A balanced and adaptive underwater load deployment device and method

Abstract

An adaptive underwater load deployment device and method are disclosed. A buoyancy chamber is fixedly connected to a mounting plate located below a carrier frame. A piston head is positioned inside the buoyancy chamber. One end of a piston rod is connected to the piston head, and a position module is mounted at the other end. One end of an electric push rod is connected to the piston rod via a connecting rod, and an electromagnetic module is mounted at the other end. A spring is fitted onto the piston rod. A position sensor is mounted on a mounting plate above the carrier frame. An electromagnetic release device is mounted on a mounting plate below the carrier frame. A tension sensor is located at the bottom of the chamber. A load release device is located below the tension sensor. This device enables rapid deployment of underwater load modules without affecting the underwater vehicle's balance. It adapts to the weight and changes in the load module's weight in the water, quickly achieving balance of the underwater vehicle and realizing instantaneous adjustment of balance, significantly improving the underwater vehicle's load deployment capability and operational efficiency.

Description

Technical Field

[0001] This invention relates to the field of deployment device technology, and in particular to a balanced and adaptive underwater load deployment device and method. Background Technology

[0002] The ocean is a precious asset and expandable space for the sustainable development of human society. It contains abundant biological and mineral resources, and countries around the world are accelerating their efforts to access, explore, and develop the ocean. Underwater vehicles play a vital role in marine security, marine development, and marine scientific research, and are among the key equipment that leading maritime powers worldwide are vying to develop. With the advancement of science and technology, the demand for long-term underwater observation and long-term underwater experimental research is rapidly increasing. This necessitates the deployment of independent systems of payload modules, such as observation and experimental devices, in appropriate seabed operating areas to facilitate long-term operations or experimental missions. Due to the complexity of underwater flow fields, to ensure the stability of the observation and experimental equipment on the seabed, the payload modules often need to be configured in a negative buoyancy state (i.e., gravity is greater than buoyancy). The deployment of the payload modules significantly impacts the buoyancy of the underwater vehicle. The underwater vehicle will transition from a zero-buoyancy state to a positive buoyancy state at the moment of deployment. If the positive buoyancy is too high, the underwater vehicle will quickly rise to the surface, making subsequent operations impossible. If the concealment requirements for the payload module deployment are high, it will expose the underwater vehicle. Therefore, the deployment of payload modules places extremely high demands on the underwater vehicle's instantaneous equilibrium adjustment capabilities.

[0003] Currently, the main methods for balancing underwater vehicles are weight adjustment and displacement volume adjustment. Weight adjustment primarily involves changing the weight of the underwater vehicle by pumping seawater in or out of the adjustable ballast tanks using high-pressure air, thus achieving balancing. Displacement volume adjustment primarily involves changing the displacement volume of the underwater vehicle by pumping high-pressure air to empty the ballast tanks or by changing the volume of the oil sump using oil pumps, thus achieving balancing. These methods are limited by the flow rate of the pumps and high-pressure air, resulting in relatively slow balancing speeds and lacking the ability for instantaneous balancing.

[0004] In existing technologies, the instantaneous balance adjustment of an underwater vehicle can be achieved by discarding buoyancy material with a weight equivalent to that of the payload module in water. This method requires the development of a targeted balance configuration scheme based on the payload module. In addition, the corresponding buoyancy material needs to be reconfigured for each mission, and it does not have the ability to be reused. Furthermore, the buoyancy material floats on the water surface after being discarded, causing certain pollution to oceans, lakes, and other water bodies. Summary of the Invention

[0005] To address the shortcomings of existing production technologies, the applicant provides a balanced and adaptive underwater load deployment device and method, which enables rapid deployment of underwater load modules without affecting the balance of the underwater vehicle, thus meeting usage requirements.

[0006] The technical solution adopted in this invention is as follows:

[0007] A balanced and adaptive underwater load deployment device includes a frame, with a first mounting plate and a second mounting plate fixed at the upper and lower ends of the frame, respectively. A load module is fixed at the middle of the bottom surface of the second mounting plate, and a buoyancy chamber is fixed on the second mounting plate. A piston is installed inside the buoyancy chamber through a first dynamic sealing ring. The output end of the piston extends out of the buoyancy chamber and connects to the first mounting plate. At the same time, a spring is sleeved on the output end of the piston.

