A deep-water positioning and recovery system for a navigation body based on a buoy cable delivery device

Abstract

This application discloses a deep-water positioning and recovery system for a supercavitating vehicle based on a buoy cable delivery device, which relates to the field of positioning and recovery. The system comprises a housing, an igniter, a multi-stage rod, a buoy, a position indicator light, a cable, and a cable box. The housing has one closed end and an open end, and the closed end is fixed to the vehicle shell. The housing is provided with an igniter, a multi-stage rod, and a buoy in sequence from the closed end to the open end. The housing is provided with an ignition head inserted through the closed end into the housing for igniting the igniter. One end of the cable is connected to the bottom of the buoy and the other end is connected to the cable box. This ensures that supercavitating vehicles at great depths can be recovered quickly and efficiently, at low cost, and at high speed.

Description

Technical Field

[0001] This technical method mainly involves the field of positioning and recovery, and its specific application engineering direction is the field of deep-water positioning and recovery of supercavitation vehicle test models. Background Art

[0002] After underwater supercavitating vehicle testing is complete, salvage operations must be carried out. However, deep-water salvage operations are costly, inefficient, and risky. Therefore, during the testing phase, underwater vehicles are typically equipped with a positioning and recovery system to ensure rapid and reliable recovery.

[0003] Wang Xuefeng and Lv Ruxin [1] studied the development of underwater vehicle position indication, salvage and recovery technology at home and abroad, and proposed a new position indication and salvage recovery scheme using GPS technology and automatic guidance docking technology. The key technologies in the scheme were theoretically analyzed and calculated, and specific ways to achieve it were given. Zeng Juncai [2] briefly explained some of the defects of the current common means of deploying and recovering underwater objects. He proposed a device for recovering underwater precision instruments using fusible or explosive screw connections and electronically controlled detonation separation, and gave a brief description of its key structure and working principle. At the same time, he explained the structural design and material selection of the main components of the device. However, the above inventions did not study the problem of positioning and recovering vehicles at great depths.

[0004] References

[0005] 【1】Wang Xuefeng; Lu Ruxin, Research on new technologies for position indication, salvage and recovery of underwater vehicles[J], Ship Engineering, 2002, (04).

[0006] 【2】Zeng Juncai, Research on underwater salvage and recovery technology[J], Mechanical Engineering and Automation, 2012, (06). 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 navigation body deep-water positioning and recovery system based on a buoy cable delivery device through a structural hollow design and a metal buoy design.

[0008] The push rod design and other engineering requirements of achieving large water depth and rapid surfacing are ensured to ensure that the supercavitating vehicle can be recovered quickly and efficiently with low cost.

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

[0010] A deep-water positioning and recovery system for a navigation body based on a buoy cable delivery device includes an outer shell, an igniter, a multi-stage rod, a buoy, a position indicator light, a cable and a cable box. One end of the outer shell is a closed end and the other end is an open end. The closed end is fixed in the shell of the navigation body. The outer shell is provided with an igniter, a multi-stage rod and a buoy in sequence from the closed end to the open end. The outer shell is provided with an ignition head inserted into the outer shell through the closed end. The ignition head is used to ignite the igniter. One end of the cable is connected to the bottom of the buoy and the other end is connected to the cable box.

[0011] The positioning and recovery system is provided in two sets in the hull of the navigation body, and the two positioning and recovery systems are placed at 180 degrees;

[0012] The outer shells of the two positioning and recovery systems are located at the same position in the axial direction of the aircraft shell. Along the axial direction of the aircraft shell, the cable boxes of the two positioning and recovery systems are located on both sides of the shell. The cable boxes are screwed to the cabin plate of the aircraft shell and sealed with the cabin plate.

[0013] The multi-stage rod comprises a plurality of rod bodies which are sleeved in sequence from the outside to the inside, the adjacent rod bodies are sealed, and the outermost rod body is sealed with the outer shell.

[0014] The cable box is provided with an extension hole for the cable to pass through on the side facing the shell, and a downward extending slot is provided at the open end of the shell, the slot is facing the extension hole, one end of the cable is connected to the bottom of the buoyancy box, and the other end of the cable extends from the slot and is connected to the cable box.

