Full-sea-depth buoy load rejection actuator

Abstract

The invention provides a full-sea-depth buoy load rejection actuator. The full-sea-depth buoy load rejection actuator comprises a watertight pressure-resistant shell, a piston push rod, a piston spring, a multi-stage locking mechanism, a push-pull type electromagnet and a watertight cable filling and sealing base. One end of the piston push rod extends into the watertight pressure-resistant shell from one end of the watertight pressure-resistant shell and penetrates out of the watertight pressure-resistant shell from the other end of the watertight pressure-resistant shell, and the other end of the piston push rod extends out of the watertight pressure-resistant shell to be connected with a buoy. The multi-stage locking mechanism, the piston spring and the push-pull type electromagnet are all arranged in the watertight pressure-resistant shell, the first-stage locking mechanism of the multi-stage locking mechanism is connected with the piston push rod, the last-stage locking mechanism of the multi-stage locking mechanism is connected with the push-pull type electromagnet, and the piston spring is arranged on the piston push rod; a watertight cable on the watertight cable encapsulation seat is electrically connected with the push-pull electromagnet; under the action of electromagnetic force of the push-pull electromagnet, the multi-stage locking mechanism moves and controls release of the piston spring, and under the driving of the piston spring, the piston push rod moves in the axis direction of the watertight pressure-resistant shell.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater unmanned vehicles, and in particular to a full-sea-depth buoy jettisoning actuator, and in particular to a full-sea-depth buoy jettisoning actuator used for buoy jettisoning of underwater unmanned vehicles. Background Art

[0002] Underwater unmanned vehicles are widely used in the fields of marine environment monitoring, underwater lost objects search, seabed topography survey, etc., and can more conveniently reach underwater areas that are inconvenient for people to go. As an underwater carrier platform, unmanned vehicles can carry functional payloads such as acoustic detection equipment and communication buoys. The communication buoy can be placed on the back or side of the underwater unmanned vehicle. When the unmanned vehicle is exploring underwater, it can transmit the collected underwater information to the outside world in a timely manner by dropping a communication buoy; when the underwater unmanned vehicle is in distress and cannot float up autonomously, it can promptly inform the distressed location by dropping a communication buoy to facilitate subsequent salvage. The underwater communication buoy can be dropped according to the navigation speed of the unmanned vehicle. It can choose to float up autonomously by its own buoyancy or to rely on the dumping device to throw away the unmanned vehicle body. When an underwater unmanned vehicle is sailing at a certain speed, the best way is to rely on a jettison device to jettison the unmanned vehicle body. The jettison device needs to have a certain ejection speed so that the communication buoy and other ejected objects can be moved away from the unmanned vehicle at a relatively large initial velocity, so as to avoid the jamming of the communication buoy ejection or the collision between the communication buoy and the tail wing of the unmanned vehicle caused by the surface fluid force when the unmanned vehicle is sailing. The ejection of the communication buoy from the communication buoy storage compartment needs to be achieved by a controllable power device. Existing controllable power devices generally include two major components: an electronic control component and a power release component. The electronic control component usually uses a micro motor, a gunpowder electric ignition actuator, and an electromagnet as a starting device, and the power release component usually uses a spring or compressed gas as a power source.

[0003] The existing patent document with the publication number of a deep-sea magnetic coupling transmission jettisoning mechanism discloses a deep-sea magnetic coupling transmission jettisoning mechanism, which includes a motor, an outer cylinder, an outer rotor, a base, an inner rotor and a telescopic rod, and the peripheral equipment is a cabin and a weight block; the outside of the base is sealed with the cabin, the cavity of the base is the same as the outside to form an outer part of the cabin, and the outer surface of the base is located in the cabin; the outer rotor is installed in the cavity of the base, the outer rotor and the telescopic rod form a threaded fit, the telescopic rod is limited by the slide groove in the base to form a screw nut pair, the weight block is axially limited by the upper limit groove of the cabin, and the weight block is radially limited after the telescopic rod extends out of the base; the motor drives the inner rotor to rotate, and the inner rotor forms a rotating pair in the installation space provided by the outer cylinder, and the inner rotor drives the outer rotor to rotate by utilizing the magnetic coupling principle, and the rotation of the outer rotor drives the telescopic rod to retract along the slide groove in the base to jettison the load weight block.

[0004] In the prior art, the electronic control components are basically placed in a watertight pressure-resistant shell in a dry state, and the release components and release actuators are immersed in seawater in a wet state. This method has two shortcomings. On the one hand, the release components and release actuators are immersed in seawater for a long time, and the overall life is affected by seawater corrosion and marine biological growth. On the other hand, the moving connection components between the electronic control components and the power release components are partly in a non-pressure-resistant state inside the watertight pressure-resistant shell, and partly in a pressure-resistant state outside the watertight pressure-resistant shell. Due to the unidirectional effect of the water pressure difference on the moving connection components, the pressure borne by the components is directly related to the water pressure and the cross-sectional area of ​​the components leaking into the water. Since the moving connection components are unidirectionally pressurized, as the working depth of the underwater unmanned vehicle gradually increases, the additional force required to resist the pressure difference between the inside and outside of the watertight pressure-resistant shell will inevitably increase, which is bound to increase the power, volume and weight of the electronic control components, such as electric and electromagnets. If the operating water depth of the underwater unmanned vehicle changes greatly, the jettison device will be in a variable load working environment, which will affect the stable and reliable operation of the device, or more factors that take into account the impact of environmental changes will be added to the device design. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a full-sea-depth buoy dumping actuator.