[0008] The piston structure includes a piston rod, a piston head, a first spring enclosure, a connecting rod, a position module, an electric push rod, and an electromagnetic module. The piston head is located inside the buoyancy chamber, and two sealing grooves are provided axially on the side of the piston head. A first dynamic sealing ring is installed in each of the two sealing grooves. The piston head, the first dynamic sealing ring, and the inner wall of the buoyancy chamber constitute a dynamic seal. One end of the piston rod is connected to the piston head, and the position module is located at the other end of the piston rod. The first spring enclosure is located above the piston rod and below the position module. One end of the electric push rod is connected to the piston rod through the connecting rod, and the other end of the electric push rod is equipped with an electromagnetic module.

[0009] The structure of the buoyancy chamber includes a chamber body, a channel, a second spring enclosure, a sliding groove, and a water-permeable hole. The channel is located on the top plane of the chamber body. A sealing groove is provided on the inner wall of the channel. A second dynamic sealing ring is provided in the sealing groove. The piston rod, the second dynamic sealing ring, and the channel constitute a dynamic seal to ensure the sealing performance of the piston rod during movement.

[0010] The No. 2 spring enclosure is located on the top outer plane of the cabin and around the perimeter of the passageway, and is used to limit the end of the spring.

[0011] Its further technical solution lies in:

[0012] The No. 1 and No. 2 mounting plates have the same structure, both being U-shaped.

[0013] Mounting plate number one and mounting plate number two are installed opposite each other.

[0014] The cabin has a cylindrical structure.

[0015] The cabin and the passage are arranged coaxially.

[0016] The sliding groove is set on the outer wall of the cabin and is arranged symmetrically about the mid-longitudinal section. The water permeable hole is set on the bottom plane of the cabin, forming an open space with the piston head. A circular hole is set in the middle of the second mounting plate, and the water permeable hole passes through the circular hole without obstruction.

[0017] The inner diameter of the sliding groove matches the outer diameter of the electric actuator, serving as a guide for the electric actuator during movement.

[0018] The bottom of the cabin is also equipped with a tension sensor and a load release device.

[0019] A position sensor is installed on mounting plate number one, and an electromagnetic release device is installed on mounting plate number two.

[0020] A method for deploying a balanced and adaptive underwater load deployment device includes the following steps:

[0021] (a) Powering on the underwater vehicle;

[0022] (ii) When the electric push rod is in the initial retracted position, the position module and the position sensor are separated, and the spring is compressed. At this time, the piston head and the upper part of the cabin form the maximum sealed space, providing the maximum buoyancy.

[0023] (iii) Deploy the underwater vehicle into the water, control the extension and retraction of the electric push rod, drive the piston head to move in the cabin until the buoyancy provided by the sealed space formed by the piston head and the upper part of the cabin is balanced with the weight of the load module in the water.

[0024] (iv) When the underwater vehicle sails to the designated deployment location, during the sailing process, the weight of the payload module in the water changes due to changes in water environment parameters such as density and pressure. The position of the piston head in the cabin is dynamically adjusted by the electric push rod, thereby adjusting the size of the sealed space formed by the piston head and the upper part of the cabin, so as to always maintain the match between the buoyancy provided by the sealed space and the weight of the payload module in the water.

[0025] (v) Under the action of the spring, the piston moves upward instantaneously along the axial direction of the cabin, the piston head fits against the upper surface of the cabin, and the sealed space formed by the piston head and the upper part of the cabin is completely released, completing the balance adjustment. At the same time, the position module is connected to the position sensor, the control system receives the signal from the position sensor, determines that the load module has been deployed, and the underwater vehicle continues to perform the remaining tasks.

[0026] The beneficial effects of the present invention are as follows:

[0027] This invention features a compact and reasonable structure, and is easy to operate. By redesigning the structure of the deployment device, and with the coordinated operation of various components, the underwater payload module can be deployed quickly without affecting the balance of the underwater vehicle. It can adapt to the weight of the payload module in the water and its changes, quickly achieve the balance of the underwater vehicle, and realize instantaneous adjustment of the balance, which greatly improves the payload deployment capability and operational efficiency of the underwater vehicle.

