A self-priming suction anchor

Abstract

The present invention relates to the technical field of underwater vehicles and provides a self-priming suction anchor. The self-priming suction anchor of the present invention includes an inner tube, an outer tube, a water supply and drainage device, a control cabin, and a sensor system. The outer tube is coaxially arranged on the outside of the inner tube and forms a fluid cavity with a sealed upper portion and an open lower portion with the inner tube. The water supply and drainage device is arranged on the inner side of the inner tube and communicates with the fluid cavity through the top of the inner tube. The sensor system is distributed at the top and bottom of the inner tube. The control cabin arranged at the top of the inner tube and connected to the water supply and drainage device and the sensor system signal controls the water supply and drainage device to absorb or drain water into the fluid cavity according to the sensor information of the sensor system, thereby embedding the self-priming suction anchor into or detaching from the external mud and sand. The self-priming suction anchor of the present invention has the characteristics of miniaturization, anti-overturning, environmental perception, and the ability to identify its own working status. It can provide greater anchoring force and has a high level of intelligence and practicality.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and in particular to a self-priming suction anchor. Background Art

[0002] When underwater vehicles are performing long-term operations such as underwater environmental monitoring, underwater surveys, and serving as underwater navigation and communication nodes, they are usually required to remain stably in the water or on the surface, allowing them to operate for a long time with extremely low energy consumption. In actual operations, underwater vehicles are usually equipped with an anchoring device, which is then anchored to the bottom of the water at the anchoring site. The underwater vehicle is then fixed to the target area by the weight of the anchoring device and the anchoring force with the bottom of the water. However, for small underwater vehicles, due to limitations in space, weight, and maneuverability, traditional gravity anchors and gripping anchors cannot be used, making the stable residence of small underwater vehicles in the water a more prominent problem, further limiting the scope of application of small underwater vehicles.

[0003] At present, there are several technologies for anchoring underwater vehicles stably in water, such as water injection landing anchoring, grip anchor anchoring, and anchoring device anchoring. In practical applications, the anchoring devices of the existing technology mainly have the following problems:

[0004] (1) The existing water injection landing and retention method is to inject water into the underwater vehicle and directly land and reside on the seabed. This method is easily affected by ocean currents, causing the underwater vehicle to drift away from the bottom position and unable to reside stably, resulting in poor safety.

[0005] (2) The existing method of retaining underwater vehicles by gripping anchors is to release the gripping anchor device embedded in the underwater vehicle shell through the anchor chain release mechanism. The gripping anchor device is embedded in the seabed mud under the combined action of negative buoyancy and ocean currents to achieve the retention of underwater vehicles. The disadvantages are that the gripping anchor device is heavy and bulky, and there is a risk of being unable to unanchor, which limits the maneuverability and flexibility of the underwater vehicle and is not suitable for small underwater vehicles.

[0006] (3) The Chinese patent application number CN106741647A, “An anchoring device and method for UUV to stay on the seabed”, discloses an anchoring device and method for UUV to stay on the seabed. The anchoring device embedded in the UUV shell is used to retract a mud shovel through a hydraulic drive arm and a retractable anchor rod. The mud shovel is embedded in the mud and sand under the combined action of the hydraulic drive arm and gravity, so that the UUV can stay on the seabed surface. The disadvantages are that it is heavy and bulky, and there is a risk of being unable to unanchor, which limits the maneuverability and flexibility of the underwater vehicle. It is not suitable for small underwater vehicles. It lacks the necessary environmental perception and self-health and working status identification sensors, lacks the necessary cognition and judgment of the anchorage environment, its own health and working status, and has insufficient intelligence.

[0007] Therefore, how to provide a suction anchor that is anti-capsulation, has environmental perception, has a compact structure and is suitable for use with small underwater vehicles has become a technical problem that needs to be solved urgently. Summary of the Invention

[0008] In view of this, in order to overcome the shortcomings of the existing technology, the present invention aims to provide a self-priming suction anchor that is suitable for small underwater vehicles and carrying and used under soft muddy bottom conditions, has miniaturization, anti-capsulation, environmental perception, the ability to identify its own working status and provide greater mooring force, and has a high level of intelligence and practicality.

[0009] The present invention provides a self-priming suction anchor, comprising an inner tube, an outer tube, a water supply and drainage device, a control cabin and a sensing system. The outer tube is coaxially arranged on the outside of the inner tube and forms a fluid cavity with a sealed upper portion and an open lower portion with the inner tube. The water supply and drainage device is arranged on the inner side of the inner tube and is connected to the fluid cavity through the top of the inner tube. The sensing system is distributed at the top and bottom of the inner tube. The control cabin, which is arranged at the top of the inner tube and is connected to the water supply and drainage device and the sensing system signals, controls the water supply and drainage device to absorb or drain water into the fluid cavity according to the sensing information of the sensing system, thereby realizing the embedding of the self-priming suction anchor into external mud and sand or separation from external mud and sand.

