Full-ocean-depth buoy jettisoning actuator

Abstract

This invention provides a full-ocean-depth buoy jettisoning actuator, comprising a watertight pressure-resistant shell, a piston rod, a piston spring, a multi-stage locking mechanism, a push-pull electromagnet, and a watertight cable potting base. One end of the piston rod extends into the watertight pressure-resistant shell from one end and exits from the other end, while the other end extends out of the watertight pressure-resistant shell and connects to the buoy. The multi-stage locking mechanism, piston spring, and push-pull electromagnet are all housed within the watertight pressure-resistant shell. The first-stage locking mechanism of the multi-stage locking mechanism is connected to the piston rod, and the final-stage locking mechanism is connected to the push-pull electromagnet. The piston spring is mounted on the piston rod. The watertight cable on the watertight cable potting base is electrically connected to the push-pull electromagnet. 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 rod moves along the axial direction of the watertight pressure-resistant shell.

Description

Technical Field

[0001] This invention relates to the field of underwater unmanned vehicle technology, specifically to a full-ocean-depth buoy jetting actuator, and more particularly to a full-ocean-depth buoy jetting actuator for underwater unmanned vehicle buoy jetting. Background Technology

[0002] Underwater unmanned vehicles (UAVs) have wide applications in marine environmental monitoring, underwater object search and rescue, and seabed topography surveying, enabling easier access to underwater areas that are otherwise difficult for personnel to reach. As an underwater transport platform, UAVs can carry functional payloads such as acoustic detection equipment and communication buoys. Communication buoys can be mounted on the back or side of the UAV. During underwater exploration, the UAV can deploy communication buoys to transmit collected underwater information to the outside world in a timely manner. If the UAV encounters distress and cannot surface autonomously, it can deploy communication buoys to promptly inform the outside world of its location, facilitating subsequent salvage operations. The deployment of underwater communication buoys depends on the UAV's speed; they can either surface autonomously using their own buoyancy or be jettisoned from the UAV using a jettisoning device. When an underwater unmanned vehicle (UAV) is traveling at a certain speed, the optimal method is to use a jettison device to detach the buoy from the UAV body. This jettison device needs a certain launch velocity to ensure that the jettisoned object, such as the communication buoy, moves away from the UAV with a relatively high initial velocity. This minimizes the risk of the communication buoy getting stuck or colliding with the UAV's tail fin due to surface hydrodynamic forces during UAV navigation. The jettisoning of the communication buoy from its storage compartment requires a controllable propulsion system. Existing controllable propulsion systems generally consist of two main components: an electronic control unit and a power release unit. The electronic control unit typically uses a micro-motor, a gunpowder-based electric ignition actuator, or an electromagnet as the starting device, while the power release unit typically uses a spring or compressed gas as the power source.

[0003] Existing patent document, titled "Deep-sea Magnetic Coupling Transmission Throwing Mechanism," discloses a deep-sea magnetic coupling transmission throwing mechanism. This mechanism includes a motor, an outer cylinder, an outer rotor, a base, an inner rotor, and a telescopic rod. Peripheral equipment includes a hull and a weight. The base is sealed to the outside of the hull, with its cavity sharing the same external space, forming the external portion. The outer surface of the base is located inside the hull. The outer rotor is installed within the cavity of the base, and it is threadedly engaged with the telescopic rod. The telescopic rod is limited by a groove within the base, forming a screw-nut pair. The weight is axially limited by an upper limit groove within the hull, and the telescopic rod extends out of the base, radially limiting the weight. The motor drives the inner rotor to rotate, forming a rotating pair within the installation space provided by the outer cylinder. The inner rotor uses magnetic coupling to drive the outer rotor to rotate, and the rotation of the outer rotor causes the telescopic rod to retract along the groove within the base, throwing the weight.

