Emergency load rejection rescue device for underwater vehicle and working method of emergency load rejection rescue device

Abstract

The invention relates to an emergency load rejection rescue device for an underwater vehicle and a working method thereof, and belongs to the field of underwater emergency rescue. The emergency load rejection rescue device comprises an emergency floating ball floating device, the underwater vehicle and a load rejection device; a buckle self-locking structure is arranged in the load rejection device to realize load rejection; and a clamping hook self-locking structure is arranged in the emergency floating ball floating device, so that the emergency floating ball floating device can be quickly and stably released. When the underwater vehicle needs to float, load rejection can be rapidly completed through rotation of the driving motor, floating of the device can be accelerated by means of spring recoil force, in addition, floating of the underwater vehicle still cannot be completed after the load rejection is completed due to the severe underwater environment, and therefore the emergency floating ball floating device is arranged above the underwater vehicle; under the complex sea condition, even if the aircraft cannot float upwards after load rejection, the data cabin can be pushed out to float upwards by means of the buoyancy of the floating ball and the recoil force of the spring, data safety is effectively guaranteed, and the survivability of the aircraft under the extreme condition is improved.

Description

Technical Field

[0001] The invention relates to an underwater vehicle emergency load jettisoning and rescue device and a working method thereof, belonging to the technical field of underwater load jettisoning. Background Art

[0002] As human beings continue to explore and develop marine resources, the demand for deep-sea exploration and operations is growing. In deep-sea environments, scientific surveys, seabed resource exploration, underwater equipment installation and maintenance, and other tasks are often required. The deep-sea underwater jettisoning mechanism can release equipment or discard heavy objects under certain circumstances, and then rise to the surface through the buoyancy of the floating material to meet different operational needs.

[0003] During deep-sea operations, you may encounter various emergencies, such as equipment failure, severe sea conditions, etc. At this time, the underwater jettisoning mechanism can quickly jettison the ballast to ensure the safe surfacing of manned submersibles or other underwater equipment, while ensuring the safety of underwater equipment and detection data.

[0004] The invention patent with application number 202311688605.X discloses an emergency jettisoning device for a deep-sea underwater vehicle, which includes a support frame, a driving mechanism, a mounting mechanism and a jettisoning device. The support frame includes: a support plate 1, a support plate 2, a mounting seat, a cover plate, a support rod and a fixing plate; the driving mechanism is an electromagnet; the mounting mechanism includes: a tension spring, a preload adjustment screw, a locking nut, a slider, a pull rod 1, a pull rod 2, a crank, a connecting rod, a connecting rod Pin shaft, suction cup and suction cup rotating shaft; the dumping load includes dumping load block 1, dumping load block 2, wedge block and compression spring; when the equipment fails underwater and needs to be urgently floated, the electromagnet of the driving mechanism loses power, and the suction cup is separated from the driving mechanism. At this time, the tension spring is in a stretched state, and the slider slides to the left along the slide groove under the action of the left spring force, and the connecting rod retracts into the connecting rod slide groove, so that the mounting mechanism loses its limiting effect on the dumping load, and the dumping load block is separated from the equipment under the action of its own gravity and spring force, completing the dumping action.

[0005] The invention patent with application number 202321985292.X discloses an underwater dumping device and underwater equipment. The dumping device includes a base, which is provided with a ballast chamber with at least one end open; a driving assembly, including a driver and a screw, the driver is arranged on the base, and the screw is connected to the output end of the driver; a ballast assembly is arranged in the ballast chamber, the ballast assembly is adapted to the screw, and the rotation of the screw can separate the ballast assembly from the screw. The underwater dumping device releases the ballast assembly by screw drive. When not dumping, the ballast assembly is threadedly connected to the screw, and the ballast assembly is located in the ballast chamber. When dumping, the control driver is started, the driver drives the screw to rotate, the screw is separated from the adapter, and the ballast assembly slides off to complete the dumping.

[0006] The invention patent with application number 202410112167.0 discloses a rotary load-shedding installation and release structure and its use method, the structure includes a mounting platform, a drive assembly, a release assembly, etc. The drive assembly includes a rotating motor and a rotating buckle fixed to the top of the mounting platform, and the release assembly includes a release pin and a plurality of elastic keys vertically arranged on the circumferential side of the release pin; when dumping, the rotating motor rotates in the opposite direction, and the rotating buckle drives the spiral clamp to rotate in the opposite direction. At this time, the guide rod limits the rotation of the load-shedding block, and then the top horizontal clamping rod is rotated out under the spiral cooperation of the spiral clamp, and the release assembly and the load-shedding block are released under the action of the restoring force of the release spring and its own gravity.

