Special underwater multi-stage load discarding device and operation method thereof

Abstract

The invention relates to a special underwater multi-stage load discarding device and an operation method thereof. The special underwater multi-stage load discarding device comprises a mounting base, a locking and releasing rotating shaft is arranged in the mounting base, a bearing seat is cooperatively mounted in the mounting base, a bearing body is mounted on the bearing seat, and the bearing body is matched with the root of the locking and releasing rotating shaft; an electric cylinder is fixed on the inner wall surface of the mounting base, a rack guide rail is arranged on the mounting base on the opposite side of the electric cylinder, an incomplete rack is mounted on the rack guide rail, the incomplete rack is meshed with a gear, the gear sleeves the root position of the locking and releasing rotating shaft, and the output end of the electric cylinder is fixed with the incomplete rack through a fastener; the multiple ballast blocks are sequentially installed on the locking and releasing rotating shaft from bottom to top in a matched mode, guide holes are formed in the four corners of each ballast block respectively, the guide rods are inserted into the guide holes from top to bottom, the electric cylinder drives the executing mechanism to drive the rotating shaft to rotate, multi-stage releasing of the multiple ballast blocks is completed, the system is simplified, the structure is compact, and the structure is compact. The space utilization rate is high.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater manned / unmanned system jettisoning devices, and in particular to a dedicated underwater multi-stage payload jettisoning device and an operating method thereof. Background Art

[0002] With the acceleration of ocean access, exploration, and development, the development of underwater manned and unmanned systems is accelerating, with a wide variety of underwater manned and unmanned systems and equipment emerging one after another. Underwater systems carry heavy payloads and jettison them when necessary to adjust their buoyancy underwater, a crucial means of achieving dives, hovers, and ascents.

[0003] The common load jettisoning devices used in existing underwater systems are mainly electromagnetic and fuse-type. The electromagnetic type has no locking function and may detach without command when the platform tilts at a large angle or swings widely, resulting in low stability and reliability. The fuse-type jettisoning device takes a long time to operate and is greatly affected by factors such as seawater temperature, salinity, water quality, installation location, fuse material, and fuse processing technology. Furthermore, the fuse component must be replaced each time it is released, increasing the complexity of the operation. Furthermore, due to space constraints, most existing load jettisoning devices are single-stage and cannot meet the requirements of multi-stage, fine buoyancy adjustment. Summary of the Invention

[0004] In response to the problems in the above-mentioned existing production technology, such as low stability and reliability of the payload jettisoning device, long time consumption, complicated operation, single-stage jettisoning failing to meet mission requirements, and large space occupation of multi-stage jettisoning, the applicant provides a dedicated underwater multi-stage payload jettisoning device and an operation method thereof, which is applicable to underwater manned / unmanned systems, meets use requirements, and has good working reliability.

[0005] The technical solutions adopted in the present invention are as follows: A dedicated underwater multi-stage payload jettisoning device comprises a mounting base having a hollow interior. A locking and releasing shaft is cooperatively mounted within the mounting base, extending from the mounting base to the exterior. A bearing seat is cooperatively mounted within the mounting base, a bearing body is mounted on the bearing seat, and the bearing body matches the root of the locking and releasing shaft. An electric cylinder is fixed to the inner wall of the mounting base, a rack guide is provided on the mounting base on the opposite side of the electric cylinder, an incomplete rack is mounted on the rack guide, the incomplete rack meshes with a gear, and the gear is sleeved at the root of the locking and releasing shaft. The output end of the electric cylinder is fixed to the incomplete rack via a fastener. A plurality of ballast blocks are sequentially mounted on the locking and releasing shaft from bottom to top. A guide hole is respectively opened at the four corners of each ballast block, and a guide rod is inserted into each guide hole from top to bottom.

[0006] Its further technical solution is: There are three ballast blocks, which are respectively the first ballast block, the second ballast block and the third ballast block from bottom to top.

[0007] The structure of the first ballast block is as follows: it includes a first through hole opened at the center of the first ballast block, a first annular hole pair opened axially and concentrically with the first through hole, a countersunk hole opened at the lower center of the first ballast block, and the aperture of the countersunk hole is equal to the outer diameter of the first annular hole pair; second through holes for installing guide rods are respectively opened at the four corners of the first ballast block.