[0010] Preferably, in the self-priming suction anchor of the present invention, the inner tube includes an inner tube side wall and an inner tube top wall, and the inner tube side wall includes, from top to bottom, an inner tube equal-diameter side wall and an inner tube variable-diameter side wall integrally connected to the lower part of the inner tube equal-diameter side wall and larger at the top and smaller at the bottom. An annular mounting step is provided on the inner wall of the inner tube equal-diameter side wall, and a plurality of first fastening holes are provided on the annular mounting step. A closed mounting platform is provided at the lower end of the inner wall of the inner tube variable-diameter side wall, and a first assembly cavity is provided at the lower part of the closed mounting platform. The inner tube top wall is integrally connected and vertically arranged on the top of the inner tube equal-diameter side wall, and a water suction port, a water injection port, a first mounting hole, a second mounting hole, and a plurality of second fastening holes that are not connected to the fluid cavity, a horizontal mounting seat and a plurality of third fastening holes evenly distributed around the circumference are provided on the inner tube top wall, and the annular positioning boss is integrally connected and arranged at the bottom of the inner tube top wall.

[0011] Preferably, in the self-priming suction anchor of the present invention, the sensing system includes: a bottom proximity sensor installed in the first assembly cavity, a first pressure sensor installed in the first mounting hole, a second pressure sensor installed on the upper surface of the top wall and fixed through the second fastening hole, a top proximity sensor installed in the second mounting hole, and a posture sensor installed on the horizontal mounting seat.

[0012] Preferably, the self-priming suction anchor of the present invention further comprises a counterweight, which is installed in the second assembly cavity below the annular installation step.

[0013] Preferably, in the self-priming suction anchor of the present invention, the outer tube includes an outer tube side wall, and the outer tube side wall includes, from top to bottom, an outer tube equal-diameter side wall and an outer tube variable-diameter side wall integrally connected to the lower part of the outer tube equal-diameter side wall, and an annular flange is integrally connected to the inner wall of the top of the outer tube equal-diameter side wall, and a plurality of fourth fastening holes evenly distributed around the circumference are provided on the annular flange.

[0014] Preferably, in the self-priming suction anchor of the present invention, the inner side surface of the annular flange matches the outer side surface of the annular positioning boss, and the fourth fastening hole matches the third fastening hole.

[0015] Preferably, in the self-priming suction anchor of the present invention, a sealing ring is provided between the inner side surface of the annular flange and the outer side surface of the annular positioning boss.

[0016] Preferably, in the self-priming suction anchor of the present invention, the water supply and drainage device includes a watertight motor, a pump, a water extraction filter, a water extraction pipe, a water extraction solenoid valve, a water injection pipe, a water injection filter and a water injection solenoid valve. The watertight motor and the pump are coaxially fixedly assembled in the third assembly cavity above the annular mounting step of the inner cylinder from bottom to top. One end of the water extraction filter is connected to the fluid cavity, and the other end of the water extraction filter is connected to the water extraction solenoid valve through the water extraction pipe. The water extraction solenoid valve is respectively connected to the water inlet end of the pump and the water injection filter; the water outlet end of the pump is connected to the fluid cavity through the water injection solenoid valve and the water injection pipe, and the water injection solenoid valve is connected to the outside world.

[0017] Preferably, in the self-priming suction anchor of the present invention, the water pumping solenoid valve includes a first valve port, a second valve port and a third valve port, the first valve port is fixedly connected to the water pumping pipe, the second valve port is fixedly connected to the water injection filter, and the third valve port is fixedly connected to the water inlet end of the pump.

[0018] Preferably, in the self-priming suction anchor of the present invention, the water injection solenoid valve includes a fourth valve port, a fifth valve port and a sixth valve port, the fourth valve port is fixedly connected to the water injection pipe, the fifth valve port is connected to the outside world, and the sixth valve port is fixedly connected to the water outlet end of the pump.

[0019] The self-priming suction anchor of the present invention has the following beneficial effects through comprehensive structural design and spatial layout:

[0020] 1. It can significantly improve the structural compactness, lightweight and miniaturization of the self-priming suction anchor, and has the conditions for carrying small underwater vehicles.

[0021] 2. Through the counterweight structure and the comprehensive optimization of the structural layout, the center of mass of the suction anchor is lowered and the buoyancy center of the suction anchor is increased, thereby improving the stability and anti-overturning ability of the suction anchor and having a strong environmental adaptability.

[0022] 3. Through the setting of multiple safety and perception sensors, the height of the mud and sand entering the fluid cavity can be controlled, so that the self-priming suction anchor has strong environmental perception ability, anchorage identification ability and its own working status identification ability, and has a high level of intelligence and practicality.

