Recyclable underwater vehicle continuous load rejection device, recycling system and working method

Abstract

The invention relates to the technical field of load rejection mechanisms, in particular to a recoverable underwater vehicle continuous load rejection device, a recovery system and a working method. The load rejection device comprises a continuous load rejection mechanism, an emergency load rejection mechanism and a recovery positioning mechanism, the continuous load rejection mechanism comprises an outer cabin body and an inner cabin body; load particle filling pipes are arranged at the tops of the inner cabin body and the outer cabin body; a cabin sealing pipe and a lower joint are arranged at the bottoms of the inner cabin and the outer cabin, a communicating pipe is sleeved in the cabin sealing pipe and the lower joint, the top end of the communicating pipe extends out of the cabin sealing pipe, a communicating sleeve is arranged between the communicating pipe and the cabin sealing pipe, and a load rejection spring is arranged outside the communicating pipe between the communicating sleeve and the lower joint; a first opening is formed in the side wall of the communicating pipe; a driving piece is arranged between the loading particle filling pipe and the communicating sleeve, and the driving piece presses the communicating sleeve downwards to expose the first opening so as to enable the inner cabin body to be communicated with the outside. The load rejection device is high in reliability, convenient to operate and capable of continuously rejecting the load, and continuous diving and hovering of the underwater vehicle are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of jettisoning mechanisms, and in particular to a continuous jettisoning device for a recoverable underwater vehicle, a recovery system and a working method. Background Art

[0002] The ocean is an important part of the Earth's ecosystem. It is not only one of the most mysterious and least explored areas on Earth, but also has rich biological and mineral resources and important scientific research value. In order to facilitate the exploitation and scientific research of marine resources, we need to have a deep understanding of the characteristics and challenges of the marine environment and develop underwater equipment and technologies that are adapted to the marine environment in order to better explore and utilize marine resources.

[0003] With the continuous development of science and technology, the development of underwater vehicle technology has made significant progress and is widely used in the fields of seabed exploration, deep-sea sampling, data collection, etc. However, due to the complexity and variability of the marine environment, underwater vehicles may encounter special situations such as power exhaustion and mechanical failure during operation. These problems may lead to the failure of the seabed exploration mission or even the loss of scientific research data. The load jettisoning device can jettison the jettisoned objects in these special situations, so that the underwater vehicle can obtain a larger positive buoyancy. It is a safety assurance system necessary to ensure the safety of underwater vehicle devices and the success of scientific exploration missions. Therefore, it is of great significance to study a jettisoning device with a simple structure, high reliability, and convenient operation to ensure the safety of underwater vehicle operations.

[0004] At present, common underwater dumping devices include pure mechanical, motor-driven, electromagnetic-driven, etc. Each technology has its unique technical characteristics and scope of application. The invention application with application number 2024102842440 discloses a granular load dumping device for deep-sea manned equipment. The granular load is filled by setting a loading hole on the top of the load compartment, and the dumping of the granular load is achieved by controlling the opening and closing of the dumping device at the bottom of the load compartment. The invention patent with application number 2020115414753 discloses a buoy dumping release device, which is installed in the hole seat of the underwater mooring platform shell, and a sealing ring is used to ensure the seal between the buoy dumping release device and the shell. When the actuator is started, the satellite position buoy is ejected out of the mooring platform shell under the action of the spring force, and the satellite position buoy floats to the surface under the action of its own positive buoyancy and sends the current position information.

[0005] Since underwater vehicles may encounter various complex situations when operating autonomously underwater and are prone to loss, the underwater vehicle jettisoning mechanism is particularly important to ensure the safety of underwater vehicles. The invention application with application number 2022102766077 discloses a lightweight jettisoning mechanism and operation method for a portable AUV, which uses an electromagnetic core to directly adsorb and discard ballast to reduce the structural form and volume space of the jettisoning mechanism, and is suitable for installation and use on portable AUVs with limited volume. However, the weight of the jettisoning block that can be adsorbed by this method is limited, and it is only applicable to small underwater vehicles, and cannot be applied to large underwater vehicles, let alone sustainable jettisoning and recycling of the jettisoning device.