[0015] The cable includes a recovery cable and a bearing cable. The recovery cable is connected between the bearing cable and the buoyancy box. The other end of the bearing cable is connected to the cable box. The diameter of the recovery cable is smaller than that of the bearing cable. The cable is made of Kevlar.

[0016] A cable feeding device is provided in the cable box, which includes a winding roller, an active cable feeding roller and a passive cable feeding roller rotatably connected to the cable box. One end of the cable is fixed to the winding roller and the cable is wound around the outside of the winding roller. The cable is clamped between the active cable feeding roller and the passive cable feeding roller. The active cable feeding roller is connected to a drive motor, and the drive motor is integrated on the outside of the cable box.

[0017] The body is provided with a mounting hole at a position opposite to the open end of the shell, and the mounting hole of the body is connected to an end cover structure with a hollow structure to balance the upper and lower pressures of the buoyancy box and prevent solid debris from entering the mounting hole.

[0018] The end cover structure includes a fixing ring and a sealing cover. The fixing ring is fixedly connected to the outer surface of the projectile, and the sealing cover is bonded to the inner side of the fixing ring.

[0019] The edge of the sealing cover in contact with the fixing ring is a conical surface, and the radius of the conical surface gradually increases in a direction away from the center of the elastic body.

[0020] A position indicating light is provided on the buoyancy box.

[0021] In summary, this application has at least the following beneficial technical effects:

[0022] (1) The design method of the present invention breaks through the design of an underwater vehicle positioning and recovery system based on a buoyancy cable delivery device;

[0023] (2) The present invention uses the combustion of the thruster agent to cut off the ignition line and push the buoyancy box to slide along the shell to complete the exit from the cabin. The action sequence is precise and the work response is rapid;

[0024] (3) The present invention can be used for underwater cable delivery work at great depths. The buoyancy box utilizes a hollow structure to achieve balance of internal and external water pressures. It does not require the design of a high-strength structure and is suitable for work at great depths.

[0025] The position indicating light of the present invention flashes to indicate the position of the buoyancy box. The working boat salvages the buoyancy box and recovers the guide cable to pull the load-bearing cable out of the water. The operation is simple and the working cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a schematic diagram of the structure of the deepwater pontoon cable delivery device;

[0027] Figure 2 is a cross-sectional view of a deepwater pontoon;

[0028] Figure 3 It is a front view of the cross-sectional view of the pontoon;

[0029] Figure 4 This is a front view of the buoy cable delivery device;

[0030] Figure 5 The figure is a schematic diagram of the structure of the buoy cable delivery device with the hull of the navigation body hidden;

[0031] Figure 6 Schematic diagram of the structure of the multi-stage rod and the shell;

[0032] Figure 7 This is a rendering of the working process.

[0033] Explanation of the accompanying reference numerals: 1. Outer shell; 11. Card slot; 2. Igniter; 3. Multi-stage rod; 4. Float; 5. Position indicator light; 6. Cable; 7. Cable box; 71. Extension hole; 8. Cover; 9. Fixing ring; 10. Navigation body shell; 11. Ignition head. DETAILED DESCRIPTION

[0034] The present application is further described in detail below with reference to the accompanying drawings and specific embodiments:

[0035] The operating environment of this application is a water depth of 100m, with an external pressure load varying between 1MPa and 0.1MPa. This occupies a compartment length of 350mm, but two sets of 100m cables 6 and cable boxes 7 occupy only 250mm of the compartment length, leaving only 100mm of compartment length for the two pontoons 4. Therefore, this device has the characteristics of small storage space and large external pressure variations.

[0036] Inflatable bladders are commonly used for underwater buoyancy. Explosives rapidly generate gas that fills the bladder, which then rises using positive buoyancy. Conventional bladders are 0.3mm thick (30-wire) and can withstand a pressure of 0.17MPa (170kPa). This project requires a pressure load range of 1MPa to 0.1MPa. Conventional bladders, when inflated underwater, will burst upon reaching the surface. High-pressure bladders, however, are too thick to accommodate the required storage space. Therefore, an inflatable bladder structure is unsuitable for this project. Instead, a multi-stage rod (3) propels a metal buoy (4) that pulls a cable (6).