[0023] 4. By adopting a variable diameter structure design with a larger diameter at the top and a smaller diameter at the bottom, the anchoring resistance of the suction anchor embedded in the mud and the anchoring resistance of the suction anchor detaching from the mud are reduced, which is beneficial to the anchoring and anchoring of the suction anchor. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0025] Figure 1 This is a schematic structural diagram of a self-priming suction anchor according to an exemplary embodiment of the present invention;

[0026] Figure 2 A schematic structural diagram of an inner cylinder in a self-priming suction anchor according to an exemplary embodiment of the present invention;

[0027] Figure 3 A schematic structural diagram of an outer cylinder in a self-priming suction anchor according to an exemplary embodiment of the present invention;

[0028] Figure 4 Another structural schematic diagram of the inner cylinder of the self-priming suction anchor according to an exemplary embodiment of the present invention;

[0029] Figure 5 This is another structural schematic diagram of the outer cylinder in the self-priming suction anchor according to an exemplary embodiment of the present invention;

[0030] Figure 6 Based on Figure 4 The inner cylinder and Figure 5 The schematic diagram of the structure of the self-priming suction anchor assembled with the outer cylinder shown;

[0031] Figure 7 Schematic diagram of the partial structure of a self-priming suction anchor according to an exemplary embodiment of the present invention;

[0032] Figure 8 It is another partial structural schematic diagram of a self-priming suction anchor according to an exemplary embodiment of the present invention;

[0033] Figure 9 Schematic diagram of the principle of the water absorption process of the self-priming suction anchor according to an exemplary embodiment of the present invention;

[0034] Figure 10Schematic diagram of the principle of the self-priming suction anchor drainage process according to an exemplary embodiment of the present invention.

[0035] In the figure, A-inner cylinder, B-outer cylinder, C-water supply and drainage device, D-control cabin, E-sensing system, F-fluid chamber, G-sealing ring, H-counterweight, J-cable, K-vehicle, L-release mechanism, A1-inner cylinder side wall, A2-inner cylinder top wall, A3-first assembly cavity, A4-second assembly cavity, A5-third assembly cavity, A11-inner cylinder constant diameter side wall, A12-inner cylinder variable diameter side wall, A13-annular mounting step, A14-sealed mounting platform, A21-water extraction port, A22-water injection port, A23-first mounting hole, A24-second mounting hole, A25-second fastening hole, A26-horizontal mounting seat, A27-third fastening hole, A28-positioning Boss, A131-first fastening hole, B1-side wall of outer cylinder, B2-annular flange, B11-equal diameter side wall of outer cylinder, B12-reduced diameter side wall of outer cylinder, B21-fourth fastening hole, C1-watertight motor, C2-pump, C3-water suction filter, C4-water suction pipe, C5-water suction solenoid valve, C6-water injection pipe, C7-water injection filter, C8-water injection solenoid valve, C51-first valve port, C52-second valve port, C53-third valve port, C81-fourth valve port, C82-fifth valve port, C83-sixth valve port, E1-bottom proximity sensor, E2-first pressure sensor, E3-second pressure sensor, E4-top proximity sensor, E5-attitude sensor. DETAILED DESCRIPTION

[0036] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0037] It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments may be combined with each other; and, based on the embodiments in this disclosure, all other embodiments obtained by persons of ordinary skill in the art without creative work are within the scope of protection of this disclosure.

[0038] It should be noted that various aspects of the embodiments within the scope of the appended claims are described below. It should be apparent that the aspects described herein can be embodied in a wide variety of forms, and any specific structure and / or function described herein is merely illustrative. Based on this disclosure, it should be understood by those skilled in the art that an aspect described herein can be implemented independently of any other aspect, and two or more of these aspects can be combined in various ways. For example, any number of aspects described herein can be used to implement an apparatus and / or practice a method. In addition, other structures and / or functionalities other than one or more of the aspects described herein can be used to implement this apparatus and / or practice this method.

[0039] Figure 1 This is a structural diagram of the self-priming suction anchor of this embodiment. Figure 1 As shown, the self-priming suction anchor of this embodiment includes an inner tube A, an outer tube B, a water supply and drainage device C, a control cabin D and a sensor system E. The outer tube B is coaxially arranged on the outside of the inner tube A and forms a fluid cavity F with a closed upper part and an open lower part with the inner tube A. The water supply and drainage device C is arranged on the inner side of the inner tube A and is connected to the fluid cavity F through the top of the inner tube A. The sensor system E is distributed at the top and bottom of the inner tube A. The control cabin D, which is arranged on the top of the inner tube A and is signal-connected to the water supply and drainage device C and the sensor system E, controls the water supply and drainage device C to absorb or drain water into the fluid cavity F according to the sensor information of the sensor system E, thereby realizing the embedding of the self-priming suction anchor into the external mud and sand or detachment from the external mud and sand.

