Mechanical unloading device and underwater vehicle

Abstract

The present application belongs to the technical field of underwater vehicle weight throwing, and particularly relates to a mechanical weight throwing device and underwater vehicle. The device comprises a driving assembly, a weight throwing bearing block and a lateral stop block. The weight throwing bearing block is rotatably arranged at a mounting position and used for mounting a weight throwing object. The lateral stop block has a first stop portion and a second stop portion. In a mounting state, the first stop portion stops a first end of the weight throwing bearing block, and the second stop portion abuts against a second end of the weight throwing bearing block or the weight throwing object. When the weight throwing is performed, the driving assembly works to remove the stop of the first end of the weight throwing bearing block by the first stop portion of the lateral stop block. The present application removes the stop of the weight throwing bearing block by driving the lateral stop block to slide through the driving assembly, so that the weight throwing object drives the weight throwing bearing block to rotate automatically and to separate along a vertical direction under the action of a gravity moment of the weight throwing object, thereby realizing the mechanical isolation of the driving assembly and the weight throwing load, low triggering power consumption, and high-reliability pure mechanical large load weight throwing.

Description

Technical Field

[0001] This invention belongs to the field of underwater vehicle jettisoning technology, specifically relating to a mechanical jettisoning device and an underwater vehicle. Background Technology

[0002] Underwater vehicles and robots typically require buoyancy-weight adjustment systems or devices when performing dives, surfacing, payload deployment, or emergency ballast jettisoning. For small underwater vehicles and robots, due to limitations in installation space and load-bearing capacity, most employ solid ballast jettisoning to achieve weight change for surfacing or emergency avoidance. Currently, commonly used ballast jettisoning methods for underwater vehicles mainly include electrochemical corrosion triggering, electromagnet attraction, and hydraulic actuation.

[0003] Electrochemical corrosion-triggered ballast release devices rely on energizing to accelerate metal corrosion and fracture, releasing ballast. While simple in structure and without moving parts, their triggering time is significantly affected by environmental factors such as water temperature, salinity, and dissolved oxygen content, resulting in uncontrollable release delays. Furthermore, corroded parts must be replaced after each use, leading to high maintenance costs and making it difficult to meet the requirements for rapid response and reusability. Electromagnetic attraction-type ballast release devices rely on energized electromagnets to hold the ballast and release it upon de-energization. While offering faster response times, in the high-pressure environment of the deep sea, the electromagnets must withstand immense water pressure, resulting in complex sealing structures. Under heavy loads, insufficient attraction can lead to accidental release or failure to release, directly limiting the load-bearing capacity. Hydraulically driven ballast jettisoning devices lock and release ballast through hydraulic components such as hydraulic cylinders, solenoid valves, and accumulators. Although they can withstand large loads, their system composition is complex, containing a large number of hydraulic components and pipelines, and is large in size and weight, making them unsuitable for small underwater vehicles with compact internal spaces. At the same time, the hydraulic system requires an external oil source for filling and debugging, and there are reliability risks such as internal leakage of hydraulic oil and aging of seals when idle for a long time. In addition, continuous pressure holding or multiple actions will consume a lot of electrical energy, reducing the endurance of the underwater vehicle.

[0004] In summary, existing ballast jettisoning devices still have shortcomings in terms of miniaturization, low power consumption, high reliability, rapid response, and large load capacity. Electrochemical corrosion-based triggering delays are uncontrollable and non-reusable, electromagnet-based systems have limited deep-sea load capacity and sealing, and hydraulically driven systems are complex, bulky, heavy, and have high maintenance costs. Therefore, there is an urgent need for a mechanical ballast jettisoning device that is simple in structure, compact in size, purely mechanically driven, requires no continuous power supply for locking, has low triggering power consumption, and can carry large-mass ballast loads to meet the stringent requirements of deep-sea small underwater vehicles for reliability, speed, and reusability in jettisoning. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a mechanical load-dropping device and an underwater vehicle. By driving the lateral stop block to slide through the drive component, the stop block on the load-dropping block is released, allowing the load to automatically rotate and detach vertically under the action of its own gravity torque. This achieves mechanical isolation between the drive component and the load, extremely low trigger power consumption, and highly reliable purely mechanical load-dropping.