[0006] A full-sea-depth buoy dumping actuator provided by the present invention comprises a watertight pressure-resistant shell, a piston push rod, a piston spring, a multi-stage locking mechanism, a push-pull electromagnet and a watertight cable potting seat;

[0007] One end of the piston push rod extends from one end of the watertight pressure shell into the watertight pressure shell and passes through the other end of the watertight pressure shell, and the other end of the piston push rod extends out of the watertight pressure shell to connect with a buoy;

[0008] The multi-stage locking mechanism, piston spring and push-pull electromagnet are all arranged in a watertight pressure-resistant shell, the first-stage locking mechanism of the multi-stage locking mechanism is connected to the piston push rod, the final-stage locking structure of the multi-stage locking mechanism is connected to the push-pull electromagnet, and the piston spring is arranged on the piston push rod;

[0009] The watertight cable on the watertight cable potting seat is electrically connected to a push-pull electromagnet;

[0010] Under the electromagnetic force of the push-pull electromagnet, the multi-stage locking mechanism moves and controls the release of the piston spring. Driven by the piston spring, the piston push rod moves along the axial direction of the watertight pressure-resistant shell.

[0011] Preferably, the cross-sectional areas of both ends of the piston push rod extending out of the watertight pressure-resistant shell are equal.

[0012] Preferably, the watertight pressure hull comprises a front end cover, a middle end cover and a rear end cover, wherein the front end cover and the rear end cover are respectively arranged at two ends of the watertight pressure hull, and the middle end cover is arranged between the front end cover and the rear end cover;

[0013] The piston push rod is sleeved with a piston, the piston is arranged between the front end cover and the middle end cover, the piston is installed with a guide sleeve, and the outer cylindrical surface of the guide sleeve is provided with a first groove;

[0014] One end of the piston spring is installed on the middle end cover, and the other end of the piston spring is installed on the piston.

[0015] Preferably, the multi-stage locking mechanism includes at least a two-stage locking mechanism;

[0016] The two-stage locking mechanism comprises a primary locking mechanism and a secondary locking mechanism, and the primary locking mechanism is connected to the secondary locking mechanism.

[0017] Preferably, the primary locking mechanism comprises a vertical arm, a vertical arm seat and a first steel ball;

[0018] The vertical arm seat is installed on the middle end cover, the vertical arm seat is connected to the guide sleeve, the vertical arm is rotatably connected to the vertical arm seat, a limiting column is installed on the vertical arm seat, the first steel ball is accommodated in the first groove, one end of the limiting column abuts against the first steel ball, and the other end of the limiting column abuts against one end of the vertical arm.

[0019] Preferably, the secondary locking mechanism comprises a cross arm, a cross arm seat, a second steel ball, a pull rod and a suction rod;

[0020] The cross arm seat is installed on the watertight pressure hull, the cross arm is rotatably connected to the cross arm seat, and one end of the cross arm is provided with a hook-shaped portion connected to the other end of the vertical arm;

[0021] A chamber is provided at one end of the pull rod, and the chamber includes a large diameter chamber and a small diameter chamber, the large diameter chamber gradually transitions to a small diameter chamber along the inner conical slope, the large diameter chamber is arranged away from one end of the suction rod, and the small diameter chamber is arranged close to one end of the suction rod;

[0022] One end of the pull rod provided with the chamber is connected to the cross arm seat through the pull rod seat, the second steel ball is accommodated in the second groove on the cross arm seat, the second groove extends into the small diameter chamber, one side of the second steel ball is connected to the inner wall of the small diameter chamber, and the other side of the second steel ball is connected to the other end of the cross arm;

[0023] One end of the suction rod is connected to the other end of the pull rod, and the other end of the suction rod is connected to the push-pull electromagnet.

[0024] Preferably, the watertight pressure-resistant shell further comprises a straight shell, a three-way shell, an electric control box and a watertight bracket;

[0025] The straight shell and the three-way shell both include a hollow shell, one end of the straight shell is connected to the front end cover, the other end of the straight shell is connected to one end of the three-way shell through the middle end cover, and the other end of the three-way shell is connected to the rear end cover;

[0026] The side end of the three-way shell is connected to the electric control box through a connecting ring, the watertight bracket is stuck between the electric control box and the adapter ring, the push-pull electromagnet is installed on the watertight bracket, the watertight bracket and the electric control box form a separate watertight space, and the watertight cable potting seat is installed on the rear end face of the electric control box.

[0027] Preferably, an air cushion cylinder is installed on the inner end surface of the front end cover.

[0028] Preferably, a conduit is provided on the inner end surface of the rear end cover, the conduit extends from the rear end cover to the piston, and the conduit accommodates the piston push rod.

