UUV payload depth-holding release limiting device
The UUV load depth-limiting device with mechanical structure design solves the problems of high cost and poor stability of existing electronic control structures, and realizes simple, reliable and stable depth-limiting release of UUV loads, adapting to release requirements at different depths.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- YICHANG TESTING TECHNIQUE RESEARCH INSTITUTE
- Filing Date
- 2022-11-16
- Publication Date
- 2026-04-17
AI Technical Summary
Existing payload release devices for underwater unmanned vehicles (UUVs) mostly rely on electronic control structures, which suffer from high costs, poor stability, and stringent requirements for the external environment, making it difficult to achieve payload release at a fixed depth.
The UUV load depth release limit device, which adopts a mechanical structure design, includes a spring mechanism, a fastening belt, a locking block, a release locking mechanism, a variable diameter pull pin, and a steel wire rope. It achieves load limit fixation and depth release through mechanical linkage, avoiding the use of electrical equipment.
It achieves simple, reliable, and stable fixed-depth release of UUV loads, reduces costs, and can adapt to release requirements at different depths. The structure is simple and easy to maintain.
Smart Images
Figure CN116119465B_ABST
Abstract
Description
Technical Field
[0001] This invention belongs to the field of UUV underwater load release technology, specifically relating to a UUV load depth-limiting release device. Background Technology
[0002] Unmanned Underwater Vehicles (UUVs) are widely used in various fields, including underwater surveys, seabed exploration, and seabed search and rescue. Due to the increasing demand for diverse UUV functions, the requirements for payload loading and release are also growing. Some UUV payloads often need to operate at specific depths, making depth-controlled release a crucial issue. Currently, most existing underwater release devices employ electronically controlled structures relying on active actuators. This approach is highly sensitive to external environmental conditions and suffers from complex circuitry, high cost, and poor stability. Therefore, achieving depth-controlled release of underwater mission payloads using a simpler mechanical structure is a key challenge. Summary of the Invention
[0003] In view of this, the present invention provides a UUV load fixed depth release limiting device, which can realize the limiting and fixing of UUV load and fixed depth release. It adopts a mechanical structure design and does not involve any electrical equipment. It has the characteristics of being simple, reliable and low cost.
[0004] This invention is achieved through the following technical solution:
[0005] A UUV load depth-fixed release limiting device is provided, wherein the UUV load is supported on the mounting platform of the peripheral equipment and locked on the mounting platform by the limiting device; the tail of the UUV load is provided with a load cable, and the load cable of the UUV load is connected to the UUV platform of the peripheral equipment.
[0006] The limiting device includes: a spring-back mechanism, a fastening band, a locking block, a release locking mechanism, a reducing pin, and a wire rope;
[0007] The rebound mechanism and the release locking mechanism are both fixed on the mounting platform and located on both sides of the UUV load, respectively;
[0008] The beginning of the fastening band is wound around the spindle inside the spring mechanism; the end of the fastening band is connected to the top of the locking block. After the fastening band is wound around the UUV load, it is detachably connected to the release locking mechanism through the locking block.
[0009] The bottom of the locking block has a trapezoidal structure;
[0010] The release locking mechanism is provided with a movable block. One end of the movable block is pinned to the release locking mechanism. When the movable block is in the open state, the other end of the movable block can rotate freely to open and close. When the movable block is in the closed state, the other end of the movable block is connected to the release locking mechanism through a variable diameter pin, so that the release locking mechanism and the movable block form a slot with a trapezoidal cross-section. The trapezoidal structure at the bottom of the locking block is installed in the trapezoidal slot.
[0011] The top of the reducing pin is connected to the load cable on the UUV load via a steel wire rope.
[0012] Furthermore, a coil spring is installed inside the spring-rebound mechanism to drive the internal spindle of the spring-rebound mechanism to rotate.
[0013] Furthermore, the outer shell of the spring mechanism is rotatable, and a locking groove coaxial with the spindle of the spring mechanism is machined on the outer shell. After the fastening band is tightened, the locking screw is screwed into the locking groove of the outer shell of the spring mechanism to limit the outer shell of the spring mechanism.
[0014] Furthermore, both the release locking mechanism and the movable block are machined with pin holes that mate with the variable diameter pull pin. After the variable diameter pull pin passes through the pin hole of the release locking mechanism, it is interference-fitted with the pin hole of the movable block.
