, the three sets of rotating rod mechanisms are distributed in a delta shape, in the folded state, the base and the three sets of rotating rod mechanisms jointly form a U-shaped opening, the flexible supporting plate and the shaped charge are symmetrically fixed to the front side and the rear side of the base, and the flexible supporting plate and the U-shaped opening are located on the same side. And a group of rope winding and unwinding devices are arranged on each group of rotating rod mechanisms. The rotating rod mechanism and the rope take-up and pay-off device cooperate with high-stability operation through the function relation, and the device is simple in structure and low in cost as a loss product.

Description

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[0001] The present invention belongs to the field of robot-assisted equipment, and particularly relates to a device for destroying underwater unexploded ordnance. Background Art

[0002] With the development of technology, underwater exploration has received increasing attention. However, due to the complex underwater environment and factors such as historical residual projectiles, it is necessary to destroy unexploded ordnance to purify the underwater environment for economic activities.

[0003] Currently, the main measure for dealing with unexploded ordnance is to use explosives to detonate the unexploded ordnance in place. However, for some unexploded ordnance buried shallowly at the bottom of the water, due to the influence of external factors, the positioning of the unexploded ordnance is deviated, resulting in the inability to accurately detonate the unexploded ordnance, thus affecting the effect of destroying the unexploded ordnance. Summary of the Invention

[0004] The present invention proposes a device for destroying underwater unexploded ordnance, which solves the problems of poor system stability in destroying underwater unexploded ordnance and unstable positional relationship with the unexploded ordnance in the prior art.

[0005] The technical solution for realizing the present invention is: a device for destroying underwater unexploded ordnance, including a base, a flexible support plate, a shaped charge, three groups of rotating rod mechanisms, and three groups of rope winding and unwinding devices.

[0006] On one side of the base, two groups of rotating rod mechanisms are arranged at intervals, and on the other side, one group of rotating rod mechanisms is arranged. The three groups of rotating rod mechanisms are distributed in a "pin" shape. When in the retracted state, the base and the three groups of rotating rod mechanisms together form a U-shaped opening. The flexible support plate and the shaped charge are symmetrically fixed on the front and back sides of the base, and the flexible support plate is on the same side as the U-shaped opening. Each group of rotating rod mechanisms is provided with a group of rope winding and unwinding devices.

[0007] Compared with the prior art, the present invention has the following remarkable advantages:

[0008] (1) High working stability.

[0009] (2) Simple structure and low cost. Description of the Drawings

[0010] Figure 1 It is the state when the destruction device has not yet worked.

[0011] Figure 2 It is the state when the destruction device is working Figure 1 (θ = π / 2).

[0012] Figure 3 It is the state when the destruction device is working Figure 2 (θ = π).

[0013] Figure 4The front arm of the destruction device rotates to the expected position. Detailed implementation mode

[0014] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.

[0015] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative position relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0016] In the present invention, unless otherwise clearly defined and limited, terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; "connection" can be a mechanical connection or an electrical connection. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0017] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions conflicts with each other or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the protection scope required by the present invention.

[0018] Next, the specific implementation mode, as well as the technical difficulties and invention points of the present invention, will be further introduced in combination with the design examples.

[0019] Combined with Figures 1-4 , a destruction device for underwater unexploded ordnance includes a base 1, a flexible support plate 2, a shaped charge 9, three groups of rotating rod mechanisms and three groups of rope winding and unwinding devices.

[0020] On one side of the base 1, two groups of rotating rod mechanisms are arranged at intervals, and on the other side, one group of rotating rod mechanisms is arranged. The three groups of rotating rod mechanisms are distributed in a "pin" shape. When in the retracted state, the base 1 and the three groups of rotating rod mechanisms together form a U-shaped opening. The flexible support plate 2 and the shaped charge 9 are symmetrically fixed on the front and back sides of the base 1, and the flexible support plate 2 is on the same side as the U-shaped opening. Each group of rotating rod mechanisms is provided with a group of rope winding and unwinding devices.

