A mechanism test device and test method for dynamic separation of a UUV from a carried load

Abstract

This invention relates to a test device and method for the dynamic separation mechanism of a UUV and its payload. The device includes an upper base and a lower base mounted vertically, fastened together at their sides with fasteners. A central positioning pin is installed through a central hole, with cotter pins inserted at both ends. A front support frame and a rear support frame are fixed to each other at intervals on the upper surface of the base. A tail support frame is installed on the upper outer side of the rear support frame, and an electromagnet is fixed inside it. A first slot is provided on the upper part of the front support frame, and a horizontal pad is provided on the upper inner side of the rear support frame. A second slot is provided above the rear support frame, and a third slot is provided on the pad. Each slot engages with the UUV body. The base is mounted on an underwater vehicle, which moves horizontally along a track within a water tank. This device enables the UUV to launch its payload while in free motion. Combined with appropriate optical and internal measurement methods, the motion characteristics during the dynamic separation process can be obtained.

Description

Technical Field

[0001] This invention relates to the field of testing and experimental technology, and in particular to a test device and test method for the dynamic separation mechanism of a UUV and its carrying load. Background Technology

[0002] With the rapid development of AI technology, unmanned combat systems are a crucial direction for future warfare. Against the backdrop of the current vigorous development of unmanned combat systems, the importance of underwater weaponry is becoming increasingly prominent, and the underwater battlefield will be a significant factor influencing the course of future warfare. Looking ahead, competition in the underwater battlefield will be a hundred times more intense, making the development of multi-functional underwater unmanned combat weapons and delivery platforms an urgent priority.

[0003] UUVs (Unmanned Underwater Vehicles) are commonly used underwater unmanned platforms with high stealth capabilities. They can carry varying quantities and types of payloads to perform diverse combat missions, including raids and reconnaissance. During payload launch, because the mass of the UUV itself is similar to that of the payload, the recoil force causes continuous changes in the UUV's motion, affecting the payload's trajectory and potentially leading to instability. This also directly impacts the initial launch state of subsequent payloads. Conducting scaled-down model tests is an effective method for studying the dynamic separation process between the unmanned platform and its payload. However, domestic research on this dynamic separation process is still lacking. Therefore, designing an experimental method for the dynamic separation mechanism of UUVs and their payloads is of paramount importance. Summary of the Invention

[0004] In response to the motion characteristics problem in the dynamic separation process of UUV and payload in the existing production technology, the applicant provides a test device and test method for the dynamic separation mechanism of UUV and payload, which can realize the process of UUV transmitting payload in free motion state. Combined with corresponding optical measurement and internal measurement methods, the motion characteristics in the dynamic separation process can be obtained.

[0005] The technical solution adopted in this invention is as follows:

[0006] A test device for the dynamic separation mechanism of a UUV and its carrying load includes an upper base and a lower base, both of which are U-shaped. The upper and lower bases are spliced ​​together with the openings of the U facing each other to form a base. The upper and lower bases are locked together on the side with fasteners. A central positioning pin is installed through the central hole of the upper and lower bases, and cotter pins are inserted into both ends of the central positioning pin. A front support frame and a rear support frame are fixed at intervals and relative to each other on the upper surface of the base. A tail support frame is installed on the upper outer side of the rear support frame. An electromagnet is fixed inside the tail support frame. A first slot is provided on the upper part of the front support frame. A horizontal pad is provided on the upper inner side of the rear support frame. A second slot is provided on the upper part of the rear support frame. A third slot is provided on the pad.

[0007] It also includes the UUV body, which has four tail wings at the rear. Each tail wing is mounted on a tail wing base. There is a support member at the bottom center of the UUV body, and a guide pin is connected to the side of the support member. A guide bushing is fitted on the guide pin.

[0008] When assembling the UUV body, the guide pin is located in the first slot, the tail fin base is located in the second and third slots, and the tail end face of the UUV body is in close contact with the electromagnet.

[0009] The base is mounted on the underwater vehicle, which moves horizontally along a track inside the pool.

[0010] As a further improvement to the above technical solution:

[0011] The upper base and the lower base are of equal length.

[0012] The width of the upper base is greater than the width of the lower base.

[0013] The first, second, and third card slots are all U-shaped.

[0014] The width of the first slot is greater than the diameter of the guide pin.

[0015] The widths of the second and third slots are both greater than the width of the tail fin base.