[0006] Therefore, the existing underwater vehicle jettisoning devices have complex structures, cumbersome operations, and single applicability. They are unable to perform sustainable and autonomous jettisoning according to the diving conditions of the underwater vehicle, and the jettisoning devices are also unable to be recycled, which has become a technical problem that restricts the research related to underwater vehicle jettisoning devices. Summary of the invention

[0007] The present invention provides a recoverable underwater vehicle continuous jettisoning device, a recovery system and a working method. The jettisoning device has a simple structure, high reliability and convenient operation, and can sustainably jettison the load to achieve continuous diving and hovering of the underwater vehicle. The underwater vehicle can be urgently floated by relying on its emergency jettisoning system, and the jettisoning device can be recycled after the jettisoning work is completed, thereby providing technical support for research related to underwater vehicle jettisoning technology, promoting the development of "green jettisoning" related technologies, and solving problems existing in the prior art.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is:

[0009] A recoverable underwater vehicle continuous jettisoning device comprises a continuous jettisoning mechanism, an emergency jettisoning mechanism and a recovery positioning mechanism, wherein the emergency jettisoning mechanism is arranged at the upper part of the continuous jettisoning mechanism, and the recovery positioning mechanism is arranged at the lower part of the continuous jettisoning mechanism;

[0010] The continuous load-releasing mechanism comprises an outer cabin and an inner cabin, a load particle filling tube is arranged on the top of the inner and outer cabins, and the load particle filling tube is connected with the inner cabin; a cabin sealing tube and a lower joint are arranged at the bottom of the inner and outer cabins, a connecting tube is fixedly sleeved in the cabin sealing tube and the lower joint, the top end of the connecting tube extends upwardly out of the top end of the cabin sealing tube, a connecting sleeve is sleeved between the connecting tube and the cabin sealing tube, and a load-releasing spring is arranged on the outside of the connecting tube between the connecting sleeve and the lower joint; a first opening is arranged on the side wall of the connecting tube covered by the connecting sleeve; a driving member is connected between the load particle filling tube and the connecting sleeve, the driving member presses down the connecting sleeve to compress the load-releasing spring and drive the connecting sleeve to move down along the connecting tube and expose the first opening, at which time the inner cabin is connected with the outside through the connecting tube, so that the load particles in the inner cabin are discharged outward.

[0011] Furthermore, the top and bottom ends of the driving member are connected to the bottom of the load particle filling tube and the top of the connecting sleeve respectively.

[0012] Further, the first openings are two symmetrically arranged on the side wall of the connecting pipe, or the first openings are evenly spaced circumferentially on the side wall of the connecting pipe.

[0013] Furthermore, the outer cabin, the inner cabin and the cabin sealing tube form a closed space between the inner and outer cabins, and seawater cannot enter between the inner and outer cabins.

[0014] Furthermore, a sealing ring is arranged on the inner wall of the cabin sealing tube outside the connecting sleeve, and when the throwing spring is in a normal elastic state, the bottom end of the connecting sleeve is arranged lower than the sealing ring.

[0015] Furthermore, a sealing cover is provided at the top end of the load particle filling tube, and a second opening is provided on the side wall of the part of the load particle filling tube extending into the inner cabin; the driving member is an electric push rod, the top end of the cylinder of the electric push rod is fixedly connected to the bottom end of the load particle filling tube, and the bottom end of the rod body of the electric push rod is fixedly connected to the top of the connecting sleeve.

[0016] Furthermore, a plurality of the second openings are arranged on the bottom side wall of the particle loading tube.

[0017] Furthermore, the top end of the cylinder of the electric push rod is fixedly connected to the bottom end of the load particle filling tube via an upper fixing pin, and the bottom end of the rod body of the electric push rod is fixedly connected to the top end of the connecting sleeve via a lower fixing pin.

[0018] Furthermore, a concave through groove is provided on the upper part of the connecting sleeve, and the connecting sleeve at the top of the concave through groove is fixedly connected to the bottom end of the driving member; when the driving member presses down the connecting sleeve, as the throw-off spring is compressed, the concave through groove is aligned with the first opening and exposes the first opening.

[0019] Furthermore, when the throw-off spring is in a fully compressed state, the bottom wall of the concave through groove on the connecting sleeve is not higher than the bottom end of the first opening.