[0028] In addition, the present invention also has the following advantages:

[0029] 1) The device of the present invention does not require a preset balancing configuration scheme, and can adapt to the weight of the load module in water and its changes, ensuring that the balance state of the underwater vehicle does not change after the load module is deployed, thus greatly improving the load deployment capability of the underwater vehicle.

[0030] 2) The device of the present invention can quickly complete the balancing of the underwater vehicle while deploying the load module, realize the instantaneous adjustment of the balancing, greatly improve the balancing adjustment response speed of the underwater vehicle, and significantly improve the operation efficiency.

[0031] 3) The device of the present invention can operate repeatedly, does not produce any pollutants, and will not cause pollution to aquatic environments such as oceans and lakes;

[0032] 4) The device of the present invention has a simple structure, is easy to operate, and is easy to maintain;

[0033] 5) The device of the present invention has a compact structure, high integration, and is self-contained, which facilitates the miniaturization and modularization of underwater vehicles. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the structure of the present invention.

[0035] Figure 2 This is a schematic diagram of the structure of the present invention (frame omitted).

[0036] Figure 3 This is an exploded view of the present invention.

[0037] Figure 4 It is the front view of the present invention.

[0038] Figure 5 This is the right view of the present invention.

[0039] Figure 6 This is a cross-sectional view of the present invention.

[0040] Figure 7 This is a schematic diagram of the buoyancy chamber of the present invention.

[0041] Figure 8 This is a schematic diagram of the piston structure of the present invention.

[0042] The components include: 1. Frame; 2. Mounting plate number one; 3. Mounting plate number two; 4. Position sensor; 5. Piston;

[0043] 501. Piston rod; 502. Piston head; 503. No. 1 spring enclosure; 504. Connecting rod; 505. Position module; 506. Electric push rod; 507. Electromagnetic module;

[0044] 6. No. 1 dynamic seal ring; 7. Spring; 8. No. 2 dynamic seal ring; 9. Buoyancy chamber;

[0045] 901. Hull; 902. No. 2 spring enclosure; 903. Passageway; 904. Sliding groove; 905. Water permeable hole; 10. Electromagnetic release device; 11. Tension sensor; 12. Load release device; 13. Load module. Detailed Implementation

[0046] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0047] like Figures 1-8 As shown, the balanced adaptive underwater load deployment device of this embodiment includes a frame 1. A first mounting plate 2 and a second mounting plate 3 are fixed at the upper and lower ends of the frame 1, respectively. A load module 13 is fixed at the middle of the bottom surface of the second mounting plate 3. A buoyancy chamber 9 is fixed on the second mounting plate 3. A piston 5 is installed inside the buoyancy chamber 9 through a first dynamic sealing ring 6. The output end of the piston 5 extends out of the buoyancy chamber 9 and connects to the first mounting plate 2. At the same time, a spring 7 is sleeved on the output end of the piston 5.

[0048] The piston 5 has the following structure: a piston rod 501, a piston head 502, a first spring enclosure 503, a connecting rod 504, a position module 505, an electric push rod 506, and an electromagnetic module 507. The piston head 502 is located inside the buoyancy chamber 9. Two sealing grooves are provided axially on the side of the piston head 502, and a first dynamic sealing ring 6 is provided in each of the two sealing grooves. The piston head 502, the first dynamic sealing ring 6, and the inner wall of the buoyancy chamber 9 constitute a dynamic seal. One end of the piston rod 501 is connected to the piston head 502, and the position module 505 is located at the other end of the piston rod 501. The first spring enclosure 503 is located above the piston rod 501 and below the position module 505. One end of the electric push rod 506 is connected to the piston rod 501 through the connecting rod 504, and the other end of the electric push rod 506 is provided with the electromagnetic module 507.

[0049] The structure of the buoyancy chamber 9 includes a chamber body 901, a channel 903, a second spring enclosure 902, a sliding groove 904, and a water-permeable hole 905. The channel 903 is located on the top plane of the chamber body 901. A sealing groove is provided on the inner wall of the channel 903. A second dynamic sealing ring 8 is provided in the sealing groove. The piston rod 501, the second dynamic sealing ring 8, and the channel 903 constitute a dynamic seal to ensure the sealing performance of the piston rod 501 during movement.