[0008] The central angle of the first annular hole pair of the first ballast block is 30°, the second annular hole pair is opened at the center of the second ballast block, the central angle of the second annular hole pair is 60°, and the third annular hole pair is opened at the center of the third ballast block, the central angle of the third annular hole pair is 90°.

[0009] The structure of the locking and releasing shaft is as follows: it includes a large load-bearing end surface installed inside the mounting base, and the bottom of the large load-bearing end surface is sequentially provided with a large cylindrical section and a small cylindrical section, and the small cylindrical section is spaced apart with a first annular flange pair, a second annular flange pair and a third annular flange pair.

[0010] The first annular flange pair consists of two flanges that are arranged diagonally and are symmetrical about the axis of the locking and releasing shaft, and the central angle of the flanges is 30°.

[0011] The first annular flange pair, the second annular flange pair and the third annular flange pair are arranged alternately, with a staggered angle of 30°.

[0012] The structure of the incomplete rack is as follows: it includes a first rack segment, a first smooth segment, a second rack segment, a second smooth segment, a third rack segment and a third smooth segment arranged in sequence from one end to the other end; guide grooves are provided on both sides of the incomplete rack; the guide grooves are installed in the rack guide rail and slide along the rack guide rail; a small boss is provided at the bottom of the incomplete rack.

[0013] A first proximity switch, a second proximity switch and a third proximity switch are arranged at equal intervals on the rack guide rail. The three proximity switches correspond to the small bosses and receive proximity signals from the small bosses.

[0014] A method for operating a dedicated underwater multi-stage payload jettisoning device comprises the following steps: Preparation: Complete the installation of all components of the underwater multi-stage load dumping device except the guide rod, the first ballast block, the second ballast block, and the third ballast block. At this point, ensure that the starting point of the first rack segment is engaged with the gear. Install the third ballast block: Rotate the third ballast block 90° clockwise along the target installation posture, pass the locking and releasing shaft from bottom to top, and let the third annular hole pair pass through the first annular flange pair, the second annular flange pair, and the third annular flange pair in sequence. Then rotate it counterclockwise again 90° so that the upper surface of the third annular flange pair contacts the bottom surface of the countersunk hole of the third ballast block and is locked in the vertical upper limit position. The third ballast block is installed. Install the second ballast block: Rotate the second ballast block 60° clockwise along the target installation posture, pass it through the locking and releasing shaft from bottom to top, and the second annular hole pair passes through the first annular flange pair and the second annular flange pair in sequence, and then rotate it 60° counterclockwise. The second ballast block is installed.

[0015] As a further improvement of the above technical solution: From bottom to top, pass the locking and releasing shaft through the first annular hole pair and the first annular flange pair in sequence, and then rotate 30° counterclockwise to complete the installation of the first ballast block; Install the guide rod: From top to bottom, it passes through the second through hole of the first ballast block, the through hole of the second ballast block, and the through hole of the third ballast block in sequence; At this point the installation is complete; When it is necessary to abandon the first ballast block, the electric cylinder is started to retract, driving the incomplete rack to move along the rack guide rail. The movement of the incomplete rack will drive the rotation of the gear, and the meshing point of the two moves from the starting point of the first rack segment to the end point. Since the number of teeth on the first rack segment is 1 / 12 of the number of teeth on the gear, during this period of time, the gear will rotate 30° and drive the lock-release shaft to rotate 30°, so that the first annular flange pair is aligned with the first annular hole pair, and the vertical limit is released. Under the action of negative buoyancy in the water, the first ballast block will slide down along the guide rod. At the same time, the electric cylinder continues to retract, and the first smooth section will contact the gear, but the two are disengaged, and the lock-release shaft no longer rotates until the first proximity switch senses the proximity signal of the small boss and transmits it back to the control system to stop the electric cylinder, and the first stage of load abandonment is completed; When it is necessary to jettison the second ballast block, the electric cylinder is activated to retract, driving the incomplete rack to move along the rack guide. The first smooth section of the incomplete rack contacts the gear, but the two do not mesh until the starting point of the second rack section contacts the gear, at which point meshing begins and the gear begins to rotate. Since the number of teeth on the second rack section is also 1 / 12 of the number of teeth on the gear, during this period the gear will rotate 30°, driving the lock-release shaft to rotate 30°, allowing the second annular flange pair to fully enter the projection plane of the second annular hole pair, releasing the vertical limit. At this point, the first annular flange pair is also within the projection plane of the second annular hole pair. Under the action of negative buoyancy in the water, the second ballast block will slide downward along the guide rod and smoothly pass through the first annular flange pair. At the same time, the electric cylinder continues to retract, and the second smooth section will contact the gear, but the two will disengage. The lock-release shaft no longer rotates until the second proximity switch senses the proximity signal of the small boss and transmits it back to the control system, causing the electric cylinder to stop, completing the second stage of load jettisoning. When the third ballast block needs to be discarded, the electric cylinder is started to retract, driving the incomplete rack to move along the rack guide rail. The second smooth section of the incomplete rack contacts the gear, but the two are not engaged until the starting point of the third rack section contacts the gear. Then they begin to engage and the gear starts to rotate. Since the number of teeth on the third rack section is also 1 / 12 of the number of teeth on the gear, during this period of time, the gear will rotate 30° and drive the locking release shaft to rotate 30°, so that the third annular flange pair completely enters the projection surface of the third annular hole pair, and the vertical limit is released.

