Underwater vehicle linkage net breaking mechanism

Abstract

The application belongs to the technical field of underwater unmanned robots, and particularly discloses a linkage net-breaking mechanism of an underwater vehicle, which comprises a concentric cutting mechanism, the concentric cutting mechanism comprises a reciprocating moving mechanism, a driving assembly and a concentric cutting assembly which are located inside the bow part of the underwater vehicle, the concentric cutting assembly comprises a fixed cutter barrel and a rotary cutter barrel which are staggered and coaxial, the reciprocating moving mechanism is used for driving the concentric cutting assembly to stretch out or retract to the bow part of the underwater vehicle in the horizontal direction, and the driving assembly comprises a reciprocating moving mechanism driving assembly which is used for driving the reciprocating moving mechanism and a rotary cutter barrel driving assembly which is used for driving the rotary cutter barrel. The application completes the staggered net breaking through the internally-carrying concentric cutting mechanism, cuts out a large enough circular cutout, and ensures that the underwater vehicle smoothly passes through the fishing net and completes the work task.

Description

Technical Field

[0001] This invention belongs to the field of underwater unmanned robot technology, specifically relating to an underwater vehicle linkage net-breaking mechanism. Background Technology

[0002] With the development of oceanography, more and more underwater unmanned vehicles (UAVs) are being used for underwater operations and exploration. To meet operational demands, these UAVs are carrying an increasing number of sensors and mission modules, resulting in larger appendage structures. For underwater exploration and exploration vehicles, they are of great significance in areas such as underwater reconnaissance, surveillance, tracking, mine detection, relay communication, navigation, anti-submarine warfare, and oceanographic research. As highly autonomous and capable exploration-type UAVs with a wide operational range, they need to be able to cope with the randomness and uncertainty of the maritime environment. For example, when trapped by nets, the vehicle needs to have the ability to autonomously break through the nets to avoid hindering its mission.

[0003] As a major maritime nation, my country's marine fishing industry is a crucial component of its marine fisheries. The fishing chain, including gillnets, hand nets, trawls, hammocks, drift nets, and aquaculture nets, covers vast areas of the ocean. Currently, when underwater unmanned vehicles (UAVs) become entangled in fishing nets, the method relies on manual surface salvage vessels to break the nets and land-based base stations to determine if the UAV is trapped and to attempt to free and retrieve it. This manual operation method is time-consuming and labor-intensive; furthermore, it does not meet the needs of autonomous missions for the UAVs.

[0004] Therefore, there is an urgent need to design a mechanism capable of breaking through nets over a wide area and to modularly integrate it into an underwater unmanned vehicle. Summary of the Invention

[0005] The purpose of this invention is to address the challenges of complex and bulky appendage structures on existing underwater unmanned vehicles (UAVs) by providing a device that can be mounted on an underwater vehicle to perform large-scale net-breaking operations. This ensures that complex appendage structures can pass smoothly through fishing nets. Through lightweight and modular design, this invention integrates a linked net-breaking and cutting component onto the underwater UAV to cut fishing nets and solve the problem of penetrating fishing nets and other objects.

[0006] According to one aspect of the present invention, an underwater vehicle linkage net-breaking mechanism is provided, comprising a concentric cutting mechanism. The concentric cutting mechanism includes a reciprocating movement mechanism, a drive assembly, and a concentric cutting assembly located inside the bow of the underwater vehicle. The concentric cutting assembly includes a fixed cutter cylinder and a rotating cutter cylinder coaxially. The rotating cutter cylinder is rotatably mounted on the inner circumferential surface of the fixed cutter cylinder. A plurality of fixed cutter teeth are evenly distributed on the circumferential edge of the fixed cutter cylinder facing the outer end of the bow. A plurality of rotating cutter teeth are evenly distributed on the circumferential edge of the fixed cutter cylinder facing the outer end of the bow. The reciprocating moving mechanism is used to connect the outer peripheral surface of the fixed cutter barrel and the inner wall of the bow of the underwater vehicle, and is used to drive the concentric cutting assembly to extend or retract to the bow of the underwater vehicle in the horizontal direction. The driving assembly includes a reciprocating movement mechanism driving assembly and a rotary cutter cylinder driving assembly. The reciprocating movement mechanism driving assembly is mounted on the end of the reciprocating movement mechanism away from the fixed cutter teeth, and the rotary cutter cylinder driving assembly is mounted on the bottom of the inner circumferential wall of the rotary cutter cylinder and is used to drive the rotary cutter cylinder to rotate.