[0007] The existing load-releasing installation and release device has the disadvantages of complex structure and inconvenient assembly; and there may be a phenomenon that the load-releasing device fails or the load is erroneously released. Summary of the invention

[0008] In view of the above problems, the present invention provides an underwater vehicle emergency load-dumping and rescue device and a working method thereof. When the underwater vehicle needs to supplement energy or needs to float due to a malfunction, the load-dumping can be quickly completed by rotating the driving motor, and the surfacing of the device can be accelerated with the help of the spring recoil force. In addition, due to the harsh underwater environment, the underwater vehicle may still be unable to float after completing the load-dumping. Therefore, an emergency buoyancy ball buoyancy device is arranged above the underwater vehicle. In complex sea conditions, even if the vehicle still cannot float after the load-dumping, the data cabin can be pushed out and floated with the help of the buoyancy of the buoy and the recoil force of the spring, which effectively ensures data security and improves the survivability of the vehicle in extreme situations.

[0009] The technical solution of the present invention is as follows:

[0010] An underwater vehicle emergency jettisoning and rescue device, comprising an emergency buoyancy ball floating device, an underwater vehicle and a jettisoning device;

[0011] The emergency buoy floating device is fixedly installed above the underwater vehicle, and the jettisoning device is installed below the underwater vehicle; the jettisoning device is provided with a snap self-locking structure to realize the jettisoning; the emergency buoy floating device is provided with a clip hook self-locking structure, which can realize the rapid and stable release of the emergency buoy floating device.

[0012] Preferably, the load-releasing device includes a motor, a support tube, a connecting shaft, a mounting plate, a support frame, a buckle and a ballast block. The motor is fixed to the mounting plate through the support tube, the rotating shaft of the motor is fixedly connected to one end of the connecting shaft, and the other end of the connecting shaft is fixedly connected to the upper end of the buckle; a through hole is provided at the center of the mounting plate, and the connecting shaft passes through the through hole below; a rolling bearing A is provided at the contact point of the mounting plate with the connecting shaft, the outer ring of the rolling bearing A is interference fit in the middle of the mounting plate, and the inner ring cooperates with the connecting shaft; the function of the rolling bearing A is to reduce the radial deformation of the connecting shaft and enhance the rigidity, while also reducing the axial offset of the connecting shaft to a certain extent.

[0013] The mounting plate is fixedly connected to the support frame, and the upper end of the support frame is fixedly connected to the main body of the underwater vehicle by bolts; four springs A are installed between the mounting plate and the ballast block, and the upper end of the spring A is fixedly connected to the mounting plate, and the lower end is in contact with the ballast block;

[0014] A square groove is provided in the middle above the ballast block, and two horizontal grooves in the square groove are provided in the horizontal direction. A rectangular track is provided inside the two horizontal grooves, and a slider and a spring B are provided inside the rectangular track in sequence. The bottom of the buckle is a semi-disc structure, and a downward arc is provided at one end of the slider away from the buckle. When the ballast block is installed, the mounting plate first contacts with four springs A and moves downward against the spring force. At the same time, the connecting shaft and the buckle move downward and touch the slider. The slider is subjected to an oblique downward force due to the arc-shaped structure of the outer shape, and the slider moves inward through the square track. Then the buckle moves downward until the semi-disc structure reaches under the two sliders. The slider returns to its original position due to the spring force of the spring B. At this time, the spring A between the mounting plate and the ballast block is in a compressed state, and the buckle cannot return to its position due to the slider, and the ballast block is successfully installed.

[0015] Preferably, the width d of the buckle is smaller than the distance between the two sliders when the spring force of the spring B returns to the original position. When the buckle rotates 90° under the action of the motor, the buckle can be freed from the constraint of the two sliders and release the ballast block under the action of the spring A.

[0016] Preferably, the bottom of the ballast block is arc-shaped and streamlined. Due to the arc-shaped streamlined design below the ballast block, the resistance between the ballast block and the seawater can be greatly reduced, so that the underwater vehicle can be quickly lowered to the working position. At the same time, when dumping, the ballast block can also be quickly separated, so that the device can float in a relatively short time.

[0017] Preferably, the emergency buoy floating device comprises a data cabin, a buoy, a guide cylinder, a bottom plate, a cross plate, a connecting frame, a clamping hook, a cam turntable, a rotating shaft, a rack, a gear, a cylindrical pin, an electric push rod, a guide seat and a rolling bearing B. The bottom plate is fixedly installed above the underwater vehicle by bolts, and the electric push rod is installed on the bottom plate by a push rod bottom mounting seat. The electric push rod comprises an electric push rod cylinder and an electric push rod rod body that are connected to each other. One side of the electric push rod cylinder is fixedly installed on the bottom plate by a guide seat, and the electric push rod is perpendicular to the side of the bottom plate. One end of the electric push rod rod body is fixedly connected to the rack;

[0018] The rotating shaft is installed in the center of the bottom plate through a rolling bearing B, and the rolling bearing B is interference-fitted in the center of the bottom plate. A gear and a cam turntable are installed on the rotating shaft. The gear is located below the cam turntable, and the gear is meshed with the rack. Under the action of the electric push rod, the rotating shaft can be rotated due to the meshing action of the gear and the rack.