[0016] The first and second annular flange pairs are also within the projection plane of the third annular hole pair. Under the action of negative buoyancy in the water, the third ballast block will slide downward along the guide rod and can smoothly pass through the second and first annular flange pairs. At the same time, the electric cylinder continues to retract, and the third smooth section will contact the gear, but the two are disengaged, and the lock release shaft no longer rotates until the third proximity switch senses the proximity signal of the small boss and transmits it back to the control system, causing the electric cylinder to stop, and the third stage of load dumping is completed.

[0017] The beneficial effects of the present invention are as follows: The present invention has a compact and reasonable structure and is easy to operate. The electric cylinder drives the actuator to drive the rotation of the rotating shaft to complete the multi-stage release of multiple ballast blocks. The system is simplified, the structure is compact, and the space utilization rate is high.

[0018] The actuator of the present invention is an incomplete rack and pinion mechanism, which has a simple structure and good adaptability to marine environments.

[0019] The present invention does not require displacement closed-loop control of an actuator, reduces the complexity of the control system, is simple to operate, and has high reliability.

[0020] The present invention can conveniently realize the abandonment of ballast blocks of any number through design changes, and has good scalability. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 This is an isometric view of the underwater multi-stage load-discharging device of the present invention.

[0022] Figure 2 It is a cross-sectional view of the underwater multi-stage load-discharging device of the present invention.

[0023] Figure 3 This is a bottom view of the first-stage ballast block of the present invention.

[0024] Figure 4 This is a bottom view of the second-stage ballast block of the present invention.

[0025] Figure 5 This is a bottom view of the third-stage ballast block of the present invention.

[0026] Figure 6 This is an isometric view of the locking and releasing shaft of the present invention.

[0027] Figure 7 This is a bottom view of the locking and releasing shaft of the present invention.

[0028] Figure 8 This is an isometric view of the locking and releasing shaft and its driving mechanism of the present invention.

[0029] Figure 9 It is an isometric view of the incomplete rack of the present invention.

[0030] Figure 10 It is a structural schematic diagram of the incomplete rack of the present invention.

[0031] Wherein: 1. Mounting base; 2. Guide rod; 3. First ballast block; 4. Second ballast block; 5. Third ballast block; 6. Lock / release shaft; 7. Gear; 8. Incomplete rack; 9. Rack guide rail; 10. First proximity switch; 11. Second proximity switch; 12. Third proximity switch; 13. Electric cylinder; 14. Bearing seat; 15. Bearing body. 301, first through hole; 302, first annular hole pair; 303, countersunk hole; 304, second through hole; 402, second annular hole pair; 502, third annular hole pair; 601, large end face; 602, large cylindrical section; 603, small cylindrical section; 604, first annular flange pair; 605, second annular flange pair; 606, third annular flange pair; 801, first rack segment; 802, first smooth segment; 803, second rack segment; 804, second smooth segment; 805, third rack segment; 806, third smooth segment; 807, guide groove; 808, small boss. DETAILED DESCRIPTION

[0032] The specific embodiments of the present invention will be described below with reference to the accompanying drawings.