[0004] Current technologies typically employ a dry configuration, placing the electronic control components within a watertight pressure hull while immersing the release components and actuators in seawater. This approach suffers from two main drawbacks. First, the long-term immersion of the release components and actuators in seawater exposes them to corrosion and marine organism growth, impacting their overall lifespan. Second, the moving connection between the electronic control components and the power release components is partially non-pressure-resistant inside the watertight pressure hull and partially pressure-resistant outside. Due to the unidirectional pressure difference acting on this connection, the pressure exerted on the component is directly related to the water pressure and the cross-sectional area of ​​the component exposed to water. Because the moving connection is subjected to unidirectional pressure, as the underwater unmanned vehicle operates at greater depths, the additional force required to resist the pressure difference between the inside and outside of the watertight pressure hull will inevitably increase. This will necessitate increasing the power, size, and weight of the electronic control components, such as electric motors and electromagnets. If the underwater unmanned vehicle operates at a significantly varying water depth, the ballast jettisoning device will be in a variable load environment, which may affect the stable and reliable operation of the device. Alternatively, more factors that take into account the impact of environmental changes may need to be incorporated into the device design. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this invention is to provide a full-ocean-depth buoy jettisoning actuator.

[0006] The present invention provides a full-ocean-depth buoy jettisoning actuator, comprising a watertight pressure-resistant shell, a piston rod, a piston spring, a multi-stage locking mechanism, a push-pull electromagnet, and a watertight cable potting base;

[0007] One end of the piston rod extends into the watertight pressure-resistant shell from one end and exits from the other end of the watertight pressure-resistant shell. The other end of the piston rod extends out of the watertight pressure-resistant shell and connects to the buoy.

[0008] The multi-stage locking mechanism, piston spring, and push-pull electromagnet are all housed within 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 mounted on the piston push rod.

[0009] The push-pull electromagnet for electrical connection of the watertight cable on the watertight cable potting seat;

[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 the two ends of the piston rod extending outside the watertight pressure-resistant shell are equal.

[0012] Preferably, the watertight pressure-resistant shell includes a front cover, a middle cover, and a rear cover, wherein the front cover and the rear cover are respectively disposed at both ends of the watertight pressure-resistant shell, and the middle cover is disposed between the front cover and the rear cover.

[0013] A piston is sleeved on the piston push rod. The piston is located between the front end cover and the middle end cover. A guide sleeve is installed on the piston. A first groove is provided on the outer cylindrical surface of the guide sleeve.

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

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

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

[0017] Preferably, the primary locking mechanism includes a vertical arm, a vertical arm base, 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 post is installed on the vertical arm seat. The first steel ball is accommodated in the first groove. One end of the limiting post abuts against the first steel ball, and the other end of the limiting post abuts against one end of the vertical arm.

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

[0020] The horizontal arm seat is mounted on the watertight pressure-resistant shell, the horizontal arm is rotatably connected to the horizontal arm seat, and one end of the horizontal arm is provided with a hook-shaped part that connects to the other end of the vertical arm.

[0021] One end of the pull rod is provided with a chamber, which includes a large-diameter chamber and a small-diameter chamber. The large-diameter chamber gradually transitions into the small-diameter chamber along the inner conical inclined surface. The large-diameter chamber is located at the end away from the suction rod, and the small-diameter chamber is located at the end closer to the suction rod.

[0022] One end of the pull rod 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 a push-pull electromagnet.

[0024] Preferably, the watertight pressure-resistant housing further includes a straight housing, a three-way housing, an electrical control box, and a watertight support.

[0025] Both the straight shell and the three-way shell include hollow shells. One end of the straight shell is connected to the front end cover, and the other end of the straight shell is connected to one end of the three-way shell through the middle end cover. The other end of the three-way shell is connected to the rear end cover.

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

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

[0028] Preferably, a conduit is provided on the inner end face of the rear end cover, the conduit extending from the rear end cover to the piston, and the conduit accommodating the piston push rod.

[0029] Preferably, one end face of the piston push rod connected to the buoy is provided with a push rod head, and the push rod head is connected to the buoy through a connecting rod;

[0030] The end face of the push rod head overlaps with the end face of the connecting rod, two connecting sleeves encircle the outer circumference of the connecting rod and the push rod head, and two limiting seats encircle the outer circumference of the two connecting sleeves and are fixed to 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-ocean-depth buoy jetting actuator of the present invention can be installed horizontally or vertically inside an unmanned vehicle, and can be used to directly jettison buoys or as a power source for buoy jetting.

