A continuous jettisoning device, recovery system and working method for a recoverable underwater vehicle

Abstract

The present invention relates to the technical field of jettisoning mechanisms, and in particular to a continuous jettisoning device, recovery system, and working method for recoverable underwater vehicles. The jettisoning device comprises a continuous jettisoning mechanism, an emergency jettisoning mechanism, and a recovery positioning mechanism. The continuous jettisoning mechanism comprises an outer and inner cabin, with a load particle filling tube provided at the top of the inner and outer cabins; a cabin sealing tube and a lower joint provided at the bottom of the inner and outer cabins, a connecting tube sleeved within the cabin sealing tube and the lower joint, the top of the connecting tube extending out of the cabin sealing tube, a connecting sleeve provided between the connecting tube and the cabin sealing tube, and a jettisoning spring provided outside the connecting tube between the connecting sleeve and the lower joint; a first opening provided on the side wall of the connecting tube; a driving member provided between the load particle filling tube and the connecting sleeve, the driving member pressing down the connecting sleeve to expose the first opening so that the inner cabin is connected to the outside world. The jettisoning device is highly reliable and easy to operate, and can continuously jettison the load, enabling the underwater vehicle to continuously dive and hover.

Description

Technical Field

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

[0002] The ocean is a vital component of Earth's ecosystem. It's not only one of the most mysterious and underexplored regions on Earth, but also boasts a wealth of biological and mineral resources and significant scientific research value. To facilitate the exploitation and scientific research of marine resources, we need to gain a deep understanding of the characteristics and challenges of the marine environment and develop underwater equipment and technologies adapted to it, enabling us 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 payload in these special situations, so that the underwater vehicle can obtain a large 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, the research of a simple structure, high reliability, and easy operation of the jettisoning device is of great significance to ensure the safety of underwater vehicle operations.

[0004] At present, common underwater jettisoning devices include purely mechanical, motor-driven, electromagnetic-driven, etc. Each technology has its own unique technical characteristics and scope of application. The invention application with application number 2024102842440 discloses a granular payload jettisoning device for deep-sea manned equipment. The granular payload is filled by setting a loading hole on the top of the payload compartment, and the granular payload is jettisoned by controlling the opening and closing of the jettisoning device at the bottom of the payload compartment. The invention patent with application number 2020115414753 discloses a buoy jettisoning 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 jettisoning release device and the shell. When the actuator is activated, the satellite positioning buoy is ejected out of the mooring platform shell under the action of the spring force, and the satellite positioning 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 during autonomous underwater operations 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 operating method for portable AUVs. It adopts a method of directly adsorbing and discarding ballast using an electromagnetic core 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. It cannot be applied to large underwater vehicles, and it is even more impossible to achieve sustainable jettisoning and recycling of the jettisoning device.

[0006] Therefore, the existing underwater vehicle jettisoning device has a complex structure, cumbersome operation, and single applicability. It is unable to perform sustainable and autonomous jettisoning according to the diving situation of the underwater vehicle, and the jettisoning device cannot be recycled, which has become a technical problem that restricts the research related to the underwater vehicle jettisoning device. Summary of the Invention

[0007] The present invention provides a recoverable underwater vehicle continuous jettisoning device, recovery system and working method. The jettisoning device has a simple structure, high reliability and convenient operation. It can sustainably jettison the load to achieve continuous diving and hovering of the underwater vehicle. The emergency jettisoning system of the jettisoning device can be used to achieve emergency surfacing of the underwater vehicle. After the jettisoning work is completed, the jettisoning device can be recycled, 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 existing technology.

[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 above the continuous jettisoning mechanism, and the recovery positioning mechanism is arranged below the continuous jettisoning mechanism;

[0010] The continuous jettisoning mechanism includes 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 to 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 of the connecting tube extends upwardly out of the top of the cabin sealing tube, a connecting sleeve is sleeved between the connecting tube and the cabin sealing tube, and a jettisoning spring is arranged on the outside of the connecting tube between the connecting sleeve and the lower joint; a first opening is provided 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 jettisoning spring and drive the connecting sleeve to move down along the connecting tube and expose the first opening, at this 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] Furthermore, 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 provided 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 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 provided 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 communication 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 ejection mechanism includes a steering wheel, a steering gear, an emergency ejection spring, an emergency ejection 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 ejection slot, and the emergency ejection spring is fixed in the emergency ejection slot, the top of the emergency ejection spring is fixedly connected to the top surface of the emergency ejection slot, the bottom end of the emergency ejection 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 wheel of the steering gear; the annular upper clamp fixing ring is arranged on the upper part of the continuous ejection mechanism.