[0029] Preferably, a push rod head is provided on one end surface of the piston push rod connected to the buoy, and the push rod head is connected to the buoy via a docking rod;

[0030] The end face of the push rod head is overlapped with the end face of the docking rod, two connecting sleeves surround the outer circumference of the docking rod and the push rod head, and two limit seats surround the outer circumference of the two connecting sleeves and are fixed on the end face of the watertight pressure-resistant shell.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] 1. The full-sea-depth buoy jettisoning actuator provided in the present invention can be installed in a horizontal or vertical manner inside an unmanned vehicle, and can be used to directly jettison the buoy or serve as a power source for jettisoning the buoy;

[0033] 2. The full-sea-depth buoy dumping actuator provided in the present invention can be used to directly dump the buoy. After the buoy is unlocked, the buoy floats up by itself by buoyancy. The piston push rod pushes the buoy to provide the buoy with an initial speed. The space occupied by the piston push rod after it is extended can also ensure that the buoy is completely pushed out of the buoy storage bin and will not be stuck in the buoy storage bin.

[0034] 3. The present invention forms a water pressure balanced piston push rod by setting the cross-sectional areas of the two ends of the piston push rod extending out of the watertight pressure-resistant shell to be equal to those in contact with the seawater. Since both ends of the push rod are subjected to water pressure and the water pressure of the same cross-sectional area is subjected to water pressure balance, the way of assembling the water pressure balanced push rod also makes the various mechanical and power parameters of the electronic control components and the power release components always constant, which is not affected by the change of water depth and water pressure, and can meet the needs of full sea depth use;

[0035] 4. The present invention sets all parts except the two end surfaces of the push rod in contact with seawater, especially the moving components, which are sealed in a watertight pressure-resistant shell and are always in a dry state. When used in seawater, the ability to resist seawater corrosion and marine biological growth is greatly improved, which has a significant effect on the life and reliability.

[0036] 5. The present invention sets the release control of the push rod in a way that a small push-pull electromagnet and a multi-stage locking mechanism work together. The push-pull electromagnet can be started by a given voltage, which simplifies the requirements of the electronic control system. The multi-stage locking mechanism adopts a variety of labor-saving principles, including the lever labor-saving principle, which can easily achieve the control of a large force with a small force, further reducing the power demand of the electromagnet;

[0037] 6. Compared with the suction cup electromagnet, the gunpowder electric ignition actuator and the linear motor, the push-pull electromagnet provided in the present invention has the characteristics of reliable execution, safe and convenient maintenance, small size and low power consumption. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0039] Figure 1 A schematic diagram mainly showing the structure of the full-sea-depth buoy dumping actuator of the present invention;

[0040] Figure 2 A schematic diagram mainly showing the structure of the watertight pressure-resistant casing of the present invention;

[0041] Figure 3 A schematic diagram mainly showing the structure of the piston push rod of the present invention;

[0042] Figure 4 A schematic diagram mainly showing the structure of the piston push rod connected to the buoy of the present invention;

[0043] Figure 5 A structural schematic diagram mainly embodies the connection method between the putter head and the docking rod of the present invention;

[0044] Figure 6 An exploded structural diagram mainly showing the connection between the putter head and the docking rod of the present invention;

[0045] Figure 7 A schematic diagram mainly showing the structure of the multi-stage locking mechanism of the present invention;

[0046] Figure 8 It mainly embodies the schematic diagram of the guide sleeve limiting structure of the present invention;

[0047] Fig. 9 A schematic diagram mainly showing the structure of the secondary locking mechanism of the present invention;

[0048] Fig.10 A schematic cross-sectional view mainly showing the secondary locking mechanism of the present invention;

[0049] Fig.11 A schematic cross-sectional view mainly showing the secondary locking mechanism of the present invention;

[0050] Fig.12 The main structure diagram of the pull rod of the present invention is shown in FIG.

[0051] As shown in the figure:

[0052] Watertight pressure hull 1 Piston push rod 2 Cross arm 406

[0053] Front cover 100 Putter head 201 Second axis 407

[0054] Limit seat 101 Front push rod 202 Cross arm seat 408

[0055] Air cushion tube 102 Piston 203 Second steel ball 409

[0056] Straight shell 110 guide sleeve 204 pull rod 410

[0057] Middle end cover 120 rear push rod 205 pull rod spring 411

[0058] Tee shell 130 Piston spring 3 Tie rod seat 412

[0059] Rear end cover 140 Multi-stage locking mechanism 4 Suction rod 413

[0060] Rear guide tube 141 Vertical arm seat 401 Push-pull electromagnet 5

[0061] Front conduit 142 First steel ball 402 Watertight cable potting seat 6

[0062] Electric control box 150 Limit column 403 Connection sleeve 7

[0063] Watertight bracket 151 First axis 404 Docking rod 800

[0064] Adapter ring 160 Vertical arm 405 Communication buoy 900

[0065] Large diameter chamber 4101 Small diameter chamber 4102 Buoy storage chamber 1000 DETAILED DESCRIPTION