[0033] like Figures 1-10 As shown, the underwater multi-stage payload dedicated jettisoning device of this embodiment includes a mounting base 1, which has a hollow structure. A locking and releasing shaft 6 is cooperatively installed inside the mounting base 1 and extends out of the mounting base 1; a bearing seat 14 is cooperatively installed inside the mounting base 1, and a bearing body 15 is mounted on the bearing seat 14, and the bearing body 15 matches the root of the locking and releasing shaft 6; an electric cylinder 13 is fixed to the inner wall surface of the mounting base 1, and a rack guide 9 is provided on the mounting base 1 on the opposite side of the electric cylinder 13. An incomplete rack 8 is mounted on the rack guide 9, and the incomplete rack 8 is meshed with a gear 7. The gear 7 is sleeved on the root of the locking and releasing shaft 6, and the output end of the electric cylinder 13 is fixed to the incomplete rack 8 by a fastener. A plurality of ballast blocks are sequentially mounted on the locking and releasing shaft 6 from bottom to top. A guide hole is respectively opened at the four corners of each ballast block, and the guide rod 2 is inserted into each guide hole from top to bottom.

[0034] There are three ballast blocks, which are, from bottom to top, a first ballast block 3 , a second ballast block 4 and a third ballast block 5 .

[0035] The structure of the first ballast block 3 is as follows: it includes a first through hole 301 opened at the center of the first ballast block 3, a first annular hole pair 302 is opened axially of the first through hole 301 and concentrically with the first through hole 301, a countersunk hole 303 is opened at the lower center of the first ballast block 3, and the aperture of the countersunk hole 303 is equal to the outer diameter of the first annular hole pair 302; second through holes 304 for installing the guide rod 2 are respectively opened at the four corners of the first ballast block 3.

[0036] The central angle of the first annular hole pair 302 of the first ballast block 3 is 30°, a second annular hole pair 402 is opened at the center of the second ballast block 4, and the central angle of the second annular hole pair 402 is 60°, and a third annular hole pair 502 is opened at the center of the third ballast block 5, and the central angle of the third annular hole pair 502 is 90°.

[0037] The structure of the locking and releasing shaft 6 is as follows: it includes a large load-bearing end surface 601 installed inside the mounting base 1, and a large cylindrical section 602 and a small cylindrical section 603 are sequentially arranged at the bottom of the load-bearing large end surface 601, and a first annular flange pair 604, a second annular flange pair 605 and a third annular flange pair 606 are spaced apart on the small cylindrical section 603.

[0038] The first annular flange pair 604 consists of two flanges that are arranged diagonally and are symmetrical about the axis of the locking and releasing shaft 6, and the central angle of the flanges is 30°.

[0039] The first annular flange pair 604 , the second annular flange pair 605 and the third annular flange pair 606 are arranged alternately, with a staggered angle of 30°.

[0040] The structure of the incomplete rack 8 is as follows: it includes a first rack segment 801, a first smooth segment 802, a second rack segment 803, a second smooth segment 804, a third rack segment 805 and a third smooth segment 806 arranged in sequence from one end to the other end, and guide grooves 807 are provided on both sides of the incomplete rack 8. The guide grooves 807 are installed in the rack guide rail 9 and slide along the rack guide rail 9. A small boss 808 is provided at the bottom of the incomplete rack 8.

[0041] A first proximity switch 10 , a second proximity switch 11 and a third proximity switch 12 are arranged at equal intervals on the rack guide rail 9 . The three proximity switches correspond to the small boss 808 and receive proximity signals from the small boss 808 .

[0042] The specific structure and function of the underwater multi-stage payload jettisoning device described in the present invention are as follows: It mainly includes: mounting base 1, guide rod 2, first ballast block 3, second ballast block 4, third ballast block 5, locking and releasing shaft 6, gear 7, incomplete rack 8, rack guide rail 9, first proximity switch 10, second proximity switch 11, third proximity switch 12, electric cylinder 13, bearing seat 14, bearing body 15, etc.

[0043] The guide rods 2 are respectively installed at the four corners of the mounting base 1 and are inserted into the guide holes in the third ballast block 5 , the second ballast block 4 and the first ballast block 3 from top to bottom.

[0044] A first through-hole 301 is centrally located in the first ballast block 3. A first annular hole pair 302 is concentrically located around the first through-hole 301. The first annular hole pair 302 consists of two diagonally arranged annular holes that are symmetrical about the through-hole axis. A countersunk hole 303 is centrally located below the first ballast block 3. The diameter of the countersunk hole 303 is equal to the outer diameter of the first annular hole pair 302.

[0045] Among them, second through holes 304 are opened at the four corners of the first ballast block 3, and guide rods 2 are passed through the second through holes 304 for guiding and limiting.