[0007] According to one embodiment of the present invention, the number of reciprocating moving mechanisms is at least three and they are evenly distributed on the outer peripheral surface of the fixed cutter cylinder. The reciprocating moving mechanism includes a slide rail support plate, a horizontal slide rail, a slider, a slider support plate, a slider connecting plate, and a slider limiting boss. The horizontal slide rail is installed on the inner wall of the bow of the underwater vehicle through the slide rail support plate. The upper surface of the slider is slidably installed in the horizontal slide rail through the slider support plate. The lower surface of the slider is fixedly connected to the outer peripheral surface of the fixed cutter cylinder through the slider connecting plate. The slider limiting boss is installed in the end of the horizontal slide rail near the fixed cutter teeth. The slider, the slider support plate, and the slider connecting plate are vertically connected by screws.

[0008] According to one embodiment of the present invention, the reciprocating motion mechanism drive assembly is vertically connected to the reciprocating motion mechanism. The reciprocating motion mechanism drive assembly includes, from bottom to top, a first drive motor, a first reducer, and a first motor mounting base connected in sequence. The first motor mounting base is mounted on the slider support plate. The first reducer is connected to the slider connecting plate in sequence through a first transmission gear and a transmission rack. The transmission rack is used to drive the slider to slide horizontally. The first transmission gear is located in the first motor mounting base. The first drive motor is connected to a first controller in parallel.

[0009] According to one embodiment of the present invention, the rotary cutter barrel drive assembly includes a second drive motor, a coupling, and a second transmission gear. The main shaft of the second drive motor is connected to the second transmission gear through the coupling. The second transmission gear is mounted on the inner circumferential surface of the rotary cutter barrel. The second drive motor is mounted on the inner circumferential surface of the bottom of the rotary cutter barrel through a second motor mounting base.

[0010] According to one embodiment of the present invention, the rotary cutter barrel drive assembly further includes a plurality of bearing mounting plates and a support rod, the plurality of bearing mounting plates being fitted to the inner circumferential surface of the rotary cutter barrel and spaced apart from each other in the horizontal direction, and the support rod being connected through the axis of the plurality of bearing mounting plates.

[0011] According to one embodiment of the present invention, the large underwater vehicle linkage net-breaking mechanism further includes multiple wire cutting mechanisms. The multiple wire cutting mechanisms are evenly installed in the circumferential direction of the middle fuselage of the underwater vehicle. Each wire cutting mechanism includes a base plate connected to the outer surface of the underwater vehicle fuselage, a wire cutting mechanism drive assembly, a transmission assembly, a clutch assembly, and a wire cutting assembly. The transmission shaft of the transmission assembly is perpendicular to the horizontal direction. One end of the transmission shaft is connected to the wire cutting mechanism drive assembly parallel to the horizontal direction. The other end of the transmission shaft is sequentially connected to the wire cutting assembly and the clutch assembly parallel to the horizontal direction along the axis. The wire cutting assembly includes a fixed cutting blade and a movable cutting blade that are parallel to each other. The movable cutting blade is sleeved on the drive shaft through a cam mechanism. The clutch assembly is connected to the fixed cutting blade in the wire cutting assembly and provides friction to the fixed cutting blade. The clutch assembly includes a clutch disc, a spring, and an adjusting bushing that are connected to the fixed cutting blade in sequence. The other end of the adjusting bushing is mounted on a bushing mounting part protruding on the surface of the base plate.

[0012] According to one embodiment of the present invention, a plurality of positioning holes are uniformly formed on the vertical cross-section of the fixed cutting blade, and a plurality of limiting grooves corresponding to the positioning holes are formed on the vertical cross-section of the moving cutting blade. The fixed cutting blade also has a positioning pin that is inserted into the positioning hole and slidably connected to the limiting groove.

[0013] According to one embodiment of the present invention, the fixed cutting blade and the moving cutting blade have a plurality of uniformly arranged triangular cutting teeth on their upper surfaces in the horizontal direction.

[0014] According to one embodiment of the present invention, the wire cutting mechanism drive assembly includes a second controller, a third drive motor, a second reducer and a connecting shaft connected in sequence in the horizontal direction. The other end of the connecting shaft meshes with a bevel gear set at the axially upward end of the drive shaft. The bevel gear set is located in a gearbox, and the bottom of the gearbox is mounted on the base plate.