[0066] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0067] like Figure 1 As shown, a full-sea-depth buoy dumping actuator provided by the present invention comprises a watertight pressure-resistant shell 1, a piston push rod 2, a piston spring 3, a multi-stage locking mechanism 4, a push-pull electromagnet 5 and a watertight cable potting seat 6. One end of the piston push rod 2 extends from one end of the watertight pressure-resistant shell 1 into the watertight pressure-resistant shell 1 and passes through the other end of the watertight pressure-resistant shell 1. The other end of the piston push rod 2 extends out of the watertight pressure-resistant shell 1 to connect with the buoy 900. The multi-stage locking mechanism 4, the piston spring 3 and the push-pull electromagnet 5 are all arranged It is placed in the watertight pressure-resistant shell 1, the first-stage locking mechanism of the multi-stage locking mechanism 4 is connected to the piston push rod 2, the final-stage locking structure of the multi-stage locking mechanism 4 is connected to the push-pull electromagnet 5, the piston spring 3 is arranged on the piston push rod 2, and the watertight cable on the watertight cable sealing seat 6 is electrically connected to the push-pull electromagnet 5. Under the action of the electromagnetic force of the push-pull electromagnet 5, the multi-stage locking mechanism 4 moves and controls the release of the piston spring 3. Under the drive of the piston spring 3, the piston push rod 2 moves along the axial direction of the watertight pressure-resistant shell 1.

[0068] The present invention integrates the electric control components including the watertight cable potting seat 6 and the push-pull electromagnet 5, and the power release components including the multi-stage locking mechanism 4 and the piston push rod 2 in the watertight pressure-resistant shell to form a buoy dumping power and electric control assembly that can adapt to the full sea depth water pressure. The assembly has a universal installation interface, which can be installed in a horizontal or vertical form in an unmanned aerial vehicle. The assembly is provided with a universal interface directly connected to the buoy 900, and a switching mechanism can also be used to provide controllable power output for the dumping of the buoy 900. The assembly places the electric control components and the power release components inside the watertight pressure-resistant shell 1, and uses the electric control components and the mechanical locking mechanism to control the release of the piston spring, and the piston push rod is pushed by the release of the piston spring, and the dumping buoy 900 is pushed or the dumping power is transmitted by the piston push rod. The piston spring 3 serves as the driving force of the piston push rod 2, and can realize the rapid release of the piston push rod 2. The release control of the piston push rod 2 adopts the combined action of a small push-pull electromagnet 5 and a multi-stage locking mechanism 4. The push-pull electromagnet 5 can be started by a given voltage, which simplifies the requirements of the electronic control system. The multi-stage locking mechanism 4 adopts a variety of labor-saving principles, including the lever labor-saving principle, which can easily achieve the control of large forces with small forces. The full-sea-depth buoy dumping actuator set by the present invention has the characteristics of convenient control, rapid response, strong environmental adaptability, high reliability, and is suitable for full-sea-depth work.

[0069] Specifically, the cross-sectional areas of both ends of the piston push rod 2 extending out of the watertight pressure-resistant shell 1 are equal, and both ends of the piston push rod 2 extend out of the watertight pressure-resistant shell 1, contact the seawater and have equal cross-sectional areas. Since both ends of the piston push rod 2 are subjected to water pressure and are subjected to water pressure of equal cross-sectional areas, water pressure balance is achieved, which can meet the needs of full sea depth use. Except for the two end faces of the piston push rod 2 in contact with seawater, the remaining parts, especially the moving components, are sealed in the watertight pressure-resistant shell 1 and are always in a dry state. The ability to resist seawater corrosion and the growth of marine organisms when used in seawater is greatly improved. The water pressure balance push rod method also ensures that the various mechanical and power parameters of the electronic control components and the power release components are always constant and are not affected by changes in water depth and water pressure.

[0070] Specifically, Figures 1 to 3 As shown, the watertight pressure-resistant shell 1 includes a straight shell 110, a front cover 100, a middle cover 120, a rear cover 140, a three-way shell 130, an electric control box 150 and a watertight bracket 151. The front cover 100 and the rear cover 140 are respectively arranged at the two ends of the watertight pressure-resistant shell 1, and the middle cover 120 is arranged between the front cover 100 and the rear cover 140. A piston 203 is sleeved on the piston push rod 2, and the piston 203 is arranged between the front cover 100 and the middle cover 120. A guide sleeve 204 is installed on the piston 203, and the outer cylindrical surface of the guide sleeve 204 is provided with a first groove. One end of the piston spring 3 is installed on the middle cover 120, and the other end of the piston spring 3 is installed on the piston 203. The straight shell 110 and the three-way shell 130 both include a hollow shell, one end of the straight shell 110 is connected to the front cover 100, the other end of the straight shell 110 is connected to one end of the three-way shell 130 through the middle cover 120, the other end of the three-way shell 130 is connected to the rear cover 140, the side end of the three-way shell 130 is connected to the electric control box 150 through the connecting ring 160, the watertight bracket 151 is stuck between the electric control box 150 and the adapter ring 160, the push-pull electromagnet 5 is installed on the watertight bracket 151, the watertight bracket 151 and the electric control box 150 form a separate watertight space, and the watertight cable potting seat 6 is installed on the rear end face of the electric control box 150. The inner end face of the front cover 100 is installed with an air cushion cylinder 102, and the inner end face of the rear cover 140 is provided with a conduit, which extends from the rear cover 140 to the piston 203, and the conduit accommodates the piston push rod 2.