[0021] Furthermore, the recovery and 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 clamping block arranged on the outside of the annular lower clamp, the positioning device is fixed to the bottom surface of the lower clamping block, the lower clamping block is assembled in the lower clamping 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 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.

[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 method for operating a continuous jettisoning device for a recoverable underwater vehicle, comprising the following steps:

[0027] S1: The granular load is loaded into the load particle 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 the brackets provided 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 the designated position;

[0029] After the S3 underwater vehicle completes collecting information in the sea 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, thereby connecting the inner cabin to the outside world. The continuous jettisoning device jettisons granular loads to adjust the underwater vehicle's own weight, allowing the underwater vehicle to hover at different sea depths and continue collecting information.

[0030] After S4 completes information collection, the continuous jettisoning device continues to jettison the granular payload, reducing the weight of the underwater vehicle and starting to float. After reaching a stable floating speed, the jettisoning ends, and 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 its load and float up, the emergency jettisoning mechanism and the recovery and positioning mechanism will separate from the underwater vehicle and gradually float to the sea surface. The recovery and positioning mechanism will send a coordinate signal to the continuous jettisoning mechanism for positioning and recovery; the underwater vehicle with reduced load will also float up 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 load, 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 aforementioned recoverable underwater vehicle continuous jettisoning device. The difference is that the floating platform can transmit and receive the information collected by the underwater vehicle while transmitting the data to the sea base station or land base station; 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 particle 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 via the emergency jettisoning mechanism and the recovery positioning mechanism on the brackets provided on both sides of the underwater vehicle, and lowers the underwater vehicle into the sea from the floating platform and sinks it to the designated location;

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

[0037] After S4 completes information collection, the jettisoning device continues to jettison the granular payload, reducing the underwater vehicle's gravity and allowing it to begin its ascent. Once a stable ascent speed is reached, the jettisoning process ends. The underwater vehicle, using its thrusters, moves to the floating platform, which transmits the collected data. The platform then transmits the data to a base station at sea or on land, completing its mission. During operation, if the underwater vehicle experiences an emergency requiring emergency jettisoning and surfacing, the emergency jettisoning mechanism and the recovery and positioning mechanism detach from the underwater vehicle and ascend together with the continuous jettisoning mechanism, allowing the underwater vehicle to rapidly ascend with its reduced load. Finally, the floating platform receives the signal from the positioning device, locates 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 present invention provides a continuous jettisoning and retrievable underwater vehicle device. The device autonomously jettisons granular payloads, modulating the vehicle's own weight to enable the vehicle to hover at any depth and collect information. After completing the information collection task, the continuous jettisoning mechanism jettisons the granular payload again, allowing the vehicle to achieve a stable and appropriate ascent velocity. Using a servo and emergency jettisoning spring, the mechanism can be ejected from the emergency jettisoning slot, enabling the vehicle to ascend urgently. A positioning device can be used to determine the position coordinates of the mechanism after emergency jettisoning, enabling the mechanism to be located and recovered. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This 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 Schematic diagram of the cross-sectional structure of the continuous dumping mechanism;

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

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

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

[0046] Figure 6 for Figure 1Reference 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 diagram of structural changes during particle load dumping;

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

[0049] Figure 9 It is a structural schematic diagram of a recovery system including the continuous jettisoning device for a recoverable underwater vehicle according to the present invention;

[0050] Figure 10 It is a schematic diagram of the jettisoning positioning and recovery working method of the continuous jettisoning device of the 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, 14-lower fixing pin, 15-connecting sleeve, 151-concave through groove, 16- Cabin sealing tube, 17-jerk load spring, 18-connecting tube, 19-lower joint, 20-emergency jettisoning slot, 21-emergency jettisoning spring, 22-upper clamp, 221-annular upper clamp, 222-upper clamp protrusion, 23-servo, 24-steering wheel, 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 should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying 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 direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0054] Example 1

[0055] like Figure 1-Figure 5 , shows the structure of the continuous jettisoning device of the recoverable underwater vehicle. Figure 1 The recoverable underwater vehicle continuous jettisoning device mainly includes 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 includes an outer cabin 11, an inner cabin 12, a sealing 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 portion 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 portion of the connecting pipe is installed inside the connecting sleeve, and the lower portion of the connecting sleeve is sleeved inside 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 sealing cover 7 is fixedly installed on the upper portion of the load particle filling tube. When the throw-off spring 17 is in its normal state, a first opening 28 is defined in the sidewall of the connecting tube, which is covered by the connecting sleeve. The downward movement of the electric push rod 13 compresses the throw-off spring, exposing the first opening and allowing the inner chamber to communicate with the outside world. A second opening 29 is defined in the wall of the particle loading tube, which extends into the inner chamber. Particles are loaded into the inner chamber 12 through this second opening.