[0020] Furthermore, the emergency load-releasing mechanism includes a steering disc, a steering gear, an emergency load-releasing spring, an emergency load-releasing slot and an upper clamp; the upper clamp includes an annular upper clamp and an upper clamp protrusion arranged on the outside of the annular upper clamp; the steering gear is fixedly installed on one side of the emergency load-releasing slot, and the emergency load-releasing spring is fixed in the emergency load-releasing slot, the top end of the emergency load-releasing spring is fixedly connected to the top surface in the emergency load-releasing slot, the bottom end of the emergency load-releasing spring is abutted against the top surface of the upper clamp protrusion installed below it, and the bottom surface of the upper clamp protrusion is in contact with the upper end surface of the steering disc of the steering gear; the annular upper clamp fixing ring is arranged on the upper part of the continuous load-releasing mechanism.

[0021] Furthermore, the recovery positioning mechanism includes a lower clamp, a positioning device and a lower clamp groove; the lower clamp includes an annular lower clamp and a lower clamp protrusion arranged on the outside of the annular lower clamp, the positioning device is fixed to the bottom surface of the lower clamp protrusion, the lower clamp protrusion is assembled in the lower clamp groove, and the annular lower clamp fixing ring is arranged at the lower part of the continuous unloading mechanism.

[0022] The present invention also provides the following technical solutions:

[0023] A recovery system including the above-mentioned recoverable underwater vehicle continuous jettisoning device also includes a floating platform and an underwater vehicle; the recoverable underwater vehicle continuous jettisoning device is installed on both sides of the underwater vehicle via a bracket and is in electrical communication with the floating platform.

[0024] Furthermore, the floating platform floats on the sea surface, and the underwater vehicle hovers in the sea; recoverable underwater vehicle continuous jettisoning devices are installed at the front and rear parts of both sides of the underwater vehicle, with a total of 4 devices installed; the emergency jettisoning mechanism and the recovery and positioning mechanism of the recoverable underwater vehicle continuous jettisoning device are connected to the bracket arranged on the underwater vehicle.

[0025] Furthermore, the bracket is used to fix the emergency ejection slot of the emergency ejection mechanism and the lower slot of the recovery positioning mechanism.

[0026] The present invention also provides a working method of a continuous jettisoning device for a recoverable underwater vehicle, comprising the following operating steps:

[0027] S1: The granular load is loaded into the load granular filling pipe of the continuous dumping mechanism, and the granular load enters the inner cabin through the second opening;

[0028] S2 assembles the continuous jettisoning device on brackets arranged on both sides of the underwater vehicle via the emergency jettisoning mechanism and the recovery positioning mechanism, and the underwater vehicle enters the sea and sinks to a designated position;

[0029] After the S3 underwater vehicle completes the sea information collection at the designated location, the continuous jettisoning device is driven by the driving member to push the connecting sleeve to compress the jettisoning spring and partially expose the first opening, so that the inner cabin is connected to the outside world. The continuous jettisoning device jettisons the granular load to adjust the underwater vehicle's own weight, so that the underwater vehicle can hover at different seawater depths and continue to collect information;

[0030] After S4 completes the information collection, the continuous dumping device continues to dump the granular load, reducing the gravity of the underwater vehicle and starting to float up; after reaching a stable floating speed, the dumping ends; the underwater vehicle moves to the sea surface through the propeller;

[0031] During the above working process, when the underwater vehicle encounters an emergency and needs to jettison loads for surfacing, the emergency jettisoning mechanism and the recovery and positioning mechanism detach from the underwater vehicle and gradually float to the sea surface. The recovery and positioning mechanism sends coordinate signals to the continuous jettisoning mechanism for positioning and recovery; the underwater vehicle with reduced load also floats quickly.

[0032] Furthermore, in step S4, after the continuous jettisoning mechanism is separated from the underwater vehicle, it continues to be driven by the driving member to discharge all the jettisoned particle loads, thereby reducing the weight and achieving rapid buoyancy of the continuous jettisoning device.