[0071] Specifically, Figures 4 to 6As shown, a push rod head 201 is provided on one end face of the piston push rod 2 connected to the buoy 900, and the push rod head 201 is connected to the buoy 900 through the docking rod 800. The end face of the push rod head 201 is overlapped with the end face of the docking rod 800, and two connecting sleeves 7 are surrounded by the outer circumference of the docking rod 800 and the push rod head 201. Two limit seats 101 are surrounded by the outer circumferential surface of the two connecting sleeves 7 and are fixed on the end face of the watertight pressure-resistant shell 1. Before installing the buoy 900, the docking rod 800 and the push rod head 201 are stacked end to end, and then the two connecting sleeves 7 are wrapped around the outer circumference of the docking rod 800 and the push rod head 201, so that the C-shaped conical surface of the inner surface of the connecting sleeve 7 coincides with the outer circumferential conical surface of the docking rod 800 and the push rod head 201, limiting the separation of the docking rod 800 and the push rod head 201, and then two limiting seats 101 are wrapped around the outer circumference of the two connecting sleeves 7 to limit the radial movement of the two connecting sleeves 7, and the two limiting seats 101 are fixed on the front end cover 100 to limit the radial movement of the two limiting seats 101. Since the piston push rod 2 is limited in axial displacement at this time, the two connecting sleeves 7 cannot be axially disengaged from the limiting seats 101 and unlocked in the radial direction without axial displacement, which plays an axial limiting role for the docking rod 800. Finally, the buoy 900 is placed in the buoy storage compartment 1000 and is screwed onto the docking rod 800 through the threaded hole at the tail to be fixed.

[0072] Specifically, Figures 7 to 12As shown, the multi-stage locking mechanism 4 includes at least two-stage locking mechanisms; the two-stage locking mechanism includes a primary locking mechanism and a secondary locking mechanism, and the primary locking mechanism is connected to the secondary locking mechanism. The primary locking mechanism includes a vertical arm 405, a vertical arm seat 401, and a first steel ball 402. The vertical arm seat 401 is installed on the middle end cover 120, and the vertical arm seat 401 is connected to the guide sleeve 201. The vertical arm 405 is rotatably connected to the vertical arm seat 401. A limiting column 403 is installed on the vertical arm seat 401. The first steel ball 402 is accommodated in the first groove of the guide sleeve 201. One end of the limiting column 403 abuts against the first steel ball 402, and the other end of the limiting column 403 abuts against one end of the vertical arm 405. The secondary locking mechanism includes a cross arm 406, a cross arm seat 408, a second steel ball 409, a pull rod 410, a pull rod spring 411 and a suction rod 413. The cross arm seat 401 is installed on the watertight pressure hull 1, and the cross arm 406 is rotatably connected to the cross arm seat 408. One end of the cross arm 406 is provided with a hook-shaped portion connected to the other end of the vertical arm 405. When the vertical arm 405 is in a vertical state, the cross arm 406 is in a horizontal state, and the vertical arm 405 and the vertical arm 406 are vertically intersected and connected. A chamber is provided at one end of the pull rod 410, and the chamber includes a large diameter chamber 4101 and a small diameter chamber 4102. The large diameter chamber gradually transitions to the small diameter chamber along the internal conical inclined surface. The large diameter chamber is arranged away from one end of the suction rod 413, and the small diameter chamber is arranged close to one end of the suction rod 413. One end of the pull rod 413 provided with the chamber is connected to the cross arm seat 401 through the pull rod seat 412, and the second steel ball 409 is accommodated in the second groove on the cross arm seat 408, and the second groove extends into the small diameter chamber 4102. One side of the second steel ball 409 abuts against the inner wall of the small diameter chamber 4102, and the other side of the second steel ball 409 abuts against the other end of the cross arm 406; one end of the pull rod spring 411 is arranged on the pull rod seat 412, and the other end of the pull rod spring 411 is arranged on the pull rod 410, one end of the suction rod 413 is connected to the other end of the pull rod 410, and the other end of the suction rod 413 is connected to the push-pull electromagnet 5.

[0073] A feasible implementation method is:

[0074] The piston push rod 2 is installed in the watertight pressure-resistant shell 1. The piston push rod 2 is composed of a push rod head 201, a front push rod 202, a rear push rod 205, a piston 203, and a guide sleeve 204. The front push rod 202 passes through the central circular hole of the front end cover 100 of the watertight pressure-resistant shell 1. The end surface of the front push rod 202 head extending out of the watertight pressure-resistant shell 1 is provided with a threaded hole, which can be used to install the push rod head 201, or install other types of power transmission mechanisms. The push rod head 201 is used to connect with the connecting sleeve 7. The tail of the front push rod 202 is a stud structure, which can pass through the through hole at the center of the piston 203 and the threaded hole of the head of the rear push rod 205. The rear push rod 205 passes through the central circular hole of the rear end cover 140 of the watertight pressure-resistant shell 1, and can move forward and backward along the axis of the watertight pressure-resistant shell 1 under the drive of the piston spring 3. The lower surface of the piston 203 is connected to the upper end surface of the piston spring 3. When the piston spring 3 is released from the compressed state to a free length, the piston 203 can enter the air cushion tube 102 and form a buffer air cushion. The guide sleeve 204 and the piston 203 are installed together. The outer cylindrical surface of the guide sleeve 204 has a first arc-shaped groove. The first steel ball 402 can be stuck in the first groove to limit the displacement of the guide sleeve 204.