[0006] The present invention provides a mechanical load-release device, including a drive assembly, a load-release bearing block, and a lateral stop block; The loading support block is rotatably mounted at the installation position for mounting the loading object; The lateral stop has a first stop portion and a second stop portion. In the loaded state, the first stop portion stops the first end of the throwing load block to restrict the throwing load block from rotating under the rotational torque generated by the gravity of the thrown object and to keep the thrown object loaded. The second stop portion abuts against the second end of the throwing load block or the thrown object to restrict the thrown object from sliding out from the second end of the throwing load block. During the ejection of the load, the drive assembly operates, driving the first stop of the lateral stop block to release its stop on the first end of the ejection bearing block; the ejection bearing block rotates automatically under the gravitational torque of the ejected object, causing the ejected object to detach under the action of gravity.

[0007] Furthermore, in the mounted state, the first stop portion of the lateral stop block abuts against the first end of the throwing-off bearing block, and the second stop portion abuts against the second end of the throwing-off bearing block, with the lateral stop block and the throwing-off bearing block enclosing a closed space; the thrown object is mounted in the closed space via a hook.

[0008] Furthermore, the first and second stop portions of the lateral stop block are mutually perpendicular straight rod structures, and the first and second ends of the load-bearing block are mutually perpendicular straight rod portions, with an arc-shaped transition section between the two straight rod portions.

[0009] Furthermore, the direction in which the drive assembly drives the lateral stop to move is collinear with the extension direction of the straight rod of the second stop portion; During the release of the load, the first stop part releases the stop on the first end of the release bearing block as the lateral stop block moves, and the second stop part maintains the lateral limit on the release object during the movement; the release bearing block rotates under the gravity of the release object until an opening is formed between the second end of the release bearing block and the second stop part, allowing the hook of the release object to pass through, and the release object is released in the vertical direction.

[0010] Furthermore, it also includes a limiting cover, which is disposed on the outer periphery of the projectile and is used to guide the falling path of the projectile during projectile launch and restrict the projectile from detaching in the vertical direction.

[0011] Furthermore, the drive assembly includes a drive motor, a gear, and a rack, the gear meshing with the rack, the gear being driven to rotate by the drive motor, and the lateral stop being connected to the rack and moving synchronously with the rack.

[0012] The present invention also provides a mechanical load release method using a mechanical load release device, comprising the following steps: The object is attached to the throwing block, so that the first stop of the lateral stop blocks the first end of the throwing block, and the second stop restricts the object from sliding out from the second end of the throwing block. The control drive component operates, driving the lateral stop block to move, causing the first stop part to release its stop on the first end of the throwing load block; The load-bearing block rotates automatically around its installation position under the gravitational torque of the load. The object is released from the release block under the action of gravity, thus completing the release process.

[0013] The present invention also provides an underwater vehicle including the above-described mechanical jettisoning device.

[0014] Furthermore, the underwater vehicle is an autonomous underwater vehicle, and the mechanical jettisoning device is located inside the head compartment of the autonomous underwater vehicle. The jettisoning support block is installed at the bottom or side of the head compartment.

[0015] Furthermore, the object being thrown is cargo or a counterweight.

[0016] The mechanical load-release device provided by this invention has the following advantages over the prior art: The mechanical load-release device provided by this invention adopts the principle of gravity self-unlocking. The drive component does not directly act on the load-release bearing block, nor does it directly bear the gravity load of the load. In the loaded state, the entire weight of the load is transferred to the first stop of the lateral stop through the load-release bearing block, and is borne by the sliding limit structure of the lateral stop. The drive component remains stationary, consumes no energy, and does not bear a continuous load. Therefore, the load burden on the drive component is completely relieved, and its rated output force does not need to match the weight of the load; it only needs to meet the requirement of overcoming the sliding friction of the lateral stop. This greatly reduces the selection requirements of the drive component, making the overall device smaller, lighter, and with lower energy consumption.

[0017] During the jettison triggering phase, the drive component only needs to output a small driving force to move the lateral stop a tiny distance along the sliding structure, causing the first stop to clear the rotation path of the first end of the jettison block. Since the lateral stop uses a sliding structure for limiting its movement, its resistance mainly comes from the friction between the mating surfaces, which is far less than the weight of the jettisoned object. Therefore, the drive component consumes extremely low power at the moment of jettison, eliminating the need for high-power motors or complex transmission mechanisms. This helps conserve the valuable battery energy of the autonomous underwater vehicle and extend its underwater operating time.