[0046] The size and composition of the second ballast block 4 and the third ballast block 5 are the same as those of the first ballast block 3. The differences are: the central angle of the first annular hole pair 302 of the first ballast block 3 is 30°, the central angle of the second annular hole pair 402 of the second ballast block 4 is 60°, the central angle of the third annular hole pair 502 of the third ballast block 5 is 90°, and the starting busbars of the three annular holes are the same.

[0047] The locking and releasing shaft 6 is composed of a large bearing end surface 601 , a large cylindrical section 602 , a small cylindrical section 603 , a first annular flange pair 604 , a second annular flange pair 605 , a third annular flange pair 606 , and the like.

[0048] The first annular flange pair 604 consists of two diagonally arranged flanges that are symmetrical about the axis of the lock / release shaft 6, with a central angle of 30°. The second and third annular flange pairs 605 and 606, like the first annular flange pair 604, have outer diameters and thicknesses equal to the outer diameter and depth of the countersunk hole 303, with central angles of 30°. The first and second annular flange pairs 604 and 605 are offset by 30° along the axis, and the second and third annular flange pairs 605 and 606 are also offset by 30°.

[0049] The locking and releasing shaft 6 is mounted on the mounting base 1 via the bearing seat 14 and the bearing body 15. The gear 7 is mounted on the small cylindrical section 603 of the locking and releasing shaft 6 via a key connection. The diameter of the small cylindrical section 603 is equal to the inner diameter of the first through hole 301.

[0050] The incomplete rack 8 comprises a first rack segment 801, a first smooth segment 802, a second rack segment 803, a second smooth segment 804, a third rack segment 805, a third smooth segment 806, a guide groove 807, and a small boss 808. The guide groove 807 is mounted within the rack guide rail 9, allowing it to slide along the rail and mesh with the gear 7. One end of the incomplete rack 8 is hinged to the electric cylinder 13.

[0051] The first proximity switch 10 , the second proximity switch 11 , and the third proximity switch 12 are all mounted on the rack guide rail 9 , with equal spacing between the proximity switches for receiving proximity signals from the small boss 808 .

[0052] In actual work process: The components of the underwater multi-stage load-dumping device are installed except the guide rod 2, the first ballast block 3, the second ballast block 4, and the third ballast block 5. At this time, it is necessary to ensure that the starting point of the first rack segment 801 is engaged with the gear 7.

[0053] First, install the third ballast block 5. Rotate it 90° clockwise in the target installation position, pass it through the locking and releasing shaft 6 from bottom to top, and the third annular hole pair 502 passes through the first annular flange pair 604, the second annular flange pair 605, and the third annular flange pair 606 in sequence. Then, rotate it another 90° counterclockwise until the upper surface of the third annular flange pair 606 contacts the bottom surface of the countersunk hole of the third ballast block and is locked in the vertical upper limit position. The third ballast block 5 is installed.

[0054] Next, install the second ballast block 4. Rotate it 60° clockwise in the target installation position, pass it through the locking and releasing shaft 6 from bottom to top, and the second annular hole pair 402 passes through the first annular flange pair 604 and the second annular flange pair 605 in sequence. Then rotate it another 60° counterclockwise, and the second ballast block 4 is installed.

[0055] Install the first ballast block 3 again. Rotate it 30° clockwise along the target installation posture, pass it through the locking and releasing shaft 6 from bottom to top, and let the first annular hole pair 302 pass through the first annular flange pair 604 in sequence. Then rotate it 30° counterclockwise again. The first ballast block 3 is installed.

[0056] Finally, install the guide rod 2, passing through the second through hole 304 of the first ballast block 3, the through hole of the second ballast block 4, and the through hole of the third ballast block 5 from top to bottom. At this point, the installation is complete.

[0057] During underwater exploration operations, if the underwater manned / unmanned system needs to jettison the first ballast block 3, the electric cylinder 13 is activated to retract, driving the incomplete rack 8 along the rack guide 9. The movement of the incomplete rack 8 drives the rotation of the gear 7, moving the meshing point from the starting point of the first rack segment 801 to the end point. Because the number of teeth on the first rack segment 801 is 1 / 12 of that on the gear 7, during this time, the gear 7 rotates 30°, driving the lock-release shaft 6 to rotate 30°. This aligns the first annular flange pair 604 with the first annular hole pair 302, releasing the vertical limit. Under the influence of negative buoyancy in the water, the first ballast block 3 slides downward along the guide rod 2. Simultaneously, the electric cylinder 13 continues to retract, causing the first smooth segment 802 to contact the gear 7, but the two disengage, and the lock-release shaft 6 ceases rotation. This completes the first stage of jettisoning until the first proximity switch 10 senses the proximity signal of the small boss 808 and transmits it back to the control system, stopping the electric cylinder 13.