[0016] A baffle is provided on the end face of the front support frame.

[0017] The baffle is a thin plate, and the top surface of the baffle is provided with a concave arc structure.

[0018] A test method for a UUV and its carrying load dynamic separation mechanism test device includes the following operation procedures:

[0019] Before the test, the base was fixed to the underwater vehicle. The UUV model adopted a non-powered device scheme. A gyroscope and accelerometer were installed in the UUV body to record the UUV's motion attitude.

[0020] The tail section of the UUV body is made of iron. The tail fin is connected to the tail fin base by screws. With the assistance of hoisting equipment, the UUV body is installed on the support frame. The guide pin is located in the first slot of the front support frame, while the tail fin base is located in the second and third slots of the rear support frame. The tail end face of the UUV is in close contact with the electromagnet.

[0021] When the electromagnet is energized, the upper base rotates relative to the lower base by adjusting the fasteners on both sides of the support frame, thereby adjusting the installation angle of the UUV. When the installation angle of the UUV reaches the set value, the fasteners are locked.

[0022] Once all preparations for the experiment are complete, fill the pool with water to the target level.

[0023] Before the formal test, the electromagnet was de-energized. The underwater vehicle was controlled by the trolley control system in the pool to accelerate, move at a constant speed, and decelerate in the horizontal direction in sequence. The payload was launched after the UUV was completely separated from the support frame.

[0024] The beneficial effects of this invention are as follows:

[0025] (1) This invention enables the launch of a payload-carrying UUV in a free-moving state during a pool test. Compared to UUV propulsion systems using propellers or rocket booster engines, this test method eliminates the need for a separate propulsion system for the UUV, effectively reducing test costs and ensuring high safety. The test device involved in this invention has a simple structure and does not require a complex electrical control system, greatly reducing the difficulty of the test. Furthermore, the separation process between the UUV and the support frame is purely mechanical, resulting in good reliability and repeatability of the test process.

[0026] (2) The present invention can adjust the speed, attitude angle and pitch angle of UUV, and can be used to carry out dynamic separation mechanism tests under different influencing factors to obtain the motion characteristics of UUV during the dynamic separation process.

[0027] (3) This invention provides a technical means to obtain a physical image of the dynamic separation process between UUV and payload, and to understand the dynamic separation motion characteristics under different launch parameters. Attached Figure Description

[0028] Figure 1 This is a schematic diagram of the structure of the present invention.

[0029] Figure 2 This is the front view of the present invention.

[0030] Figure 3 for Figure 2 Top view.

[0031] Figure 4 for Figure 2Side view.

[0032] Figure 5 This is a schematic diagram of the structure of the UUV body of the present invention.

[0033] Figure 6 for Figure 5 A magnified view of part A in the middle.

[0034] Figure 7 for Figure 5 A magnified view of part B in the middle.

[0035] Figure 8 This is an application diagram (I) of the present invention.

[0036] Figure 9 This is an application diagram (II) of the present invention.

[0037] Figure 10 for Figure 8 A magnified view of part C in the middle.

[0038] Figure 11 for Figure 8 A magnified view of part D in the middle.

[0039] Figure 12 This is a schematic diagram of the overall structure of the present invention.

[0040] The components include: 1. Front support frame; 2. Rear support frame; 3. Tail support frame; 4. Upper base; 5. Cotter pin; 6. Lower base; 7. Center positioning pin; 8. Electromagnet; 9. UUV body; 10. Tail fin base; 11. Tail fin; 12. Guide pin; 13. Guide bushing; 14. Support component; 15. Underwater vehicle; 16. Track.

[0041] 101. First slot; 102. Baffle;

[0042] 201, Second slot; 202, Pad; 203, Third slot. Detailed Implementation

[0043] The specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0044] like Figures 1-12As shown, the UUV and load-carrying dynamic separation mechanism test device of this embodiment includes an upper base 4 and a lower base 6. Both the upper base 4 and the lower base 6 are U-shaped structures. The upper base 4 and the lower base 6 are spliced ​​together in the direction of opposite openings of the U-shape to form a base. The upper base 4 and the lower base 6 are locked on the side with fasteners. A center positioning pin 7 is installed through the center hole of the upper base 4 and the lower base 6. The two ends of the center positioning pin 7 are inserted into cotter pins 5. The upper surface of the base is spaced apart and fixed with a front support frame 1 and a rear support frame 2. A tail support frame 3 is installed on the upper outer side of the rear support frame 2. An electromagnet 8 is fixed inside the tail support frame 3. A first slot 101 is provided on the upper part of the front support frame 1. A horizontal pad 202 is provided on the upper inner side of the rear support frame 2. A second slot 201 is provided on the upper part of the rear support frame 2. A third slot 203 is provided on the pad 202.