[0033] The working method of the recovery system is consistent with the working method of the above-mentioned recoverable underwater vehicle continuous jettisoning device. The difference is that the floating platform can transmit the data to the sea base station or the land base station while transmitting and receiving the information collected by the underwater vehicle; the floating platform receives the signal sent by the positioning device and recovers the continuous jettisoning mechanism connected to the recovery positioning mechanism. The details are as follows:

[0034] S1: The granular load is loaded into the load granular filling pipe of the continuous dumping mechanism, and the granular load enters the inner cabin through the second opening;

[0035] S2 assembles the continuous jettisoning device on the brackets arranged on both sides of the underwater vehicle through the emergency jettisoning mechanism and the recovery positioning mechanism, and puts the underwater vehicle into the sea from the floating platform and sinks it to the designated position;

[0036] After the underwater vehicle S3 completes the sea information collection at the designated location, the continuous jettisoning device is driven by the driving member to push the connecting sleeve to compress the jettisoning spring and partially expose the first opening, so that the inner cabin is connected to the outside world, and the continuous jettisoning device jettisons the granular load to adjust the underwater vehicle's own weight so that the underwater vehicle can hover at different seawater depths; continue to collect and store information;

[0037] After S4 completes information collection, the jettisoning device continues to jettison the granular load, reducing the gravity of the underwater vehicle and starting to float up; after reaching a stable floating speed, the jettisoning ends; the underwater vehicle moves to the floating platform through the thruster, transmits the collected data to the floating platform, and the floating platform further transmits the data to the sea or land base station to complete the work task; during the work process, if the underwater vehicle encounters an emergency and needs to jettison and float up, the emergency jettisoning mechanism and the recovery positioning mechanism will be separated from the underwater vehicle respectively, and float up together with the continuous jettisoning mechanism, so that the underwater vehicle with reduced load can float up quickly. Finally, the floating platform receives the signal of the positioning device, locates the position of the continuous jettisoning mechanism, and recovers it.

[0038] Furthermore, the positioning device is a GPS locator.

[0039] Beneficial effects of the present invention:

[0040] The underwater vehicle continuous jettisoning device designed by the present invention has the functions of continuous jettisoning and recovery. The continuous jettisoning device is used to autonomously jettison the granular load. By changing the deadweight of the underwater vehicle, the underwater vehicle can hover at any depth of the seawater to collect information. After the information collection task is completed, the continuous jettisoning mechanism is used to jettison the granular load again, so that the underwater vehicle can obtain a stable and appropriate floating speed. The continuous jettisoning mechanism can be ejected from the emergency jettisoning slot by using a steering gear and an emergency jettisoning spring, so that the underwater vehicle can be floated up urgently. The positioning device can be used to obtain the position coordinates of the continuous jettisoning mechanism after the emergency jettisoning work is completed, so as to realize the positioning and recovery of the continuous jettisoning mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic structural diagram of a continuous jettisoning device for a recoverable underwater vehicle according to the present invention;

[0042] Figure 2 for Figure 1 A schematic cross-sectional view of the continuous dumping mechanism;

[0043] Figure 3 for Figure 1 Structural diagram of the emergency dumping mechanism;

[0044] Figure 4 for Figure 3 A schematic diagram of the structure from another angle;

[0045] Figure 5 for Figure 1 A schematic diagram of the structure of the recovery positioning mechanism;

[0046] Figure 6 for Figure 1A reference schematic diagram of the connection structure of the connecting sleeve and the connecting pipe before the particle load is dumped;

[0047] Figure 7 for Figure 6 Reference schematic diagram of structural changes when particle load is dumped;

[0048] Figure 8 It is a schematic structural diagram of the emergency jettisoning working state of the continuous jettisoning device for a recoverable underwater vehicle of the present invention;

[0049] Fig. 9 It is a schematic diagram of the structure of a recovery system including the continuous jettisoning device for a recoverable underwater vehicle of the present invention;

[0050] Fig.10 It is a schematic diagram of the jettisoning positioning and recovery working method of the continuous jettisoning device for a recoverable underwater vehicle of the present invention.

