Built-in UUV cable separating device

Abstract

The invention relates to the technical field of underwater vehicles, in particular to a built-in UUV cable separating device which comprises a linear driving assembly, a female head and a male head, the linear driving assembly is arranged in a water-free cabin of a UUV, and the output end of the linear driving assembly penetrates out of the cabin wall of the UUV and then is connected with a push plate; the female head is arranged in a mounting hole of a cabin wall, and the connecting end is positioned outside the water-free cabin; the connecting end of the male head penetrates through a through groove formed in the push plate and then is in butt joint with the female head, the other end of the male head is used for being connected with an anchor system, a supporting rod is arranged on the male head, and a pressing rod is hinged to the supporting rod. The linear driving assembly drives the push plate to move, so that the push plate pushes the male head to be separated from the female head, or the push plate is driven to clamp the pressing rod between the push plate and the bulkhead, connection and separation of the UUV cable are achieved, the whole structure is simple, and it can be guaranteed that the clamped cable has large pre-tightening force.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater vehicles, and particularly relates to an in-built UUV cable separation device. Background Art

[0002] In deep-sea exploration research projects, experimental equipment is sunk to the seabed, and the experimental equipment is connected to an anchor system through a cable capable of withstanding tension. Figure 7 As shown in the schematic diagram of the UUV lurking in water, when recovering the equipment, the anchor needs to be discarded, and the UUV floats to the water surface for recovery.

[0003] In the existing method, for equipment staying underwater for a long time, during recovery, a set of acoustic release devices are used for release. However, the acoustic release devices need to receive the transmitted acoustic wave signals from the sea surface. After the acoustic release devices receive the signals, the closed rings will be separated, so that the rope of the anchor system is separated from the acoustic release devices. For the experimental equipment for underwater detection, it needs to communicate with the UUV, that is, the experimental equipment and the UUV need to be plugged in through the male and female connectors of the cable. Therefore, when recovering the UUV, since the existing acoustic release devices rely on the buoyancy of the equipment and the gravity of the anchor system to separate them, when the gravity and buoyancy are not sufficient to separate the male and female connectors of the UUV and the anchor system, that is, the existing acoustic release devices cannot be used for cable separation.

[0004] Therefore, there is a need to provide an in-built UUV cable separation device to solve the above problems. Summary of the Invention

[0005] The present invention provides an in-built UUV cable separation device to solve the existing problems.

[0006] The in-built UUV cable separation device of the present invention adopts the following technical solutions, including: A linear drive assembly, which is arranged in the dry cabin of the UUV, and its output end passes through the cabin wall of the UUV and is connected with a push plate; A female connector, which is arranged on the cabin wall, and its connection end is located outside the dry cabin; A male connector, whose connection end passes through the through groove arranged on the push plate and is docked with the female connector, and the other end is used for connecting the anchor system, and a clamping part and a limiting part are arranged on the male connector; Wherein, the linear drive assembly is used to drive the push plate to push the limiting part to move so that the male connector is separated from the female connector, or to drive the push plate to clamp the clamping part between the push plate and the cabin wall.

[0007] Preferably, the linear drive assembly includes: A motor, whose fixed end is fixed in the dry cabin, and its output end is connected with a speed reducer; And a lead screw nut assembly, whose input end is connected with the output end of the speed reducer, and its output end passes through the cabin wall of the UUV and is connected with the push plate.

[0008] Preferably, the screw nut assembly comprises: A lead screw is connected to the output end of the reducer and a nut is provided on the lead screw; And a push rod, the axis of which is parallel to the axis of the lead screw, one end of which is connected to the nut, and the other end of which is connected to the push plate after passing through the bulkhead.

[0009] Preferably, an annular support disk is provided on the outer periphery of the nut, wherein the end of the push rod is fixedly connected to the annular support disk.

[0010] Preferably, the limiting portion comprises: an annular baffle is arranged on the outer periphery of the male head, wherein the diameter of the annular baffle is larger than the through slot on the push plate.