[0021] The rotary mechanism includes a rear arm 4, a first-stage stepper motor 5, and a front arm 6. One end of the rear arm 4 is fixedly connected to the base 1, and the other end of the rear arm 4 is connected to the front arm 6 through the first-stage stepper motor 5 to form a rotating pair.

[0022] The rope winding and unwinding device includes a fastening rope 7, a two-stage stepper motor 3, and a fastening rope winding and unwinding box 8. The fastening rope winding and unwinding box 8 is set inside the base 1. After the fastening rope 7 is arranged around the forearm 6, the end is tightened in the fastening rope winding and unwinding box 8 through the winding and unwinding cylinder. The two-stage stepper motor 3 is fixed in the center of the fastening rope winding and unwinding box 8 and is used to wind and unwind the fastening rope 7.

[0023] The force provided by the rope winding and unwinding devices on both sides of the base to secure the rope is evenly distributed. The force provided by each stepper motor 5 on the side with two rope winding and unwinding devices is half that provided by the stepper motor 5 on the other side.

[0024] A groove is formed around the forearm 6 to allow the fastening rope 7 to be wrapped around it. The groove is located on the inner, outer, front and rear sides of the forearm 6, and the groove at the junction of each side is rounded.

[0025] An embedding groove is provided on the outer side of the rear arm 4. When the fixing and destroying device is in the retracted state, the forearm 6 is located in the embedding groove.

[0026] The first-stage stepper motor 5 and the second-stage stepper motor 3 are linked. The output of the second-stage stepper motor 3 is determined by the output of the first-stage stepper motor 5. This invention proposes for the first time that the two satisfy the following functional relationship:

[0027]

[0028] Where θ is the rotation angle of the forearm 6, l is the length of the tightening rope 7, and L is the length of the forearm 6.

[0029] In the initial collapsed state, such as Figure 1 As shown, the forearm 6 is located in the embedded groove of the rear arm 4, at which point θ = 0°, and the fastener is located in the U-shaped opening of the fixing and destroying device.

[0030] The first-stage stepper motor 5 and the second-stage stepper motor 3 work together. When the forearm 6 gradually extends outward, i.e., θ≤π, the... Figure 1 through Figures 2 to 3 As shown, the second-stage stepper motor 3 stretches the fastening rope 7 in conjunction with the first-stage stepper motor 5 to drive the movement of the forearm 6, so that the fastening rope 7 is tightly attached to the inner groove of the forearm 6 to ensure that it does not come off and does not apply resistance.

[0031] As the forearm 6 gradually contracts inward, i.e., π < θ < 3 / 2π, from Figures 3 to 4 As shown, the secondary stepper motor 3 retracts the fastening rope 7 in conjunction with the primary stepper motor 5 to drive the movement of the forearm 6, so that the fastening rope is tightly attached to the outer groove of the forearm 6 to ensure that it does not come off and does not apply resistance.

[0032] When in the closed state, i.e., θ = 3 / 2π, as... Figure 4 As shown, the first-stage stepper motor 5 is locked, and the second-stage stepper motor 3 continuously contracts the fastening rope 7, so that the fastening rope 7 is pressed tightly against the unexploded ordnance body to increase friction, so that the flexible support plate 2 is pressed tightly against the unexploded ordnance body, detonating the shaped charge 9, and then detonating the fastened fastener.

[0033] When the flexible support plate 2 is working, it undergoes elastic deformation to fit the unexploded ordnance body. A hole is opened in the center of the flexible support plate 2 to facilitate the energy conduction when the shaped charge 9 explodes.

[0034] The flexible support plate 2 is made of rubber.