[0033] 2. The full-ocean-depth buoy jetting actuator of the present invention can be used to directly jettison buoys. After the buoy is unlocked, the buoy rises by relying on buoyancy. The piston rod pushes the buoy to provide the buoy with initial velocity. The space occupied by the extended piston rod can also ensure that the buoy is completely pushed out of the buoy storage compartment and will not get stuck in the buoy storage compartment.

[0034] 3. This invention forms a water pressure balanced piston rod by setting the two ends of the piston rod extending out of the watertight pressure-resistant shell to have equal cross-sectional areas in contact with seawater. Since both ends of the piston rod bear water pressure and bear water pressure of equal cross-sectional area, water pressure balance is achieved. The water pressure balanced piston rod assembly also ensures that the various mechanical and power parameters of the electronic control components and power release components remain constant and are not affected by changes in water depth and water pressure, thus meeting the needs of use at all ocean depths.

[0035] 4. By setting all components except the two ends of the push rod that come into contact with seawater, especially the moving components, to be sealed in a watertight pressure-resistant shell, the present invention is always in a dry state. When used in seawater, the ability to resist seawater corrosion and marine organism growth is greatly improved, which has a significant effect on increasing service life and reliability.

[0036] 5. This invention uses a push rod release control system that combines a small push-pull electromagnet and a multi-stage locking mechanism. The push-pull electromagnet can be started with a given voltage, simplifying the requirements of the electrical control system. The multi-stage locking mechanism adopts various force-saving principles, including the lever force-saving principle, which can easily achieve the control of large forces with small forces, further reducing the power requirements of the electromagnet.

[0037] 6. Compared with suction cup electromagnets, gunpowder electric ignition actuators, and linear motors, the push-pull electromagnet of this invention has the characteristics of reliable execution, safe and convenient maintenance, small size, and low power consumption. Attached Figure Description

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

[0039] Figure 1 This mainly illustrates the structural diagram of the full-ocean-depth buoy jettisoning actuator of the present invention;

[0040] Figure 2 This mainly illustrates the structural diagram of the watertight pressure-resistant shell of the present invention;

[0041] Figure 3 The main schematic diagram illustrates the structure of the piston push rod of this invention;

[0042] Figure 4 This mainly illustrates the structural diagram of the piston push rod connecting the buoy in this invention;

[0043] Figure 5 This schematic diagram mainly illustrates the structural connection method between the push rod head and the connecting rod of the present invention;

[0044] Figure 6 This is an exploded structural diagram that mainly illustrates the connection method between the push rod head and the connecting rod of the present invention;

[0045] Figure 7 The main schematic diagram illustrates the structure of the multi-stage locking mechanism of this invention;

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

[0047] Figure 9 This mainly illustrates the structural diagram of the two-stage locking mechanism of the present invention;

[0048] Figure 10 A cross-sectional schematic diagram mainly illustrating the two-stage locking mechanism of this invention;

[0049] Figure 11 A cross-sectional schematic diagram mainly illustrating the two-stage locking mechanism of this invention;

[0050] Figure 12 The main schematic diagram illustrates the structure of the pull rod of this invention.

[0051] As shown in the figure:

[0052] Watertight pressure-resistant housing 1, piston push rod 2, cross arm 406

[0053] Front cover 100, push rod head 201, second shaft 407

[0054] Limit seat 101, front push rod 202, cross arm seat 408

[0055] Air cushion cylinder 102, piston 203, second steel ball 409

[0056] Straight shell 110, guide sleeve 204, tie rod 410

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

[0058] Three-way housing 130, piston spring 3, tie rod seat 412

[0059] Rear end cover 140, multi-level locking mechanism 4, suction rod 413

[0060] Rear guide tube 141, vertical arm seat 401, push-pull electromagnet 5

[0061] Pre-conduit 142, First steel ball 402, Watertight cable potting socket 6

[0062] Electrical control box 150, limit post 403, connecting sleeve 7

[0063] Watertight support 151, first shaft 404, connecting rod 800

[0064] Adapter ring 160, vertical arm 405, communication buoy 900

[0065] Large-diameter chamber 4101, Small-diameter chamber 4102, Buoy storage compartment 1000 Detailed Implementation

[0066] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the scope of protection of the present invention.