[0058] When the second ballast block 4 needs to be jettisoned, the electric cylinder 13 is activated to retract, driving the incomplete rack 8 along the rack guide 9. The first smooth section 802 of the incomplete rack 8 contacts the gear 7, but the two do not mesh. This meshing occurs only when the starting point of the second rack section 803 contacts the gear 7, causing the gear 7 to begin rotating. Since the number of teeth on the second rack section 803 is 1 / 12 of that on the gear 7, during this time, the gear 7 rotates 30°, driving the lock release shaft 6 to rotate 30°, allowing the second annular flange pair 605 to fully enter the projection of the second annular hole pair 402, releasing the vertical limit. At this point, the first annular flange pair 604 also enters the projection of the second annular hole pair 402. Under the influence of negative buoyancy in the water, the second ballast block 4 slides downward along the guide rod 2 and smoothly passes through the first annular flange pair 604. At the same time, the electric cylinder 13 continues to retract, and the second smooth section 804 contacts the gear 7, but the two are disengaged, and the lock release shaft 6 no longer rotates. The second proximity switch 11 senses the proximity signal of the small boss 808 and transmits it back to the control system, stopping the electric cylinder 13 and completing the second stage of load dumping.

[0059] When the third-stage ballast block 5 needs to be jettisoned, the electric cylinder 13 is activated to retract, driving the incomplete rack 8 along the rack guide 9. The second smooth section 804 of the incomplete rack 8 contacts the gear 7, but the two do not mesh. This is until the starting point of the third rack section 805 contacts the gear 7, at which point meshing begins and the gear 7 begins to rotate. Since the number of teeth on the third rack section 805 is 1 / 12 of that on the gear 7, during this time, the gear 7 rotates 30°, driving the lock release shaft 6 to rotate 30°, allowing the third annular flange pair 606 to fully enter the projection of the third annular hole pair 502, releasing the vertical limit. At this point, the first and second annular flange pairs 604, 605, are also within the projection of the third annular hole pair 502. Under the influence of negative buoyancy in the water, the third ballast block 5 slides downward along the guide rod 2 and smoothly passes through the second and first annular flange pairs 605, 604. At the same time, electric cylinder 13 continues to retract, and third smooth section 806 contacts gear 7, but the two are disengaged, and lock release shaft 6 no longer rotates. The third proximity switch 12 senses the proximity of small boss 808 and transmits a signal back to the control system, stopping electric cylinder 13. The third stage of load dumping is completed.

[0060] When the number of loads to be dumped is N (N ≥ 3), the above method can still be used, with the following changes: 1) Change the central angle of the sector hole pair: the first level is 90° / N, the second level is 2*90° / N, and the Nth level is 90°.

[0061] 2) Change the center angle of the annular flange pair to 90° / N.

[0062] 3) Change the offset angle of adjacent annular flanges along the axis to 90° / N.

[0063] 4) Change the number of rack segments and smooth segments of the incomplete rack, both are N.

[0064] 5) Change the number of teeth on each rack segment to 1 / (4N) the number of teeth on the gear.

[0065] 6) Change the number of proximity switches to N.

[0066] The above description is an explanation of the present invention, not a limitation of the present invention. The scope of the present invention is defined in the claims. Any modifications may be made within the scope of protection of the present invention.

Claims

1. A dedicated underwater multi-stage payload jettisoning device, characterized in that: The invention comprises a mounting base (1), wherein the interior of the mounting base (1) is a hollow structure, a locking and releasing rotating shaft (6) is installed in cooperation with the interior of the mounting base (1), and the locking and releasing rotating shaft (6) extends out of the mounting base (1); a bearing seat (14) is installed in cooperation with the interior of the mounting base (1), a bearing body (15) is installed on the bearing seat (14), and the bearing body (15) matches the root of the locking and releasing rotating shaft (6); an electric cylinder (13) is fixed on the inner wall surface of the mounting base (1), a rack guide rail (9) is provided at the mounting base (1) on the opposite side of the electric cylinder (13), an incomplete rack (8) is installed on the rack guide rail (9), the incomplete rack (8) is meshed with the gear (7), the gear (7) is sleeved at the root position of the locking and releasing rotating shaft (6), and the output end of the electric cylinder (13) is fixed to the incomplete rack (8) by a fastener; A plurality of ballast blocks are sequentially mounted on the locking and releasing rotating shaft (6) from bottom to top, and a guide hole is respectively opened at the four corners of each ballast block, and the guide rod (2) is inserted into each guide hole from top to bottom.