[0051] In the figure, 1-continuous jettisoning mechanism, 2-emergency jettisoning mechanism, 3-recovery positioning mechanism, 4-floating platform, 5-underwater vehicle, 6-recoverable underwater vehicle continuous jettisoning device, 7-sealing cover, 8-load particle filling tube, 9-upper fixing pin, 10-electric push rod cylinder, 11-outer cabin, 12-inner cabin, 13-electric push rod rod body, 14-lower fixing pin, 15-connecting sleeve, 151-concave through groove, 16- Cabin sealing tube, 17-load-releasing spring, 18-connecting tube, 19-lower joint, 20-emergency load-releasing slot, 21-emergency load-releasing spring, 22-upper clamp, 221-annular upper clamp, 222-upper clamp protrusion, 23-servoir, 24-steering plate, 25-lower clamp, 251-annular lower clamp, 252-lower clamp protrusion, 26-lower slot, 27-positioning device, 28-first opening, 29 second opening. DETAILED DESCRIPTION

[0052] In order to clearly illustrate the technical features of this solution, the present invention is described in detail below through specific implementation methods in conjunction with the accompanying drawings.

[0053] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0054] Example 1

[0055] like Figure 1-Figure 5 , showing the structure of the continuous jettisoning device of the recoverable underwater vehicle. Figure 1 The recoverable underwater vehicle continuous jettisoning device mainly comprises a continuous jettisoning mechanism 1, an emergency jettisoning mechanism 2, and a recovery positioning mechanism 3. The emergency jettisoning mechanism 2 is installed on the upper part of the continuous jettisoning mechanism, and the recovery positioning mechanism 3 is fixedly installed on the lower part of the continuous jettisoning mechanism. Figure 2 The continuous jettisoning mechanism 1 comprises an outer cabin 11, an inner cabin 12, a cover 7, a load particle filling tube 8, an upper fixing pin 9, an electric push rod cylinder 10, an electric push rod rod body 13, a lower fixing pin 14, a connecting sleeve 15, a connecting pipe 18, a jettisoning spring 17, a lower joint 19 and a cabin sealing tube 16. The lower joint 19 is fixedly connected to the lower part of the cabin sealing tube 16, the connecting pipe 18 is fixedly connected to the lower joint, the jettisoning spring 17 passes through the connecting pipe and is fixedly installed between the lower joint and the connecting sleeve, the upper part of the connecting pipe is installed inside the connecting sleeve, the lower part of the connecting sleeve is sleeved in the cabin sealing tube 16, the electric push rod rod body 13 is fixedly connected to the connecting sleeve 15 through the lower fixing pin 14, the electric push rod cylinder 10 is fixedly connected to the load particle filling tube 8 through the upper fixing pin 9, the load particle filling tube is fixedly connected to the inner and outer cabins, and the cover 7 is fixedly installed on the upper part of the load particle filling tube. When the throw-off spring 17 is in a normal state, a first opening 28 is provided on the side wall of the connecting pipe covered by the connecting sleeve, and the electric push rod body 13 moves downward to push the throw-off spring to compress and expose the first opening so that the inner cabin is connected to the outside. A second opening 29 is provided on the wall of the load particle filling pipe extending into the inner cabin, and the load particles are filled into the space of the inner cabin 12 through the second opening.

[0056] The outer cabin, the inner cabin and the cabin sealing tube make the space between the inner and outer cabins a closed space, and seawater cannot enter between the inner and outer cabins.

[0057] A concave through groove 151 is arranged on the upper part of the aforementioned connecting sleeve 15, and an upper fixing pin 9 is arranged on the top of the concave through groove; when the connecting sleeve is pressed down by the electric push rod body 13, as the throw-off spring 17 is compressed, the concave through groove is aligned with the first opening 28 and exposes the first opening, thereby realizing the connection between the inner cabin and the outside.