[0019] A vertical rear baffle and two vertical side panels are fixed on the bottom plate, the rear baffle is located at the rear end of the two side panels, and horizontal cross panels are arranged on the top of the rear baffle and the two side panels. Guide rails are arranged on both side panels, and two clamping plates are arranged between the two guide rails. The clamping plates can move relative to or towards each other in the guide rails, and arc-shaped hooks A and arc-shaped hooks B are fixed on the two clamping plates respectively, and arc-shaped hooks A and arc-shaped hooks B form a complete clamping hook when combined; the movement of the clamping plates can drive the arc-shaped hooks A and arc-shaped hooks B on the clamping plates to move relative to or towards each other;

[0020] The bottom of the two clamping plates are respectively fixedly connected with a cylindrical pin; the cam rotary plate is provided with two arc-shaped key grooves of the same shape, the two arc-shaped key grooves are symmetrical with respect to the center point of the cam rotary plate, one end of the arc-shaped key groove is close to the center of the cam rotary plate, and the other end is far from the center of the cam rotary plate, and the two cylindrical pins are respectively located in the two arc-shaped key grooves (notch matching), and when the cam rotary plate rotates, the two cylindrical pins can move in the two arc-shaped key grooves respectively, so that the two cylindrical pins move away from or approach each other, and then the two clamping plates fixedly connected with the cylindrical pins move away from or approach each other, and when the two clamping plates are closest to each other, the arc-shaped hook A and the arc-shaped hook B are combined to form a complete clamping hook, and when the clamping hooks are combined, the connecting frame will be locked, and at this time, the two cylindrical pins are located at a position closer to the center of the cam rotary plate;

[0021] A circular through hole is provided in the middle of the transverse plate, and a connecting frame is provided at the bottom of the transverse plate. The connecting frame is a rectangular frame structure. The arc hook A and the arc hook B can pass through the hole of the rectangular frame structure, and the connecting frame is locked when the clamping hooks are combined; the connecting frame is fixed under the data cabin, and passes through the circular through hole in the transverse plate for a distance, and is interlocked with the clamping hook below. At this time, the data cabin spring is in a compressed state. Since the connecting frame is locked, the spring cannot be reset and a rebound force is generated, so that the emergency float floating device is successfully installed.

[0022] A guide cylinder and a data cabin are installed above the horizontal plate. A floating ball is mounted on the data cabin. A data cabin spring is arranged inside the guide cylinder. The diameter of the data cabin spring is smaller than the diameter of the guide cylinder, and the diameter of the data cabin spring is larger than the diameter of the circular through hole in the horizontal plate. One end of the data cabin spring is connected to the inside of the guide cylinder, and the other end is connected to the horizontal plate. When the connecting frame is locked, the data cabin spring is in a compressed state. When the clamping hook is separated, the connecting frame can break away from the clamping hook constraint and move upward under the action of the data cabin spring, thereby giving the data cabin an upward force, causing the floating ball to float up quickly. The function of the data cabin spring is that when the emergency floating ball device is triggered, the connecting frame breaks away from the clamping hook constraint, and the data cabin spring is released, thereby giving the data cabin an upward force, causing the floating ball to float up quickly, thereby improving the rescue efficiency and effectively protecting the safety of the data.

[0023] Preferably, the matching part of the arc hook A and the arc hook B is a concave-convex match, with a convex part in the middle of the upper part of the arc hook A and a concave part in the middle of the upper part of the other arc hook B. When the two clamps are combined, the concave and convex parts of the two clamp hooks complement each other to prevent the occurrence of gaps due to the loosening of the clamp hooks, thereby causing the occurrence of accidental throwing. When the emergency float flotation device is released, the two cylindrical pins move with the arc keyway shape of the cam turntable until the two cylindrical pins are located at the keyway position far away from the center of the cam turntable, and the cylindrical pins stop sliding. In this process, the clamp hooks also move towards each other until the connecting frame is freed from its constraint, and the data cabin completes the floating with the help of the data cabin spring rebound force.

[0024] Preferably, the rear baffle is installed in a mounting groove of the bottom plate, and the rear baffle is connected to the side plate and the cross plate by bolts.