[0011] Preferably, the clamping part includes: at least two support rods, which are arranged on the side of the annular baffle facing the female head, and the end of the support rod facing away from the annular baffle is hinged with a clamping rod, wherein the linear drive assembly is used to drive the push plate to clamp the clamping rod between the push plate and the bulkhead.

[0012] Preferably, a cable separation groove is provided at the bottom of the UUV cabin, and the cable separation groove is located on one side of the waterless cabin. The output end of the linear drive assembly horizontally passes through the cabin wall of the waterless cabin and then enters the cable separation groove.

[0013] Preferably, the female connector is installed in a mounting hole on the bulkhead, and the connecting end of the female connector is located in the cable separation slot.

[0014] Preferably, one end of the male connector is used to connect to the female connector, and the other end of the male connector is used to connect to the anchor system and the experimental equipment on the anchor system through a cable.

[0015] Preferably, a sealing ring is provided between the push rod and the push rod hole on the bulkhead.

[0016] The beneficial effects of the present invention are: The present invention provides a limiting portion and a clamping portion on the male head, and provides a driving component and a push plate. The driving component drives the push plate to push the male head and the female head to separate, or drives the push plate component to clamp the clamping portion of the male head component between the push plate and the bulkhead, thereby realizing the connection, clamping and separation of the underwater anchored cable, that is, when clamping, the male head and the female head are avoided from being separated, and when separating, the driving component actively drives the male head and the female head of the cable to separate. The present invention is aimed at UUVs or other equipment lurking in the water for a long time. It can complete the two functions of cable connection, clamping and separation by relying on a single driving component and a simple mechanical structure. The whole structure is simple and can ensure that there is a large pre-tightening force in the cable after clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of an embodiment of an in - built UUV cable separation device of the present invention; Figure 2 It is a schematic diagram of the female head and the hinge mechanism thereon in the embodiment of the present invention; Figure 3 It is a first - state diagram of an in - built UUV cable separation device of the present invention; Figure 4 It is a second - state diagram of an in - built UUV cable separation device of the present invention; Figure 5 It is a third - state diagram of an in - built UUV cable separation device of the present invention; Figure 6 It is a fourth - state diagram of an in - built UUV cable separation device of the present invention; Figure 7 It is a schematic diagram of the UUV lurking in water; Figure 8 It is a schematic diagram of an in - built UUV cable separation device of the present invention inside the UUV.

[0019] In the figure: 1. Motor; 2. Reducer; 3. Nut; 4. Lead screw; 5. Push rod; 6. Female head; 7. Bulkhead; 8. Push plate; 9. Male compression rod; 10. Male head; 11. Annular retaining disc; 12. Dry cabin; 13. Seawater; 14. UUV; 15. Cable; 16. Mooring system. Detailed implementation manners

[0020] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0021] An embodiment of an in - built UUV cable separation device of the present invention. Since the mooring system of the existing UUV only serves as an anchoring function, and the rope connecting the mooring system and the UUV only serves as a connection between the UUV and the mooring system, for experimental equipment that needs to conduct underwater detection, it needs to communicate with the UUV, that is, the experimental equipment and the UUV need to be plugged in through the male and female connectors of the cable. Therefore, when recovering the UUV, since the existing acoustic release relies on the buoyancy of the equipment and the gravity of the mooring system to separate them, when the gravity and buoyancy are not sufficient to separate the male and female connectors of the UUV and the mooring system, that is, the existing acoustic release cannot be used for cable separation. Therefore, this embodiment provides an in - built UUV cable separation device, as Figure 1 and Figure 8 shown, including: a linear drive assembly, a female connector 6 and a male connector 10. The linear drive assembly is horizontally arranged in the dry cabin 12 of the UUV 14 (underwater vehicle), as Figure 8 shown. A cable separation groove is provided at the bottom of the UUV 14 (underwater vehicle), and the cable separation groove is located on one side of the dry cabin 12. The output end of the linear drive assembly horizontally passes through the cabin wall 7 of the UUV 14 and enters the cable separation cabin and is connected with a push plate 8; the female connector 6 is arranged in the mounting hole of the cabin wall 7, and the connection end of the female connector 6 is located outside the dry cabin 12; the connection end of the male connector 10 passes through the through - slot provided on the push plate 8 and is docked with the female connector 6. The other end of the male connector 10 is used to connect with the mooring system 16 through a cable 15, and a clamping part and a limiting part are provided on the male connector 10; wherein, the linear drive assembly is used to drive the push plate 8 to push the limiting part 11 to move so that the male connector 10 is separated from the female connector 6, or is used to drive the push plate 8 to clamp the clamping part between the push plate 8 and the cabin wall 7.