[0058] See also Figure 3 and Figure 4The emergency jettisoning mechanism of the continuous jettisoning device for the recoverable underwater vehicle comprises an emergency jettisoning slot 20, an emergency jettisoning spring 21, an upper clamp 22, a steering gear 23, and a steering disc 24. The steering disc 24 is fixedly mounted on the steering gear 23, the steering gear 23 is fixedly mounted on the emergency jettisoning slot 20, the emergency jettisoning spring 21 is fixedly mounted inside the emergency jettisoning slot, the upper clamp 22 is mounted on the lower part of the emergency jettisoning spring 21, and the lower end surface of the upper clamp 22 contacts the upper end surface of the steering disc of the steering gear. Specifically, the upper clamp 22 includes an annular upper clamp 221 and an upper clamp protrusion 222 arranged on the outside of the annular upper clamp; the top end of the emergency load-releasing spring 21 is fixedly connected to the top surface of the emergency load-releasing groove, the bottom end of the emergency load-releasing spring is abutted against the top surface of the upper clamp protrusion 222 installed thereunder, the bottom surface of the upper clamp protrusion is in contact with the upper end surface of the steering wheel of the servo, and the annular upper clamp 221 fixing ring is arranged on the upper part of the continuous load-releasing mechanism 1.

[0059] See also Figure 5 The recovery positioning mechanism of the recoverable underwater vehicle continuous jettisoning device comprises a lower clamp 25, a lower clamping groove 26 and a positioning device 27. The positioning device is fixedly installed at the lower part of the lower clamp, and the lower clamp is installed between the lower clamping grooves. Specifically, the lower clamp 25 comprises an annular lower clamp 251 and a lower clamp protrusion 252 arranged on the outer side of the annular lower clamp. The positioning device 27 is fixedly arranged on the bottom surface of the lower clamp protrusion 252. The lower clamp protrusion is movably assembled in the lower clamping groove 26. The annular lower clamp 251 is fixedly arranged at the lower part of the continuous jettisoning mechanism 1.

[0060] like Figure 6 , Figure 7 As shown, it is a structure related to particle load dumping. It can be seen in the figure that a first opening 28 is set on the side wall of the connecting pipe covered by the connecting sleeve. When the electric push rod body 13 moves downward to push the connecting sleeve 15 to compress the dumping spring 17, the connecting sleeve moves downward along the connecting pipe 18, and the lower part of the concave through groove 151 set on the upper part of the connecting sleeve coincides with the position of the first opening 28 and exposes the first opening. At this time, the inner cabin 12 is connected with the outside through the connecting pipe, and the loaded particles are discharged.

[0061] During operation, the cover 7 of the continuous dumping device is opened, and the granular load is loaded into the load particle filling tube 8 of the dumping device. The continuous dumping device is fixedly installed on the brackets on both sides of the underwater vehicle 5, and the underwater vehicle is put into the sea from the floating platform 4.

[0062] When working, the underwater vehicle 5 sinks by its own weight and the counterweights of the continuous jettisoning device on the brackets on both sides. The underwater vehicle adjusts its position through the propeller, so that the underwater vehicle can move at different underwater positions. When the underwater vehicle reaches the specified position, the continuous jettisoning device adjusts the telescopic length of the electric push rod body 13 to push the connecting sleeve 15 to compress the jettisoning spring 17 and move downward, and the connecting sleeve moves to the specified position, such as Figure 5As shown in the relevant structure of particle load dumping, the inner cabin 12 is connected to the outside world, and the dumping device dumps the particle load, thereby adjusting the weight of the underwater vehicle so that the underwater vehicle can hover at any seawater depth. At this time, the sensors inside the underwater vehicle 5 collect information such as water pressure, temperature, water quality and images, and store the data in the data warehouse.

[0063] After completing the information collection, the dumping device continues to dump the granular load. As the dumping progresses, the gravity of the underwater vehicle decreases and it begins to float. When a stable and appropriate floating speed is reached, the dumping ends, and the underwater vehicle 5 adjusts its position through the propeller and moves to the vicinity of the floating platform 4. The underwater vehicle transmits the observed data to the floating platform, and the floating platform then transmits the data to the sea base station or the land base station to complete the work task.

[0064] When the underwater vehicle 5 encounters an emergency and needs to jettison loads for buoyancy, the steering gear 23 in the emergency jettisoning mechanism 2 operates, the steering wheel 24 leaves the lower end surface of the upper clamp 22, and the continuous jettisoning device 1 pops out downward from the emergency jettisoning slot 20 under the action of the emergency jettisoning spring 21. At this time, the lower clamp 25 of the recovery and positioning mechanism 3 also moves downward from the lower clamping slot 26, so that the continuous jettisoning mechanism as a whole is freed from the connection with the underwater vehicle 5. At this time, the weight of the underwater vehicle is reduced and it begins to float rapidly.