[0018] Furthermore, once the ejection block loses the constraint of the first stop, it automatically and rapidly rotates around its installation position under the rotational torque generated by the weight of the ejected object itself, without requiring any further power from the drive components. This process is entirely gravity-driven, with crisp and clean movements, and no electrical delays or hydraulic response lags. The entire ejection action does not depend on the continuous operation of the drive components; the drive components only operate briefly at the moment of unlocking and then stop, further reducing system energy consumption.

[0019] The second stop plays a crucial timing-limiting role during the jettisoning process. In the initial stage when the first stop releases its restraint and the jettisoning block begins to rotate, the second stop maintains its limiting contact with the jettisoned object or the second end of the jettisoning block, ensuring that the jettisoned object does not lose control and laterally propel itself out due to the sudden release of restraint. Only when the jettisoning block rotates to a sufficiently large opening between its second end and the second stop can the jettisoned object detach vertically. This timing coordination makes the release direction of the jettisoned object controllable and the release process orderly, effectively avoiding the risk of interference or jamming between the jettisoned object and the internal structure of the autonomous underwater vehicle's (AUV) nose section, and improving the certainty and safety of the jettisoning operation.

[0020] Furthermore, from a load-bearing capacity perspective, since the drive components do not participate in the stress during the loading state, the weight of the jettisoned object is entirely borne by the jettisoning load-bearing blocks, lateral blocks, and mounting shafts within the mechanical structure. The upper limit of the load-bearing capacity depends on the material strength and dimensions of these structural components, rather than the output capacity of the drive components. Therefore, this device can easily adapt to large-mass jettisoned objects, such as the heavy ballast blocks required for deep-sea autonomous underwater vehicles, by strengthening the mechanical structure. Its load-bearing capacity is far superior to electromagnetic systems and other solutions that rely on continuous suction.

[0021] From a reliability perspective, the purely mechanical sliding limit structure is unaffected by factors such as water depth, pressure, temperature, salinity, and electrochemical corrosion. The stopping and releasing actions of the lateral stop are entirely achieved through mechanical movement, eliminating the performance degradation issues associated with electrical contacts or corrosive components. The drive component only needs to complete one short-stroke sliding drive under the load release command. Even if the drive component fails after the load release, it will not affect the already completed release action. The safety, reliability, and reusability of the entire device are significantly improved.

[0022] In summary, this embodiment achieves mechanical isolation between the drive component and the load-bearing block through the sliding limiting cooperation between the drive component and the lateral stop: the drive component does not bear any force during loading, and during load release, the drive component only needs to overcome minor friction, and gravity automatically unlocks to complete the release; simultaneously, the first stop and the second stop cooperate to respectively undertake the functions of rotation locking and lateral limiting, ensuring stable loading and orderly release. This design exhibits significant advantages in multiple aspects, including load, power consumption, response speed, load-bearing capacity, controllability of release direction, and environmental adaptability. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the structure of the present invention.

[0024] In the figure, 10-drive assembly; 11-drive motor; 12-gear; 13-rack; 20-load-carrying block; 30-side stop; 31-first stop; 32-second stop; 40-load; 50-limiting cover. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0026] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0027] Furthermore, in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0028] In this invention, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal communication of two elements or the interaction between two elements, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0029] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0030] like Figure 1 As shown, the present invention provides a mechanical jettisoning device, including a drive assembly 10, a jettisoning support block 20, and a lateral stop block 30. The drive assembly 10 is fixedly installed at a predetermined position inside the head compartment of an autonomous underwater vehicle (AUV) and is used to output the driving force required to trigger jettisoning. The jettisoning support block 20 is rotatably mounted at an installation position via a pivot, located at the bottom or side of the head compartment, and is used to mount the jettisoned object 40. The lateral stop block 30 is movably disposed on one side of the jettisoning support block 20 and can move relative to the jettisoning support block 20 under the drive of the drive assembly 10 to lock or release the rotation of the jettisoning support block 20.

[0031] The launch support block 20 is used to mount the launch object 40, which can be a ballast counterweight or cargo to be launched. In the mounted state, the launch object 40 is suspended on the launch support block 20 by its own hooks or other connecting structures, and its line of action of gravity is deviated from the rotation center of the launch support block 20, thereby generating a rotational torque that causes the launch support block 20 to rotate about its installation position.