[0075] The watertight pressure-resistant shell 1 is composed of a front cover 100, a limit seat 101, an air cushion tube 102, a straight shell 110, a middle cover 120, a three-way shell 130, a rear cover 140, a guide tube, an electric control box 150, a watertight bracket 151, an adapter ring 160, and a sealing ring. The front cover 100, the limit seat 101, and the air cushion tube 102 are installed together. The front cover 100 is provided with a hole for the front push rod to pass through, and a sealing ring is installed in the hole for watertightness. A sealing ring is provided at the connection between the front cover 100 and the straight shell 110 for watertightness; the middle cover 120 is used to fix the vertical arm seat 401. A circular groove is provided in the middle cover 120 for installing the piston spring 3. There are sealing rings at the connection between the middle cover 120 and the straight shell 110 and the three-way shell 130 for watertightness, and the three-way shell 130 is used to install the adapter ring 160. The conduit can be configured to be composed of a front conduit 142 and a rear conduit 141 connected together, and the rear cover 140, the rear conduit 141, and the front conduit 142 are installed together in sequence, and there are sealing rings at the connection points for watertightness. The rear conduit 141 and the front conduit 142 have through holes of equal diameter inside for allowing the rear push rod 205 to pass through, and sealing rings are installed in the holes for watertightness; a step groove is provided in the electric control box 150, and the watertight bracket 151 is clamped between the electric control box 150 and the adapter ring 160. When the electric control box 150 and the adapter ring 160 are fixed together, the watertight bracket 151 can be clamped in the electric control box 150. There is a sealing ring at the connection between the electric control box 150 and the adapter ring 160 for watertightness. An installation hole suitable for the watertight cable potting seat 6 to penetrate is opened on the rear end surface of the electric control box 150, and the watertight cable potting seat 6 is installed on the rear end surface of the electric control box 150, and is welded with the push-pull electromagnet 5. The watertight bracket 151 is used for installing the push-pull electromagnet 5. A hole is opened on the end surface of the watertight bracket 151 for the front suction rod 413 to pass through, and a sealing ring is installed in the hole for watertightness. A sealing ring is provided at the connection between the watertight bracket 151 and the electric control box 150 for watertightness. After the watertight bracket 151 and the electric control box 150 are connected, a separate watertight space for protecting the push-pull electromagnet 5 can be formed, which is isolated from other spaces of the watertight pressure-resistant shell 1, and the safety of the electrical components can be more reliably ensured.

[0076] The multi-stage locking mechanism 4 is at least a two-stage locking mechanism. The two-stage locking mechanism is composed of a vertical arm seat 401, a first steel ball 402, a limiting column 403, a first shaft 404, a vertical arm 405, a horizontal arm 406, a second shaft 407, a horizontal arm seat 408, a second steel ball 409, a pull rod 410, a pull rod spring 411, a pull rod seat 412 and a suction rod 413. The vertical arm seat 401, the first steel ball 402, the limiting column 403, the first shaft 404, and the vertical arm 405 are assembled together to form a primary locking mechanism, and are installed on the middle end cover 120. The vertical arm 405 can rotate along the first shaft 404, the vertical arm 405 can push the limiting column 403 to move horizontally, and the limiting column 403 can push the first steel ball 402 to move horizontally. The cross arm 406, the second shaft 407, the cross arm seat 408, the second steel ball 409, the pull rod 410, the pull rod spring 411, the pull rod seat 412, and the suction rod 413 are assembled together to form a secondary locking mechanism and are installed on the adapter ring 160. The suction rod 413 is directly inserted into the hole in the center of the push-pull electromagnet 5. The suction rod 413 and the pull rod 410 are fixed together. The suction rod 413 can be pulled axially. Under the action of the pulling force, the pull rod 410 overcomes the pressure of the pull rod spring 411 and moves backward. Since the chamber at the front end of the pull rod 410 is divided into two sections with unequal diameters, the two sections of the chambers with unequal diameters are transitioned by a conical inclined surface. The small diameter chamber 4102 is located at the end close to the suction rod 413, and is used to limit the displacement of the second steel ball 409 along the radial direction of the pull rod 410. The large diameter chamber 4101 is located at the end away from the suction rod 413, and is used to release the displacement restriction of the second steel ball 409 along the radial direction of the pull rod 410. Fig.10 As shown, when the pull rod 410 is not pulled, the second steel ball 409 is located in the small diameter chamber 4102, and the small diameter chamber just restricts the rolling of the second steel ball 409; Fig.11 As shown, when the pull rod 410 is pulled, the position where the pull rod 410 contacts the second steel ball transitions from the small diameter chamber 4102 to the large diameter chamber 4101 via the conical slope. The diameter of the large diameter chamber 4101 is greater than the diameter of the small diameter chamber 4102. The large diameter chamber 4101 releases the radial displacement restriction of the small diameter chamber 4102 on the second steel ball 409. The second steel ball 409 is no longer stuck in the second groove of the cross arm 406. The cross arm 406 can rotate along the second axis 407 after the limit is released. The multi-stage locking mechanism of the present invention adopts a variety of labor-saving principles, including the lever labor-saving principle, which can easily achieve the control of large forces with small forces. The two-stage locking mechanism used in the present invention has a control ratio of 1:860 for the release force, which further reduces the power demand of the electromagnet. Therefore, the full-sea-depth buoy dumping actuator has the characteristics of convenient control, rapid response, strong environmental adaptability, high reliability, and full-sea-depth operation.