[0065] Example 2

[0066] See also Figure 8 , Fig. 9 , shows a recovery system including the above-mentioned recoverable underwater vehicle continuous jettisoning device. Combined with the content of the working part of the above-mentioned embodiment 1, it can be known that the recovery system also includes a floating platform 4 and an underwater vehicle 5. The recoverable underwater vehicle continuous jettisoning device is installed on both sides of the underwater vehicle through a bracket and is in electrical communication with the floating platform. Specifically, recoverable underwater vehicle continuous jettisoning devices are installed at the front and rear of both sides of the underwater vehicle, with a total of 4 devices installed; the emergency jettisoning mechanism and the recovery positioning mechanism of the recoverable underwater vehicle continuous jettisoning device are connected to the bracket provided on the underwater vehicle. The bracket is used to fix the emergency jettisoning slot of the emergency jettisoning mechanism and the lower slot of the recovery positioning mechanism.

[0067] Example 3

[0068] like Fig.10As shown, it is a schematic diagram of the method for positioning and recovering the continuous jettisoning device of the recoverable underwater vehicle. When the emergency jettisoning work is completed, the continuous jettisoning mechanism 1 is separated from the underwater vehicle 5, and the underwater vehicle quickly floats up. The electric push rod in the continuous jettisoning mechanism continues to work, pushing the connecting sleeve 15 to compress the jettisoning spring 17 and move downward, and the inner cabin is connected to the outside world, and all the jettisoned particle load is thrown out, thereby reducing the weight of the continuous jettisoning mechanism 1, and the continuous jettisoning mechanism quickly floats up. The lower positioning device 27 of the continuous jettisoning mechanism starts to work, and the positioning device sends the coordinate signal of the continuous jettisoning mechanism 1 to the floating platform 4, and the floating platform positions and recovers the continuous jettisoning mechanism to complete the work task.

[0069] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein.

[0070] The above specific implementation manner cannot be used as a limitation on the protection scope of the present invention. For those skilled in the art, any substitution, improvement or change made to the implementation manner of the present invention falls within the protection scope of the present invention.

[0071] The matters not described in detail in the present invention are all known technologies to those skilled in the art.

Claims

1. A recoverable underwater vehicle continuous jettisoning device, characterized in that: It includes a continuous dumping mechanism, an emergency dumping mechanism and a recovery positioning mechanism, wherein the emergency dumping mechanism is arranged at the upper part of the continuous dumping mechanism, and the recovery positioning mechanism is arranged at the lower part of the continuous dumping mechanism; The continuous load-releasing mechanism comprises an outer cabin and an inner cabin, a load particle filling tube is arranged on the top of the inner and outer cabins, and the load particle filling tube is connected with the inner cabin; a cabin sealing tube and a lower joint are arranged at the bottom of the inner and outer cabins, a connecting tube is fixedly sleeved in the cabin sealing tube and the lower joint, the top end of the connecting tube extends upwardly out of the top end of the cabin sealing tube, a connecting sleeve is sleeved between the connecting tube and the cabin sealing tube, and a load-releasing spring is arranged on the outside of the connecting tube between the connecting sleeve and the lower joint; a first opening is arranged on the side wall of the connecting tube covered by the connecting sleeve; a driving member is connected between the load particle filling tube and the connecting sleeve, the driving member presses down the connecting sleeve to compress the load-releasing spring and drive the connecting sleeve to move down along the connecting tube and expose the first opening, at which time the inner cabin is connected with the outside through the connecting tube, so that the load particles in the inner cabin are discharged outward.

2. The continuous jettisoning device for a recoverable underwater vehicle according to claim 1, characterized in that: A sealing cover is provided at the top end of the load particle filling tube, and a second opening is provided on the side wall of the part of the load particle filling tube extending into the inner cabin body; the driving member is an electric push rod, the top end of the cylinder of the electric push rod is fixedly connected to the bottom end of the load particle filling tube, and the bottom end of the rod body of the electric push rod is fixedly connected to the top of the connecting sleeve.