[0067] like Figure 1 As shown, a full-ocean-depth buoy jettisoning actuator according to the present invention includes a watertight pressure-resistant shell 1, a piston 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 rod 2 extends into the watertight pressure-resistant shell 1 from one end and exits from the other end of the watertight pressure-resistant shell 1. The other end of the piston rod 2 extends out of the watertight pressure-resistant shell 1 and connects to the buoy 900. The multi-stage locking mechanism 4, the piston spring 3, and the push-pull electromagnet 5 are all equipped with... The first-stage locking mechanism of the multi-stage locking mechanism 4, which is placed inside the watertight pressure-resistant housing 1, 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 mounted on the piston push rod 2. The watertight cable on the watertight cable potting seat 6 is electrically connected to the push-pull electromagnet 5. Under 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 housing 1.

[0068] This invention integrates an electrical control component, including a watertight cable potting base 6 and a push-pull electromagnet 5, and a power release component, including a multi-stage locking mechanism 4 and a piston push rod 2, within a watertight pressure-resistant shell, forming a buoy jetting power and electrical control assembly adaptable to water pressure at all ocean depths. This assembly has a universal installation interface, suitable for horizontal or vertical installation within an unmanned aerial vehicle. It features a universal interface for direct connection to the buoy 900, and can also employ an adapter mechanism to provide controllable power output for buoy jetting. The assembly places the electrical control component and power release component inside the watertight pressure-resistant shell 1. The electrical control component and mechanical locking mechanism control the release of the piston spring, which in turn pushes the piston push rod, propelling the jettisoned buoy 900 or transmitting jettisoning power. The piston spring 3 serves as the driving force for the piston push rod 2, enabling its rapid release. The release control of the piston push rod 2 utilizes a combination of a small push-pull electromagnet 5 and a multi-stage locking mechanism 4. The push-pull electromagnet 5 can be activated with a given voltage, simplifying the requirements of the electronic control system. The multi-stage locking mechanism 4 employs various force-saving principles, including the lever principle, easily achieving control of large forces with small forces. The full-ocean-depth buoy jettisoning actuator of this invention features convenient control, rapid response, strong environmental adaptability, high reliability, and suitability for operation at all ocean depths.

[0069] Specifically, the piston rod 2, extending out of the watertight pressure-resistant shell 1, has equal cross-sectional areas at both ends. Both ends of the piston rod 2 extend outside the watertight pressure-resistant shell 1, contacting seawater and having equal cross-sectional areas. Because both ends of the piston rod 2 bear water pressure and bear water pressure of equal cross-sectional areas, water pressure balance is achieved, meeting the requirements for use at all ocean depths. Except for the two end faces of the piston rod 2 in contact with seawater, all other components, especially the moving parts, are sealed inside the watertight pressure-resistant shell 1, always in a dry state, greatly improving its resistance to seawater corrosion and marine organism growth when used in seawater. The water pressure-balanced push rod design also ensures that the various mechanical and power parameters of the electronic control components and power release components remain constant, unaffected by changes in water depth and pressure.

[0070] Specifically, such as Figures 1 to 3 As shown, the watertight pressure-resistant housing 1 includes a straight shell 110, a front end cover 100, a middle end cover 120, a rear end cover 140, a three-way shell 130, an electrical control box 150, and a watertight bracket 151. The front end cover 100 and the rear end cover 140 are respectively located at both ends of the watertight pressure-resistant housing 1, and the middle end cover 120 is located between the front end cover 100 and the rear end cover 140. A piston 203 is sleeved on the piston push rod 2, and the piston 203 is located between the front end cover 100 and the middle end 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 end cover 120, and the other end of the piston spring 3 is installed on the piston 203. Both the straight shell 110 and the three-way shell 130 include hollow shells. One end of the straight shell 110 is connected to the front cover 100, and 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 electrical control box 150 through the connecting ring 160. The watertight bracket 151 is snapped between the electrical 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 electrical control box 150 form a separate watertight space. The watertight cable potting seat 6 is installed on the rear end face of the electrical control box 150. An air cushion cylinder 102 is installed on the inner end face of the front cover 100, and a conduit is provided on the inner end face of the rear cover 140. The conduit extends from the rear cover 140 to the piston 203 and accommodates the piston push rod 2.