[0045] It also includes the UUV body 9, which has four tail wings 11 at the rear. Each tail wing 11 is mounted on the tail wing base 10. There is a support member 14 at the bottom center of the UUV body 9. A guide pin 12 is connected to the side of the support member 14, and a guide bushing 13 is fitted on the guide pin 12.

[0046] When the UUV body 9 is assembled, the guide pin 12 is located in the first slot 101, the tail fin base 10 is located in the second slot 201 and the third slot 203, and the tail end face of the UUV body 9 is in close contact with the electromagnet 8.

[0047] The base is mounted on the underwater vehicle 15, which moves horizontally along the track 16 inside the pool.

[0048] The upper base 4 and the lower base 6 are of equal length.

[0049] The width of the upper base 4 is greater than the width of the lower base 6.

[0050] The first card slot 101, the second card slot 201, and the third card slot 203 are all U-shaped.

[0051] The width of the first slot 101 is greater than the diameter of the guide pin 12.

[0052] The widths of the second slot 201 and the third slot 203 are both greater than the width of the tail fin base 10.

[0053] A baffle 102 is provided on the end face of the front support frame 1.

[0054] The baffle 102 is a thin plate, and the top surface of the baffle 102 is provided with a concave arc structure.

[0055] The specific structure and function of the experimental device for dynamic separation mechanism of UUV and carried payload described in this invention are as follows:

[0056] It mainly includes the support frame, the UUV body 9, and the underwater vehicle 15, etc., such as the support frame... Figures 1-4 As shown, the support frame mainly consists of a front support frame 1, a rear support frame 2, a tail support frame 3, an upper base 4, and a lower base 6. The upper base 4 and the lower base 6 are U-shaped and of equal length, with the upper base 4 being slightly wider than the lower base 6. The two bases are spliced ​​together with their U-shaped grooves facing each other. A central positioning pin 7 passes through the central hole of the base, connecting the two bases. Cotter pins 5 are inserted into both ends of the central positioning pin 7. Through holes are opened on the left and right sides of the base, and the bases are fastened by screws. The front support frame 1 and the rear support frame 2 are U-shaped, with reinforcing ribs welded inside the U-shaped grooves for structural reinforcement. The front support frame 1 and the rear support frame 2 are respectively connected to both ends of the upper base 4 by screws. The tail support frame 3 is installed on the rear support frame 2, and an electromagnet 8 is installed on the tail support frame 3.

[0057] The structure of the UUV body 9 is as follows: Figures 5-7 As shown, the UUV body 9 has a conventional rotating shape. The UUV has four tail fins 11, which are mounted on tail fin bases 10. A support member 14 is located at the center of the bottom of the UUV body 9. A guide pin 12 is connected to the side of the support member 14, and a guide bushing 13 is fitted onto the guide pin 12. The UUV body 9 carries a payload, which can be launched as needed.

[0058] After the UUV body 9 is assembled with the support frame, as shown in the image... Figures 7-8 As shown, after the UUV body 9 is installed in place, the guide pin 12 is exactly located in the first slot 101 of the front support frame 1. The width of the first slot 101 is slightly larger than the diameter of the guide pin 12. The tail fin base 10 is exactly located in the second slot 201 and the third slot 203 of the rear support frame 2. The width of the second slot 201 and the third slot 203 is slightly larger than the width of the tail fin base 10. The tail end face of the UUV body 9 is in close contact with the electromagnet 8. The slots set on the front and rear support frames restrict the vertical movement of the UUV. Since the tail of the UUV is in close contact with the support frame, the rearward movement of the UUV is also restricted. At the same time, the two support points together restrict the rotational movement of the UUV. Therefore, the UUV only has the degree of freedom to move forward.