[0032] The lateral stop 30 has a first stop portion 31 and a second stop portion 32. In the loaded state, the first stop portion 31 stops the first end of the load-bearing block 20 to limit the rotation of the load-bearing block 20 under the rotational torque generated by the gravity of the load 40, and maintains the load 40 in place. The second stop portion 32 abuts against the second end of the load-bearing block 20 or the load 40 to prevent the load 40 from sliding off the second end of the load-bearing block 20. The first stop portion 31 and the first end of the load-bearing block 20 form a surface contact or line contact, reliably bearing the torque load transmitted by the load 40. The second stop portion 32 acts as an auxiliary limiter, preventing the load 40 from accidentally detaching from the load-bearing block 20 due to shaking or external impact in the loaded state, ensuring stable loading.

[0033] During the release of the load, the drive assembly 10 operates, driving the first stop 31 of the lateral stop 30 to release its stop on the first end of the release bearing block 20. The release bearing block 20 automatically rotates under the gravitational torque of the load 40, causing the load 40 to detach under gravity. The drive assembly 10 only needs to drive the lateral stop 30 to move a small distance at the moment of release to release the lock, without having to overcome the full gravity of the load 40, thus resulting in extremely low power consumption. Once the first stop 31 releases its stop, the release bearing block 20 immediately rotates under gravity, requiring no additional power source, and the action response is rapid and reliable.

[0034] The mechanical load-release device provided by this invention has the following advantages over the prior art: The mechanical load-release device in this embodiment adopts the principle of gravity self-unlocking. The drive component 10 does not directly act on the load-release bearing block 20, nor does it directly bear the gravity load of the load 40. In the loaded state, the entire weight of the load 40 is transferred to the first stop 31 of the lateral stop block 30 through the load-release bearing block 20, and is borne by the sliding limit structure of the lateral stop block 30. The drive component 10 remains stationary, consumes no energy, and does not bear a continuous load. Therefore, the load burden of the drive component 10 is completely relieved, and its rated output force does not need to match the weight of the load 40, but only needs to meet the requirement of overcoming the sliding friction of the lateral stop block 30. This greatly reduces the selection requirements of the drive component 10, making the overall device smaller, lighter, and with lower energy consumption.

[0035] During the jettison triggering phase, the drive assembly 10 only needs to output a small driving force to push the lateral stop 30 a small distance along the sliding structure, causing the first stop 31 to obstruct the rotation path of the first end of the jettison carrier block 20. Since the lateral stop 30 uses a sliding structure for limiting its movement, its resistance mainly comes from the friction between the mating surfaces, which is much less than the weight of the jettisoned object 40. Therefore, the power consumption of the drive assembly 10 is extremely low at the moment of jettison, eliminating the need for a high-power motor or complex transmission mechanism, which helps to save the valuable battery energy of the autonomous underwater vehicle and extend its underwater working time.

[0036] Furthermore, once the ejection bearing block 20 loses the constraint of the first stop 31, it automatically and rapidly rotates around its installation position under the rotational torque generated by the gravity of the ejected object 40 itself, without requiring the drive assembly 10 to continue providing any power. This process is entirely gravity-driven, with crisp and clean movements, and there are no issues of electrical delay or hydraulic response lag. The entire ejection action does not depend on the continuous operation of the drive assembly 10; the drive assembly 10 only operates briefly at the moment of unlocking and then stops, further reducing system energy consumption.

[0037] The second stop 32 plays a crucial timing limiting role during the jettisoning process. In the initial stage when the first stop 31 releases its restraint and the jettisoning block 20 begins to rotate, the second stop 32 maintains limiting contact with the jettisoned object 40 or the second end of the jettisoning block 20, ensuring that the jettisoned object 40 does not lose control and laterally veer out due to the sudden release of restraint. Only when the jettisoning block 20 rotates to a sufficiently large opening between its second end and the second stop 32 can the jettisoned object 40 detach vertically. This timing coordination makes the release direction of the jettisoned object 40 controllable and the release process orderly, effectively avoiding the risk of interference or jamming between the jettisoned object 40 and the internal structure of the autonomous underwater vehicle's (AUV) nose section, thus improving the certainty and safety of the jettisoning operation.

