CN114291234A - Underwater unmanned equipment single-drive linkage unfolding mechanism and unfolding method - Google Patents
Underwater unmanned equipment single-drive linkage unfolding mechanism and unfolding method Download PDFInfo
- Publication number
- CN114291234A CN114291234A CN202111520370.4A CN202111520370A CN114291234A CN 114291234 A CN114291234 A CN 114291234A CN 202111520370 A CN202111520370 A CN 202111520370A CN 114291234 A CN114291234 A CN 114291234A
- Authority
- CN
- China
- Prior art keywords
- underwater unmanned
- driven gear
- driving gear
- spring
- aerial vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Landscapes
- Toys (AREA)
Abstract
The invention provides a single-drive linkage unfolding mechanism and a single-drive linkage unfolding method for underwater unmanned equipment, which relate to the field of bearing mechanisms for hovering attitude control assemblies of the underwater unmanned equipment, and the unfolding mechanism comprises a driven gear, a driving gear, a vortex spring and a locking bolt, wherein the driven gear, the driving gear, the vortex spring and the locking bolt are respectively connected to an underwater unmanned equipment body; the driving gear provides power through the turbine spring and does circular motion, and synchronous motion is made to driven gear under the drive of driving gear, orders about driven gear's extending arm and expandes, and after driven gear expandes to the predetermined position, the locking bolt inserted driven gear's spacing downthehole locking under cylindrical spring's effect. The invention realizes the expansion of the multi-extension mechanism with high reliability, small duty ratio and no extra energy consumption, achieves the aims of realizing multi-slurry installation and planarization of equipment and meets the requirements of high-precision navigation and hovering of unmanned equipment.
Description
Technical Field
The invention relates to the field of bearing mechanisms of hovering attitude control components of underwater unmanned equipment, in particular to a single-drive linkage unfolding mechanism and a single-drive linkage unfolding method of the underwater unmanned equipment.
Background
Unmanned underwater vehicles such as UUV, AUV, HOV, ROV and the like are used as carrying platforms, and underwater unmanned equipment formed by functional components such as detection and counter-detection, identification and counter-identification, interference and counter-interference, tracking and counter-tracking and the like is widely applied to the fields of underwater reconnaissance, underwater communication and counter-diving, anti-torpedo battle, information battle and the like, and is also the key direction for the development of naval equipment of various countries.
The underwater unmanned equipment usually adopts a paddle and rudder combined control mode for movement and hovering, wherein the design of the paddle adopts a single-paddle or coaxial multi-paddle mode according to power requirements. Along with the increase of equipping the yardstick, the increase of weight, the promotion of gesture control accuracy requirement of hovering, borrow for the reference many rotor unmanned aerial vehicle navigation control mode, the many thick liquid arrangement modes in plane are produced by accident. However, achieving a planar multi-paddle installation in a particular environment requires solving the following problems.
Firstly, a certain underwater unmanned device is released through a launching tube, the maximum outer diameter of the planar multi-propeller shape in the launching tube cannot exceed the size of a projectile body under the influence of the size of the tube body of the launching tube, and meanwhile, the safety problem of a propeller needs to be considered in the transportation process of the underwater unmanned device, and the factors require that the planar multi-propeller shape is smaller than the size of the projectile body when the device is in transportation and in the launching tube. In order to exert the technical advantages of the plane multi-slurry as much as possible, the radius of the circle formed by the multi-slurry is as large as possible when the equipment is in a working stage. Based on the above factors, the plane multi-slurry bearing mode needs to adopt a retraction and ejection mechanism.
Secondly, different from the unfolding of a rudder plate or a wing plate of a torpedo or a missile, the unfolding mechanism is provided with a sensor, a motor and other precise components, and cannot generate large impact in the action process so as to prevent the propeller components from being damaged.
Finally, the unfolding mechanism is carried on an underwater unmanned platform, and the requirements of strong pressure bearing, small volume, high reliability, no need of initiating explosive devices for actuation and the like are required to be met.