[0015] The diameter of the variable diameter pin decreases in a stepwise manner from top to bottom, with oblique transitions between different diameter segments.
[0016] Furthermore, the length of the load cable is determined according to the required UUV load release depth.
[0017] Furthermore, the length of the fastening strap is longer than the actual length required to fix the UUV load.
[0018] Furthermore, the end of the fastening band is connected to the top of the locking block via a connecting ring.
[0019] Furthermore, the wire rope is connected to the load cable on the UUV load via a clamp.
[0020] Furthermore, the fastening band is a polyester webbing.
[0021] Beneficial effects:
[0022] (1) This invention provides a UUV load fixed-depth release limiting device, which has the functions of fixing and limiting the UUV load. That is, the beginning of the fastening band is connected to the spindle inside the spring mechanism, and the end is connected to the locking block. Pulling out the fastening band presses down the UUV load, and pressing the locking block into the trapezoidal slot of the release locking mechanism, rotating the movable block of the release locking mechanism, inserting the variable diameter pin, keeping the movable block in a closed state, locking the fastening band, and realizing the limiting and fixing of the UUV load. At the same time, this invention utilizes the load cable of the UUV load, linked to the sinking depth of the UUV load, and realizes the function of unlocking the limiting device at a set depth through simple mechanical structures such as the spring mechanism and the variable diameter pin, and finally realizes the limiting and fixing and fixed-depth release of the UUV load. This invention can integrate the device into the UUV platform as a whole, which can form a functionally independent task module. It adopts a mechanical structure design and does not involve any electrical equipment. It has the characteristics of simple and reliable use, easy maintenance, stable and reliable operation, and low cost.
[0023] (2) The spring mechanism of the present invention is equipped with a coil spring, which can rotate the spindle inside the spring mechanism. When not in use, the fastening band is wrapped around the spindle inside the spring mechanism. When the fastening band is subjected to external force, it drives the spindle to rotate, which can pull the fastening band out from the spindle inside the spring mechanism. After the external force disappears, the fastening band is retracted under the action of the coil spring and wrapped around the spindle inside the spring mechanism.
[0024] (3) The outer shell of the spring mechanism of the present invention can rotate, and a locking groove coaxial with the core shaft of the spring mechanism is machined on the outer shell. When the end of the fastening band is locked in the release locking mechanism, rotating the outer shell of the spring mechanism can further tighten the fastening band and screw the locking screw into the locking groove of the outer shell of the spring mechanism to limit the outer shell of the spring mechanism, so that the UUV load is more firmly fixed.
[0025] (4) The diameter of the variable diameter pin of the present invention decreases stepwise from top to bottom, and the transition between different diameter segments is oblique, so that it has the characteristics of easy pull-out of tapered pin and less likely to fall off accidentally under lateral force. When the fastening band is locked, the spring force inside the spring mechanism tightens the fastening band, and the movable block of the release locking mechanism can generate lateral force on the variable diameter pin, making it less likely to fall off accidentally. At the same time, the change in the diameter of the variable diameter pin also makes it easier to pull out, and less likely to jam when pulling out the variable diameter pin.
[0026] (5) The length of the load cable of the present invention is determined according to the required UUV load release depth. The length of the load cable is used as the depth limit for fixed-depth release. When the UUV load sinks to the length of the load cable, the limit constraint is automatically released to realize the load release. Different limit unlocking water depths can be controlled and changed by changing the release length of the load cable. Under the condition of not changing the main structure of the device, the load release requirements of different depths can be met.
[0027] (6) The length of the fastening band of the present invention is longer than the actual length required to fix the UUV load, ensuring that the fastening band can be fully pulled out when the end of the fastening band is locked in the release locking mechanism. Attached Figure Description
[0028] Figure 1 Here is a system composition diagram of the present invention:
[0029] Figure 2 This is a schematic diagram of the springback mechanism of the present invention tightening the fastening band;
[0030] Figure 3 This is a schematic diagram of the unlocking mechanism of the present invention;
[0031] Figure 4 This is a schematic diagram showing the fit between the reducing pin and the pin hole.
[0032] Among them, 1-locking screw, 2-rebound mechanism, 3-fastening band, 4-load cable, 5-line clamp, 6-steel wire rope, 7-diameter reducing pin, 8-release locking mechanism, 9-locking block, 10-connecting ring, 11-UUV load, 12-moving block, 13-locking groove. Detailed Implementation
[0033] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.