[0038] Furthermore, from a load-bearing capacity perspective, since the drive assembly 10 does not participate in the stress during the loading state, the weight of the payload 40 is entirely borne by the payload bearing block 20, the lateral stop block 30, and the mounting shaft within the mechanical structure. The upper limit of the load-bearing capacity depends on the material strength and dimensions of these structural components, rather than the output capacity of the drive assembly 10. Therefore, this device can easily adapt to large-mass payloads 40, such as the heavy ballast blocks required for deep-sea autonomous underwater vehicles, by strengthening the mechanical structure. Its load-bearing capacity is far superior to electromagnetic systems and other solutions that rely on continuous suction.

[0039] From a reliability perspective, the purely mechanical sliding limit structure is unaffected by factors such as water depth, pressure, temperature, salinity, and electrochemical corrosion. The stopping and releasing actions of the lateral stop 30 are entirely achieved through mechanical movement, eliminating the performance degradation issues associated with electrical contacts or corrosive components. The drive assembly 10 only needs to complete one short-stroke sliding drive under the load release command. Even if the drive assembly 10 fails after the load release, it will not affect the already completed release action. The safety, reliability, and reusability of the entire device are significantly improved.

[0040] In summary, this embodiment achieves mechanical isolation between the drive component 10 and the load-bearing block through the sliding limiting cooperation between the drive component 10 and the lateral stop 30: the drive component does not bear any force during loading, and during load release, the drive component only needs to overcome minor friction, and gravity self-unlocks to complete the release; at the same time, the first stop 31 and the second stop 32 cooperate to undertake the functions of rotation locking and lateral limiting, respectively, to ensure stable loading and orderly release. This design shows significant advantages in multiple aspects, including load, power consumption, response speed, load-bearing capacity, controllability of release direction, and environmental adaptability.

[0041] In one embodiment, in the mounted state, the first stop 31 of the lateral stop 30 abuts against the first end of the throwing-bearing block 20, and the second stop 32 abuts against the second end of the throwing-bearing block 20, forming a closed space with the lateral stop 30 and the throwing-bearing block 20; the projectile 40 is mounted in the closed space via a hook. The abutting surface of the first stop 31 and the first end of the throwing-bearing block 20 forms a rotational locking pair, bearing the rotational torque generated by the gravity of the projectile 40 and preventing the throwing-bearing block 20 from rotating; the abutting surface of the second stop 32 and the second end of the throwing-bearing block 20 blocks the only retraction path of the hook of the projectile 40 along the direction of the second end. The two abutting surfaces are perpendicular to each other, constraining the projectile 40 from the rotation direction and the sliding direction respectively, so that the hook is completely surrounded in space, forming a closed lock.

[0042] The shape of the enclosed space is compatible with the outline of the hook of the payload 40. The hook has no extra room for movement within the space, so even if the autonomous underwater vehicle tilts or rolls violently or is impacted by external water currents, the hook of the payload 40 cannot detach from the enclosed space. During loading, simply insert the hook of the payload 40 into the second end of the payload support block 20, and then move the lateral stop block 30 to make the second stop 32 abut in place. This simultaneously locks the first stop 31 and the second stop 32, making the assembly and resetting operation simple.

[0043] In one embodiment, the first stop portion 31 and the second stop portion 32 of the lateral stop block 30 are mutually perpendicular straight rod structures, and the first end and the second end of the load-bearing block 20 are mutually perpendicular straight rod portions, with an arc-shaped transition section between the two straight rod portions. The first stop portion 31 and the second stop portion 32 form an L-shaped layout, corresponding to and cooperating with the first end straight rod portion and the second end straight rod portion of the load-bearing block 20, respectively. In the loaded state, the first stop portion 31 forms surface contact with the first end straight rod portion of the load-bearing block 20, and the second stop portion 32 also forms surface contact with the second end straight rod portion of the load-bearing block 20. The surface contact area is a rectangular plane, with uniform contact stress distribution and a small load per unit area, effectively reducing the risk of wear and plastic deformation of the contact surface. Compared with point contact or line contact, it has higher load-bearing stability and service life.