[0040] When the self-priming suction anchor of this embodiment performs the water absorption action, irregular vortexes, negative pressure and vacuum are formed in the fluid cavity F, which absorbs external mud and sand into the fluid cavity F, and embeds the suction anchor in the external mud and sand. The friction between the outer surface of the inner tube A and the inner and outer surfaces of the outer tube B and the mud and the deadweight of the mud and sand absorbed into the fluid cavity F are used to provide the anchoring force and achieve anchoring. When the self-priming suction anchor of this embodiment performs the water drainage action, by draining the fluid cavity F, the pressure in the fluid cavity F is higher than the external environmental pressure, and the mud and sand in the fluid cavity F are discharged, thereby separating the self-priming suction anchor from the external mud and sand and anchoring.

[0041] The self-priming suction anchor of this embodiment contacts the sediment through the outer surface of the inner tube A and the inner and outer surfaces of the outer tube B and provides friction. Since the pumping and drainage action surface is the annular surface of the fluid cavity F, the action area is smaller than the entire cross-section of the outer tube B. Under the same pumping and drainage pressure conditions, it can provide greater sediment pumping and drainage force, thereby saving energy.

[0042] Figure 2 This is a structural diagram of the inner tube of the self-priming suction anchor of this embodiment, as shown in FIG. Figure 2As shown, in the self-priming suction anchor of this embodiment, the inner cylinder A includes an inner cylinder side wall A1 and an inner cylinder top wall A2. The inner cylinder side wall A1 includes, from top to bottom, an inner cylinder constant diameter side wall A11 and an inner cylinder variable diameter side wall A12 which is integrally connected to the lower part of the inner cylinder constant diameter side wall A11 and is larger at the top and smaller at the bottom. An annular mounting step A13 is provided on the inner wall of the inner cylinder constant diameter side wall A11, and a plurality of first fastening holes A131 are provided on the annular mounting step A13. A sealed mounting platform A14 is provided at the lower end of the inner wall of the inner cylinder variable diameter side wall A12. 14 is provided with a first assembly cavity A3 at the lower part, and the inner cylinder top wall A2 is integrally connected and vertically arranged on the top of the inner cylinder equal-diameter side wall A11. The inner cylinder top wall A2 is provided with a water suction port A21, a water injection port A22, a first mounting hole A23, a second mounting hole A24 that penetrate the fluid cavity F, and a plurality of second fastening holes A25 that are not penetrated with the fluid cavity F, a horizontal mounting seat A26 and a plurality of third fastening holes A27 that are evenly distributed around the circumference. The annular positioning boss A28 is integrally connected and arranged at the bottom of the inner cylinder top wall A2.

[0043] Figure 3 This is a structural diagram of the outer tube of the self-priming suction anchor of this embodiment. Figure 3 As shown, in the self-priming suction anchor of this embodiment, the outer tube B includes an outer tube side wall B1, which includes, from top to bottom, an outer tube constant-diameter side wall B11 and an outer tube variable-diameter side wall B12 integrally connected to the lower part of the outer tube constant-diameter side wall B11, and an annular flange B2 is integrally connected to the inner wall of the top of the outer tube constant-diameter side wall B11, and a plurality of fourth fastening holes B21 evenly distributed around the circumference are provided on the annular flange B2.

[0044] like Figure 1 、 Figure 2 and Figure 3 As shown, the inner surface of the annular flange B2 matches the outer surface of the annular positioning boss A28, and the fourth fastening hole B21 matches the third fastening hole A27. A sealing ring G is provided between the inner surface of the annular flange B2 and the outer surface of the annular positioning boss A28. The inner and outer cylinders B and A are fixed together using fasteners.

[0045] It should be noted that, in addition to using Figure 1 、 Figure 2 and Figure 3 The tapered variable diameter structure in the embodiment of the self-priming suction anchor can also adopt other forms of inner tube A and outer tube B. Figure 4 This is another structural diagram of the inner tube of the self-priming suction anchor of this embodiment. Figure 5 This is another structural diagram of the outer cylinder of the self-priming suction anchor of this embodiment. Figure 6 Based on Figure 4 The inner cylinder and Figure 5 The schematic diagram of the structure of the self-priming suction anchor assembled with the outer cylinder is shown in FIG. Figure 4 、 Figure 5and Figure 6 As shown, the inner tube A and outer tube B of the self-priming suction anchor of this embodiment can also adopt a circular arc variable diameter structure. The circular arc variable diameter structure can automatically find the balance point, so that the suction anchor has better anti-overturning ability and environmental adaptability when anchoring.