[0071] Specifically, such as Figures 4 to 6As shown, a push rod head 201 is provided on one end face of the piston push rod 2 that connects to the buoy 900. 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 stacked with the end face of the docking rod 800. Two connecting sleeves 7 surround the outer circumference of the docking rod 800 and the push rod head 201. Two limiting seats 101 surround the outer circumference 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 connecting rod 800 and the push rod head 201 are stacked end-to-end. Then, two connecting sleeves 7 are wrapped around the outer circumference of the connecting rod 800 and the push rod head 201, ensuring that the C-shaped conical surface of the inner surface of the connecting sleeve 7 matches the outer circumferential conical surface of the connecting rod 800 and the push rod head 201, thus restricting the separation of the connecting rod 800 and the push rod head 201. Next, two limiting seats 101 are wrapped around the outer circumference of the two connecting sleeves 7, restricting their radial movement. The two limiting seats 101 are then fixed to the front end cover 100, further restricting their radial movement. Since the piston push rod 2 is now restricted from axial displacement, the two connecting sleeves 7 cannot axially disengage from the limiting seats 101 and unlock radially without axial displacement, thus effectively limiting the axial movement of the connecting rod 800. Finally, the buoy 900 is placed into the buoy storage compartment 1000 and fixed by screwing it onto the docking rod 800 through the threaded hole at the tail.

[0072] Specifically, such as Figures 7 to 12As shown, the multi-stage locking mechanism 4 includes at least two locking stages; the two-stage locking mechanism includes a first-stage locking mechanism and a second-stage locking mechanism, with the first-stage locking mechanism connected to the second-stage locking mechanism. The first-stage locking mechanism includes a vertical arm 405, a vertical arm seat 401, and a first steel ball 402. The vertical arm seat 401 is mounted on the middle end cover 120 and is connected to the guide sleeve 201. The vertical arm 405 is rotatably connected to the vertical arm seat 401. A limit post 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 limit post 403 abuts against the first steel ball 402, and the other end of the limit post 403 abuts against one end of the vertical arm 405. The secondary locking mechanism includes a horizontal arm 406, a horizontal arm seat 408, a second steel ball 409, a pull rod 410, a pull rod spring 411, and a suction rod 413. The horizontal arm seat 401 is mounted on the watertight pressure-resistant shell 1. The horizontal arm 406 is rotatably connected to the horizontal arm seat 408. One end of the horizontal arm 406 is provided with a hook-shaped part that connects to the other end of the vertical arm 405. When the vertical arm 405 is in a vertical state, the horizontal arm 406 is in a horizontal state. The vertical arm 405 and the vertical arm 406 are perpendicularly connected. One end of the pull rod 410 is provided with a chamber, which 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 inner conical slope. The large-diameter chamber is located at the end away from the suction rod 413, and the small-diameter chamber is located at the end closer to the suction rod 413. One end of the pull rod 413 with the chamber is connected to the cross arm seat 401 through the pull rod seat 412. The second steel ball 409 is accommodated in the 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 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 provided on the pull rod seat 412, and the other end of the pull rod spring 411 is provided 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] One feasible implementation method is as follows:

[0074] The piston push rod 2 is installed inside the watertight pressure-resistant housing 1. The piston push rod 2 consists 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 protrudes from the central circular hole of the front end cover 100 of the watertight pressure-resistant housing 1. The head of the front push rod 202 protruding from the end face of the watertight pressure-resistant housing 1 has a threaded hole, which can be used to install the push rod head 201 or 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 connect to the threaded hole at the head of the rear push rod 205. The rear push rod 205 protrudes from the central circular hole of the rear end cover 140 of the watertight pressure-resistant housing 1 and can move back and forth along the axis of the watertight pressure-resistant housing 1 under the drive of the piston spring 3. At the junction of the lower surface of piston 203 and the upper end face of piston spring 3, when piston spring 3 is released from its compressed state to its free length, piston 203 can enter air cushion cylinder 102 and form a buffer air cushion. Guide sleeve 204 and piston 203 are installed together. The outer cylindrical surface of guide sleeve 204 has an arc-shaped first groove. The first steel ball 402 can be inserted into the first groove to limit the displacement of guide sleeve 204.