2. The underwater multi-stage payload jettisoning device according to claim 1, characterized in that: There are three ballast blocks, which are, from bottom to top, a first ballast block (3), a second ballast block (4) and a third ballast block (5).

3. The underwater multi-stage payload jettisoning device according to claim 2, characterized in that: The structure of the first ballast block (3) is as follows: it includes a first through hole (301) opened at the center of the first ballast block (3), a first annular hole pair (302) opened axially of the first through hole (301) and concentrically with the first through hole (301), a countersunk hole (303) opened at the center below the first ballast block (3), and the aperture of the countersunk hole (303) is equal to the outer diameter of the first annular hole pair (302); and second through holes (304) for mounting the guide rod (2) are respectively opened at the four corners of the first ballast block (3).

4. The underwater multi-stage payload jettisoning device according to claim 3, characterized in that: The center angle of the first annular hole pair (302) of the first ballast block (3) is 30°, the center of the second ballast block (4) is provided with a second annular hole pair (402), the center angle of the second annular hole pair (402) is 60°, and the center of the third ballast block (5) is provided with a third annular hole pair (502), the center angle of the third annular hole pair (502) is 90°.

5. The underwater multi-stage payload jettisoning device according to claim 4, characterized in that: The structure of the locking and releasing rotating shaft (6) is as follows: it comprises a large bearing end surface (601) installed inside the mounting base (1); a large cylindrical section (602) and a small cylindrical section (603) are sequentially arranged at the bottom of the large bearing end surface (601); a first annular flange pair (604), a second annular flange pair (605) and a third annular flange pair (606) are spaced apart on the small cylindrical section (603).

6. The underwater multi-stage payload jettisoning device according to claim 5, characterized in that: The first annular flange pair (604) consists of two flanges arranged diagonally and symmetrically about the axis of the locking and releasing shaft (6), and the central angle of the flanges is 30°.

7. The underwater multi-stage payload jettisoning device according to claim 6, characterized in that: The first annular flange pair (604), the second annular flange pair (605) and the third annular flange pair (606) are arranged alternately, with a staggered angle of 30°.

8. The underwater multi-stage payload jettisoning device according to claim 1, characterized in that: The structure of the incomplete rack (8) is as follows: it includes a first rack segment (801), a first smooth segment (802), a second rack segment (803), a second smooth segment (804), a third rack segment (805) and a third smooth segment (806) arranged in sequence from one end to the other end; guide grooves (807) are provided on both sides of the incomplete rack (8); the guide grooves (807) are installed in the rack guide rail (9) and slide along the rack guide rail (9); a small boss (808) is provided at the bottom of the incomplete rack (8).

9. The underwater multi-stage payload jettisoning device according to claim 8, characterized in that: A first proximity switch (10), a second proximity switch (11) and a third proximity switch (12) are arranged at equal intervals on the rack guide rail (9). The three proximity switches correspond to the small boss (808) and receive proximity signals from the small boss (808).

