Electromagnet jettison device and method for underwater vehicles

Abstract

The application discloses an electromagnet throw-off device and method for underwater vehicles, which comprises a watertight plug, an electromagnet, a cylindrical structure, a throw-off block, and a ferrous trapezoidal throw-off block. The throw-off block is spherical or cylindrical. The watertight plug is screwed with a watertight socket of a power supply device. The surfaces of the electromagnet except the adsorbing surface are injected with vulcanized glue. The side surfaces of two cylindrical structures and the side surface of the electromagnet are fixed together to form an integrated throw-off frame. Then, one throw-off block is respectively placed in the two cylindrical structures. Meanwhile, a ferrous trapezoidal throw-off block is directly adsorbed under the electromagnet, and the ferrous trapezoidal throw-off block is used to resist the two throw-off blocks. The application can reduce the number of electromagnets and the cost under the condition of meeting the throw-off requirement. Meanwhile, when there is a demand for a heavier throw-off block, the structure can reliably carry the throw-off block which exceeds the directly adsorbed weight of the electromagnet.

Description

Technical Field

[0001] This invention belongs to the field of underwater vehicles, specifically relating to an electromagnet jettisoning device and method for underwater vehicles. Background Technology

[0002] my country possesses vast maritime territory, and in a technologically advanced society, exploring and developing the ocean remains a top priority. Research on underwater vehicles is a crucial medium for this exploration, and countries worldwide are placing great emphasis on underwater exploration. Today, underwater vehicles can be applied to numerous fields, including underwater exploration, marine resource development, marine biological research, and seabed salvage. Therefore, ensuring the safe and effective operation of underwater vehicles is a prerequisite for conducting underwater operations.

[0003] The use of underwater jettisoning devices can provide protection for underwater vehicles in emergency situations. Under normal operating conditions, underwater vehicles can adjust their attitude and diving depth. However, if an underwater vehicle encounters a dangerous situation or loses some buoyancy due to an accident, it may sink to the seabed and be difficult to salvage without taking certain emergency measures. Therefore, in an emergency, by immediately releasing a jettisonable heavy object, the vehicle can generate greater buoyancy and rise quickly to the surface, allowing rescuers to quickly carry out rescue operations.

[0004] Currently, commonly used jettisoning methods include electromagnetic adsorption jettisoning, explosive bolt jettisoning, mechanical transmission jettisoning, and hydraulic jettisoning. The patent "A Controllable Electromagnetic Jetting Module for Underwater Robots and Its Emergency Jetting Method" uses an electromagnetic jettisoning method for emergency jettisoning of underwater robots. Compared to this invention, while both methods use the same jettisoning method—jetting is achieved by switching power on and off—the latter requires a large number of electromagnets, resulting in higher costs. This invention, however, improves the electromagnetic jettisoning structure, requiring fewer electromagnets to meet the jettisoning requirements, significantly reducing costs. Another example is the patent "An Electromagnetic Jetting Device for Deep-Sea Autonomous Underwater Vehicles," which uses both electromagnet adsorption and mechanical transmission methods for jettisoning. Stable and effective jettisoning is achieved through mechanical hooks and springs. Compared to this invention, the latter requires a large number of electromagnets, is difficult to install, and relies on mechanical movement, increasing complexity and error rates. The jettisoning structure of this invention, with its overall design, is more cost-effective and also more stable and reliable. The patent "Emergency Jetpack Device for Underwater Gliders" uses explosive bolts to control the release of the jettisoned object. While the jettisoning action and overall structure are feasible, explosive bolts are pyrotechnic devices, posing safety hazards during transportation, storage, and installation, potentially causing danger. The electromagnet jettisoning method used in this invention is safer and more reliable, with a simpler and more feasible control method. The paper "Design of an Underwater Solid Jetpack Device" uses a combination of electromagnets and hydraulic cylinders for jettisoning, employing a three-stage lever transmission method to suspend a large solid jettison block with relatively small driving force. However, compared to this invention, the overall structure is more complex and the cost is higher. This invention uses an optimized electromagnet jettisoning device, making the overall design simpler and more effective. By comparing various load-release methods, mechanical transmission methods have certain installation burdens and require a large number of electromagnets; load release methods using explosive bolts or similar methods pose safety hazards; load release methods using hydraulic propulsion are structurally complex and have high engineering costs; compared with traditional electromagnetic load release methods, this invention has optimized the structure and can achieve the required load weight using fewer electromagnets. Summary of the Invention