[0077] The full-sea-depth buoy dumping actuator needs to be reset before use. The specific method is: first remove the integrated electric control box 150, watertight bracket 151, and push-pull electromagnet 5 installed on the watertight pressure hull 1; pull the suction rod 413 backward to release the radial displacement restriction of the second steel ball 409 by the pull rod 410, and release the rotation restriction of the second steel ball 409 on the cross arm 406, so that the cross arm 406 is in an active state, and rotates along the second axis 407 to a downward tilted state to prevent the cross arm 406 from affecting the subsequent vertical arm 405 Reset to a vertical state; use a special tool to connect to the threaded hole at the tail of the rear push rod 205, overcome the elastic force of the piston spring 3, and pull the piston push rod 2 that has extended out of the watertight pressure-resistant shell 1 back into the watertight pressure-resistant shell 1 until the first arc-shaped groove on the outer cylindrical surface of the guide sleeve 204 on the piston push rod 2 is stuck in the first steel ball 402, at this time the vertical arm 405 is in a vertical state; pull the suction rod 413 backward again and maintain the pulling force to release the pull rod 410 from the second steel ball The radial displacement restriction of the second steel ball 409 is removed, and the rotation restriction of the cross arm 406 by the second steel ball 409 is released, so that the cross arm 406 is in an active state, and the cross arm 406 is rotated horizontally along the second axis 407 and hooked with the lower end of the vertical arm 405, and the suction rod 413 is released, and the pull rod 410 is reset under the spring force of the pull rod spring 411. During the reset process of the pull rod 410, the position of the second steel ball 409 is gradually adjusted by the large diameter chamber 4101 of the pull rod 410 along the inner conical inclined surface. The second steel ball 409 is stuck in the second groove of the cross arm 406, which limits the rotation of the cross arm 406 along the second axis 407, thereby completing the locking of the primary locking mechanism by the secondary locking mechanism; after the push-pull electromagnet 5 is powered on and checked for correctness, the electric control box 150, the watertight bracket 151 and the push-pull electromagnet 5 are reinstalled, thus completing the resetting of the full-sea-depth buoy dumping actuator.

[0078] When the full-sea-depth buoy dumping actuator is in use, a DC power supply, such as a battery, is used to power the push-pull electromagnet 5 through the watertight cable on the watertight cable potting seat 6. After the push-pull electromagnet 5 is energized, a magnetic suction rod 413 is generated, and the suction rod 413 pulls the pull rod 410, thereby releasing the radial displacement restriction of the second steel ball 409 by the pull rod 410, releasing the rotation restriction of the second steel ball 409 on the cross arm 406 along the second axis 407, releasing the rotation restriction of the cross arm 406 on the vertical arm 405 along the first axis 404, releasing the axial displacement restriction of the vertical arm 405 on the limit column 403 and the first steel ball 402, and the first steel ball 402 exits the first arc-shaped groove on the outer cylindrical surface of the guide sleeve 204, releasing the first steel ball 402 from the piston The axial displacement restriction of the push rod 2 is released, and the elastic force restriction of the piston 203 on the compressed piston spring 3 is released. The piston push rod 2 moves upward in the axial direction under the elastic force of the piston spring 3. The push rod head 201 pushes out the docking rod 800, and at the same time, the communication buoy 900 and the two connecting sleeves 7 are pushed out of the limit seat 101, thereby releasing the radial displacement restriction of the connecting sleeve 7. The two connecting sleeves 7 are radially separated to both sides, and the piston push rod 2 continues to push the buoy 900 to move axially until the piston 203 can enter the air cushion cylinder 102 and gradually decelerate to zero. The buoy 900 is completely pushed away from the buoy storage compartment 1000, and continues to move in the water along the piston push rod pushing direction under the combined action of the initial thrust of the piston push rod 2 and its own buoyancy.

[0079] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0080] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A full-sea-depth buoy dumping actuator, characterized in that: It comprises a watertight pressure-resistant shell (1), a piston push rod (2), a piston spring (3), a multi-stage locking mechanism (4), a push-pull electromagnet (5) and a watertight cable potting seat (6); One end of the piston push rod (2) extends from one end of the watertight pressure hull (1) into the watertight pressure hull (1) and passes through the other end of the watertight pressure hull (1), and the other end of the piston push rod (2) extends out of the watertight pressure hull (1) to connect with the buoy (900); The multi-stage locking mechanism (4), the piston spring (3) and the push-pull electromagnet (5) are all arranged in a watertight pressure-resistant shell (1); the first-stage locking mechanism of the multi-stage locking mechanism (4) is connected to the piston push rod (2); the last-stage locking structure of the multi-stage locking mechanism (4) is connected to the push-pull electromagnet (5); and the piston spring (3) is arranged on the piston push rod (2); The watertight cable on the watertight cable potting seat (6) is electrically connected to a push-pull electromagnet (5); Under the action of the electromagnetic force of the push-pull electromagnet (5), the multi-stage locking mechanism (4) moves and controls the release of the piston spring (3); driven by the piston spring (3), the piston push rod (2) moves along the axial direction of the watertight pressure-resistant shell (1).