[0050] The second spring enclosure 902 is located on the top outer plane of the cabin 901 and around the passage 903, and is used to limit the end of the spring 7.

[0051] Mounting plate 2 and mounting plate 3 have the same structure, both being U-shaped.

[0052] Mounting plate 2 and mounting plate 3 are installed opposite each other.

[0053] The hull 901 adopts a cylindrical structure.

[0054] The cabin 901 and the passage 903 are coaxially arranged.

[0055] The sliding groove 904 is set on the outer wall of the compartment 901 and is symmetrically arranged about the middle longitudinal section. The water permeable hole 905 is set on the bottom plane of the compartment 901 and forms an open space with the piston head 502. A round hole is set in the middle of the second mounting plate 3, and the water permeable hole 905 passes through the round hole without obstruction.

[0056] The inner diameter of the sliding groove 904 matches the outer diameter of the electric push rod 506, and is used to guide the electric push rod 506 when it moves.

[0057] The bottom of the cabin 901 is also equipped with a tension sensor 11 and a load release device 12.

[0058] Position sensor 4 is installed on mounting plate 2, and electromagnetic release device 10 is installed on mounting plate 3.

[0059] The specific structure and function of the balanced adaptive underwater load deployment device described in this invention are as follows:

[0060] It mainly includes a buoyancy chamber 9, a piston 5, a position sensor 4, a tension sensor 11, a load release device 12, an electromagnetic release device 10, a spring 7, a second dynamic seal ring 8, and a first dynamic seal ring 6.

[0061] The buoyancy chamber 9 includes a chamber body 901, a channel 903, a second spring enclosure 902, a sliding groove 904, and a water-permeable hole 905.

[0062] The cabin 901 is cylindrical, and its bottom is fixedly connected to the second mounting plate 3 located below the carrier frame 1. The channel 903 is located on the top plane of the cabin 901 and is coaxial with the cabin 901. A sealing groove is provided on the inner wall of the channel 903, and a second dynamic sealing ring 8 is installed in the sealing groove.

[0063] The second spring enclosure 902 is located on the top outer plane of the cabin 901 and around the passage 903, and is used to limit the end of the spring 7.

[0064] A sliding groove 904 is provided on the outer wall of the compartment 901, symmetrically arranged about the mid-longitudinal section. The inner diameter of the sliding groove 904 matches the outer diameter of the electric push rod 506, and is used to guide the electric push rod 506 when it moves. A water-permeable hole 905 is provided on the bottom plane of the compartment 901, forming an open space with the piston head 502.

[0065] The piston 5 includes a piston rod 501, a piston head 502, a first spring enclosure 503, a connecting rod 504, a position module 505, an electric push rod 506, and an electromagnetic module 507.

[0066] The piston head 502 is located inside the chamber 901. Two sealing grooves are axially arranged on the side of the piston head 502, and a first dynamic sealing ring 6 is installed in each of the two sealing grooves. The piston head 502, the first dynamic sealing ring 6, and the inner wall of the chamber 901 form a dynamic seal, ensuring the sealing between the piston head 502 and the inner wall of the chamber 901 during movement. One end of the piston rod 501 is connected to the piston head 502, and the rod passes through the channel 903. The piston rod 501, the second dynamic sealing ring 8, and the channel 903 form a dynamic seal, ensuring the sealing of the piston rod 501 during movement. The position module 505 is located at the other end of the piston rod 501.

[0067] The first spring enclosure 503 is located above the piston rod 501 and below the position module 505, and is used to limit the end of the spring 7. One end of the electric push rod 506 is connected to the piston rod 501 via the connecting rod 504, and the other end is equipped with an electromagnetic module 507, which is symmetrically arranged about the mid-longitudinal section.

[0068] Spring 7 is mounted on piston rod 501, with one end placed in spring wall 503 and the other end placed in spring wall 902. Spring wall 503 and spring wall 902 together limit the end face of spring 7.