[0034] This embodiment provides a UUV load depth-fixed release limiting device. The UUV load 11 is supported on the mounting platform of the peripheral equipment and locked on the mounting platform by the limiting device. The tail of the UUV load 11 is provided with a load cable 4, which is connected to the UUV platform of the peripheral equipment.
[0035] See appendix Figure 1 The limiting device includes: a spring-back mechanism 2, a locking screw 1, a fastening band 3, a connecting ring 10, a locking block 9, a release locking mechanism 8, a variable diameter pull pin 7, a steel wire rope 6, and a wire clamp 5.
[0036] The springback mechanism 2 and the release locking mechanism 8 are both fixed on the mounting platform and are located on both sides of the UUV load 11, respectively.
[0037] See appendix Figure 2 The fastening band 3 is a polyester webbing, the beginning of which is connected to the spindle inside the spring mechanism 2 and wound around the spindle inside the spring mechanism 2. A coil spring is installed inside the spring mechanism 2, which can rotate the spindle inside the spring mechanism 2. When not in use, the fastening band 3 is wound around the spindle inside the spring mechanism 2. When the fastening band 3 is subjected to external force, it drives the spindle to rotate, which can pull the fastening band 3 out from the spindle inside the spring mechanism 2. After the external force is removed, the fastening band 3 is retracted under the action of the coil spring and wound around the spindle inside the spring mechanism 2.
[0038] The end of the fastening band 3 is connected to the top of the locking block 9 via the connecting ring 10. After the fastening band 3 is wrapped around the UUV load 11, it is detachably connected to the release locking mechanism 8 via the locking block 9.
[0039] The bottom of the locking block 9 has a trapezoidal structure;
[0040] See appendix Figure 3 The release locking mechanism 8 is provided with a rotatable and openable movable block 12. One end of the movable block 12 is pinned to the release locking mechanism 8. When the movable block 12 is in the open state, the other end of the movable block 12 can rotate freely to open and close. When the movable block 12 is in the closed state, the other end of the movable block 12 is connected to the release locking mechanism 8 through a variable diameter pin 7, so that the release locking mechanism 8 and the movable block 12 form a slot with a trapezoidal cross-section, which can cooperate with the trapezoidal structure at the bottom of the locking block 9. When the trapezoidal structure at the bottom of the locking block 9 is installed in the trapezoidal slot and the movable block 12 is in the closed state, the fastening band 3 is locked, thereby locking the UUV load 11 on the mounting platform. The release locking mechanism 8 and the movable block 12 are both machined with pin holes that cooperate with the variable diameter pin 7. After the variable diameter pin 7 passes through the pin hole of the release locking mechanism 8, it is interference-fitted with the pin hole of the movable block 12.
[0041] The top of the variable diameter pin 7 is connected to the load cable 4 on the UUV load 11 via a steel wire rope 6 and a clamp 5 (i.e., one end of the steel wire rope 6 is directly connected to the variable diameter pin 7, and the other end is fixed to the load cable 4 via the clamp 6). When the overall structure consisting of the UUV load 11 and the load platform sinks, the load cable 4 gradually straightens. When the overall structure sinks to a set depth, the load cable 4 pulls the variable diameter pin 7 out of the pin hole of the release locking mechanism 8 and the movable block 12 via the steel wire rope 6. At this time, the movable block 12 is in the open state, and the locking block 9 can be disengaged from the trapezoidal slot formed by the release locking mechanism 8 and the movable block 12. Then the fastening band 3 is retracted, and the constraint contact of the UUV load 11 is released from the load platform, realizing the limit unlocking of the device.
[0042] The length of the load cable 4 is determined according to the release depth of the UUV load 11; the length of the fastening band 3 is slightly longer than the actual length required to fix the UUV load 11, so that when the end of the fastening band 3 is locked in the release locking mechanism 8, the fastening band 3 is almost completely pulled out.
[0043] The outer casing of the spring-loaded mechanism 2 is rotatable, and a locking groove 13 coaxial with the spindle of the spring-loaded mechanism 2 is machined on the outer casing. When the end of the fastening band 3 is locked in the release locking mechanism 8, it is pressed... Figure 2 Rotating the outer shell of the spring mechanism 2 in the counterclockwise direction can further tighten the fastening band 3 and screw the locking screw 1 into the locking groove 13 of the outer shell of the spring mechanism 2 to limit the outer shell of the spring mechanism 2, making the UUV load 11 more securely fixed.