[0022] Exemplarily, in a specific embodiment, the linear drive assembly includes: a motor 1 and a lead - screw nut assembly. The fixed end of the motor 1 is fixed in the dry cabin 12, and the output end of the motor 1 is connected with a speed reducer 2; the input end of the lead - screw nut assembly is connected with the output end of the speed reducer 2, and the output end of the lead - screw nut assembly passes through the cabin wall 7 of the UUV 14 and is connected with the push plate 8.

[0023] Among them, in this embodiment, the lead - screw nut assembly includes: a lead - screw 4 and a push rod 5. The lead - screw 4 is connected to the output end of the speed reducer 2, and a nut 3 is arranged on the lead - screw 4; the axis of the push rod 5 is parallel to the axis of the lead - screw 4, and one end of the push rod 5 is connected to the nut 3, and the other end of the push rod 5 passes through the cabin wall 7 and is connected with the push plate 8.

[0024] Exemplarily, in a specific embodiment, in order to facilitate the fixation of the push rod, an annular support disk is arranged on the outer circumference of the nut 3, wherein the end of the push rod 5 is fixedly connected to the annular support disk.

[0025] Exemplarily, in a specific embodiment, as Figure 2As shown, in order to facilitate the push plate 8 to push the male head 10 to separate from the female head 6, the limiting part 11 includes: an annular baffle is arranged on the outer periphery of the male head 10, wherein the diameter of the annular baffle is larger than the through groove on the push plate 8; the clamping part includes: two support rods, the support rods are arranged on the side of the annular baffle facing the female head 6, and the end of the support rod facing away from the annular baffle is hinged with a clamping rod 9, wherein the linear drive assembly is used to drive the push plate 8 to clamp the clamping rod 9 between the push plate 8 and the bulkhead 7.

[0026] Exemplarily, in a specific embodiment, in order to prevent water from entering the waterless tank 12 of the UUV 14 , a sealing ring is provided between the push rod 5 and the push rod hole on the bulkhead 7 .

[0027] For example, Figure 8 As shown, in a specific embodiment, the cable separation groove arranged at the bottom of the UUV cabin is located on one side of the waterless cabin 12, and the output end of the linear drive assembly horizontally passes through the bulkhead 7 of the waterless cabin 12 and enters the cable separation groove, the female connector 6 is installed in the mounting hole on the bulkhead 7, and the connecting end of the female connector 6 is located in the cable separation groove, one end of the male connector 10 is used to connect with the female connector 6, and the other end of the male connector 10 is used to connect with the anchor 16 and the experimental equipment on the anchor 16 through the cable 15.

[0028] Specific working principle In order to realize reliable connection and separation between the male connector 10 and the female connector 6 of the cable, the electrical structure of the male connector 10 remains unchanged, and the mechanical structure adopts a customized design. The structure of the male connector 10 is as follows: Figure 2 As shown, the hinge mechanism formed by the clamping rod 9 and the supporting rod is used for mechanical locking by using the push plate 8 and the bulkhead 7 after the male head 10 and the female head 6 are plugged in, and the annular baffle 11 is used to block the push plate 8, so that the push plate 8 pushes the annular baffle 11 to drive the male head 10 to separate from the female head 6, wherein the male head 10 is located in the sea water 13 of the cable separation groove outside the waterless tank 12.