[0025] A working method based on the above-mentioned underwater vehicle emergency load jettisoning and rescue device, when the underwater vehicle encounters an emergency and needs to float, a control command is sent through a wireless communication module to trigger the load jettisoning device, and the motor of the load jettisoning device rotates 90°, then the connecting shaft and the buckle rotate 90° together, and because the width d of the buckle is smaller than the distance between the two sliders when the spring force of the spring B returns to the original position, the buckle is separated from the constraint of the two sliders under the action of the spring A, and the ballast block is thrown out, and at this time, the ballast block moves upward under the action of the spring force of the four springs A above the ballast block and the buoyancy of the floating ball;

[0026] However, if the underwater vehicle encounters severe sea conditions at this time and still cannot successfully float up, the emergency buoy floating device will be triggered, and the electric push rod will push the rack to the left, and the gear meshing with the rack will rotate clockwise, thereby driving the shaft to rotate, and then driving the cam turntable above to move clockwise, and at the same time, the cylindrical pin that matches the arc keyway of the cam turntable moves along the arc keyway trajectory, thereby driving the two clamping plates to move toward each other on the side plate slide rails. When the clamping hook is opened to a certain distance, the connecting frame is separated from the constraint of the clamping hook, and the data cabin is pushed out under the elastic force of the data cabin spring, and then under the buoyancy of the float, the data cabin floats to the water surface, successfully completing the dumping, and effectively ensuring the integrity and safety of the data.

[0027] For any details not provided in the present invention, please refer to the prior art.

[0028] The beneficial effects of the present invention are:

[0029] 1. The present invention utilizes the release mechanism of the self-locking buckle and the self-locking hook to realize the dumping of the ballast block and the emergency floating rescue of the data cabin. The self-locking of the buckle and the slider is completed by pressing the dumping device, that is, when installing the ballast block, align the buckle with the two sliders in the horizontal groove of the ballast block and press downward. During the pressing process, the four springs A are gradually compressed. After the buckle hits the slider downward, the two sliders move to both sides until the buckle moves downward for a distance. The two sliders rebound back to their original positions due to the springs B in the horizontal groove. At this time, stop pressing and the ballast block completes self-locking. The structure of the dumping device is greatly simplified, thereby reducing the difficulty of installing the device. In addition, the rotation angle of the buckle is directly driven by the motor, which simplifies the structural composition and provides strong reliability for the realization of the dumping action.

[0030] 2. The present invention utilizes an electric push rod to drive the gear rack structure, thereby driving the rotation of the cam turntable, and then the two clamping plates are separated by the movement of the cylindrical pin in the arc keyway, and then the clamping hooks are separated, which can realize the rapid and stable release of the emergency float floating device, and utilizes the self-locking principle when the electric push rod stops working, which greatly improves the safety and reliability of the device and prevents the device from accidentally throwing loads (when the electric push rod is not powered on, it has a certain self-locking property, and the two clamping hooks will not become loose). Both devices use a spring structure. When the underwater vehicle encounters a complex environment such as being stuck in mud or entangled by aquatic plants, the recoil force of the data cabin spring or spring A can, to a certain extent, free the device from the harsh environment. When the device is stuck in mud or entangled by aquatic plants, the load-releasing device is triggered first, and spring A gives the underwater vehicle an upward instantaneous recoil force to free the underwater vehicle from the entanglement of aquatic plants or the restraint of mud. If the underwater vehicle still cannot get out of the predicament at this time, the emergency buoy floating device is triggered, and under the action of the upward instantaneous recoil force of the data cabin spring, the data cabin is freed from the restraint, thereby achieving the successful floating of the device under the action of the buoyancy of the buoy. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings in the specification, which constitute a part of the present application, are used to provide further understanding of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and do not constitute improper limitations on the present application.

[0032] Figure 1 It is a schematic diagram of the overall structure of the underwater vehicle emergency load jettisoning and rescue device of the present invention;

[0033] Figure 2 It is a schematic diagram of the structure of the dumping device of the present invention;

[0034] Figure 3 is a cross-sectional view of the dumping device of the present invention;

[0035] Figure 4 It is a front view of the emergency floating ball floating device of the present invention;

[0036] Figure 5 It is a partial right side view of the emergency float ball floating device of the present invention;

[0037] Figure 6 It is a partial rear view of the emergency floating ball floating device of the present invention;

[0038] Figure 7 It is a partial left view of the emergency buoy floating device of the present invention when it is released;

[0039] Figure 8 It is a schematic diagram of the three-dimensional structure of the emergency floating ball floating device of the present invention;

[0040] Fig. 9 It is a schematic diagram of the buckle structure of the present invention;

[0041] Fig.10 It is a schematic diagram of the cam rotating disk structure of the present invention;

[0042] In the figure, 1-emergency buoy floating device, 2-underwater vehicle, 3-loading device, 4-motor, 5-support frame, 6-support cylinder, 7-connecting shaft, 8-rolling bearing A, 9-mounting plate, 10-spring A, 11-square groove, 12-slider, 13-clip, 14-ballast block, 15-data cabin, 16-float, 17-guide cylinder, 18-cross plate, 19-connecting frame, 20-hook, 21-side plate, 22-clamp, 23-cam turntable, 24-rotating shaft, 25-rack, 26-cylindrical pin, 27-electric push rod body, 28-data cabin spring, 29-rear baffle, 30-gear, 31-rolling bearing B, 32-guide seat, 33-electric push rod cylinder, 34-push rod bottom mounting seat, 35-bottom plate, 36-mounting groove, 37-guide rail. DETAILED DESCRIPTION

[0043] In order to enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of the present invention are clearly and completely described below in conjunction with the drawings in the implementation of this specification, but are not limited to this. Anything not fully described in the present invention shall be based on the conventional technology in the art.