2. The full-sea-depth buoy dumping actuator according to claim 1, characterized in that: The cross-sectional areas at both ends of the piston push rod (2) extending out of the watertight pressure-resistant shell (1) are equal.

3. The full-sea-depth buoy dumping actuator according to claim 1, characterized in that: The watertight pressure hull (1) comprises a front end cover (100), a middle end cover (120) and a rear end cover (140), wherein the front end cover (100) and the rear end cover (140) are respectively arranged at two ends of the watertight pressure hull (1), and the middle end cover (120) is arranged between the front end cover (100) and the rear end cover (140); The piston push rod (2) is sleeved with a piston (203), the piston being arranged between the front end cover (100) and the middle end cover (120), the piston (203) being mounted with a guide sleeve (204), the outer cylindrical surface of the guide sleeve (204) being provided with a first groove; One end of the piston spring (3) is mounted on the middle end cover (120), and the other end of the piston spring (3) is mounted on the piston (203).

4. The full-sea-depth buoy dumping actuator according to claim 3, characterized in that: The multi-stage locking mechanism (4) comprises at least two stages of locking mechanisms; The two-stage locking mechanism comprises a primary locking mechanism and a secondary locking mechanism, and the primary locking mechanism is connected to the secondary locking mechanism.

5. The full-sea-depth buoy dumping actuator according to claim 4, characterized in that: The primary locking mechanism comprises a vertical arm (405), a vertical arm seat (401) and a first steel ball (402); The vertical arm seat (401) is installed on the middle end cover (120), the vertical arm seat (401) is connected to the guide sleeve (204), the vertical arm (405) is rotatably connected to the vertical arm seat (401), a limiting column (403) is installed on the vertical arm seat (401), the first steel ball (402) is accommodated in the first groove, one end of the limiting column (403) abuts against the first steel ball (402), and the other end of the limiting column (403) abuts against one end of the vertical arm (405).

6. The full-sea-depth buoy dumping actuator according to claim 5, characterized in that: The secondary locking mechanism comprises a cross arm (406), a cross arm seat (408), a second steel ball (409), a pull rod (410), a pull rod spring (411) and a suction rod (413); The cross arm seat (408) is installed on the watertight pressure hull (1), the cross arm (406) is rotatably connected to the cross arm seat (408), and one end of the cross arm (406) is provided with a hook-shaped portion connected to the other end of the vertical arm (405); A chamber is provided at one end of the pull rod (410), and the chamber includes a large diameter chamber (4101) and a small diameter chamber (4102). The large diameter chamber (4101) gradually transitions to the small diameter chamber (4102) along the inner conical slope. The large diameter chamber (4101) is arranged away from one end of the suction rod (413), and the small diameter chamber (4102) is arranged close to one end of the suction rod (413). One end of a pull rod (410) provided with a chamber is connected to a cross arm seat (408) through a pull rod seat (412); the second steel ball (409) is accommodated in a second groove on the cross arm seat (408); the second groove extends into the small diameter chamber (4102); one side of the second steel ball (409) is connected to the inner wall of the small diameter chamber (4102); the other side of the second steel ball (409) is connected to the other end of the cross arm (406); One end of the pull rod spring (411) is arranged on the pull rod seat (412), and the other end of the pull rod spring (411) is arranged on the pull rod (410); One end of the suction rod (413) is connected to the other end of the pull rod (410), and the other end of the suction rod (413) is connected to the push-pull electromagnet (5).

7. The full-sea-depth buoy dumping actuator according to claim 3, characterized in that: The watertight pressure-resistant shell (1) further comprises a straight shell (110), a three-way shell (130), an electric control box (150) and a watertight bracket (151); The straight shell (110) and the three-way shell (130) both comprise a hollow shell, one end of the straight shell (110) is connected to the front end cover (100), the other end of the straight shell (110) is connected to one end of the three-way shell (130) via the middle end cover (120), and the other end of the three-way shell (130) is connected to the rear end cover (140); The side end of the three-way shell (130) is connected to the electric control box (150) through a connecting ring, the watertight bracket (151) is clamped between the electric control box (150) and the adapter ring (160), the push-pull electromagnet (5) is installed on the watertight bracket (151), the watertight bracket (151) and the electric control box (150) form a separate watertight space, and the watertight cable potting seat (6) is installed on the rear end surface of the electric control box (150).

8. The full-sea-depth buoy dumping actuator according to claim 3, characterized in that: An air cushion cylinder (102) is installed on the inner end surface of the front end cover (100).

9. The full-sea-depth buoy dumping actuator according to claim 3, characterized in that: A conduit is provided on the inner end surface of the rear end cover (140), the conduit extending from the rear end cover (140) to the piston (203), and the conduit accommodates the piston push rod (2).

10. The full-sea-depth buoy dumping actuator according to claim 1, characterized in that: A push rod head (201) is provided on one end surface of the piston push rod (2) connected to the buoy (900), and the push rod head (201) is connected to the buoy (900) via a docking rod (8); The end surface of the push rod head (201) is stacked with the end surface of the docking rod (8), the two connecting sleeves (7) surround the outer circumference of the docking rod (8) and the push rod head (201), and the two limiting seats (101) surround the outer circumference of the two connecting sleeves (7) and are fixed on the end surface of the watertight pressure-resistant shell (1).

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