[0044] Because the first and second straight rod sections are perpendicular to each other, the rotational torque generated by the gravity of the projectile 40 is transmitted vertically to the first stop 31 through the first straight rod section of the projectile bearing block 20. The force transmission path is short and has no bending moment component, resulting in high structural rigidity. It can maintain geometric accuracy under the long-term action of a large-mass projectile 40 without producing significant elastic deformation or creep. The second stop 32, through vertical straight rod surface contact, restricts the hook of the projectile 40 from sliding laterally along the second end direction. Its straight rod length provides sufficient stopping depth, so even if the projectile 40 sways slightly, the hook is unlikely to cross the end of the second stop 32, ensuring strong anti-detachment reliability.

[0045] The arc-shaped transition section is located between the first and second straight rod sections of the ejection bearing block 20, and its radius of curvature is designed according to the rotation center of the ejection bearing block 20 and the required unlocking stroke. The arc-shaped section eliminates the stress concentration caused by the geometric abrupt change at the connection of the two mutually perpendicular straight rod sections, which can significantly improve the fatigue strength of the ejection bearing block 20, especially under the combined action of deep-sea high pressure and alternating loads. During the rotation of the ejection bearing block 20 around the installation position, the outer contour of the arc-shaped transition section can smoothly sweep over the adjacent parts of the lateral stop block 30, without scratching, colliding or jamming with the stop block due to sharp edges, ensuring continuous and smooth rotation unlocking action.

[0046] In one embodiment, the direction in which the drive assembly 10 drives the lateral stop 30 to move is collinear with the straight rod extension direction of the second stop 32; that is, the movement trajectory of the lateral stop 30 is parallel to the length direction of the second stop 32, and the second stop 32 always retracts along its own straight rod direction during the movement, so that the lateral distance between its stop surface and the hook of the projectile 40 or the second end of the projectile carrier block 20 does not increase instantaneously due to the movement, and the lateral limiting capability is maintained continuously in the initial unlocking stage. Since the movement direction is collinear with the extension direction of the second stop 32, the sliding stroke required by the lateral stop 30 is determined only by the minimum retraction distance required by the first stop 31 to release the first end stop of the projectile carrier block 20, resulting in a short stroke, fast response, and optimized load characteristics and power consumption of the drive assembly 10.

[0047] During the release of the load, the first stop 31 releases its stop on the first end of the load-bearing block 20 as the lateral stop 30 moves, while the second stop 32 maintains lateral restraint on the load 40 during movement. The contact surface between the first stop 31 and the first end of the load-bearing block 20 quickly disengages after the lateral stop 30 moves, releasing the rotational constraint of the load-bearing block 20. Simultaneously, because the second stop 32 moves along its own extension direction, its relative position to the hook side of the load 40 changes minimally, effectively preventing the load 40 from sliding laterally along the second end direction. This timing relationship of first releasing the rotational constraint and then releasing the lateral restraint is naturally guaranteed by the geometric condition of collinearity of the movement directions, and can be implemented without additional control logic or complex mechanisms.

[0048] The launch block 20 rotates under the gravity of the launch object 40 until an opening is formed between the second end of the launch block 20 and the second stop 32, allowing the hook of the launch object 40 to pass through. The launch object 40 then detaches vertically. In the initial stage of rotation, the second stop 32 maintains lateral restraint on the launch object 40, preventing premature detachment due to inertia or external disturbances. As the launch block 20 continues to rotate around its installation position, its second end gradually moves away from the second stop 32, and the opening between them gradually widens along the straight rod direction of the second stop 32. When the opening width exceeds the corresponding size of the hook of the launch object 40, the hook obtains sufficient space to pass through, and the launch object 40 detaches vertically from the opening under gravity, achieving directional release. Throughout the process, the detachment direction of the launch object 40 is controlled only by vertical gravity, without horizontal displacement or swaying, effectively avoiding collisions and jamming with the internal structure of the autonomous underwater vehicle's (AUV) nose section.

[0049] In one embodiment, a limiting cover 50 is also included. The limiting cover 50 is disposed on the outer periphery of the jettisoned object 40 and is used to guide the descent path of the jettisoned object 40 during jettisoning, restricting the jettisoned object 40 from detaching in the vertical direction. The limiting cover 50 is fixedly installed inside the head compartment of the autonomous underwater vehicle, located directly below or on the outer periphery of the jettisoned object 40. Its inner wall contour is adapted to the shape of the jettisoned object 40, leaving a controllable descent gap between the jettisoned object 40 and the inner wall of the limiting cover 50. In the loaded state, the limiting cover 50 does not participate in the load-bearing process and exists only as a spatial constraint structure, without affecting the normal locking and unlocking actions of the lateral stop 30 and the jettisoned object bearing block 20.