[0037] The research background is that after the completion of the test, the vehicle often sinks to the bottom of the water. Due to the concealment of the water area and information isolation, it is difficult to achieve rapid and accurate salvage. This paper proposes a deep-water positioning and recovery system for the vehicle based on a buoyancy cable delivery device to ensure the rapid, efficient and low-cost recovery of the supercavitating vehicle.

[0038] A deep-water positioning and recovery system for a navigation body based on a buoy cable delivery device comprises a housing 1, an igniter 2, a multi-stage rod 3, a buoy 4, a position indicator light 5, a cable 6 (not shown in the figure) and a cable box 7.

[0039] like Figure 1 、 Figure 2 and Figure 3 As shown, in this embodiment, the hull 10 of the vehicle serves as the projectile. The outer shell 1 is a cylindrical structure with an open top. It is attached to the projectile. Inside the shell 1, from bottom to top, are the igniter 2, the multi-stage rod 3, and the buoyancy chamber 4. An ignition head 11 is located at the bottom of the shell 1, extending through the bottom of the shell 1 and into the igniter 2. The multi-stage rod 3 comprises multiple rods that are sequentially connected from the outside inward. Adjacent rods are sealed, and the outermost rods are sealed to the shell 1 via O-rings. The sealing of the multi-stage rods 3 and the seal between the multi-stage rods 3 and the shell 1 ensures a well-sealed space around the igniter 2, ensuring smooth ignition. A cable 6 is connected between the buoyancy chamber 4 and the projectile. The shell 1 also protects the buoyancy chamber 4. The igniter 2 and the multi-stage rod 3 are installed at the bottom of the buoyancy tank 4. When the ignition head 11 ignites the igniter 2, the igniter 2 pushes the multi-stage rod 3 to extend, and the multi-stage rod 3 pushes the buoyancy tank 4 out of the cabin.

[0040] The buoyancy chamber 4 has an outer diameter of 90 mm and a length of 179 mm, and can provide 700 g of positive buoyancy. The cable 6 is a Kevlar rope with a diameter of 4 mm, a length of 100 m, and a load-bearing capacity of 800 kg.

[0041] like Figure 3 and Figure 6 As shown, a cable box 7 is connected to the projectile. A hole 71 for the cable 6 to pass through is defined on the side of the cable box 7 facing the outer shell 1. A downwardly extending slot 11 is defined at the open end of the outer shell 1, facing the hole 71. One end of the cable 6 is connected to the bottom of the buoyancy tank 4, and the other end is connected to the cable box 7. The cable 6 extends through the slot 11, which prevents it from getting stuck. The cable box 7 is threadedly connected to the compartment plate of the projectile. The cable 6 pulls the compartment plate by pulling the cable box 7. An O-ring seal is provided between the outer circumference of the cable box 7 and the projectile, ensuring a sealed space on the side of the cable box 7 facing away from the outer shell 1.

[0042] The cable 6 includes a thinner recovery cable and a thicker bearing cable. The recovery cable is connected between the bearing cable and the buoyancy box 4. The recovery cable is thinner and lighter, and is used to be towed to the surface by the buoyancy box 4 and to pull the bearing cable out of the water. After that, the projectile can be towed out of the water by the stronger bearing cable.

[0043] A reel is rotatably connected to the cable box 7, around which the cable 6 is wound. An active and passive cable feed rollers are rotatably connected to the cable box 7, clamping the cable 6 between them. The active cable feed roller is connected to a drive motor integrated outside the cable box 7 and located within the elastic body. The drive motor drives the active cable feed roller to rotate, which gradually feeds the cable 6 out of the male extension hole 71. Furthermore, the passive cable feed roller is slidably connected to the cable box 7 in a direction toward or away from the active cable feed roller. The cable box 7 is equipped with an elastic device for pushing the passive cable feed roller toward the active cable feed roller, ensuring that recovery cables and load-bearing cables of varying thicknesses are stably clamped. This arrangement ensures that the cable 6 can be released with near-zero resistance and prevents the cable 6 from kinking.