[0015] According to one embodiment of the present invention, the wire cutting mechanism is installed in a fairing on the outer surface of the fuselage of an underwater vehicle, and the top of the fairing has an opening in the horizontal direction corresponding to the wire cutting assembly.

[0016] In summary, compared with the prior art, the above-described technical solutions conceived by this invention mainly possess the following technical advantages: 1. The large underwater vehicle linkage net-breaking mechanism of the present invention can complete the staggered net breaking through the internal concentric cutting mechanism, cutting out a sufficiently large circular cut to ensure that the underwater vehicle as a whole can pass through the fishing net smoothly and complete the work task.

[0017] 2. The uniform arrangement of bearing plates in the rotary cutter barrel drive assembly of the present invention ensures that the fixed cutter barrel and the rotary cutter barrel are subjected to uniform load-bearing force, which facilitates the centering of the concentric circles of the cutter barrel and further reduces the friction force of staggered cutting.

[0018] 3. The present invention also provides a wire cutting mechanism on the outer periphery of the vehicle fuselage. This wire cutting mechanism further expands the cutting area, thereby ensuring that large appendage structures such as antennas and tail rudders at the rear of the underwater unmanned vehicle fuselage can pass smoothly through the fishing net. At the same time, the longer components, such as the wire cutting mechanism drive assembly and the wire cutting assembly, are installed in a direction parallel to the forward direction of the underwater unmanned vehicle. This design is more reasonable and reduces drag.

[0019] 4. The limiting mechanism of the wire cutting assembly of the present invention can ensure that the moving cutting blade and the fixed cutting blade move synchronously while limiting the angle of their intersecting movements, thus ensuring safety.

[0020] 5. The transmission mechanism or the entire wire cutting mechanism of the present invention can be in a sealed state, which can effectively prevent interference from underwater weeds during operation. Attached Figure Description

[0021] Figure 1 This is an overall external view of the unmanned autonomous vehicle and fishing net breaking device of the present invention.

[0022] Figure 2 This is a schematic diagram of the fishing net breaking device of the present invention.

[0023] Figure 3 This is a detailed view of the rotary cutter barrel drive assembly of the present invention.

[0024] Figure 4 This is a detailed diagram of the reciprocating motion mechanism drive component of the present invention.

[0025] Figure 5 This is a detailed view of the cutting component of the present invention.

[0026] Figure 6 This is a connection diagram of the reciprocating moving mechanism of the present invention.

[0027] Figure 7 This is a connection diagram of the cutting component mechanism of the present invention.

[0028] Figure 8 This is a diagram of the wire cutting mechanism of the present invention.

[0029] Figure 9 This is a detailed view of the wire cutting mechanism of the present invention.

[0030] Figure 10 This is a diagram of the cutting tool of the wire EDM mechanism of the present invention.

[0031] Figure 11 This is a diagram of the fairing of the wire cutting mechanism of the present invention.

[0032] Figure 12 This refers to the cutting action of the concentric cutting mechanism of the present invention.

[0033] Figure 13 This refers to the cutting action of the wire cutting mechanism of the present invention.

[0034] Reference numerals: 1. Concentric cutting mechanism; 2. Wire cutting mechanism; 3. Pressure-resistant shell; 4. Wing plate; 5. Communication antenna; 6. Tail rudder; 7. Arc cover. Drive assembly 101, reciprocating movement mechanism 102, concentric cutting assembly 103, reciprocating movement mechanism drive assembly 1011, first drive motor 10111, first controller 10112, first reducer 10113, first motor mounting base 10114, controller support plate 10115, first transmission gear 10116, transmission rack 10117, rotary cutter cylinder drive assembly 1012, second drive motor 10121, second reducer 10122, coupling 10123, motor support plate 10124, second transmission gear 10125, slide rail 1021, slide rail support plate 1022, slider support plate 1023, slider connecting plate 1024, slider 1025, slider limiting boss 1026, fixed cutter cylinder 1031, rotary cutter cylinder 1032, fixed cutter teeth 1033, rotary cutter teeth 1034, bearing plate 1035, support rod 1036; The wire cutting mechanism includes a drive assembly 201, a transmission assembly 202, a wire cutting assembly 204, a clutch assembly 203, a base plate 205, a fairing 206, a third drive motor 2012, a second controller 2011, a second reducer 2013, a connecting shaft 2014, a gearbox 2021, a bevel gear 2022, a transmission shaft 2023, a cam 2024, a clutch disc 2031, a spring 2032, a bushing 2033, a positioning pin 2041, a fixed cutting blade 2042, a moving cutting blade 2043, a limit groove 2044, and a positioning hole 2045. Detailed Implementation