[0029] The plugging process of male connector 1 and female connector 6 is as follows: By controlling the motor 1 to rotate forward, the motor 1 drives the reducer 2 to move, and the output end of the reducer 2 drives the lead screw 4 to rotate. The rotation of the lead screw 4 drives the nut 3 to move on the lead screw 4, so that the push rod 5 on the nut 3 extends from the bulkhead, as shown in FIG. Figure 3 As shown, the push plate 8 is driven to move away from the bulkhead 7 until a gap is left between the push plate 8 and the bulkhead 7 to clamp the clamping rod 9. At the same time, the connection between the male head 10 and the female head 6 is not affected. At this time, the connecting end of the male head 10 can be manually inserted into the female head 6, and the angle of the hinge mechanism formed by the clamping rod 9 and the support rod can be adjusted. Figure 4 As shown, the pressing rod 9 is horizontal and located between the push plate 8 and the bulkhead 7. At the same time, the motor 1 is controlled to reverse and drive the push plate 8 to move toward the direction close to the bulkhead 7. Figure 5As shown, to clamp the pressing rod 9.

[0030] The cable separation process is as follows: By controlling the operation of the motor 1, the motor 1 drives the reducer 2 to move. The output end of the reducer 2 drives the lead screw 4 to rotate. The rotation of the lead screw 4 drives the nut 3 to move on the lead screw 4, so that the push rod 5 on the nut 3 extends from the bulkhead, driving the push plate 8 to move away from the bulkhead 7 until the push plate 8 contacts the baffle 11, thereby causing the baffle 11 to move away from the bulkhead 7. At this time, the male head 10 separates from the connection end of the female head 6. At the same time, when the push plate 8 moves away from the bulkhead 7, the pressing rod 9 clamped between the push plate 8 and the bulkhead 7 is no longer clamped by the push plate 8 and the bulkhead 7. As Figure 6 shown, that is, the male head 10 detaches from the UUV 14 under the action of gravity, and the UUV 14 can float to the water surface.

[0031] The following is an explanation of this embodiment in combination with specific parameters: I. Total thrust calculation: 1. Thrust calculation to overcome water pressure: When working at a water depth of 1500 meters, the water pressure is:

[0032] In the formula, is the density of seawater; is the acceleration due to gravity; is the working water depth of the UUV.

[0033] The resistance when the push plate 8 connected to the push rod 5 pushes the baffle 11 to move, that is, the water pressure on the cross-sectional area of the two push rods 5 is:

[0034] In the formula, is the cross-sectional area of the push rod 5.

[0035] The thrust of the push rod 5 to overcome the water pressure of the cable is:

[0036] In the formula: S 2 is the cross-sectional area of the cable.

[0037] 2. Thrust calculation to overcome frictional resistance For the push rod 5 with a diameter of 6 mm, the frictional resistance between the sealing ring on the push rod 5 and the wall of the push rod hole is estimated:

[0038] In the formula: is the friction coefficient between the sealing ring material and the wall of the push rod hole, ; is the outer diameter of the sealing ring,

[0039] is the wire diameter of the sealing ring, ; is the Poisson's ratio of the sealing ring material, ; is the compression rate of the sealing ring, ; is the elastic modulus of the sealing ring, ; is the pressure at a water depth of 1500m.

[0040] 3. Calculation of the total push rod force: The pressure to be overcome at a water depth of 1500 is:

[0041] The total frictional resistance of the sealing ring is:

[0042] Then the total push rod force is:

[0043] The total thrust required for the motor to drive the push rod to move is 8715.44N, and S is the safety factor, taking 1.3, so that .

[0044] II. Selection of the linear drive component 2.1 Motor selection: Use a DC motor EC45 disc type to provide the driving force, and the motor parameters are shown in Table 1.

[0045] Table 1 Motor parameter table

[0046] 2.2 Calculation of the maximum motor torque is as follows:

[0047] In the formula: Mmax is the maximum continuous torque of the motor; is the transmission ratio of the reducer, i = 66; is the transmission efficiency of the reducer, ; is the transmission efficiency of the motor, .