[0069] Position sensor 4 is mounted on mounting plate 2 and is matched with position module 505. It is used to determine whether load module 13 has completed deployment.

[0070] The electromagnetic release device 10 is mounted on the second mounting plate 3 and is matched with the electromagnetic module 507. The release of the piston 5 can be completed by the control system.

[0071] The center of the second mounting plate 3 is a round hole, through which the water-permeable hole 905 passes without obstruction.

[0072] The tension sensor 11 is located at the bottom of the cabin 901.

[0073] The load release device 12 is located below the tension sensor 11.

[0074] In actual operation, the deployment process is as follows:

[0075] (i) When the underwater vehicle is powered on, the electromagnetic module 507 is connected to the electromagnetic release device 10, and the load module 13 is connected to the load release device 12.

[0076] (ii) The electric push rod 506 is brought to the initial retracted position by the control system, the position module 505 is separated from the position sensor 4, and the spring 7 is compressed. At this time, the piston head 502 and the upper part of the cabin 901 form the maximum sealed space, and the device of the present invention is in the state of providing maximum buoyancy;

[0077] (iii) The underwater vehicle is deployed into the water. The control system controls the extension and retraction of the electric push rod 506 according to the data received from the tension sensor 11, which drives the piston head 502 to move inside the cabin 901 until the buoyancy provided by the sealed space formed by the piston head 502 and the upper part of the cabin 901 is balanced with the weight of the load module 13 in the water.

[0078] (iv) When the underwater vehicle sails to the designated deployment location, during the sailing process, the weight of the load module 13 in the water changes due to changes in water environment parameters such as density and pressure. The control system dynamically adjusts the position of the piston head 502 in the cabin 901 through the electric push rod 506 based on the real-time data of the tension sensor 11, thereby adjusting the size of the sealed space formed by the piston head 502 and the upper part of the cabin 901, so as to always maintain the match between the buoyancy provided by the sealed space and the weight of the load module 13 in the water.

[0079] (V) The control system issues a command to deploy the load module 13. The load release device 12 and the electromagnetic release device 10 simultaneously receive the control signal. The load module 13 disengages from the load release device 12, and the electromagnetic module 507 disengages from the electromagnetic release device 10. Under the action of the spring 7, the piston 5 instantly moves upward along the axis of the cabin 901. The piston head 502 is in contact with the upper surface of the cabin 901. The sealed space formed by the piston head 502 and the upper part of the cabin 901 is completely released, and the balance adjustment is completed. At the same time, the position module 505 is connected to the position sensor 4. The control system receives the signal from the position sensor 4 and determines that the load module 13 has been deployed. The underwater vehicle continues to perform the remaining tasks.

[0080] The above process is automatically controlled by the underwater vehicle's control system.

[0081] The above description is an explanation of the present invention and not a limitation thereof. The scope of the present invention is defined by the claims. Within the scope of protection of the present invention, any form of modification may be made.

Claims

1. A balanced adaptive underwater load deployment device, comprising a frame (1), characterized in that: The frame (1) has a first mounting plate (2) and a second mounting plate (3) fixed at its upper and lower ends respectively. The load module (13) is fixed at the middle of the bottom surface of the second mounting plate (3). A buoyancy chamber (9) is fixed on the second mounting plate (3). A piston (5) is installed inside the buoyancy chamber (9) through a first dynamic sealing ring (6). The output end of the piston (5) extends out of the buoyancy chamber (9) and is connected to the first mounting plate (2). At the same time, a spring (7) is fitted on the output end of the piston (5). The piston (5) has the following structure: a piston rod (501), a piston head (502), a first spring enclosure (503), a connecting rod (504), a position module (505), an electric push rod (506), and an electromagnetic module (507). The piston head (502) is located inside the buoyancy chamber (9). Two sealing grooves are provided axially on the side of the piston head (502), and a first dynamic sealing ring (6) is provided in each of the two sealing grooves. The piston head (502) and the first dynamic sealing ring (6) are respectively connected. The inner wall of the piston rod (501) and the buoyancy chamber (9) form a dynamic seal; one end of the piston rod (501) is connected to the piston head (502), and the position module (505) is set at the other end of the piston rod (501); the first spring enclosure (503) is set above the piston rod (501) and below the position module (505); one end of the electric push rod (506) is connected to the piston rod (501) through the connecting rod (504), and the other end of the electric push rod (506) is equipped with an electromagnetic module (507); The structure of the buoyancy chamber (9) is as follows: it includes a chamber body (901), a channel (903), a second spring enclosure (902), a sliding groove (904), and a water-permeable hole (905). The channel (903) is set on the top plane of the chamber body (901). A sealing groove is set on the inner wall of the channel (903). A second dynamic sealing ring (8) is set in the sealing groove. The piston rod (501), the second dynamic sealing ring (8), and the channel (903) constitute a dynamic seal to ensure the sealing performance of the piston rod (501) during the movement process. The second spring enclosure (902) is set on the top outer plane of the cabin (901) and the periphery of the passage (903) for limiting the end of the spring (7).