[0035] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0036] The invention will now be further described with reference to the accompanying drawings: like Figure 1 As shown, the general structure of an unmanned autonomous vehicle includes a pressure hull 3, wing plates 4, a communication antenna 5, a tail rudder 6, and an arc-shaped cover 7. Therefore, the designed net-breaking mechanism includes a concentric cutting mechanism 1 and a wire cutting mechanism 2. Working together, these two mechanisms can cut a sufficiently large area to allow the appendage structure to pass smoothly through the fishing net. Figure 1 It can be seen that the net-breaking mechanism is installed at the bow and midsection of the unmanned autonomous vehicle body 5.

[0037] like Figure 2 As shown, the concentric cutting mechanism 1 consists of a drive component 101, a reciprocating movement mechanism 102, and a concentric cutting component 103, in order to realize the reciprocating movement and cutting action of the cutting mechanism.

[0038] The drive assembly 101 includes a reciprocating motion mechanism drive assembly 1011 and a rotary cutter barrel drive assembly 1012, which are used to output active driving torque to drive the reciprocating and cutting actions of the concentric cutting mechanism 1.

[0039] like Figure 3 As shown, the rotary cutter barrel drive assembly 1012 includes a second drive motor 10121, a second reducer 10122, a coupling 10123, a motor support plate 10124, and a second transmission gear 10125.

[0040] like Figure 4 As shown, the reciprocating motion mechanism drive assembly 1011 includes a first drive motor 10111, a first controller 10112, a first reducer 10113, a first motor mounting base 10114, a controller support plate 10115, a first transmission gear 10116, and a transmission rack 10117.

[0041] like Figure 4 As shown, the reciprocating movement mechanism 102 includes a slide rail 1021, a slide rail support plate 1022, a slider support plate 1023, a slider connecting plate 1024, a slider 1025, and a slider limiting boss 1026.

[0042] like Figure 5As shown, the concentric cutting assembly 103 consists of a fixed cutter cylinder 1031, a rotating cutter cylinder 1032, fixed cutting teeth 1033, rotating cutting teeth 1034, a bearing plate 1035, and a support rod 1036.

[0043] like Figure 6 As shown, the first drive motor 10111 is connected to the first transmission gear 10116. The first drive motor 10111 outputs rotational torque, which is transmitted through the rack 10117 mounted on the slide rail support plate 1022 to make the slider 1025 move linearly along the slide rail 1021. The concentric cutting assembly 103, the slider connecting plate 1024, the slider support plate 1023, and the slider 1025 are connected together by screws to realize the linear reciprocating telescopic motion of the concentric cutting assembly 103. The telescopic distance of the concentric cutting assembly 103 can be changed by adjusting the spacing of the slide rail support plates 1022 or the position of the slider limiting boss 1026.

[0044] like Figure 7 As shown, the second drive motor 10121 is connected to the second transmission gear 10125 via a coupling 10123. The second drive motor 10121 outputs rotational torque and, through gear transmission, causes the rotating cutter cylinder 1032 to rotate, driving the interlaced and contacting fixed cutting teeth 1033 and rotating cutting teeth 1034 to perform a cutting action.

[0045] Further optimization involves welding the fixed cutting teeth 1033 and the rotating cutting teeth 1034 in the concentric cutting mechanism 1 onto the cutter cylinder. The number of rotating cutting teeth 1034 should not be too large to avoid cutting multiple fishing net lines at the same time, resulting in excessive cutting force and high motor power consumption. It is preferable to have 3 rotating cutting teeth.

[0046] like Figure 8 As shown, the wire cutting mechanism 2 consists of a wire cutting mechanism drive assembly 201, a transmission assembly 202, a wire cutting assembly 204, a clutch assembly 203, a base plate 205, and a fairing 206, to realize the tool deployment action and the staggered cutting action of the wire cutting mechanism 2.