[0044] See appendix Figure 4 The diameter of the variable diameter pin 7 decreases in a stepped manner from top to bottom and can be divided into three segments according to different diameters. The segments with different diameters transition at an angle, and the corresponding pin hole is also a variable diameter hole, that is, the diameter also changes accordingly. This makes it have the characteristics of being easy to pull out of a tapered pin and being less likely to accidentally fall off a straight pin under lateral force. When the fastening band 3 is locked, the spring force inside the spring mechanism 2 tightens the fastening band 3, and the movable block 12 of the release locking mechanism 8 can generate a lateral force on the variable diameter pin 7, making it less likely to fall off accidentally. At the same time, the change in the diameter of the variable diameter pin 7 also makes it easier to pull out, and it is less likely to get stuck when pulling out the variable diameter pin 7.
[0045] Working principle: When the UUV load 11 sinks to the specified depth, the load cable 4 is tightened. Under the action of gravity, the UUV load 11 continues to fall, and the variable diameter pin 7 is pulled out by the load cable 4. The limit of the movable block 12 of the release locking mechanism 8 is released, and it can rotate freely. At this time, under the action of the spring force inside the spring mechanism 2, the movable block 12 of the release locking mechanism 8 opens, the fastening band 3 is retracted, the limit of the UUV load 11 is released, and finally the function of fixed depth release is realized.
[0046] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.
Claims
1. A UUV load depth-limiting release device, wherein the UUV load is supported on a mounting platform of an external device and locked to the mounting platform by the limiting device; the tail of the UUV load is provided with a load cable, and the load cable of the UUV load is connected to the UUV platform of the external device; characterized in that The limiting device includes: a spring-back mechanism, a fastening band, a locking block, a release locking mechanism, a reducing pin, and a wire rope; The rebound mechanism and the release locking mechanism are both fixed on the mounting platform and located on both sides of the UUV load, respectively; The beginning of the fastening band is wound around the spindle inside the spring mechanism; the end of the fastening band is connected to the top of the locking block. After the fastening band is wound around the UUV load, it is detachably connected to the release locking mechanism through the locking block. The bottom of the locking block has a trapezoidal structure; The release locking mechanism is provided with a movable block. One end of the movable block is pinned to the release locking mechanism. When the movable block is in the open state, the other end of the movable block can rotate freely to open and close. When the movable block is in the closed state, the other end of the movable block is connected to the release locking mechanism through a variable diameter pin, so that the release locking mechanism and the movable block form a slot with a trapezoidal cross-section. The trapezoidal structure at the bottom of the locking block is installed in the trapezoidal slot. The top of the reducing pin is connected to the load cable on the UUV load via a steel wire rope.
2. The UUV payload depth-hold release restraint device of claim 1, wherein, The spring mechanism is equipped with a coil spring, which is used to drive the spindle inside the spring mechanism to rotate.
3. The UUV payload depth-hold release restraint device of claim 1, wherein, The outer shell of the spring mechanism is rotatable, and a locking groove coaxial with the spindle of the spring mechanism is machined on the outer shell. After the fastening band is tightened, the locking screw is screwed into the locking groove of the outer shell of the spring mechanism to limit the outer shell of the spring mechanism.
4. The UUV payload depth-hold release restraint device of claim 1, wherein, Both the release locking mechanism and the movable block are machined with pin holes that mate with the variable diameter pull pin. After the variable diameter pull pin passes through the pin hole of the release locking mechanism, it is interference-fitted with the pin hole of the movable block. The diameter of the variable diameter pin decreases in a stepwise manner from top to bottom, with oblique transitions between different diameter segments.
5. A UUV load depth-fixed release limiting device as described in any one of claims 1-4, characterized in that, The length of the load cable is determined according to the required UUV load release depth.
6. A UUV load depth-fixed release limiting device as described in any one of claims 1-4, characterized in that, The length of the fastening strap is longer than the actual length required to fix the UUV load.
7. A UUV load depth-fixed release limiting device as described in any one of claims 1-4, characterized in that, The end of the fastening band is connected to the top of the locking block by a connecting ring.
8. A UUV load depth-fixed release limiting device as described in any one of claims 1-4, characterized in that, The steel wire rope is connected to the load cable on the UUV load via a clamp.
9. A UUV load depth-fixed release limiting device as described in any one of claims 1-4, characterized in that, The fastening band is a polyester webbing.
Citation Information
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