[0005] The purpose of this invention is to provide an electromagnet jettisoning device and method for underwater vehicles.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] An electromagnet-based ballast jettisoning device for underwater vehicles includes a watertight plug, an electromagnet, a cylindrical structure, a ballast jettisoning block, and an iron trapezoidal ballast jettisoning block. The ballast jettisoning block is spherical or cylindrical. Two cylindrical structures are fixed to both sides of the electromagnet to form an integral ballast jettisoning frame. A ballast jettisoning block is placed inside each of the two cylindrical structures. The lower wall of the cylindrical structure forms an inclined surface against the ballast jettisoning block, simultaneously attracting an iron trapezoidal ballast jettisoning block below the electromagnet. The iron trapezoidal ballast jettisoning block abuts against the two ballast jettisoning blocks to prevent them from falling. When the electromagnet is energized, ballast jettisoning is completed.

[0008] Furthermore, the iron trapezoidal throwing block abuts against the two throwing blocks, so that the component of the pressure exerted by the throwing block on the iron trapezoidal throwing block directly adsorbed below the electromagnet in the direction of gravity is less than its own weight, so that the throwing weight requirement can still be met when the electromagnet is reduced.

[0009] Furthermore, the watertight plug is a power supply plug connected to the electromagnet, and the watertight socket of the power supply equipment is screwed or loosened to allow the electromagnet launching device to be disassembled and adjusted.

[0010] Furthermore, the electromagnet is a de-energized suction cup electromagnet, which carries ferromagnetic weights in a de-energized manner and throws off the weights when energized for a short time; the other surfaces of the electromagnet, except for the adsorption surface, are filled with vulcanized rubber.

[0011] Furthermore, the side of the cylindrical structure is fixed together with the side of the electromagnet, so that the cylindrical structure is stable on both sides of the device, and the size of the opening of the cylinder is larger than that of the throwing block.

[0012] Furthermore, the surface of the throwing block is coated with a rubber coating.

[0013] Furthermore, the length of the upper surface of the iron trapezoidal throwing block is greater than twice the diameter of the throwing block, causing the throwing block to fall.

[0014] An electromagnet jettisoning method for underwater vehicles, comprising the following specific steps:

[0015] Step 1: Load release preparation; Without energizing the electromagnet, first place the load release block inside the cylindrical structure, then attach the iron trapezoidal load release block to the lower surface of the electromagnet to block the trajectory of the load release block's fall.

[0016] Step 2: Start the jettisoning process; energize the electromagnet, then the electromagnet's magnetic force disappears, and the iron trapezoidal jettison block below slides down first. The jettison block, having lost its support, falls down along the cylindrical wall of the cylindrical structure. Once the jettisoning is complete, de-energize the electromagnet, and the underwater vehicle will then have a large positive buoyancy to ascend.

[0017] The beneficial effects of this invention are as follows:

[0018] This invention reduces the number of electromagnets and costs while meeting ballast requirements. Furthermore, when heavier ballast blocks are needed, this structure can stably ballast blocks exceeding the weight of the electromagnets, allowing for faster surfacing in emergencies. The simple and reliable overall design of this invention also makes the ballast release operation more concise and precise. Additionally, the rubber coating on the surface of the spherical (or cylindrical) ballast blocks reduces underwater noise and effectively minimizes the impact on marine life. Moreover, using a de-energized electromagnet adsorption-type ballast release method reduces energy consumption; ballast release is completed simply by energizing the electromagnets during the ballast release operation, avoiding excessive energy consumption by the underwater vehicle during this process. Attached Figure Description

[0019] Figure 1 This is a structural diagram of an electromagnet jettisoning device for an underwater vehicle according to the present invention;

[0020] Figure 2 This is a diagram illustrating the energized load ejection process of the present invention;

[0021] Figure 3 This is a diagram showing the completed launch of the present invention;

[0022] Figure 4 This is the force analysis diagram of the present invention. Detailed Implementation

[0023] The present invention will now be further described with reference to the accompanying drawings.

[0024] like Figure 1 As shown, this invention provides an electromagnet jettisoning device for underwater vehicles, including a watertight plug 1, an electromagnet 3, a cylindrical structure 4, a jettisoning block 5, and an iron trapezoidal jettisoning block 6. The jettisoning block 5 is spherical or cylindrical. The watertight plug 1 is screwed into the watertight socket of the power supply equipment. The surfaces of the electromagnet 3, except for the adsorption surface, are filled with vulcanized rubber 2. The sides of the two cylindrical structures 4 are fixed together with the sides of the electromagnet 3 to form an integral jettisoning frame. Then, a jettisoning block 5 is placed inside the cylindrical structures 4 on both sides, and an iron trapezoidal jettisoning block 6 is directly adsorbed below the electromagnet 3. The iron trapezoidal jettisoning block 6 is used to hold the two jettisoning blocks 5 together, and the entire jettisoning device is thus completed.