[0047] like Figure 7 As shown, the clutch assembly 203 consists of a spring 2032, a clutch disc 2031, and a bushing 2033. The clutch disc 2031 is mounted on the drive shaft 2023, and the spring 2032 presses against the clutch disc 2031 to tightly contact the fixed cutting blade 2042, providing friction. The bushing 2033 is mounted on the drive shaft 2023, and the compression of the spring 2032 can be adjusted by adjusting the distance of the bushing 2033, thus changing the elastic force. The wire cutting mechanisms 2 are all mounted on the base plate 205, which is fixedly connected to the pressure hull 3 of the underwater unmanned vehicle by screws.

[0048] like Figure 8 Figure 9As shown, the wire cutting mechanism drive assembly 201 includes a third drive motor 2012, a second controller 2011, a second reducer 2013, and a connecting shaft 2014. The connecting shaft 2014 meshes with the bevel gear 2022 of the transmission assembly 202, and outputs an active driving torque to provide power for the tool unfolding and interlacing cutting actions. The transmission assembly 202 includes the bevel gear 2022, a transmission shaft 2023, a cam 2024, and a gearbox 2021. The meshing of the connecting shaft 2014 with the bevel gear 2022 transmits the output torque, and the cam 2024 mechanism on the transmission shaft 2023 drives the cutting tool to perform shearing motion within the limiting groove 2044. The transmission assembly 202 is installed inside the gearbox 2021 primarily to prevent impurities floating in seawater from entering the internal meshing gears and other structures, causing jamming.

[0049] like Figure 9 Figure 10 As shown, the wire EDM assembly 204 consists of a fixed cutting blade 2042, a movable cutting blade 2043, and a positioning pin 2041. The fixed cutting blade 2042 and the movable cutting blade 2043 are mounted on the drive shaft 2023 and are tightly fitted together by the positioning pin 2041. The movable cutting blade 2043 is mounted on the cam 2024 mechanism of the drive shaft 2023. When the drive shaft 2023 rotates, the movable cutting blade 2043, driven by the cam 2024 mechanism, produces a relative, interlaced shearing motion with the fixed cutting blade 2042. The movable cutting blade 2043 has a limiting groove 2044, and the fixed cutting blade 2042 has a positioning hole 2045. The positioning pin 2041 is inserted into the positioning hole 2045 and the limiting groove 2044. When the movable cutting blade 2043 moves up and down interlaced with the cam 2024 mechanism, the limiting groove 2044, the positioning hole 2045, and the positioning pin 2041 ensure that the two blades move synchronously.

[0050] like Figure 11 As shown, the wire cutting mechanism 2 is arranged inside the fairing 206, mainly to prevent seaweed and other debris from entering the internal meshing and transmission structure and causing jamming. A tool slot is cut into the fairing 206 so that the tool can extend through it. The fairing 206 is designed with a streamlined shape to reduce drag on the underwater unmanned vehicle.

[0051] like Figure 12 Figure 13 As shown, Figure 12 The cutting action of the concentric cutting mechanism. Figure 13 This refers to the cutting action of a wire EDM mechanism.

[0052] The specific actions of the net-breaking mechanism are as follows: After the reciprocating motion drive mechanism 1011 in the concentric cutting mechanism 1 receives the control signal, since the first reducer 10113 is connected to the slider support plate 1023 through the first motor mounting seat 10114, the torque output by the first drive motor 10111 is transmitted through the first gear 10116 and rack 10117 and the slider 1025 pushes the concentric cutting mechanism 1 out of the gap of the arc cover 7. During this process, since the slider 1025 is fixed on the slide rail 1021, and the slide rail 1021 is fixed on the two slide rail support plates 1022 respectively, when the slider support plate 1023 abuts against the slider limiting boss 1025 on the slide rail support plate 1022, the concentric cutting mechanism 1 is fully pushed out, and the fixed blade tooth 1033 abuts against the fishing net. At this time, the first drive motor 10121 starts, driving the rotating cutter cylinder 1032 to rotate in a specific direction. The rotating cutter teeth 1034 maintain contact with the fixed cutter teeth 1033, rotating and cutting through the fishing net to create a circular cut that the main body of the aircraft can pass through. Finally, the first drive motor 10111 runs in the opposite direction, retracting the concentric cutting mechanism 1.