[0075] The watertight pressure-resistant housing 1 consists of a front cover 100, a limiting seat 101, an air cushion cylinder 102, a straight shell 110, a middle cover 120, a three-way shell 130, a rear cover 140, a conduit, an electrical control box 150, a watertight bracket 151, an adapter ring 160, and a sealing ring. The front cover 100, limiting seat 101, and air cushion cylinder 102 are assembled together. The front cover 100 has 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 also present 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 inside the middle cover 120 for installing the piston spring 3. Sealing rings are present at the connections between the middle cover 120 and both the straight shell 110 and the three-way shell 130 for watertightness. The three-way shell 130 is used to install the adapter ring 160. The conduit can be configured to consist of a front conduit 142 and a rear conduit 141 connected together. The rear end cover 140, the rear conduit 141, and the front conduit 142 are installed together in sequence, and each connection has a sealing ring for watertightness. The rear conduit 141 and the front conduit 142 have through holes of the same diameter inside to allow the rear push rod 205 to pass through. Sealing rings are installed in the holes for watertightness. The electrical control box 150 has a stepped groove inside, and the watertight bracket 151 is snapped between the electrical control box 150 and the adapter ring 160. When the electrical control box 150 and the adapter ring 160 are fixed together, the watertight bracket 151 can be firmly snapped into the electrical control box 150. A sealing ring is provided at the connection between the electrical control box 150 and the adapter ring 160 for watertightness. The rear end face of the electrical control box 150 has an installation hole suitable for the watertight cable potting seat 6 to pass through. The watertight cable potting seat 6 is installed on the rear end face of the electrical control box 150 and wired to the push-pull electromagnet 5. The watertight bracket 151 is used for mounting the push-pull electromagnet 5. A hole is opened on the end face of the watertight bracket 151 for the front suction rod 413 to pass through, and a sealing ring is installed inside the hole for watertightness. A sealing ring is also present at the connection between the watertight bracket 151 and the electrical control box 150 for watertightness. After the watertight bracket 151 and the electrical control box 150 are connected, a separate watertight space is formed to specifically protect the push-pull electromagnet 5, isolating it from other spaces in the watertight pressure-resistant shell 1, and more reliably ensuring the safety of electrical components.

[0076] The multi-stage locking mechanism 4 is at least a two-stage locking mechanism. The two-stage locking mechanism consists of a vertical arm seat 401, a first steel ball 402, a limiting post 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 post 403, the first shaft 404, and the vertical arm 405 are assembled together to form a single-stage locking mechanism and are mounted on the middle end cover 120. The vertical arm 405 can rotate along the first shaft 404, and the vertical arm 405 can push the limiting post 403 to move horizontally, which in turn pushes the first steel ball 402 to move horizontally. The cross arm 406, second shaft 407, cross arm seat 408, second steel ball 409, pull rod 410, pull rod spring 411, pull rod seat 412, and suction rod 413 are assembled together to form a two-stage 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 is fixed together with the pull rod 410 and 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 cavity at the front end of the pull rod 410 is divided into two sections with different diameters, the two sections with different diameters are transitioned by a conical inclined surface. The smaller diameter cavity 4102 is at the end closer to the suction rod 413 and is used to limit the displacement of the second steel ball 409 in the radial direction of the pull rod 410. The larger diameter cavity 4101 is at the end away from the suction rod 413 and is used to release the displacement restriction of the second steel ball 409 in the radial direction of the pull rod 410. Figure 10 As shown, when the lever 410 is not pulled, the second steel ball 409 is located in the small-diameter chamber 4102, which precisely restricts the rolling of the second steel ball 409; as Figure 11 As shown, when the pull rod 410 is pulled, the contact position between the pull rod 410 and the second steel ball transitions from the small-diameter chamber 4102 through the conical inclined surface to the large-diameter chamber 4101. The diameter of the large-diameter chamber 4101 is larger than that of the small-diameter chamber 4102. The large-diameter chamber 4101 releases the radial displacement restriction of the second steel ball 409 imposed by the small-diameter chamber 4102, and the second steel ball 409 is no longer stuck in the second groove of the cross arm 406. After the cross arm 406 is released from its restriction, it can rotate along the second axis 407. The multi-stage locking mechanism of this invention adopts various force-saving principles, including the lever force-saving principle, which can easily achieve the control of a large force with a small force. The two-stage locking mechanism used in this invention has a control ratio of 1:860 for the release force, further reducing the power requirement of the electromagnet. Therefore, this full-ocean-depth buoy jettisoning actuator has the characteristics of convenient control, rapid response, strong environmental adaptability, high reliability, and full-ocean-depth operation.