[0059] During the test, the UUV and its support frame were connected to the underwater vehicle 15 in the water tank, such as... Figure 12As shown, the underwater vehicle 15 can move horizontally along the track 16. The underwater vehicle 15's motion is controlled by a trolley control system in the pool, enabling uniform motion at a given speed. During the test, the entire UUV and its support frame are submerged in water. The underwater vehicle 15's motion pulls the support frame. Due to the special slot connection structure between the support frame and the UUV, the support frame drives the UUV forward during the underwater vehicle 15's acceleration. Once the set speed is reached, the trolley rapidly decelerates and stops. Since the UUV is in a near-zero buoyancy state underwater, the vertical force between the support frame and the UUV is very small. Under inertia, the UUV slides out of the slot and continues its forward motion. Once the UUV's tail has completely passed the support frame, it launches the payload, completing the dynamic separation process. A gyroscope and accelerometer are installed inside the UUV to record its motion attitude throughout the launch process, and a pool-based optical measurement system records the physical images of the dynamic separation process.

[0060] The functions of each component are described in detail below:

[0061] The front support frame 1 has a U-shaped structure. There is a slot at the top of the front support frame 1 for placing the guide pin 12. The width of the slot is slightly larger than the diameter of the guide pin 12.

[0062] The rear support frame 2 has a U-shaped structure. There is a slot at the top of the rear support frame 2 for placing the tail fin base 10. The width of the slot is slightly larger than the width of the tail fin base 10.

[0063] Tail support frame 3 – installed at the tail of the rear support frame 2, used to fix the electromagnet 8;

[0064] Upper base 4 – the upper part of the support frame base;

[0065] Cotter pin 5 – used to limit the center positioning pin 7 and prevent the center positioning pin 7 from sliding out;

[0066] Lower base 6 – the lower half of the support frame base;

[0067] Center positioning pin 7 – used to connect the upper base 4 and the lower base 6;

[0068] Electromagnet 8 – used to restrict the degree of freedom of the UUV's forward direction and prevent the UUV from accidentally slipping out of the slot;

[0069] UUV body 9 - internal testing systems such as gyroscopes are installed inside;

[0070] Tail fin base 10 – used to mount the tail fin 11;

[0071] Tail fin body – mounted on tail fin base 10;

[0072] Guide pin 12 – used for connection with the support frame;

[0073] Guide bushing 13 – used to adjust the relative position of guide pin 12 and slot;

[0074] Support component 14 – fixedly connected to the UUV body 9, used to support the UUV body 9;

[0075] Underwater vehicle 15 - used to traction the horizontal movement of the support frame. Its motion can be controlled by the trolley control system in the water tank, and it can achieve uniform motion at a given speed.

[0076] Track 16 – Underwater vehicle 15 moves horizontally along track 16.

[0077] In actual work process:

[0078] Before the test, the base was fixed to the underwater vehicle 15, and then... Figure 1 The installation of the support frame is shown. Each of the rear support frame 2 and the front support frame 1 has reinforcing ribs between its vertical support plates to enhance structural strength and prevent interference with the tail fin 11 during UUV forward movement. The UUV model adopts a non-powered design; a gyroscope and accelerometer are installed inside the UUV body 9 to record the UUV's motion attitude. The tail of the UUV is made of iron, and the tail fin 11 is connected to the tail fin base 10 by screws. The specific structure is as follows... Figure 6 As shown, the installation angle of the tail fin 11 can be adjusted within a certain range. Using hoisting equipment, the UUV is installed onto the support frame, as shown... Figure 4 As shown, the guide pin 12 is located in the slot of the front support frame 1, while the tail fin base 10 is located in the slot of the rear support frame 2. The tail end face of the UUV is in close contact with the electromagnet 8. After the UUV is installed, the electromagnet 8 is energized. By adjusting the screws on both sides of the support frame, the upper base 4 is rotated relative to the lower base 6, thereby adjusting the installation angle of the UUV. When the installation angle of the UUV reaches the set value, the screws on both sides of the support frame are tightened. After all the test preparation work is completed, the water in the pool is filled to the target water level. Before the formal test, the electromagnet 8 is de-energized. The underwater vehicle 15 is made to accelerate, move at a constant speed, and decelerate in the horizontal direction sequentially through the trolley control system in the pool. After the UUV is completely separated from the support frame, it is launched carrying the payload.

[0079] The function of electromagnet 8 is to prevent the UUV from accidentally sliding out of the support frame slot when the underwater vehicle 15 is retracted during the test preparation stage, thereby improving the reliability of the test.