[0048] 2.3 Reducer selection Select a gear reducer that meets the requirements. The parameters of the gear reducer are shown in Table 2.

[0049] Table 2 Gear Reducer Parameter Table

[0050] 2.4. Selection of Ball Screw Nut Mechanism Select a screw nut assembly. The screw nut assembly adopts a ball screw nut structure. The parameters of the ball screw nut structure are shown in Table 3.

[0051] Table 3

[0052] Then the final thrust output by the motor is:

[0053] In the formula: is the maximum thrust of the screw; is the lead of the screw, ; is the transmission efficiency of the ball screw nut mechanism, ; The maximum thrust that can be generated by selecting this type of motor is 13536.54 N, which is greater than the required 11330 N for the push rod. Therefore, selecting this motor meets the requirements.

[0054] The running speed of the push rod is .

[0055] 2.5. Nut Stroke Design In order to achieve reliable insertion and detachment of the male head, the nut stroke is designed to be 60 mm.

[0056] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A built-in UUV cable separation device, characterized in that: include: The linear drive assembly is arranged in the waterless cabin of the UUV, and its output end passes through the cabin wall of the UUV and is connected to a push plate; A female connector, which is mounted on the bulkhead and has a connection end outside the waterless tank; The male connector has a connection end that passes through a through slot provided on the push plate and docks with the female connector, and the other end is used to connect the anchor system, and a clamping portion and a limiting portion are provided on the male connector; The linear drive assembly is used to drive the push plate to push the limiting part to move so that the male head is separated from the female head, or to drive the push plate to clamp the clamping part between the push plate and the bulkhead.

2. A built-in UUV cable separation device according to claim 1, characterized in that: The linear drive assembly includes: A motor, a fixed end of which is fixed in the waterless tank and an output end of which is connected to a reducer; And a lead screw nut assembly, the input end of which is connected to the output end of the reducer, and the output end of which passes through the bulkhead of the UUV and is connected to the push plate.

3. A built-in UUV cable separation device according to claim 2, characterized in that: The screw nut assembly includes: A lead screw is connected to the output end of the reducer and a nut is provided on the lead screw; And a push rod, the axis of which is parallel to the axis of the lead screw, one end of which is connected to the nut, and the other end of which is connected to the push plate after passing through the bulkhead.

4. The built-in UUV cable separation device according to claim 3 is characterized in that: An annular support disk is arranged on the outer periphery of the nut, wherein the end of the push rod is fixedly connected to the annular support disk.

5. The built-in UUV cable separation device according to claim 1, characterized in that: The limiting part includes: An annular baffle is arranged on the outer periphery of the male head, wherein the diameter of the annular baffle is larger than the through slot on the push plate.

6. A built-in UUV cable separation device according to claim 5, characterized in that: The clamping part includes: At least two support rods are arranged on the side of the annular baffle facing the female head, and the end of the support rod facing away from the annular baffle is hinged with a clamping rod, wherein the linear drive assembly is used to drive the push plate to clamp the clamping rod between the push plate and the bulkhead.

7. The built-in UUV cable separation device according to claim 1, characterized in that: A cable separation groove is provided at the bottom of the UUV cabin, and the cable separation groove is located on one side of the waterless cabin. The output end of the linear drive assembly horizontally passes through the wall of the waterless cabin and enters the cable separation groove.

8. The built-in UUV cable separation device according to claim 7, characterized in that: The female connector is installed in the mounting hole on the bulkhead, and the connecting end of the female connector is located in the cable separation slot.

9. The built-in UUV cable separation device according to claim 8, characterized in that: One end of the male connector is used to connect to the female connector, and the other end of the male connector is used to connect to the anchor system and the experimental equipment on the anchor system through a cable.

10. The built-in UUV cable separation device according to claim 3, characterized in that: A sealing ring is arranged between the push rod and the push rod hole on the bulkhead.

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