[0077] Before using the full-ocean-depth buoy jettisoning actuator, it needs to be reset. The specific procedure is as follows: First, remove the integrated electrical control box 150, watertight bracket 151, and push-pull electromagnet 5 from the watertight pressure-resistant shell 1; then pull the suction rod 413 backward to release the radial displacement restriction of the pull rod 410 on the second steel ball 409, and release the rotational restriction of the second steel ball 409 on the horizontal arm 406, allowing the horizontal arm 406 to be in an active state and rotate along the second axis 407 to a downward tilting state, preventing the horizontal arm 406 from affecting the subsequent vertical arm 405. Reset to a vertical position; using a special tool connected 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, which has extended out of the watertight pressure-resistant shell 1, back into the watertight pressure-resistant shell 1 until the arc-shaped first groove on the outer cylindrical surface of the guide sleeve 204 on the piston push rod 2 engages with the first steel ball 402. At this point, the vertical arm 405 is in a vertical position; pull the suction rod 413 back again and maintain the tension to release the pull rod 410 from the second steel ball. The radial displacement restriction of 409 is lifted, releasing the rotational limitation of the second steel ball 409 on the horizontal arm 406, allowing the horizontal arm 406 to be in an active state. The horizontal arm 406 is rotated horizontally along the second axis 407 and hooks the lower end of the vertical arm 405. 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 gradually moves from the large-diameter cavity 4101 of the pull rod 410 along the inner conical inclined surface. The transition to a small-diameter chamber 4102 restricts the radial displacement of the second steel ball 409. The second steel ball 409 is stuck in the second groove of the horizontal arm 406, restricting the rotation of the horizontal arm 406 along the second axis 407, thus completing the locking of the first-level locking mechanism by the second-level locking mechanism. After verifying that the push-pull electromagnet 5 is energized, the control box 150, the watertight bracket 151, and the push-pull electromagnet 5 are reinstalled, thus completing the reset of the full-ocean-depth buoy jettisoning actuator.

[0078] When the full-ocean-depth buoy jettisoning actuator is in use, a DC power source, such as a battery, is used. Power is supplied to the push-pull electromagnet 5 via a watertight cable on the watertight cable potting seat 6. When energized, the push-pull electromagnet 5 generates magnetism, attracting the suction rod 413. The suction rod 413 pulls the pull rod 410, releasing the radial displacement restriction of the pull rod 410 on the second steel ball 409, releasing the rotational restriction of the second steel ball 409 on the horizontal arm 406 along the second axis 407, releasing the rotational restriction of the horizontal arm 406 on the vertical arm 405 along the first axis 404, and releasing the axial displacement restriction of the vertical arm 405 on the limiting post 403 and the first steel ball 402. 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's restriction on the piston. The axial displacement restriction of the push rod 2 releases the elastic force restriction of the piston 203 on the compressed piston spring 3. Under the elastic force of the piston spring 3, the piston push rod 2 moves upward axially. At the same time, the push rod head 201 pushes out of the docking rod 800, and pushes out of the limiting seat 101 together with the communication buoy 900 and the two connecting sleeves 7, releasing the radial displacement restriction of the connecting sleeves 7. The two connecting sleeves 7 separate radially to both sides. 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 tank 1000. Under the combined action of the initial thrust of the piston push rod 2 and its own buoyancy, it continues to move forward in the water along the piston push rod thrust direction.