[0046] The variable diameter structure design of the outer tube and the inner tube in the self-priming suction anchor of this embodiment, which is larger at the top and smaller at the bottom, can reduce the anchoring resistance of the self-priming suction anchor embedded in the mud and the anchoring resistance of detaching from the mud, which is beneficial to the anchoring and anchoring of the suction anchor; on the other hand, it is also easy to realize that the suction anchor device automatically slides down to find a landing point by its own gravity and inclined shape.

[0047] Figure 7 FIG. 1 is a schematic diagram of the partial structure of the self-priming suction anchor of this embodiment, as shown in FIG. Figure 7 and Figure 1 As shown, the self-priming suction anchor of this embodiment also includes a sensor system E for sensing the anchorage environment, the operating status of the self-priming suction anchor, and the safety status of the self-priming suction anchor. As an optional example, the sensor system E of this embodiment includes a bottom proximity sensor E1 installed in the first assembly cavity A3, a first pressure sensor E2 installed in the first mounting hole A23, a second pressure sensor E3 installed on the upper surface of the top wall A2 and secured through the second fastening hole A25, a top proximity sensor E4 installed in the second mounting hole A24, and a posture sensor E5 installed on the horizontal mounting base A26.

[0048] The bottom proximity sensor E1 senses whether the suction anchor is embedded in the bottom mud by its own gravity to a sufficient height when the suction anchor is dropped, and whether the bottom mud has completely sealed the bottom of the outer tube side wall B1. This is used to determine whether the anchorage is soft or hard, and whether the anchorage is suitable for dropping anchors. If the suction anchor is embedded in the bottom mud by its own gravity to a sufficient height, it is suitable for dropping anchors. Otherwise, a new anchorage needs to be selected.

[0049] The top proximity sensor E4 senses whether the sediment entering the fluid chamber F has reached a sufficient height, thereby judging whether the suction anchor has sufficient anchoring force and whether the conditions for stopping the water supply and drainage device C are met. If the sediment entering the fluid chamber F has a sufficient height, the water supply and drainage device C stops working; otherwise, it needs to continue working until the required height is reached.

[0050] The first pressure sensor E2 senses the pressure in the fluid cavity F, and the second pressure sensor E3 senses the ambient pressure. By determining the pressure variation amplitude of the first pressure sensor E2 and comparing the pressure difference between the first pressure sensor E2 and the second pressure sensor E3, it can be determined whether the anchorage of the suction anchor is suitable for anchoring. If the pressure variation amplitude of the first pressure sensor E2 is small, it means that the bottom sediment has not completely blocked the bottom of the outer tube side wall B1, resulting in the fluid cavity F not forming irregular and strong vortices, which is not suitable for anchoring. Conversely, if the pressure variation amplitude of the first pressure sensor E2 is large, it means that the bottom sediment has completely blocked the bottom of the outer tube side wall B1, resulting in the fluid cavity F forming irregular and strong vortices, which is suitable for anchoring. At the same time, by comparing the pressure difference between the first pressure sensor E2 and the second pressure sensor E3, it can be further judged whether the anchorage is suitable for anchoring or whether the suction anchor is working normally. If the pressure difference between the two is large, the fluid cavity F has a large negative pressure and vacuum, and the anchorage is suitable for anchoring or the suction anchor is working normally. On the contrary, if the pressure difference between the two is small, the fluid cavity F does not have a large negative pressure and vacuum, and the anchorage is not suitable for anchoring or the suction anchor is not working properly.

[0051] The attitude sensor E5 is used to sense the attitude of the suction anchor at the anchorage and the environment of the anchorage (specifically, the slope and flatness). Through the inclination angle between the attitude sensor E5 and the horizontal plane, it can be determined whether the suction anchor has overturned, whether the environmental slope and flatness exceed the required range of the suction anchor, and thus the safety status and environmental status of the suction anchor can be judged.

[0052] like Figure 1 To further enhance the stability of the self-priming suction anchor, the present embodiment further includes a counterweight H, which is mounted within the second assembly cavity A4 below the annular mounting step A13. The counterweight H, which can be made of a high-density metal such as lead, lowers the center of mass of the suction anchor, improving its stability and anti-overturning capability.

[0053] Figure 8 This is another partial structural diagram of the self-priming suction anchor of this embodiment, as shown in FIG. Figure 8 and Figure 1As shown, the water supply and drainage device C of the self-priming suction anchor of this embodiment includes a watertight motor C1, a pump C2, a water extraction filter C3, a water extraction pipe C4, a water extraction solenoid valve C5, a water injection pipe C6, a water injection filter C7 and a water injection solenoid valve C8. The watertight motor C1 and the pump C2 are coaxially fixedly assembled in the third assembly cavity A5 above the annular mounting step 13 of the inner cylinder A from bottom to top. One end of the water extraction filter C3 is connected to the fluid cavity F, and the other end of the water extraction filter C3 is connected to the water extraction solenoid valve C5 through the water extraction pipe C4. The water extraction solenoid valve C5 is respectively connected to the water inlet end of the pump C2 and the water injection filter C7; the water outlet end of the pump C2 is connected to the fluid cavity F through the water injection solenoid valve C8 and the water injection pipe C6, and the water injection solenoid valve C8 is connected to the outside.