[0056] The outer cabin, the inner cabin and the cabin sealing pipe 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 provided on the upper part of the aforementioned connecting sleeve 15, and a fixing pin 9 is provided 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 world.

[0058] See also Figure 3 and Figure 4The emergency jettisoning mechanism of the continuous jettisoning device for a recoverable underwater vehicle includes an emergency jettisoning slot 20, an emergency jettisoning spring 21, an upper clamp 22, a steering gear 23, and a steering wheel 24. The steering wheel 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 wheel 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 of the emergency load-releasing spring 21 is fixedly connected to the top surface of the emergency load-releasing slot, and the bottom end of the emergency load-releasing spring is abutted against the top surface of the upper clamp protrusion 222 installed below it, and 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 and positioning mechanism of the recoverable underwater vehicle continuous jettisoning device includes a lower clamp 25, a lower slot 26, and a positioning device 27. The positioning device is fixedly mounted to the lower portion of the lower clamp, and the lower clamp is mounted between the lower slots. Specifically, the lower clamp 25 includes an annular lower clamp 251 and a lower clamp protrusion 252 disposed outside the annular lower clamp. The positioning device 27 is fixedly mounted on the bottom surface of the lower clamp protrusion 252. The lower clamp protrusion is movably assembled within the lower slot 26. The annular lower clamp 251 is fixedly mounted on the lower portion of the continuous jettisoning mechanism 1.

[0060] like Figure 6 、 Figure 7 As shown in the figure, it is a structure related to particle load throwing. It can be seen in the figure that a first opening 28 is provided on the side wall of the connecting pipe covered by the connecting sleeve. When the rod body 13 of the electric push rod moves downward to push the connecting sleeve 15 to compress the throwing spring 17, the connecting sleeve moves downward along the connecting pipe 18, and the lower part of the concave through groove 151 provided 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 loading device is opened, and granular load is loaded into the load particle filling tube 8 of the loading device. The continuous loading device is fixedly installed on the brackets on both sides of the underwater vehicle 5, and the underwater vehicle is placed into the sea from the floating platform 4.

[0062] During operation, the underwater vehicle 5 sinks by its own weight and the counterweights of the continuous jettisoning devices 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 designated 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 designated position. Figure 5As shown in the particle jettisoning structure, the inner cabin 12 is connected to the outside world. The jettisoning device jettisons the particle payload, thereby adjusting the underwater vehicle's deadweight and enabling it to hover at any depth. Meanwhile, sensors within the underwater vehicle 5 collect information such as water pressure, temperature, water quality, and images, and store this data in a data warehouse.

[0063] After completing data collection, the jettisoning device continues to jettison the granular payload. As the jettisoning progresses, the underwater vehicle's weight decreases, and it begins to ascend. Once it reaches a stable and appropriate ascending speed, the jettisoning ends. The underwater vehicle 5 uses its thrusters to adjust its position and maneuver to the vicinity of the floating platform 4. The underwater vehicle transmits the observed data to the floating platform, which then transmits the data to a base station at sea or on land, completing its mission.

[0064] When an emergency occurs and the underwater vehicle 5 needs to jettison its load for surfacing, the steering gear 23 in the emergency jettisoning mechanism 2 operates, the steering wheel 24 moves away from the lower end surface of the upper clamp 22, and the continuous jettisoning device 1, under the action of the emergency jettisoning spring 21, pops out downward from the emergency jettisoning slot 20. At this time, the lower clamp 25 of the recovery and positioning mechanism 3 also moves downward from the lower clamping slot 26, freeing the continuous jettisoning mechanism from the underwater vehicle 5. At this point, the underwater vehicle's weight decreases, and it begins to rapidly ascend.