[0053] After the concentric cutting action is completed, the third drive motor 2012 drives the connecting shaft 2014 to output rotational torque, which acts on the bevel gear 2022. The bevel gear 2022 drives the transmission shaft 2023 to rotate. The moving cutting blade 2043, the fixed cutting blade 2042, the clutch disc 2031, the spring 2032, and the bushing 2033 are sequentially installed on the transmission shaft 2023. There is a cam 2024 on the transmission shaft 2023. The moving cutting blade 2043 is installed on the cam 2024. When the transmission shaft 2023 rotates, the moving cutting blade 2043, driven by the cam 2024 structure, produces a relative interlaced shearing motion with the fixed cutting blade 2042. Simultaneously, due to the pressure of the spring 2032 on the clutch disc 2031, it tightly adheres to the fixed cutting blade 2042, causing the fixed cutting blade 2042 to rotate under friction and extend from the pre-set blade gap in the fairing 206. Since the fixed cutting blade 2042 and the moving cutting blade 2043 are tightly fitted by the positioning pin 2041, the moving cutting blade 2043 and the fixed cutting blade 2042 rotate and extend synchronously, generating a relative, interlacing shearing motion while rotating and extending. When rotating onto the fishing net, the relative, interlacing shearing motion of the two blades begins to cut the fishing net line. When a cut is made, the two blades continue to rotate to the next fishing net line for further cutting. If a cut cannot be made immediately, the resistance force generated by the fishing net line exceeds the friction force provided by the clutch disc 2031. At this point, the clutch disc 2031 begins to slip, causing the two blades to continuously cut the fishing net line at this point without rotating, until a cut is made. At this point, the resistance force is zero, and the clutch disc 2031 continues to provide friction force, allowing the two blades to continue rotating to the next fishing net line. When the third drive motor 2012 reverses, all blades retract into the fairing.

[0054] The net-breaking process is as follows: The underwater vehicle detects fishing nets using its autonomous speed sensors and depth gauges, and then breaks the net using its onboard net-breaking mechanism. First, a minimum speed threshold is set for the underwater vehicle. When the control center receives a speed signal, it determines if the speed is below the minimum threshold. If the speed is equal to or greater than the threshold, it is determined that the vehicle is not trapped in a fishing net. If the speed is below the threshold, the depth is monitored by the autonomous depth gauge. If this value remains at the same level for an extended period, it is determined that the vehicle is trapped in a fishing net. At this point, a control signal is issued to activate the net-breaking mechanism, initiating a coordinated net-breaking operation. After the net is broken, the mechanism is retracted, and the vehicle resumes normal navigation.

[0055] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A linkage net-breaking mechanism for underwater vehicles, characterized in that, The device includes a concentric cutting mechanism, which comprises a reciprocating movement mechanism, a drive assembly, and a concentric cutting assembly located inside the bow of the underwater vehicle. The concentric cutting assembly includes a fixed cutter cylinder and a rotating cutter cylinder on the same axis. The rotating cutter cylinder is rotatably mounted on the inner circumferential surface of the fixed cutter cylinder. Multiple fixed cutter teeth are evenly distributed on the circumferential edge of the fixed cutter cylinder facing the outer end of the bow, and multiple rotating cutter teeth are evenly distributed on the circumferential edge of the rotating cutter cylinder facing the outer end of the bow. The reciprocating moving mechanism is used to connect the outer peripheral surface of the fixed cutter barrel and the inner wall of the bow of the underwater vehicle, and is used to drive the concentric cutting assembly to extend or retract to the bow of the underwater vehicle in the horizontal direction. The drive assembly includes a reciprocating motion mechanism drive assembly and a rotary cutter cylinder drive assembly. The reciprocating motion mechanism drive assembly is mounted on the end of the reciprocating motion mechanism away from the fixed cutter teeth. The rotary cutter cylinder drive assembly is mounted on the bottom of the inner circumferential wall of the rotary cutter cylinder and is used to drive the rotary cutter cylinder to rotate. The underwater vehicle's linkage net-breaking mechanism also includes multiple wire cutting mechanisms, which are evenly installed on the circumference of the underwater vehicle's mid-body shell. Each wire cutting mechanism includes a base plate connected to the outer surface of the underwater vehicle's body shell, a wire cutting mechanism drive assembly, a transmission assembly, a clutch assembly, and a wire cutting assembly. The transmission shaft of the transmission assembly is perpendicular to the horizontal direction. One end of the transmission shaft is connected to the wire cutting mechanism drive assembly, which is parallel to the horizontal direction. The other end of the transmission shaft is connected sequentially along the axis to the wire cutting assembly and the clutch assembly, which are parallel to the horizontal direction. The wire cutting assembly includes a fixed cutting blade and a movable cutting blade that are parallel to each other. The movable cutting blade is sleeved on the drive shaft through a cam mechanism. The clutch assembly is connected to the fixed cutting blade in the wire cutting assembly and provides friction to the fixed cutting blade. The clutch assembly includes a clutch disc, a spring, and an adjusting bushing that are connected to the fixed cutting blade in sequence. The other end of the adjusting bushing is mounted on a bushing mounting part protruding on the surface of the base plate.