10. A method for operating the underwater multi-stage payload jettisoning device according to claim 1, characterized in that: The steps include: Preparation: After the components of the underwater multi-stage load-discharging device other than the guide rod (2), the first ballast block (3), the second ballast block (4), and the third ballast block (5) are installed, it is necessary to ensure that the starting point of the first rack segment (801) is engaged with the gear (7); Install the third ballast block (5): The third ballast block (5) is rotated 90° clockwise along the target installation posture, passed through the locking and releasing shaft (6) from bottom to top, and the third annular hole pair (502) passes through the first annular flange pair (604), the second annular flange pair (605), and the third annular flange pair (606) in sequence, and then rotated 90° counterclockwise again, so that the upper surface of the third annular flange pair (606) contacts the bottom surface of the countersunk hole of the third ballast block and is stuck at the upper limit position in the vertical direction, and the installation of the third ballast block (5) is completed; Install the second ballast block (4): The second ballast block (4) is rotated 60° clockwise along the target installation posture, passed through the locking and releasing shaft (6) from bottom to top, and the second annular hole pair (402) passes through the first annular flange pair (604) and the second annular flange pair (605) in sequence, and then rotated 60° counterclockwise again, and the installation of the second ballast block (4) is completed. Install the first ballast block (3): The first ballast block (3) is rotated 30° clockwise along the target installation posture, passed through the locking and releasing shaft (6) from bottom to top, and the first annular hole pair (302) passes through the first annular flange pair (604) in sequence, and then rotated 30° counterclockwise again, and the first ballast block (3) is installed; Install the guide rod (2): Passing through the second through hole (304) of the first ballast block (3), the through hole of the second ballast block (4), and the through hole of the third ballast block (5) in sequence from top to bottom; At this point the installation is complete; When the first ballast block (3) needs to be discarded, the electric cylinder (13) is activated to contract, driving the incomplete rack (8) to move along the rack guide rail (9). The movement of the incomplete rack (8) will drive the gear (7) to rotate, and the meshing point between the two moves from the starting point of the first rack segment (801) to the end point. Since the number of teeth of the first rack segment (801) is 1 / 12 of the number of teeth of the gear (7), during this period of time, the gear (7) will rotate 30° and drive the locking release shaft (6) to rotate 30°, so that the first annular flange (6) is aligned with the first annular flange (6). 04) is aligned with the first annular hole pair (302), the vertical limit is released, and under the action of the negative buoyancy in the water, the first ballast block (3) will slide down along the guide rod (2). At the same time, the electric cylinder (13) continues to retract, and the first smooth section (802) will contact the gear (7), but the two are disengaged, and the locking release shaft (6) no longer rotates until the first proximity switch (10) senses the proximity signal of the small boss (808) and transmits it back to the control system, causing the electric cylinder (13) to stop, and the first stage of load dumping is completed; When the second ballast block (4) needs to be discarded, the electric cylinder (13) is activated to contract, driving the incomplete rack (8) to move along the rack guide rail (9). The first smooth section (802) of the incomplete rack (8) contacts the gear (7), but the two are not engaged until the starting point of the second rack section (803) contacts the gear (7). Then, the two begin to engage and the gear (7) begins to rotate. Since the number of teeth of the second rack section (803) is also 1 / 12 of the number of teeth of the gear (7), during this period of time, the gear (7) will rotate 30° and drive the locking release shaft (6) to rotate 30°, so that the second annular flange pair (605) completely enters the second annular hole pair (4 02), the vertical limit is released. At this time, the first annular flange pair (604) is also within the projection surface of the second annular hole pair (402). Under the action of the negative buoyancy in the water, the second ballast block (4) will slide down along the guide rod (2) and can smoothly pass through the first annular flange pair (604). At the same time, the electric cylinder (13) continues to retract, and the second smooth section (804) will contact the gear (7), but the two are disengaged, and the locking release shaft (6) no longer rotates until the second proximity switch (11) senses the proximity signal of the small boss (808) and transmits it back to the control system to stop the electric cylinder (13). The second stage of load shedding is completed. When the third ballast block (5) needs to be discarded, the electric cylinder (13) is activated to contract, driving the incomplete rack (8) to move along the rack guide rail (9). The second smooth section (804) of the incomplete rack (8) contacts the gear (7), but the two are not engaged. After the starting point of the third rack section (805) contacts the gear (7), they begin to engage and the gear (7) begins to rotate. Since the number of teeth of the third rack section (805) is also 1 / 12 of the number of teeth of the gear (7), during this period of time, the gear (7) will rotate 30° and drive the locking release shaft (6) to rotate 30°, so that the third annular flange pair (606) completely enters the projection surface of the third annular hole pair (502), and the vertical limit is released. At this time, the first annular flange pair (604) and the second annular flange pair (605) are also within the projection surface of the third annular hole pair (502). Under the action of the negative buoyancy in the water, the third ballast block (5) will slide down along the guide rod (2) and can smoothly pass through the second annular flange pair (605) and the first annular flange pair (604). At the same time, the electric cylinder (13) continues to retract, and the third smooth section (806) will contact the gear (7), but the two are disengaged, and the locking release shaft (6) no longer rotates until the third proximity switch (12) senses the proximity signal of the small boss (808) and transmits it back to the control system, causing the electric cylinder (13) to stop, and the third stage of load shedding is completed.

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