[0044] like Figure 4 and Figure 5As shown, a mounting hole is provided in the projectile body, facing the open end of the outer shell 1. A fixing ring 9 is bolted to the outside of the projectile body. A groove is provided on the outer surface of the projectile body, and the fixing ring 9 is positioned within the groove, so that the outer surface of the fixing ring 9 is flush with the surface of the projectile body. The fixing ring 9 is sleeved outside the mounting hole. A cover 8 is provided in the middle of the fixing ring 9. The cover 8 adopts a hollow design, i.e., it has multiple water inlet holes. The arrangement of the cover 8 prevents water plants and other objects from entering the projectile body. The cover 8 is connected to the fixing ring 9 by bonding. The edge where the cover 8 contacts the fixing ring 9 is a tapered surface, and the radius of the tapered surface gradually increases as it moves away from the center of the projectile body. This arrangement makes the cover 8 easily opened by the buoyancy tank 4.

[0045] After the projectile completes its launch mission and enters the water, water enters the device through the water inlet of cover 8, equalizing the pressure above and below buoyancy chamber 4. The controller inside the projectile issues an ignition command, and ignition head 11 ignites. The combustion of the explosive in igniter 2 severs the ignition wire, pushing buoyancy chamber 4 along the shell, pushing open cover 8, and completing the exit.

[0046] After exiting the chamber, pontoon 4 rises using positive buoyancy, pulling the recovery cable to the surface. Position indicator light 5 flashes to indicate the location of pontoon 4. The workboat raises pontoon 4, recovers the cable, and pulls the load-bearing cable out of the water. The load-bearing cable is connected to the workboat's winch, pulling the missile out of the water.

[0047] A single deepwater pontoon 4 cable delivery device (including cable 6) weighs approximately 15 kg. Two deepwater pontoon 4 cable delivery devices are installed in the compartment, arranged 180 degrees apart. The housings 1 of the two positioning and recovery systems are located at the same position along the missile's axis. Cable boxes 7 of the two positioning and recovery systems are located on either side of the housings along the missile's axis. The cable boxes 7 are sealed against the compartment panels. This isolates the space between the cable boxes 7 and the rest of the space within the missile, preventing water entering through the seal 8 from reaching the side of the cable box 7 facing away from the housing 1.

[0048] Key technical features: Watertightness. The igniter 11, igniter 2, and position indicator light 5 must ensure watertightness at a water depth of 100m. Overload resistance. The buoyancy chamber 4, position indicator light 5, and other components must withstand an overload of 30g. The igniter 2 must be able to propel the buoyancy chamber 4, and the explosive charge must be optimized to ensure it is pushed 200-500mm away from the hull. Buoyancy chamber 4 design: The buoyancy chamber 4 must meet requirements for watertightness, overload resistance, external pressure resistance, and lightweight, providing sufficient buoyancy to deliver the guide cable to the surface. Cable box 7 design: The cable box 7 ensures that the cable 6 can be released with near-zero resistance and prevents kinking. Multistage rod 3 and igniter 2 design: The pressure of the igniter 2 must match the load-bearing capacity of the multistage rod 3 to prevent the multistage rod 3 from insufficient extension or deformation and detachment.

[0049] like Figure 7 As shown in the figure, the working process of the deepwater pontoon 4 cable delivery device is divided into five steps: installation, ignition, exiting the cabin, floating up and pulling. The specific working process is as follows:

[0050] After the missile completes its launch mission and enters the water, water enters the device through the water inlet of the cover 8, equalizing the pressure above and below the buoyancy chamber 4. The missile's internal controller issues an ignition command, igniting the igniter 2. The high-pressure gas generated propels the multi-stage rod 3 to extend step by step. The multi-stage rod 3 propels the buoyancy chamber 4 along the outer shell 1, completing the exit. Once outside the hull, the buoyancy chamber 4 rises due to positive buoyancy, and the towline 6 reaches the surface. A flashing position indicator light 5 indicates the location of the buoyancy chamber 4. The workboat then retrieves the buoyancy chamber 4, and the towline 6 pulls the missile out of the water.