[0054] In this embodiment, the watertight motor C1 and pump C2 with larger mass and negative buoyancy are installed in the third assembly cavity A5 at the lower position of the suction anchor. On the one hand, this lowers the center of mass of the suction anchor and improves the stability of the suction anchor. On the other hand, it makes full use of the inner cavity space of the inner barrel A, making the structure of the suction anchor more compact and easier to achieve miniaturization, lightweight and small-scale aircraft carrying. At the same time, the pipelines, solenoid valves and filters with smaller mass and negative buoyancy are installed above the top wall A2 of the inner barrel, which can increase the center of buoyancy of the suction anchor and further improve the stability of the suction anchor. The water extraction filter C3 and the water injection filter C7 prevent particulate matter from entering the solenoid valve, pipeline and pump C2 when the suction anchor is pumping and draining, thereby preventing the drainage device C from being blocked or damaged.

[0055] Figure 9 Schematic diagram of the principle of the water absorbing process of the self-priming suction anchor in this embodiment. Figure 10 This is a schematic diagram of the principle of the self-priming suction anchor drainage process in this embodiment. Figure 9 As shown, the water pumping solenoid valve C5 includes a first valve port C51, a second valve port C52, and a third valve port C53. The first valve port C51 is fixedly connected to the water pumping pipe C4, the second valve port C52 is fixedly connected to the water injection filter C7, and the third valve port C53 is fixedly connected to the water inlet of the pump C2. The water injection solenoid valve C8 includes a fourth valve port C81, a fifth valve port C82, and a sixth valve port C83. The fourth valve port C81 is fixedly connected to the water injection pipe C6, the fifth valve port C82 is connected to the outside world, and the sixth valve port C83 is fixedly connected to the water outlet of the pump C2.

[0056] like Figure 9 and Figure 10 As shown, the working process of the water supply and drainage device C of the self-priming suction anchor of this embodiment is as follows:

[0057] Pumping process: The pumping solenoid valve C5 receives instructions from the control cabin D to seal the second valve port C52, and the first valve port C51 is connected to the third valve port C53. The water injection solenoid valve C8 receives instructions from the control cabin D to seal the fourth valve port C81, and the fifth valve port C82 is connected to the sixth valve port C83. The watertight motor C1 drives the pump C2 to work, and the water in the fluid cavity F is discharged in sequence through the water pumping port A21, the water pumping filter C3, the water pumping pipe C4, the first valve port C51, the third valve port C53, the water inlet end of the pump C2, the water outlet end of the pump C2, the sixth valve port C83, and the fifth valve port C82.

[0058] Drainage process: the water pumping solenoid valve C5 receives the command from the control cabin D to seal the first valve port C51, and the second valve port C52 is connected to the third valve port C53. The water injection solenoid valve C8 receives the command from the control cabin D to seal the fifth valve port C82, and the fourth valve port C81 is connected to the sixth valve port C83. The watertight motor C1 drives the pump C2 to work, and the external water enters the fluid chamber F in sequence through the water injection filter C7, the second valve port C52, the third valve port C53, the water inlet end of the pump C2, the water outlet end of the pump C2, the sixth valve port C83, the first valve port C81, and the water injection pipe C6.

[0059] The application principle and steps of the self-priming suction anchor of the exemplary embodiment of the present invention are as follows:

[0060] like Figure 6 As shown, the self-priming suction anchor of the present invention is embedded in the shell of the aircraft K when the aircraft is in navigation state. When the aircraft needs to be anchored, the self-priming suction anchor releases the suction anchor through the releasing mechanism L. The releasing mechanism L is fixed in the shell of the aircraft K, and the upper end of the cable J is fixedly connected to the aircraft K, and the lower end is fixedly connected to the suction anchor. The cable J is not only responsible for power supply and signal transmission of the suction anchor, but also acts as an anchor chain to realize the cable release and collection when the suction anchor is dropped and collected.