[0079] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0080] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A full-ocean-depth buoy jettisoning actuator, characterized in that, It includes 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 rod (2) extends into the watertight pressure-resistant shell (1) from one end of the watertight pressure-resistant shell (1) and passes out from the other end of the watertight pressure-resistant shell (1). The other end of the piston rod (2) extends out of the watertight pressure-resistant shell (1) and connects to the buoy (900). The multi-stage locking mechanism (4), piston spring (3) and push-pull electromagnet (5) are all installed inside 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), and 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 installed on the piston push rod (2). The watertight cable electrical connection push-pull electromagnet (5) on the watertight cable potting seat (6); Under 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). The watertight pressure-resistant shell (1) includes a front cover (100), a middle cover (120) and a rear cover (140). The front cover (100) and the rear cover (140) are respectively disposed at both ends of the watertight pressure-resistant shell (1), and the middle cover (120) is disposed between the front cover (100) and the rear cover (140). A piston (203) is sleeved on the piston push rod (2). The piston is located between the front end cover (100) and the middle end cover (120). A guide sleeve (204) is installed on the piston (203). A first groove is provided on the outer cylindrical surface of the guide sleeve (204). One end of the piston spring (3) is mounted on the middle end cap (120), and the other end of the piston spring (3) is mounted on the piston (203); The multi-stage locking mechanism (4) includes at least two locking stages; The two-stage locking mechanism includes a primary locking mechanism and a secondary locking mechanism, wherein the primary locking mechanism is connected to the secondary locking mechanism; The primary locking mechanism includes a vertical arm (405), a vertical arm base (401), and a first steel ball (402); The vertical arm seat (401) is mounted 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 post (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 post (403) abuts against the first steel ball (402), and the other end of the limiting post (403) abuts against one end of the vertical arm (405). The secondary locking mechanism includes a horizontal arm (406), a horizontal arm seat (408), a second steel ball (409), a pull rod (410), a pull rod spring (411), and a suction rod (413); The horizontal arm seat (408) is mounted on the watertight pressure-resistant shell (1), the horizontal arm (406) is rotatably connected to the horizontal arm seat (408), and one end of the horizontal arm (406) is provided with a hook-shaped part that is connected to the other end of the vertical arm (405). One end of the pull rod (410) is provided with a cavity, which includes a large-diameter cavity (4101) and a small-diameter cavity (4102). The large-diameter cavity (4101) gradually transitions into the small-diameter cavity (4102) along the inner conical inclined surface. The large-diameter cavity (4101) is located at the end away from the suction rod (413), and the small-diameter cavity (4102) is located at the end closer to the suction rod (413). One end of the pull rod (410) with the chamber is connected to the cross arm seat (408) through the pull rod seat (412). The second steel ball (409) is accommodated in the 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), and 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 disposed on the pull rod seat (412), and the other end of the pull rod spring (411) is disposed 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).

2. The full-ocean-depth buoy jettisoning actuator as described in claim 1, characterized in that, The cross-sectional areas at both ends of the piston rod (2) extending out of the watertight pressure-resistant shell (1) are equal.

3. The full-ocean-depth buoy jettisoning actuator as described in claim 1, characterized in that, The watertight pressure-resistant shell (1) also includes a straight shell (110), a three-way shell (130), an electrical control box (150), and a watertight bracket (151); Both the straight shell (110) and the three-way shell (130) include hollow shells. One end of the straight shell (110) is connected to the front end cover (100), and the other end of the straight shell (110) is connected to one end of the three-way shell (130) through the middle end cover (120). The other end of the three-way shell (130) is connected to the rear end cover (140). The side end of the three-way housing (130) is connected to the electrical control box (150) via an adapter ring (160). The watertight bracket (151) is inserted between the electrical 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 electrical control box (150) form a separate watertight space. The watertight cable potting seat (6) is installed on the rear end face of the electrical control box (150).

4. The full-ocean-depth buoy jettisoning actuator as described in claim 1, characterized in that, An air cushion cylinder (102) is installed on the inner end face of the front cover (100).

5. The full-ocean-depth buoy jettisoning actuator as described in claim 1, characterized in that, A conduit is provided on the inner end face of the rear end cover (140), the conduit extends from the rear end cover (140) to the piston (203), and the conduit accommodates the piston push rod (2).

6. The full-ocean-depth buoy jettisoning actuator as described in claim 1, characterized in that, 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 connecting rod (8); The end face of the push rod head (201) is stacked with the end face of the connecting rod (8). Two connecting sleeves (7) surround the outer circumference of the connecting rod (8) and the push rod head (201). Two limiting seats (101) surround the outer circumference of the two connecting sleeves (7) and are fixed on the end face of the watertight pressure-resistant shell (1).

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