[0065] Example 2

[0066] See also Figure 8 、 Figure 9 , shows a recovery system that includes the above-mentioned recoverable underwater vehicle continuous jettisoning device. Combined with the description of the working section of the aforementioned embodiment 1, it can be seen that the recovery system also includes a floating platform 4 and an underwater vehicle 5. The recoverable underwater vehicle continuous jettisoning device is mounted on both sides of the underwater vehicle via brackets and is in electrical communication with the floating platform. Specifically, four recoverable underwater vehicle continuous jettisoning devices are installed on both the front and rear sides of the underwater vehicle. The emergency jettisoning mechanism and recovery positioning mechanism of the recoverable underwater vehicle continuous jettisoning device are connected to brackets mounted on the underwater vehicle. The brackets are used to secure the emergency jettisoning slot of the emergency jettisoning mechanism and the lower slot of the recovery positioning mechanism.

[0067] Example 3

[0068] like Figure 10The figure shows the method for positioning and recovering the jettisoning mechanism for a recoverable underwater vehicle. After the emergency jettisoning operation is completed, the jettisoning mechanism 1 disengages from the underwater vehicle 5, causing the vehicle to rapidly ascend. The electric push rod in the jettisoning mechanism continues to operate, pushing the connecting sleeve 15 to compress the jettisoning spring 17 and move it downward, connecting the inner cabin to the outside world. This ejects the entire jettisoned particle load, thereby reducing the weight of the jettisoning mechanism 1 and allowing it to rapidly ascend. The lower positioning device 27 of the jettisoning mechanism begins operating, transmitting the coordinate signals of the jettisoning mechanism 1 to the floating platform 4, which then locates and recovers the jettisoning mechanism, completing the task.

[0069] It should be noted that the terms "first," "second," and the like in the specification and claims of the present invention and the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, such that the embodiments of the present application described herein can be implemented in an order other than that 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 replacement, improvement or transformation made to the implementation manner of the present invention falls within the protection scope of the present invention.

[0071] Any matters not described in detail in the present invention are well-known technologies to those skilled in the art.

Claims

1. A recoverable underwater vehicle continuous jettisoning device, characterized in that: It includes a continuous jettisoning mechanism, an emergency jettisoning mechanism and a recovery and positioning mechanism, wherein the emergency jettisoning mechanism is arranged on the upper part of the continuous jettisoning mechanism, and the recovery and positioning mechanism is arranged on the lower part of the continuous jettisoning mechanism; The continuous jettisoning mechanism includes 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 to 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 of the connecting tube extends upwardly out of the top of the cabin sealing tube, a connecting sleeve is sleeved between the connecting tube and the cabin sealing tube, and a jettisoning spring is arranged on the outside of the connecting tube between the connecting sleeve and the lower joint; a first opening is provided 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 jettisoning spring and drive the connecting sleeve to move down along the connecting tube and expose the first opening, at this 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; 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 communication 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 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.

5. The continuous jettisoning device for a recoverable underwater vehicle according to claim 1, characterized in that: The emergency jettisoning mechanism includes a steering wheel, a steering gear, an emergency jettisoning spring, an emergency jettisoning 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 jettisoning slot, and the emergency jettisoning spring is fixed in the emergency jettisoning slot, the top end of the emergency jettisoning spring is fixedly connected to the top surface of the emergency jettisoning slot, the bottom end of the emergency jettisoning 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 wheel of the steering gear; the annular upper clamp fixing ring is arranged on the upper part of the continuous jettisoning mechanism.

6. The continuous jettisoning device for a recoverable underwater vehicle according to claim 1, characterized in that: The recovery and 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 clamping block arranged on the outside of the annular lower clamp, the positioning device is fixed to the bottom surface of the lower clamping block, the lower clamping block 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; 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.

8. The operating 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 particle 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 the brackets provided 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 the designated position; After the S3 underwater vehicle completes collecting information in the sea 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, thereby connecting the inner cabin to the outside world. The continuous jettisoning device jettisons granular loads to adjust the underwater vehicle's own weight, allowing the underwater vehicle to hover at different sea depths and continue collecting information. After S4 completes information collection, the continuous jettisoning device continues to jettison the granular payload, reducing the weight of the underwater vehicle and starting to float. After reaching a stable floating speed, the jettisoning ends, and 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 its load and float up, the emergency jettisoning mechanism and the recovery and positioning mechanism will separate from the underwater vehicle and gradually float to the sea surface. The recovery and positioning mechanism will send a coordinate signal to the continuous jettisoning mechanism for positioning and recovery; the underwater vehicle with reduced load will also float up quickly.

9. The working method according to claim 8, characterized in that: 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 load, thereby reducing the weight and achieving rapid buoyancy of the continuous jettisoning device.

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