[0044] Example 1

[0045] An underwater vehicle emergency jettisoning and rescue device comprises an emergency buoyancy ball floating device 1, an underwater vehicle 2 and a jettisoning device 3;

[0046] The emergency buoy floating device 1 is fixedly installed above the underwater vehicle 2, and the jettisoning device 3 is installed below the underwater vehicle 2; the jettisoning device 3 is provided with a snap self-locking structure to realize jettisoning; the emergency buoy floating device 1 is provided with a clip hook self-locking structure, which can realize the rapid and stable release of the emergency buoy floating device.

[0047] Example 2

[0048] An underwater vehicle emergency jettisoning rescue device, as described in Example 1, except that Figure 2 As shown, the ejection device 3 includes a motor 4, a support tube 6, a connecting shaft 7, a mounting plate 9, a support frame 5, a buckle 13 and a ballast block 14. The motor 4 is fixed on the mounting plate 9 through the support tube 6. The rotating shaft of the motor 4 is fixedly connected to one end of the connecting shaft 7, and the other end of the connecting shaft 7 is fixedly connected to the upper end of the buckle 13. A through hole is provided at the center of the mounting plate 9, and the connecting shaft 7 passes through the through hole below. A rolling bearing A 8 is provided at the contact point of the mounting plate 9 with the connecting shaft. The outer ring of the rolling bearing A8 is interference fit in the middle of the mounting plate 9, and the inner ring is matched with the connecting shaft 7. The function of the rolling bearing A8 is to reduce the radial deformation of the connecting shaft and enhance the rigidity, while also reducing the axial offset of the connecting shaft to a certain extent.

[0049] The mounting plate 9 is fixedly connected to the support frame 5, and the upper end of the support frame 5 is fixedly connected to the main body of the underwater vehicle 2 by bolts; four springs A 10 are installed between the mounting plate 9 and the ballast block 14, and the upper end of the spring A 10 is fixedly connected to the mounting plate 9, and the lower end is in contact with the ballast block 14;

[0050] A square groove 11 is arranged in the middle above the ballast block 14, and two horizontal grooves in the horizontal direction are arranged in the square groove 11. A rectangular track is provided inside the two horizontal grooves, and a slider 12 and a spring B are arranged in sequence inside the rectangular track. The bottom of the buckle 13 is a semi-disc structure, and the slider 12 is provided with a downward arc from one end of the buckle. When the ballast block is installed, the mounting plate 9 first contacts with the four springs A 10 and moves downward against the spring force. At the same time, the connecting shaft 7 and the buckle 13 move downward and touch the slider 12. The slider 12 is subjected to an oblique downward force due to the arc structure of the outer shape. The slider 12 moves inward through the square track, and then the buckle 13 moves downward until the semi-disc structure reaches below the two sliders. The slider returns to its original position due to the spring force of the spring B. At this time, the spring A 10 between the mounting plate 9 and the ballast block 14 is in a compressed state, and the buckle cannot return to its position due to the slider, and the ballast block 14 is successfully installed.

[0051] like Fig. 9 As shown, the width d of the buckle is smaller than the distance between the two sliders when the spring force of the spring B returns to the original position. When the buckle 13 rotates 90° under the action of the motor 4, the buckle 13 can be freed from the constraints of the two sliders and release the ballast block under the action of the spring Aα10;

[0052] The bottom of the ballast block 14 is streamlined in arc shape. Due to the streamlined arc shape design below the ballast block 14, the resistance between the ballast block 14 and the seawater can be greatly reduced, so that the underwater vehicle can be quickly lowered to the working position. At the same time, when dumping, the ballast block can also be quickly separated, so that the device can float in a relatively short time.

[0053] Example 3

[0054] An underwater vehicle emergency jettisoning rescue device, as described in Example 2, except that Figures 4 to 7 As shown, the emergency buoy floating device 1 includes a data cabin 15, a buoy 16, a guide cylinder 17, a bottom plate 35, a cross plate 18, a connecting frame 19, a clamping hook 20, a cam turntable 23, a rotating shaft 24, a rack 25, a gear 30, a cylindrical pin 26, an electric push rod, a guide seat 32 and a rolling bearing B 31. The bottom plate 35 is fixedly installed above the underwater vehicle 2 by bolts, and the electric push rod is installed on the bottom plate 35 through a push rod bottom mounting seat 34. The electric push rod includes an electric push rod cylinder 33 and an electric push rod rod body 27 that are connected to each other. One side of the electric push rod cylinder 33 is fixedly installed on the bottom plate 35 through a guide seat 32, and the electric push rod is perpendicular to the side of the bottom plate. One end of the electric push rod rod body 27 is fixedly connected to the rack 25.