[0061] (1) When the self-priming suction anchor needs to drop anchor and land, the release mechanism L releases the suction anchor, and the self-priming suction anchor drops anchor and lands, and its own low center of gravity configuration ensures its vertically stable entry posture into the water. If it encounters a certain slope and uneven anchoring ground, it can automatically slide down through the closing structure of the outer tube variable diameter side wall B12 to find a concave or flat landing point;

[0062] (2) The attitude sensor E5 senses the attitude of the suction anchor and can preliminarily sense the environment of the anchorage (specifically, the slope and flatness). Through the inclination angle between the attitude sensor E5 and the horizontal plane, it can be determined whether the suction anchor has capsized and whether the environmental slope and flatness exceed the required range of the suction anchor. If they exceed the required range of the suction anchor, the anchor is re-anchored and the next anchorage is sought;

[0063] (3) The bottom proximity sensor E1 senses whether the suction anchor has embedded in the bottom mud by its own gravity to a sufficient height when the suction anchor is dropped, and whether the bottom mud has completely sealed the bottom of the outer tube side wall B1. This is used to further determine whether the anchorage is soft or hard, and whether the anchorage is suitable for dropping anchors. If the suction anchor has embedded in the bottom mud by its own gravity to a sufficient height, the anchorage is soft and suitable for dropping anchors. Otherwise, the anchorage is hard and unsuitable for dropping anchors. The anchor is re-anchored and the next anchorage is sought.

[0064] (4) After the suction anchor meets the requirements, the control cabin D gives the anchoring command and executes the pumping process. Water is pumped through the pumping port A21, and the fluid cavity F forms irregular vortex, negative pressure and vacuum to suck the external sediment into the fluid cavity F and embed the suction anchor into the external sediment;

[0065] (5) During the pumping process, the first pressure sensor E2 senses the pressure in the fluid chamber F, and the second pressure sensor E3 senses the pressure of the environment. By judging the pressure change amplitude of the first pressure sensor E2 and comparing the pressure difference between the first pressure sensor E2 and the second pressure sensor E3, it is possible to continuously and accurately judge whether the anchorage of the suction anchor is suitable for anchoring. If the pressure change amplitude of the first pressure sensor E2 is small, it means that the bottom sediment has not completely closed the bottom of the outer cylinder side wall B1, resulting in the fluid chamber F not forming an irregular and strong vortex, which is not suitable for anchoring. On the contrary, if the pressure change amplitude of the first pressure sensor E2 is large, If the pressure difference between the first pressure sensor E2 and the second pressure sensor E3 is large, it means that the bottom of the outer tube side wall B1 is completely blocked by the bottom sediment, and the fluid cavity F forms an irregular and strong vortex, resulting in a large pressure fluctuation in the fluid cavity F, which is suitable for anchoring. At the same time, by comparing the pressure difference between the first pressure sensor E2 and the second pressure sensor E3, it can be further judged whether the anchorage is suitable for anchoring or whether the suction anchoring procedure is normal. If the pressure difference between the two is large, the fluid cavity F has a large negative pressure and vacuum, and the anchorage is suitable for anchoring or the suction anchor is working normally. On the contrary, if the pressure difference between the two is small, the fluid cavity F does not have a large negative pressure and vacuum, and the anchorage is not suitable for anchoring or the suction anchor is not working properly.

[0066] (6) The top proximity sensor E4 senses whether the sediment entering the fluid chamber F has reached the desired height, thereby judging whether the suction anchor has sufficient anchoring force and whether the conditions for stopping the water supply and drainage device C are met. If the sediment entering the fluid chamber F reaches the preset height and meets the anchoring requirement, the water supply and drainage device C stops pumping water; otherwise, it needs to continue working until the anchoring requirement is met;

[0067] (7) When receiving the anchor-raising command from the control cabin D, the drainage process is executed. By injecting water into the water injection port A22, the pressure of the fluid chamber F is higher than the ambient pressure, the sediment in the fluid chamber F is discharged and the suction anchor is separated from the external sediment. When there is no pressure difference between the first pressure sensor E2 and the second pressure sensor E3, the water injection is stopped and the anchor-raising procedure is completed;

[0068] (8) Recover the suction anchor through the release mechanism L, execute the anchor collection procedure, and embed the suction anchor into the shell of the spacecraft K;

[0069] (9) Vehicle K carries the suction anchor and sails to the next operation site and repeats the above steps.

[0070] The self-priming suction anchor of this embodiment, through optimized and comprehensive structural design, simplifies the device structure and optimizes the spatial layout, significantly improving the suction anchor's compactness, lightweightness, and miniaturization, making it suitable for carrying small underwater vehicles. The counterweight structure and comprehensively optimized structural design lower the suction anchor's center of mass and raise its center of buoyancy, enhancing its stability and anti-capsulation capability, and providing strong environmental adaptability. Through the installation of multiple safety and sensing sensors, the suction anchor possesses strong environmental awareness, anchorage identification, and operational status recognition capabilities, demonstrating a high level of intelligence and practicality. Through the multiple sensing sensors, the suction anchor can control the height of sediment entering the fluid chamber and adjust the anchoring force, offering high environmental adaptability. The use of a closed-end structure reduces the anchoring resistance caused by embedding in the sediment and the anchoring resistance caused by detaching from the sediment, facilitating both anchoring and undocking. By reducing the effective pumping and drainage area, the suction anchor increases the sediment extraction force, resulting in greater energy savings. By increasing the contact area with the sediment, friction is increased, providing greater anchoring force.