[0025] The watertight plug 1 is a power supply plug connected to the electromagnet 3. The disassembly and debugging of this electromagnet throwing device are achieved by screwing or loosening it with the watertight socket of the power supply equipment.

[0026] The electromagnet 3 described is a de-energized chuck electromagnet. This type of electromagnet possesses magnetic attraction when not energized, allowing it to attract ferromagnetic objects via a chuck. When energized, its magnetism disappears, and the chuck loses its ability to attract ferromagnetic objects. Therefore, when a load needs to be jettisoned, the task of jettisoning heavy objects can be accomplished by a short-term energization. For underwater operation, the electromagnet 3 should have a seawater-resistant coating. To effectively reduce seawater corrosion and extend the electromagnet 3's underwater lifespan, vulcanized adhesive 2 can be applied to the surfaces of the electromagnet 3 other than its adsorption surface.

[0027] The cylindrical structure 4 is fixed to the side of the electromagnet 3, making it stable on both sides of the device and forming an integral frame.

[0028] The throwing block 5 is spherical or cylindrical, and its surface is coated with a rubber coating to effectively reduce the noise generated by the collision between the throwing blocks, thereby mitigating the impact on the marine environment.

[0029] The length of the upper surface of the iron trapezoidal throwing block 6 should be greater than twice the diameter of the throwing block 5 so that the two throwing blocks 5 can fall smoothly.

[0030] refer to Figure 2 and Figure 3 After the electromagnet 3 is energized, the electromagnet 3 loses its magnetism. Under the influence of gravity, the iron trapezoidal throwing block 6 adsorbed on the electromagnet 3 will fall first. After falling a certain distance, the throwing blocks 5 on both sides lose the support force of the iron trapezoidal throwing block 6 and roll down along the cylinder wall, completing the throwing process.

[0031] like Figure 4 The diagram shows the force analysis of the launch block 5 and the iron trapezoidal launch block 6 in this example. The specific premise of this example is: the magnetic force of the electromagnet 3 is 240N, the weight of the launch block is greater than or equal to 480N, and the gravitational acceleration is 9.8g / m². 2 Friction is not considered.

[0032] Analysis process: Let the weight of the iron trapezoidal throwing block 6 be G1, the weight of the throwing block 5 be G2, the vertical component of the pressure exerted by the throwing block 5 on the iron trapezoidal throwing block 6 be G2′, and the angle between the cylindrical structure 4 and the horizontal be α. In the diagram, F1 is the supporting force of the cylindrical structure 4 on the spherical (or cylindrical) throwing block 5, and F2 is the supporting force of the iron trapezoidal throwing block 6 on the throwing block 5. 磁 It is the magnetic force of an electromagnet.

[0033] The larger the included angle α, the greater the component of the pressure exerted by each spherical weight G2 on G1 in the direction of gravity. Moreover, the included angle α cannot be too small to ensure that the spherical weight G2 can roll downwards. Considering all factors, in this example, the included angle α = 10 degrees (0° < α < 90°) is chosen.

[0034] Based on the example requirements:

[0035] G1+2G2′<=240N (1)

[0036] That is, assuming that the weight of the object directly attracted by the electromagnet 3 cannot exceed 240N without the cylindrical structure 4 on both sides, the optimized structure of the present invention only needs to ensure that the component of the pressure of the two side throwing blocks 5 on the iron trapezoidal throwing block 6 in the direction of gravity plus the gravity of the iron trapezoidal throwing block 6 does not exceed 240N to meet the requirements.

[0037] According to the example requirements:

[0038] G1+2G2>=480N (2)

[0039] In other words, the sum of the actual weights of the throwable blocks carried by the device needs to be greater than 480N to meet the requirements of the example.

[0040] Based on the analysis:

[0041] G2′=G2*cos(90°-α)*cos(90°-α) (3)

[0042] That is, based on the trigonometric function formula, the relationship between the component of the pressure of the throwing block 5 on the iron trapezoidal throwing block 6 in the direction of gravity, G2′, and the gravity G2 of the throwing block 5 can be obtained.

[0043] If we assume G1 = 200N (i.e., the weight of the iron trapezoidal throwing block 6 is 200N), and combine equations (1), (2), and (3), we can calculate that G2 <= 666.6N (i.e., the weight of a single throwing block 5 is less than or equal to 666.6N to satisfy condition (1) and (2)). At this time, G2 = 140N is sufficient to satisfy the condition. The actual weight of the throwing blocks carried at this time is 480N, i.e., G1 + 2G2 = 480N. However, by calculation, the direct adsorption weight of electromagnet 3, G1 + 2G2′, is 208.4N, which is less than the magnetic force F of electromagnet 3. 磁 Maximum value 240N.