[0050] In one embodiment, the drive assembly 10 includes a drive motor 11, a gear 12, and a rack 13. The gear 12 meshes with the rack 13, and the gear 12 is driven to rotate by the drive motor 11. The lateral stop 30 is connected to the rack 13 and moves synchronously with the rack 13. The drive motor 11 is fixedly mounted on a mounting bracket inside the head compartment of the autonomous underwater vehicle. Its output shaft is coaxially connected to the gear 12. The gear 12 and the rack 13 form a gear and rack transmission pair, converting the rotational motion of the drive motor 11 into the linear motion of the rack 13. The rack 13 is slidably disposed in a groove or guide rail inside the head compartment. The lateral stop 30 is fixedly connected to the rack 13 by bolts or integral molding and slides linearly with the rack 13. The gear and rack transmission is a rigid meshing transmission with no elastic deformation or slippage. The transmission ratio is constant, and the displacement of the lateral stop 30 is linearly related to the rotation angle of the drive motor 11. Therefore, the movement distance of the lateral stop 30 can be precisely controlled by controlling the rotation speed of the drive motor 11, ensuring that the stroke of the first stop part 31 when it releases the stop is accurate and controllable.

[0051] The present invention also provides a mechanical load release method, which uses the above-mentioned mechanical load release device and includes the following steps: The object 40 is attached to the throwing support block 20, so that the first stop 31 of the side stop block 30 stops the first end of the throwing support block 20, and the second stop 32 restricts the object 40 from sliding out from the second end of the throwing support block 20. The control drive assembly 10 is activated to drive the lateral stop block 30 to move, thereby releasing the first stop part 31 from stopping the first end of the load-bearing block 20. The throwing bearing block 20 rotates automatically around its installation position under the gravitational torque of the throwing object 40; The object 40 is released from the throwing block 20 under the action of gravity, thus completing the throwing process.

[0052] The jettisoning method of this embodiment is simple in procedure and reliable in operation. During loading, simply placing the payload 40 into the jettisoning block 20 and moving the lateral stop 30 is sufficient to lock it in place. During jettisoning, the drive component 10 only needs to drive the lateral stop 30 a small distance to release the stop, and the gravity of the payload 40 will automatically complete the subsequent release action without continuous power input. The entire jettisoning process is rapid in response, directionally controllable, and has extremely low energy consumption, making it suitable for emergency jettisoning and mission payload delivery of deep-sea autonomous underwater vehicles.

[0053] The present invention also provides an underwater vehicle including the above-described mechanical jettisoning device.

[0054] In one embodiment, the underwater vehicle is an autonomous underwater vehicle (AUV), and the mechanical jettisoning device is located within the head compartment of the AUV. The jettisoning block 20 is installed at the bottom or side of the head compartment. As the forward section of the AUV, the head compartment has a relatively compact internal space but high structural strength, making it suitable for arranging a jettisoning mechanism with high reliability and operational precision requirements. Positioning the jettisoning block 20 at the bottom of the head compartment allows the jettisoned object 40 to detach directly from the AUV through an opening at the bottom of the head compartment after release, minimizing the descent path and aligning with the AUV's center of gravity, thus predicting the AUV's buoyancy change after jettisoning. If the installation position is on the side of the head compartment, it facilitates the use of the head compartment sidewall structure to enhance installation rigidity, and the detachment direction of the jettisoned object 40 can be adjusted as needed to adapt to different AUV hull opening layouts and buoyancy adjustment requirements.

[0055] In one embodiment, the payload 40 is cargo or a counterweight. When used as a counterweight, the payload 40 is typically made of high-density materials such as cast iron or lead blocks. Its function is to provide negative buoyancy or adjust the pitch attitude of the autonomous underwater vehicle (AUV). When the AUV needs to surface urgently, the counterweight can be quickly released to obtain positive buoyancy. When used as cargo, the payload 40 can be mission payloads such as scientific research equipment, acoustic release devices, samplers, and communication buoys. After the AUV reaches the designated location, it is released by the payload release device.