[0055] The rotating shaft 24 is installed in the center of the bottom plate 35 through a rolling bearing B 31. The rolling bearing B 31 is interference-fitted in the center of the bottom plate 35. The gear 30 and the cam plate 23 are installed on the rotating shaft 24. The gear 30 is located below the cam plate 23. The gear 30 meshes with the rack 25. Under the action of the electric push rod, the rotating shaft 24 can be rotated due to the meshing action of the gear 30 and the rack 25.

[0056] A vertical rear baffle 29 and two vertical side panels 21 are fixed on the bottom plate 35. The rear baffle is located at the rear end of the two side panels. A horizontal cross plate 18 is arranged on the top of the rear baffle 29 and the two side panels 21. Guide rails 37 are arranged on both side panels 21. Two clamping plates 22 are arranged between the two guide rails 37. The clamping plates 22 can move relative to or towards each other in the guide rails 37. The two clamping plates 22 are respectively fixed with an arc hook A and an arc hook B. When the arc hook A and the arc hook B are combined, they form a complete clamping hook 20. The movement of the clamping plates can drive the arc hooks A and B on the clamping plates to move relative to or towards each other.

[0057] The bottom of the two clamping plates 22 is respectively fixedly connected with a cylindrical pin 26; the cam rotating disk 23 is provided with two arc-shaped keyways of the same shape, such as Fig.10 As shown, the two arc-shaped key grooves are symmetrical with respect to the center point of the cam rotating disk, one end of the arc-shaped key groove is close to the center of the cam rotating disk, and the other end is far from the center of the cam rotating disk, and the two cylindrical pins 26 are respectively located in the two arc-shaped key grooves (notch matching), when the cam rotating disk 23 rotates, the two cylindrical pins 26 can move in the two arc-shaped key grooves respectively, so that the two cylindrical pins 26 move away from or approach each other, and then the two clamping plates 22 fixedly connected with the cylindrical pins 26 move away from or approach each other, when the two clamping plates 22 are closest to each other, the arc-shaped hook A and the arc-shaped hook B are combined to form a complete clamping hook 20, and the clamping hook 20 will lock the connecting frame 19 when it is combined, and at this time, the two cylindrical pins are located at a position closer to the center of the cam rotating disk;

[0058] A circular through hole is provided in the middle of the transverse plate 18, and a connecting frame 19 is provided at the bottom of the transverse plate 18. The connecting frame 19 is a rectangular frame structure. The arc hook A and the arc hook B can pass through the hole of the rectangular frame structure, and the connecting frame 19 is locked when the clamping hooks are combined; the connecting frame 19 is fixed under the data cabin, and passes through the circular through hole in the transverse plate for a distance, and is interlocked with the clamping hook 20 below. At this time, the data cabin spring 28 is in a compressed state. Since the connecting frame 19 is locked, the spring cannot be reset and a rebound force is generated, so that the emergency float floating device is successfully installed.

[0059] A guide cylinder 17 and a data cabin 15 are installed above the horizontal plate 18. A floating ball 16 is mounted on the data cabin 15. A data cabin spring 28 is arranged inside the guide cylinder 17. The diameter of the data cabin spring 28 is smaller than the diameter of the guide cylinder 17, and the diameter of the data cabin spring 28 is larger than the diameter of the circular through hole in the horizontal plate. One end of the data cabin spring 28 is connected to the inside of the guide cylinder 17, and the other end is connected to the horizontal plate 18. When the connecting frame 19 is locked, the data cabin spring 28 is in a compressed state. When the clamping hook 20 is separated, the connecting frame 19 can break away from the clamping hook 20 and move upward under the force of the data cabin spring 28, thereby giving the data cabin 15 an upward force, so that the floating ball 16 floats up quickly. The function of the data cabin spring 28 is that when the emergency floating ball device is triggered, the connecting frame breaks away from the clamping hook constraint, and the data cabin spring is released, thereby giving the data cabin an upward force, so that the floating ball floats up quickly, improving the rescue efficiency, and thus effectively protecting the safety of the data.

[0060] The matching part of arc hook A and arc hook B is concave-convex matching, arc hook A has a convex part in the middle of the upper part, and the other arc hook B has a concave part in the middle of the upper part. When the two clamps are combined, the concave and convex parts of the two clamp hooks complement each other to prevent the occurrence of gaps due to the loosening of the clamp hooks, which may cause the occurrence of mis-loading. When the emergency float flotation device is released, the two cylindrical pins move with the arc keyway shape of the cam turntable until the two cylindrical pins are located at the keyway position far away from the center of the cam turntable, and the cylindrical pins stop sliding. In this process, the clamp hooks also move towards each other until the connecting frame is freed from its constraint, and the data cabin completes the floating with the help of the data cabin spring rebound force.