[0044] Based on the analysis, the following pattern can be observed: when the value of G1 remains constant, as the angle α increases within the range, cos(90°-α) will increase accordingly, and G2 will decrease accordingly, resulting in a decrease in the total weight of the load that can be carried, G1+2G2. Therefore, the tilt angle of the cylindrical structure 4 cannot be too large, otherwise the effect of this optimized structure will not be obvious. At the same time, under the premise of constant angle, it can also be concluded from the calculation that the smaller the value of G1, the smaller the weight G1+2G2′ directly attracted by the electromagnet 3, and the fewer electromagnets 3 are required. It can be seen that this structure can reduce the number of electromagnets 3 while meeting the requirements.

[0045] The beneficial effects of this example are as follows: through relevant calculations, the following conclusions can be drawn: when the same weight of the projectile is required, the number of electromagnets 3 required by the structure of the present invention is greatly reduced compared with the traditional electromagnetic adsorption structure. This demonstrates that the optimized structure of the present invention is theoretically feasible, and while reducing costs, it is also simple in structure and has obvious effects.

[0046] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. 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. An electromagnet jettisoning device for underwater vehicles, characterized in that: The system includes a watertight plug (1), an electromagnet (3), a cylindrical structure (4), a launch block (5), and an iron trapezoidal launch block (6); the launch block (5) is spherical or cylindrical; two cylindrical structures (4) are fixed on both sides of the electromagnet (3) to form an integral launch frame, and a launch block (5) is placed inside each of the cylindrical structures (4); the lower wall of the cylindrical structure (4) forms an inclined surface with respect to the launch block (5), and simultaneously holds an iron trapezoidal... The throwing block (6) is attached to the bottom of the electromagnet (3), and the iron trapezoidal throwing block (6) is held in place to prevent the two throwing blocks (5) from falling. After the electromagnet (3) is energized, the throwing is completed. The iron trapezoidal throwing block (6) holds the two throwing blocks (5) in place, so that the component of the pressure exerted by the throwing block (5) on the iron trapezoidal throwing block (6) directly attached to the bottom of the electromagnet (3) in the direction of gravity will be less than its own weight, so that the throwing weight requirement can still be met when the number of electromagnets (3) is reduced.

2. The electromagnet jettisoning device for underwater vehicles according to claim 1, characterized in that: The watertight plug (1) is a power supply plug connected to the electromagnet (3), and it is screwed into or loosened to the watertight socket of the power supply equipment so that the electromagnet load-discharging device can be disassembled and adjusted.

3. The electromagnet jettisoning device for underwater vehicles according to claim 1, characterized in that: The electromagnet (3) is a de-energized suction cup electromagnet that carries ferromagnetic weights in a non-energized manner and throws off the weights when energized for a short time; the electromagnet (3) has vulcanized rubber (2) injected into the other surfaces except the adsorption surface.

4. An electromagnet jettisoning device for an underwater vehicle according to claim 1, characterized in that: The side of the cylindrical structure (4) is fixed together with the side of the electromagnet (3), so that the cylindrical structure (4) is stable on both sides of the device, and the size of the opening of the cylinder is larger than that of the throwing block (5).

5. An electromagnet jettisoning device for an underwater vehicle according to claim 1, characterized in that: The surface of the throwing block (5) is coated with a rubber coating.

6. An electromagnet jettisoning device for an underwater vehicle according to claim 1, characterized in that: The length of the upper surface of the iron trapezoidal throwing block (6) is more than twice the diameter of the throwing block (5).

7. A method for an electromagnet jettisoning device for an underwater vehicle according to any one of claims 1 to 6, characterized in that: The specific steps are as follows: Step 1: Loading preparation; Without energizing the electromagnet (3), first place the loading block (5) inside the cylindrical structure (4), then attach the iron trapezoidal loading block (6) to the surface below the electromagnet (3) to block the falling trajectory of the loading block (5). Step 2: Start the jettisoning process; energize the electromagnet (3), then the electromagnet (3) loses its magnetic force, and the iron trapezoidal jettison block (6) below slides down first. The jettison block (5) loses its support and falls down along the cylindrical wall of the cylindrical structure (4). After the jettisoning is completed, de-energize the electromagnet (3) again. At this time, the underwater vehicle has a large positive buoyancy and completes the ascent.

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