2. The underwater vehicle linkage net-breaking mechanism according to claim 1, characterized in that, The number of reciprocating moving mechanisms is at least three and they are evenly distributed on the outer circumferential surface of the fixed cutter cylinder. Each reciprocating moving mechanism includes a slide rail support plate, a horizontal slide rail, a slider, a slider support plate, a slider connecting plate, and a slider limiting boss. The horizontal slide rail is installed on the inner wall of the bow of the underwater vehicle through the slide rail support plate. The upper surface of the slider is slidably installed in the horizontal slide rail through the slider support plate. The lower surface of the slider is fixedly connected to the outer circumferential surface of the fixed cutter cylinder through the slider connecting plate. The slider limiting boss is installed in the end of the horizontal slide rail near the fixed cutter teeth. The slider, slider support plate, and slider connecting plate are vertically connected by screws.

3. The underwater vehicle linkage net-breaking mechanism according to claim 2, characterized in that, The reciprocating motion mechanism drive assembly is vertically connected to the reciprocating motion mechanism. The reciprocating motion mechanism drive assembly includes, from bottom to top, a first drive motor, a first reducer, and a first motor mounting base connected in sequence. The first motor mounting base is mounted on the slider support plate. The first reducer is connected to the slider connecting plate in sequence through a first transmission gear and a transmission rack. The transmission rack is used to drive the slider to slide horizontally. The first transmission gear is located in the first motor mounting base. The first drive motor is connected to a first controller in parallel.

4. The underwater vehicle linkage net-breaking mechanism according to claim 1, characterized in that, The rotary cutter barrel drive assembly includes a second drive motor, a coupling, and a second transmission gear. The main shaft of the second drive motor is connected to the second transmission gear through the coupling. The second transmission gear is mounted on the inner circumferential surface of the rotary cutter barrel. The second drive motor is mounted on the inner circumferential surface of the bottom of the rotary cutter barrel through a second motor mounting base.

5. The underwater vehicle linkage net-breaking mechanism according to claim 4, characterized in that, The rotary cutter barrel drive assembly also includes multiple bearing mounting plates and support rods. The multiple bearing mounting plates are attached to the inner circumferential surface of the rotary cutter barrel and are spaced apart from each other in the horizontal direction. The support rods are connected through the axis of the multiple bearing mounting plates.

6. The underwater vehicle linkage net-breaking mechanism according to claim 1, characterized in that, The fixed cutting blade has multiple positioning holes evenly distributed on its vertical cross-section, and the moving cutting blade has multiple limiting grooves corresponding to the positioning holes on its vertical cross-section. The fixed cutting blade also has a positioning pin that is inserted into the positioning hole and slidably connected to the limiting groove.

7. The underwater vehicle linkage net-breaking mechanism according to claim 1, characterized in that, The fixed cutting blade and the moving cutting blade have multiple evenly arranged triangular cutting teeth on their upper surfaces in the horizontal direction.

8. The underwater vehicle linkage net-breaking mechanism according to claim 1, characterized in that, The wire cutting mechanism drive assembly includes a second controller, a third drive motor, a second reducer, and a connecting shaft connected in sequence in the horizontal direction. The other end of the connecting shaft meshes with a bevel gear set at the axially upward end of the drive shaft. The bevel gear set is located in a gearbox, and the bottom of the gearbox is mounted on the base plate.

9. A linkage net-breaking mechanism for underwater vehicles according to any one of claims 1-8, characterized in that, The wire cutting mechanism is installed in a fairing on the outer surface of the underwater vehicle's fuselage, and the top of the fairing has an opening in the horizontal direction corresponding to the wire cutting assembly.

Images