[0061] The rear baffle is installed in the installation groove 36 of the bottom plate, and the rear baffle is connected to the side plate and the cross plate by bolts.

[0062] Example 4

[0063] A working method of an underwater vehicle emergency jettisoning and rescue device, when an underwater vehicle 2 encounters an emergency and needs to float, a control command is sent through a wireless communication module to trigger a jettisoning device 3, and a motor 4 of the jettisoning device rotates 90°, then a connecting shaft 7 and a buckle 13 rotate 90° together, and because a width d of the buckle 13 is smaller than a distance between two sliders when the spring force of a spring B returns to the original position, the buckle is freed from the constraint of the two sliders under the action of a spring A10, and a ballast block 14 is thrown out, and at this time, the ballast block 14 moves upward under the action of the spring force of four springs A10 and the buoyancy of a floating ball 16;

[0064] However, if the underwater vehicle encounters severe sea conditions at this time and still cannot successfully float, the emergency buoy floating device 1 is triggered, and the electric push rod body 27 pushes the rack 25 to move to the left. At the same time, the gear 30 meshing with the rack 25 rotates clockwise, thereby driving the rotating shaft 24 to rotate, and then driving the upper cam turntable 23 to move clockwise. At the same time, the cylindrical pin 26 matched with the arc keyway of the cam turntable 23 moves along the arc keyway trajectory, thereby driving the two clamping plates 22 to move toward each other on the side plate guide rails. When the clamping hook 20 is opened to a certain distance, the connecting frame 19 is separated from the constraint of the clamping hook 20, and the data cabin 15 is pushed out under the elastic force of the data cabin spring 28, and then under the buoyancy of the float 16, the data cabin 15 floats to the water surface, successfully completing the dumping, and effectively ensuring the integrity and safety of the data.

[0065] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. An underwater vehicle emergency jettisoning and rescue device, characterized in that: Including emergency buoyancy device, underwater vehicle and jettisoning device; The emergency buoy floating device is fixedly installed above the underwater vehicle, and the jettisoning device is installed below the underwater vehicle; the jettisoning device is provided with a snap self-locking structure to realize the jettisoning; the emergency buoy floating device is provided with a clip hook self-locking structure, which can realize the rapid and stable release of the emergency buoy floating device.

2. The underwater vehicle emergency jettisoning and rescue device according to claim 1, characterized in that: The dumping device comprises a motor, a support tube, a connecting shaft, a mounting plate, a support frame, a buckle and a ballast block. The motor is fixed to the mounting plate through the support tube. The rotating shaft of the motor is fixedly connected to one end of the connecting shaft, and the other end of the connecting shaft is fixedly connected to the upper end of the buckle. A through hole is provided at the center of the mounting plate, and the connecting shaft passes through the through hole below. A rolling bearing A is provided at the mounting plate at a contact point with the connecting shaft. The outer ring of the rolling bearing A is interference-fitted in the middle of the mounting plate, and the inner ring is matched with the connecting shaft. The mounting plate is fixedly connected to the support frame, and the upper end of the support frame is fixedly connected to the main body of the underwater vehicle; four springs A are installed between the mounting plate and the ballast block, and the upper end of the spring A is fixedly connected to the mounting plate, and the lower end is in contact with the ballast block; A square groove is provided in the middle above the ballast block, and two horizontal grooves in the square groove are provided in the horizontal direction. A rectangular track is provided inside the two horizontal grooves, and a slider and a spring B are provided inside the rectangular track in sequence. The bottom of the buckle is a semi-disc structure, and a downward arc is provided at one end of the slider away from the buckle. When the ballast block is installed, the mounting plate first contacts with four springs A and moves downward against the spring force. At the same time, the connecting shaft and the buckle move downward and touch the slider. The slider is subjected to an oblique downward force due to the arc-shaped structure of the outer shape, and the slider moves inward through the square track. Then the buckle moves downward until the semi-disc structure reaches under the two sliders. The slider returns to its original position due to the spring force of the spring B. At this time, the spring A between the mounting plate and the ballast block is in a compressed state, and the buckle cannot return to its position due to the slider, and the ballast block is successfully installed.

3. The underwater vehicle emergency jettisoning and rescue device according to claim 2, characterized in that: The width d of the buckle is smaller than the distance between the two sliders when the spring force of spring B returns to its original position. When the buckle rotates 90° under the action of the motor, the buckle can break away from the constraints of the two sliders and release the ballast block under the action of spring A.

4. The underwater vehicle emergency jettisoning and rescue device according to claim 3, characterized in that: The bottom of the ballast block is arc-shaped and streamlined.