2. The balanced adaptive underwater load deployment device as described in claim 1, characterized in that: The No. 1 mounting plate (2) and the No. 2 mounting plate (3) have the same structure, both being U-shaped.

3. The balanced adaptive underwater load deployment device as described in claim 1, characterized in that: The No. 1 mounting plate (2) and the No. 2 mounting plate (3) are installed opposite each other.

4. The balanced adaptive underwater load deployment device as described in claim 1, characterized in that: The cabin (901) adopts a cylindrical structure.

5. The balanced adaptive underwater load deployment device as described in claim 1, characterized in that: The cabin (901) and the passage (903) are coaxially arranged.

6. The balanced adaptive underwater load deployment device as described in claim 1, characterized in that: The sliding groove (904) is set on the outer wall of the cabin (901) and is arranged symmetrically about the middle longitudinal section. The water permeable hole (905) is set on the bottom plane of the cabin (901) and forms an open space with the piston head (502). A round hole is set in the middle of the second mounting plate (3) and the water permeable hole (905) passes through the round hole without obstruction.

7. The balanced adaptive underwater load deployment device as described in claim 6, characterized in that: The inner diameter of the sliding groove (904) matches the outer diameter of the electric push rod (506) and is used to guide the electric push rod (506) when it moves.

8. The balanced adaptive underwater load deployment device as described in claim 1, characterized in that: The bottom of the cabin (901) is also equipped with a tension sensor (11) and a load release device (12).

9. The balanced adaptive underwater load deployment device as described in claim 1, characterized in that: A position sensor (4) is installed on the first mounting plate (2), and an electromagnetic release device (10) is installed on the second mounting plate (3).

10. A deployment method for a balanced adaptive underwater load deployment device as described in claim 9, characterized in that: The following steps are included: (a) Powering on the underwater vehicle; (ii) When the electric push rod (506) is in the initial retracted position, the position module (505) is separated from the position sensor (4), and the spring (7) is compressed. At this time, the piston head (502) and the upper part of the cabin (901) form the maximum sealed space, providing the maximum buoyancy. (iii) Deploy the underwater vehicle into the water, control the electric push rod (506) to extend and retract, drive the piston head (502) to move inside the cabin (901) until the buoyancy provided by the sealed space formed by the piston head (502) and the upper part of the cabin (901) is balanced with the weight of the load module (13) in the water. (iv) When the underwater vehicle sails to the designated deployment location, during the sailing process, the weight of the load module (13) in the water changes due to changes in water environment parameters such as density and pressure. The position of the piston head (502) in the cabin (901) is dynamically adjusted by the electric push rod (506), thereby adjusting the size of the sealed space formed by the piston head (502) and the upper part of the cabin (901) to always maintain the buoyancy provided by the sealed space and the weight of the load module (13) in the water. (V) Under the action of the spring (7), the piston (5) moves upward instantaneously along the axis of the cabin (901), the piston head (502) is in contact with the upper surface of the cabin (901), the sealed space formed by the piston head (502) and the upper part of the cabin (901) is completely released, and the balance adjustment is completed. At the same time, the position module (505) is connected to the position sensor (4), the control system receives the signal from the position sensor (4), and determines that the load module (13) has been deployed. The underwater vehicle continues to perform the remaining tasks.

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