[0071] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included in the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. A self-priming suction anchor, characterized in that: The self-priming suction anchor includes an inner tube, an outer tube, a water supply and drainage device, a control cabin and a sensing system. The outer tube is coaxially arranged on the outside of the inner tube and forms a fluid cavity with a closed upper portion and an open lower portion with the inner tube. The water supply and drainage device is arranged on the inner side of the inner tube and is connected with the fluid cavity through the top of the inner tube. The sensing system is distributed at the top and bottom of the inner tube. The control cabin arranged at the top of the inner tube and connected with the water supply and drainage device and the sensing system signal controls the water supply and drainage device to absorb or drain water into the fluid cavity according to the sensing information of the sensing system, so as to embed the self-priming suction anchor into the external mud and sand or separate from the external mud and sand. The inner tube includes an inner tube side wall and an inner tube top wall. The inner tube side wall includes, from top to bottom, an inner tube constant diameter side wall and an inner tube variable diameter side wall which is integrally connected to the lower portion of the inner tube constant diameter side wall and is larger at the top and smaller at the bottom. An annular mounting step is provided on the inner wall of the inner tube constant diameter side wall, and a plurality of first fastening holes are provided on the annular mounting step. A closed mounting platform is provided at the lower end of the inner wall of the inner tube variable diameter side wall, and a first mounting platform is provided at the lower end of the closed mounting platform. The matching cavity body, the top wall of the inner cylinder is integrally connected and vertically arranged on the top of the inner cylinder equal-diameter side wall, the top wall of the inner cylinder is provided with a water suction port, a water injection port, a first mounting hole, a second mounting hole and a plurality of second fastening holes that are not connected to the fluid cavity, a horizontal mounting seat and a plurality of third fastening holes evenly distributed around the circumference, and an annular positioning boss is integrally connected and arranged at the bottom of the top wall of the inner cylinder; the sensing system includes: a bottom proximity sensor installed in the first assembly cavity, a first pressure sensor installed in the first mounting hole, a second pressure sensor installed on the upper surface of the top wall and fixed through the second fastening hole, a top proximity sensor installed in the second mounting hole and a posture sensor installed on the horizontal mounting seat; the outer cylinder includes an outer cylinder side wall, and the outer cylinder side wall includes, from top to bottom, an outer cylinder equal-diameter side wall and an outer cylinder variable-diameter side wall integrally connected to the lower part of the outer cylinder equal-diameter side wall, an annular flange is integrally connected to the inner wall at the top of the outer cylinder equal-diameter side wall, and a plurality of fourth fastening holes evenly distributed around the circumference are provided on the annular flange.

2. The self-priming suction anchor according to claim 1, characterized in that: It also includes a counterweight, which is installed in the second assembly cavity below the annular installation step.

3. The self-priming suction anchor according to claim 1, characterized in that: The inner side surface of the annular flange matches the outer side surface of the annular positioning boss, and the fourth fastening hole matches the third fastening hole.

4. The self-priming suction anchor according to claim 3, characterized in that: A sealing ring is arranged between the inner side surface of the annular flange and the outer side surface of the annular positioning boss.

5. The self-priming suction anchor according to claim 4, characterized in that: The water supply and drainage device includes a watertight motor, a pump, a water pumping filter, a water pumping pipe, a water pumping solenoid valve, a water injection pipe, a water injection filter and a water injection solenoid valve. The watertight motor and the pump are coaxially fixedly assembled in the third assembly cavity above the annular mounting step of the inner cylinder from bottom to top. One end of the water pumping filter is connected to the fluid cavity, and the other end of the water pumping filter is connected to the water pumping solenoid valve through the water pumping pipe. The water pumping solenoid valve is connected to the water inlet end of the pump and the water injection filter respectively; the water outlet end of the pump is connected to the fluid cavity through the water injection solenoid valve and the water injection pipe, and the water injection solenoid valve is connected to the outside world.

6. The self-priming suction anchor according to claim 5, characterized in that: The water pumping solenoid valve includes a first valve port, a second valve port and a third valve port. The first valve port is fixedly connected to the water pumping pipe, the second valve port is fixedly connected to the water injection filter, and the third valve port is fixedly connected to the water inlet end of the pump.

7. The self-priming suction anchor according to claim 5, characterized in that: The water injection solenoid valve includes a fourth valve port, a fifth valve port and a sixth valve port. The fourth valve port is fixedly connected to the water injection pipe, the fifth valve port is communicated with the outside, and the sixth valve port is fixedly connected to the water outlet of the pump.

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