Claims

1. A disposal device for underwater unexploded ordnance, characterized in that: It includes a base (1), a flexible support plate (2), a shaped charge (9), three groups of rotating rod mechanisms and three groups of rope winding and unwinding devices; On one side of the base (1), two groups of rotating rod mechanisms are arranged at intervals, and on the other side, one group of rotating rod mechanisms is arranged. The three groups of rotating rod mechanisms are distributed in a "pin" shape. In the retracted state, the base (1) and the three groups of rotating rod mechanisms together form a U-shaped opening. The flexible support plate (2) and the shaped charge (9) are symmetrically fixed on the front and rear sides of the base (1), and the flexible support plate (2) is on the same side as the U-shaped opening. Each group of rotating rod mechanisms is provided with a group of rope winding and unwinding devices; The rotating rod mechanism includes a rear arm (4), a first-level stepping motor (5), and a front arm (6). One end of the rear arm (4) is fixedly connected to the base (1), and the other end of the rear arm (4) is connected to the front arm (6) through the first-level stepping motor (5) to form a rotating pair.

2. The device for destroying unexploded ordnance underwater according to claim 1, characterized in that: The rope winding and unwinding device includes a fastening rope (7), a second-level stepping motor (3), and a fastening rope winding and unwinding box (8). The fastening rope winding and unwinding box (8) is arranged inside the base (). After the fastening rope (7) is wound around the front arm (6), the end is tightened in the fastening rope winding and unwinding box (8). The second-level stepping motor (3) is fixed at the center of the fastening rope winding and unwinding box (8) for winding and unwinding the fastening rope (7).

3. The device for destroying unexploded ordnance underwater according to claim 2, characterized in that: A circle of grooves is opened around the front arm (6) for the fastening rope (7) to wind around. The grooves are located on the inner, outer, front, and rear sides of the front arm (6), and the grooves at the intersections of each side are arc-transitioned.

4. The device for destroying unexploded ordnance underwater according to claim 3, characterized in that: An embedding groove is opened on the outer side of the rear arm (4). When the fixed destruction device is in the retracted state, the front arm (6) is located in the embedding groove.

5. The device for destroying unexploded ordnance underwater according to claim 4, characterized in that: The first-level stepping motor (5) and the second-level stepping motor (3) are linked, and the output of the second-level stepping motor (3) is determined according to the output of the first-level stepping motor (5). The two satisfy the following functional relationship: Where, θ is the rotation angle of the front arm (6), l is the winding and unwinding length of the fastening rope (7), and L is the length of the front arm (6).

6. The device for destroying unexploded ordnance underwater according to claim 5, characterized in that: In the initial retracted state, the front arm (6) is located in the embedding groove of the rear arm (), at this time θ = 0°, and the fastened object is located in the U-shaped opening of the fixed destruction device; The first-level stepping motor (5) and the second-level stepping motor (3) are linked. When the front arm (6) gradually extends outwards, that is, θ ≤ π, the second-level stepping motor (3) extends the fastening rope (7) to cooperate with the first-level stepping motor (5) to drive the action of the front arm (6), so that the fastening rope (7) closely adheres to the inner groove of the front arm (6) to ensure that it does not break away and does not apply resistance; When the front arm (6) gradually contracts inwards, that is, π < θ < 3 / 2π, the second-level stepping motor (3) contracts the fastening rope (7) to cooperate with the first-level stepping motor (5) to drive the action of the front arm (6), so that the fastening rope closely adheres to the outer groove of the front arm (6) to ensure that it does not break away and does not apply resistance; When in the closed state, that is, θ = 3 / 2π, the first-level stepping motor (5) is locked, and the second-level stepping motor (3) continuously contracts the fastening rope (7) to make the fastening rope (7) closely adhere to the unexploded bomb body to apply pressure, enhance the friction force, so that the flexible support plate (2) closely adheres to the unexploded bomb body, detonates the shaped charge (9), and then detonates the fastened object.

7. The device for destroying unexploded ordnance underwater according to claim 6, characterized in that: When the flexible support plate (2) is working, it undergoes elastic deformation to fit the unexploded ordnance body. A hole is opened in the center of the flexible support plate (2) to facilitate the energy conduction when the shaped charge (9) explodes.

8. The device for destroying unexploded ordnance underwater according to claim 7, characterized in that: The flexible support plate (2) is made of rubber.

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