[0056] The above description is merely an embodiment and does not constitute any limitation on the present invention. Any person skilled in the art can make many possible variations, modifications, or alterations to the technical solutions of the present invention without departing from the scope of the present invention. Therefore, any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of the present invention, without departing from the scope of the present invention, should fall within the protection scope of the present invention.

Claims

1. A mechanical load-release device, characterized in that, It includes a drive assembly (10), a load-bearing block (20), and a side stop (30). The throwing support block (20) is rotatably mounted in the installation position for mounting the throwing object (40). The lateral stop (30) has a first stop (31) and a second stop (32). In the loaded state, the first stop (31) stops the first end of the throwing support block (20) to restrict the throwing support block (20) from rotating under the rotational torque generated by the gravity of the throwing object (40) and keep the throwing object (40) loaded. The second stop (32) abuts against the second end of the throwing support block (20) or the throwing object (40) to restrict the throwing object (40) from sliding out from the second end of the throwing support block (20). During the release of the load, the drive assembly (10) operates, driving the first stop (31) of the lateral stop (30) to release the stop on the first end of the release bearing block (20); the release bearing block (20) rotates automatically under the gravitational torque of the release object (40), causing the release object (40) to detach under the action of gravity.

2. The mechanical load-release device according to claim 1, characterized in that, In the mounted state, the first stop (31) of the lateral stop (30) abuts against the first end of the throwing load block (20), and the second stop (32) abuts against the second end of the throwing load block (20). The lateral stop (30) and the throwing load block (20) enclose a closed space; the thrown object (40) is mounted in the closed space by a hook.

3. The mechanical load-release device according to claim 2, characterized in that, The first stop (31) and the second stop (32) of the lateral stop (30) are straight rod structures that are perpendicular to each other. The first end and the second end of the load-bearing block (20) are straight rods that are perpendicular to each other, and there is an arc-shaped transition section between the two straight rods.

4. The mechanical load-release device according to claim 3, characterized in that, The direction in which the drive assembly (10) drives the lateral stop (30) to move is collinear with the extension direction of the straight rod of the second stop (32); During the release of the load, the first stop (31) releases the stop on the first end of the release bearing block (20) as the lateral stop (30) moves, and the second stop (32) maintains the lateral limit on the release object (40) during the movement; the release bearing block (20) rotates under the gravity of the release object (40) until an opening is formed between the second end of the release bearing block (20) and the second stop (32) that allows the hook of the release object (40) to pass through, and the release object (40) disengages in the vertical direction.

5. The mechanical load-release device according to any one of claims 1-4, characterized in that, It also includes a limiting cover (50), which is disposed on the outer periphery of the projectile (40) and is used to guide the falling path of the projectile (40) during the projectile throwing and restrict the projectile (40) from detaching in the vertical direction.

6. The mechanical load-release device according to any one of claims 1-4, characterized in that, The drive assembly (10) includes a drive motor (11), a gear (12) and a rack (13). The gear (12) meshes with the rack (13). The gear (12) is driven to rotate by the drive motor (11). The lateral stop (30) is connected to the rack (13) and moves synchronously with the rack (13).

7. A mechanical load release method, characterized in that, Using the mechanical load-release device as described in any one of claims 1-6 includes the following steps: The object (40) is attached to the throwing support block (20), so that the first stop (31) of the side stop block (30) stops the first end of the throwing support block (20), and the second stop (32) restricts the object (40) from sliding out from the second end of the throwing support block (20); The control drive assembly (10) is activated to drive the lateral stop block (30) to move, thereby releasing the first stop part (31) from stopping the first end of the throwing load block (20); The load-bearing block (20) rotates automatically around the installation position under the gravitational torque of the load (40); The object (40) is released from the loading support block (20) under the action of gravity, thus completing the release.

8. An underwater vehicle, characterized in that, Includes the mechanical load-release device as described in any one of claims 1-6.

9. The underwater vehicle according to claim 8, characterized in that, The underwater vehicle is an autonomous underwater vehicle. The mechanical jettisoning device is located in the head compartment of the autonomous underwater vehicle. The jettisoning support block (20) is installed at the bottom or side of the head compartment.

10. The underwater vehicle according to claim 8, characterized in that, The payload (40) is cargo or counterweight.

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