[0051] 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.

[0052] 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. A deep-water positioning and recovery system for a navigation body based on a buoy cable delivery device, characterized by: The invention comprises a shell (1), an igniter (2), a multi-stage rod (3), a buoyancy tank (4), a position indicator light (5), a cable (6) and a cable box (7); one end of the shell (1) is a closed end and the other end is an open end; the closed end is fixed in a vehicle shell (10); the shell (1) is provided with an igniter (2), a multi-stage rod (3) and a buoyancy tank (4) in sequence from the closed end to the open end; the shell (1) is provided with an ignition head (11) which passes through the closed end and is inserted into the shell (1); the ignition head (11) is used to ignite the igniter (2); one end of the cable (6) is connected to the bottom of the buoyancy tank (4) and the other end is connected to the cable box (7); Two sets of the positioning and recovery systems are arranged in the shell of the vehicle, and the two positioning and recovery systems are placed at 180 degrees; the shells (1) of the two positioning and recovery systems are located at the same position in the axial direction of the vehicle shell, and along the axial direction of the vehicle shell, the cable boxes (7) of the two positioning and recovery systems are located on both sides of the shell, and the cable boxes (7) are screwed to the compartment plate of the vehicle shell and sealed between the compartment plate; The multi-stage rod (3) comprises a plurality of rod bodies that are sequentially sleeved from the outside to the inside, with a seal between two adjacent rod bodies and a seal between the outermost rod body and the housing (1); The aircraft shell (10) is provided with a mounting hole at a position opposite to the open end of the outer shell (1); the mounting hole of the aircraft shell (10) is connected to an end cover structure with a hollow structure, so as to balance the upper and lower pressures of the buoyancy box (4) and prevent solid debris from entering the mounting hole; The end cover structure comprises a fixing ring (9) and a cover (8), wherein the fixing ring (9) is fixedly connected to the outer surface of the aircraft shell (10), and the cover (8) is bonded to the inner side of the fixing ring (9), and the cover (8) adopts a hollow design.

2. The deep-water positioning and recovery system for a navigation body based on a buoy cable delivery device according to claim 1, characterized in that: The cable box (7) is provided with a protruding hole (71) on a side facing the outer shell (1) for the cable (6) to pass through, and a downwardly extending slot (101) is provided at the open end of the outer shell (1), the slot (101) facing the protruding hole (71), one end of the cable (6) is connected to the bottom of the buoyancy box (4), and the other end of the cable (6) extends from the slot (101) and is connected to the cable box (7).

3. The deep-water positioning and recovery system for a navigation body based on a buoy cable delivery device according to claim 2, characterized in that: The cable (6) comprises a recovery cable and a bearing cable, the recovery cable is connected between the bearing cable and the buoyancy box (4), the other end of the bearing cable is connected to the cable box (7), and the diameter of the recovery cable is smaller than that of the bearing cable; the cable (6) is made of Kevlar.

4. The deep-water positioning and recovery system for a navigation body based on a buoy cable delivery device according to claim 2, characterized in that: The cable box (7) is provided with a cable feeding device, which includes a winding roller, an active cable feeding roller and a passive cable feeding roller which are rotatably connected to the cable box (7). One end of the cable (6) is fixed to the winding roller and the cable (6) is wound around the outside of the winding roller. The cable (6) is clamped between the active cable feeding roller and the passive cable feeding roller. The active cable feeding roller is connected to a drive motor which is integrated on the outside of the cable box (7).

5. The deep-water positioning and recovery system for a navigation body based on a buoy cable delivery device according to claim 1, characterized in that: The edge of the cover (8) in contact with the fixing ring (9) is a conical surface, and the radius of the conical surface gradually increases in a direction away from the center of the aircraft shell (10).

6. The deep-water positioning and recovery system for a navigation body based on a buoy cable delivery device according to claim 1, characterized in that: A position indicating light (5) is provided on the buoyancy box (4).

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