3. The continuous jettisoning device for a recoverable underwater vehicle according to claim 2, characterized in that: The top end of the cylinder of the electric push rod is fixedly connected to the bottom end of the load particle filling tube via an upper fixing pin, and the bottom end of the rod body of the electric push rod is fixedly connected to the top end of the connecting sleeve via a lower fixing pin.

4. The continuous jettisoning device for a recoverable underwater vehicle according to claim 1, characterized in that: A concave through groove is arranged on the upper part of the connecting sleeve, and the connecting sleeve at the top of the concave through groove is fixedly connected to the bottom end of the driving member; when the driving member presses down the connecting sleeve, as the throw-off spring is compressed, the concave through groove is aligned with the first opening and exposes the first opening.

5. The recoverable underwater vehicle continuous jettisoning device according to claim 1, characterized in that: The emergency load-releasing mechanism comprises a steering disc, a steering gear, an emergency load-releasing spring, an emergency load-releasing slot and an upper clamp; the upper clamp comprises an annular upper clamp and an upper clamp protrusion arranged on the outside of the annular upper clamp; the steering gear is fixedly installed on one side of the emergency load-releasing slot, and the emergency load-releasing spring is fixed in the emergency load-releasing slot, the top end of the emergency load-releasing spring is fixedly connected to the top surface in the emergency load-releasing slot, the bottom end of the emergency load-releasing spring is abutted against the top surface of the upper clamp protrusion installed below it, and the bottom surface of the upper clamp protrusion is in contact with the upper end surface of the steering disc of the steering gear; the annular upper clamp fixing ring is arranged on the upper part of the continuous load-releasing mechanism.

6. The recoverable underwater vehicle continuous jettisoning device according to claim 1, characterized in that: The recovery positioning mechanism includes a lower clamp, a positioning device and a lower clamping groove; the lower clamp includes an annular lower clamp and a lower clamp protrusion arranged on the outside of the annular lower clamp, the positioning device is fixed to the bottom surface of the lower clamp protrusion, the lower clamp protrusion is assembled in the lower clamping groove, and the annular lower clamp fixing ring is arranged at the lower part of the continuous loading mechanism.

7. A recovery system comprising the recoverable underwater vehicle continuous jettisoning device according to any one of claims 1 to 6, characterized in that: It also includes a floating platform and an underwater vehicle; a recoverable underwater vehicle continuous jettisoning device is installed on both sides of the underwater vehicle via a bracket and is in electrical communication with the floating platform.

8. The working method of the continuous jettisoning device for a recoverable underwater vehicle according to any one of claims 1 to 6, characterized in that: The steps are as follows: S1: The granular load is loaded into the load granular filling pipe of the continuous dumping mechanism, and the granular load enters the inner cabin through the second opening; S2 assembles the continuous jettisoning device on brackets arranged on both sides of the underwater vehicle via the emergency jettisoning mechanism and the recovery positioning mechanism, and the underwater vehicle enters the sea and sinks to a designated position; After the S3 underwater vehicle completes the sea information collection at the designated location, the continuous jettisoning device is driven by the driving member to push the connecting sleeve to compress the jettisoning spring and partially expose the first opening, so that the inner cabin is connected to the outside world. The continuous jettisoning device jettisons the granular load to adjust the underwater vehicle's own weight, so that the underwater vehicle can hover at different seawater depths and continue to collect information; After S4 completes the information collection, the continuous dumping device continues to dump the granular load, reducing the gravity of the underwater vehicle and starting to float up; after reaching a stable floating speed, the dumping ends; the underwater vehicle moves to the sea surface through the propeller; During the above working process, when the underwater vehicle encounters an emergency and needs to jettison loads for surfacing, the emergency jettisoning mechanism and the recovery and positioning mechanism detach from the underwater vehicle and gradually float to the sea surface. The recovery and positioning mechanism sends coordinate signals to the continuous jettisoning mechanism for positioning and recovery; the underwater vehicle with reduced load also floats quickly.

9. The working method according to claim 8, characterized in that: Step S4: After the continuous jettisoning mechanism is separated from the underwater vehicle, it continues to be driven by the driving member to discharge all the jettisoned particle loads, thereby reducing the weight and achieving rapid buoyancy of the continuous jettisoning device.

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