[0080] The attitude angle of the UUV can be changed by adjusting the rotation angle of the upper base 4. The pitch rate and attitude angle of the UUV can be changed by adjusting the installation angle of the horizontal tail fin 11 of the UUV. The speed of the UUV can be changed by controlling the movement speed of the underwater vehicle 15. Therefore, this test method can be used to carry out dynamic separation mechanism tests under different influencing factors.

[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 test device for the dynamic separation mechanism of a UUV and its carried payload, characterized in that: Includes an upper base (4) and a lower base (6), both of which are U-shaped. The upper base (4) and the lower base (6) are spliced ​​together in the direction of opposite openings in the U-shape to form a base. The upper base (4) and the lower base (6) are locked together on the side using fasteners. A center positioning pin (7) is installed through the center hole of the upper base (4) and the lower base (6). Cotter pins (5) are inserted into both ends of the center positioning pin (7). The upper surface of the base is spaced apart and A front support frame (1) and a rear support frame (2) are fixed relative to each other. A tail support frame (3) is installed on the upper outer side of the rear support frame (2). An electromagnet (8) is fixed inside the tail support frame (3). A first slot (101) is provided on the upper part of the front support frame (1). A horizontal pad (202) is provided on the upper inner side of the rear support frame (2). A second slot (201) is provided on the upper part of the rear support frame (2). A third slot (203) is provided on the pad (202). It also includes a UUV body (9), which has four tail wings (11) at the tail. Each tail wing (11) is mounted on a tail wing base (10). There is a support member (14) at the bottom center of the UUV body (9). A guide pin (12) is connected to the side of the support member (14). A guide bushing (13) is fitted on the guide pin (12). When the UUV body (9) is assembled, the guide pin (12) is located in the first slot (101), the tail fin base (10) is located in the second slot (201) and the third slot (203), and the tail end face of the UUV body (9) is in close contact with the electromagnet (8). The base is mounted on the underwater vehicle (15), which moves horizontally along the track (16) inside the pool.

2. The experimental device for dynamic separation mechanism of UUV and carried payload as described in claim 1, characterized in that: The upper base (4) and the lower base (6) are of equal length.

3. The experimental device for dynamic separation mechanism of UUV and carried payload as described in claim 1, characterized in that: The width of the upper base (4) is greater than the width of the lower base (6).

4. The experimental device for dynamic separation mechanism of UUV and carried payload as described in claim 1, characterized in that: The first card slot (101), the second card slot (201), and the third card slot (203) are all U-shaped.

5. The experimental device for dynamic separation mechanism of UUV and carried payload as described in claim 1, characterized in that: The width of the first slot (101) is greater than the diameter of the guide pin (12).

6. The experimental device for dynamic separation mechanism of UUV and carried payload as described in claim 1, characterized in that: The widths of the second slot (201) and the third slot (203) are both greater than the width of the tail fin base (10).

7. The experimental device for dynamic separation mechanism of UUV and carried payload as described in claim 1, characterized in that: The end face of the front support frame (1) is provided with a baffle (102).

8. The experimental device for dynamic separation mechanism of UUV and carried payload as described in claim 7, characterized in that: The baffle (102) is a thin plate, and the top surface of the baffle (102) is provided with a concave arc structure.

9. A test method for the UUV and its carrying load dynamic separation mechanism test device as described in claim 1, characterized in that: The following procedures are included: Before the test, the base was fixed to the underwater vehicle (15). The UUV model adopted a non-powered device scheme. The UUV body (9) was equipped with a gyroscope and an accelerometer to record the UUV's motion posture. The tail of the UUV body (9) is made of iron. The tail fin (11) is connected to the tail fin base (10) by screws. With the help of hoisting equipment, the UUV body (9) is installed on the support frame. The guide pin (12) is located in the first slot (101) of the front support frame (1), while the tail fin base (10) is located in the second slot (201) and the third slot (203) of the rear support frame (2). The tail end face of the UUV is in close contact with the electromagnet (8). When the electromagnet (8) is powered on, the upper base (4) is rotated relative to the lower base (6) by adjusting the fasteners on both sides of the support frame, thereby adjusting the installation angle of the UUV. When the installation angle of the UUV reaches the set value, the fasteners are locked. Once all preparations for the experiment are complete, the water in the pool will be filled to the target level. Before the formal test, the electromagnet (8) was de-energized. The underwater vehicle (15) was accelerated, moved at a constant speed and decelerated in the horizontal direction through the trolley control system in the pool. The payload was launched after the UUV was completely separated from the support frame.

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