5. The underwater vehicle emergency jettisoning and rescue device according to claim 4, characterized in that: The emergency buoy floating device includes a data cabin, a buoy, a guide cylinder, a bottom plate, a cross plate, a connecting frame, a clamping hook, a cam turntable, a rotating shaft, a rack, a gear, a cylindrical pin, an electric push rod, a guide seat and a rolling bearing B. The bottom plate is fixedly installed above the underwater vehicle, and the electric push rod is installed on the bottom plate through the push rod bottom mounting seat. The electric push rod includes an electric push rod cylinder and an electric push rod rod body that are connected to each other. One side of the electric push rod cylinder is fixedly installed on the bottom plate through the guide seat, and one end of the electric push rod rod body is fixedly connected to the rack; A rotating shaft is installed in the center of the bottom plate through a rolling bearing B, and a gear and a cam turntable are installed on the rotating shaft. The gear is located below the cam turntable, and the gear is meshed with the rack. Under the action of the electric push rod, the rotating shaft can be rotated due to the meshing action of the gear and the rack; A vertical rear baffle and two vertical side panels are fixed on the bottom plate, the rear baffle is located at the rear end of the two side panels, and a horizontal cross plate is arranged on the top of the rear baffle and the two side panels. Guide rails are arranged on both side panels, and two clamping plates are arranged between the two guide rails. The clamping plates can move relative to or towards each other in the guide rails, and arc hooks A and arc hooks B are fixed on the two clamping plates respectively, and arc hooks A and arc hooks B form a complete clamping hook when combined; The bottom of the two clamping plates are respectively fixedly connected with a cylindrical pin; the cam rotating disk is provided with two arc-shaped key grooves of the same shape, the two arc-shaped key grooves are centrally symmetrical with respect to the center point of the cam rotating disk, one end of the arc-shaped key groove is close to the center of the cam rotating disk, and the other end is far from the center of the cam rotating disk, and the two cylindrical pins are respectively located in the two arc-shaped key grooves. When the cam rotating disk rotates, the two cylindrical pins can move in the two arc-shaped key grooves respectively, so that the two cylindrical pins move away from or approach each other, and then the two clamping plates fixedly connected with the cylindrical pins move away from or approach each other. When the distance between the two clamping plates is the shortest, the arc-shaped hook A and the arc-shaped hook B merge to form a complete clamping hook; A circular through hole is provided in the middle of the horizontal plate, and a connecting frame is provided at the bottom of the horizontal plate. The connecting frame is a rectangular frame structure. The arc hook A and the arc hook B can pass through the hole of the rectangular frame structure. When the clamping hooks are combined, the connecting frame is locked; A guide cylinder and a data cabin are installed above the transverse plate, a float is arranged on the data cabin, a data cabin spring is arranged inside the guide cylinder, the diameter of the data cabin spring is smaller than the diameter of the guide cylinder, and the diameter of the data cabin spring is larger than the diameter of the circular through hole in the transverse plate, one end of the data cabin spring is connected to the inside of the guide cylinder, and the other end is connected to the transverse plate, when the connecting frame is locked, the data cabin spring is in a compressed state, when the clamping hook is separated, the connecting frame can break away from the clamping hook constraint and move upward under the action of the data cabin spring, thereby giving an upward force to the data cabin and causing the float to float up quickly.

6. The underwater vehicle emergency jettisoning and rescue device according to claim 5, characterized in that: The matching part between the arc-shaped hook A and the arc-shaped hook B is concave-convex matching.

7. The underwater vehicle emergency jettisoning and rescue device according to claim 6, characterized in that: The rear baffle is installed in the installation groove of the bottom plate, and the rear baffle is connected with the side plate and the cross plate by bolts.

8. A working method of the underwater vehicle emergency jettisoning and rescue device according to claim 6, characterized in that: When the underwater vehicle encounters an emergency and needs to float, the wireless communication module sends a control command to trigger the jettisoning device. The motor of the jettisoning device rotates 90°, and the connecting shaft and the buckle rotate 90° together. Since the width d of the buckle is smaller than the distance between the two sliders when the spring force of the spring B returns to the original position, the buckle is freed from the constraint of the two sliders under the action of the spring A, and the ballast block is thrown out. At this time, the ballast block moves upward under the action of the spring force of the four springs A above the ballast block and the buoyancy of the floating ball; However, if the underwater vehicle encounters severe sea conditions at this time and still cannot successfully float up, the emergency buoy floating device will be triggered, and the electric push rod will push the rack to the left, and the gear meshing with the rack will rotate clockwise, thereby driving the shaft to rotate, and then driving the cam turntable above to move clockwise, and at the same time, the cylindrical pin that matches the arc keyway of the cam turntable moves along the arc keyway trajectory, thereby driving the two clamping plates to move toward each other on the side plate slide rails. When the clamping hook is opened to a certain distance, the connecting frame is separated from the constraint of the clamping hook, and the data cabin is pushed out under the elastic force of the data cabin spring, and then under the buoyancy of the float, the data cabin floats to the water surface, and the dumping is successfully completed.

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