Based on the analysis, the invention provides a single-drive linkage unfolding mechanism and method for underwater unmanned equipment, which are combined with a use environment, fully utilize the characteristics of a vortex spring, gear transmission, certain unmanned equipment to perform actions and the like, and innovatively meet the use requirements.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide a single-drive linkage deployment mechanism and a deployment method for underwater unmanned equipment, which can complete multi-slurry deployment with high reliability, small duty ratio and no extra energy consumption, realize planarization of multi-slurry installation of the equipment under various constraint conditions, and meet the requirements of high-precision navigation and hovering of the unmanned equipment.
The underwater unmanned equipment single-drive linkage unfolding mechanism comprises a driven gear, a driving gear, a vortex spring and a locking bolt, wherein the driven gear, the driving gear, the vortex spring and the locking bolt are respectively connected to an underwater unmanned equipment body;
the driving gear provides power through the turbine spring and does circular motion, and synchronous motion is made to driven gear under the drive of driving gear, orders about driven gear's extending arm and expandes, and after driven gear expandes to the predetermined position, the locking bolt inserted driven gear's spacing downthehole locking under cylindrical spring's effect.
In some embodiments, the driven gear is fixed on the underwater unmanned equipment body through a rotating shaft, and the driving gear is fixed on an end face rotating shaft in the middle of the underwater unmanned equipment body through an end cover.
In some embodiments, one end of the vortex spring is embedded into the end face rotating shaft slot, the other end of the vortex spring is embedded into the driving gear slot, and the turbine spring is connected between the output gear and the underwater unmanned equipment body through the end cover.
In some embodiments, the positioning device further comprises a positioning bolt, the positioning bolt penetrates through a through hole between the driving gear and the end face rotating shaft, and a flexible steel wire of the positioning bolt is clamped through a mounting rope clamping seat on the driving gear.
In some embodiments, the retaining latch provides a stop for the scroll spring that has completed its deformation energy storage.
In some embodiments, after the driven gear moves to the preset position, one end of the limit pin is connected to the round hole in the end face of the middle part of the underwater unmanned equipment body, and the other end of the limit pin is inserted into the limit hole of the driven gear through the cylindrical spring.
In some embodiments, a guide chamfer is arranged in the limit hole of the driven gear.
In some embodiments, the driving gear is provided with a disk, a slot and a weight reduction slot, the disk is provided with the weight reduction slot, the slot is connected with the weight reduction slot, the turbine spring is arranged in the disk, and the turbine spring provides a force application point through the weight reduction slot.
In some embodiments, clearance fit modes are adopted among the driving gear, the end face rotating shaft and the end cover, and among the driven gear, the underwater unmanned equipment body and the rotating shaft.
The invention also provides a deployment method of the underwater unmanned equipment single-drive linkage deployment mechanism, which comprises the following steps:
s1, after the underwater unmanned equipment is launched out of the pipe, the body of the underwater unmanned equipment is in a vertical posture, the tail of the body falls off synchronously, and the positioning bolt is pulled off by pulling force generated by falling off of the tail of the body through a positioning bolt pulling-off rope;
s2, under the action of the turbine spring with prestress, the driving gear makes circular motion along the central shaft;
s3, under the drive of the driving gear, a plurality of driven gears do circular motion along the axes of the driven gears, and the driven gears drive the extending arms to synchronously extend;
and S4, when the driven gear rotates to a set angle, the locking bolt is embedded into the limiting hole of the driven gear under the action of the cylindrical spring to drive the unfolding mechanism to finish working.
Compared with the prior art, the invention has the following beneficial effects:
(1) the underwater unmanned equipment single-drive linkage unfolding mechanism and the method have a self-locking function, are different from the traditional folding missile wing unfolding mechanism in that the launching tube is required to limit the unfolding mechanism, and can eliminate friction on the launching tube when the equipment launches, so that the service life of the launching tube is prolonged;
(2) according to the underwater unmanned equipment single-drive linkage unfolding mechanism and the method, the vortex spring is used as a power source, the pulling force generated by falling off of the tail of the equipment body is used as a trigger signal for starting the unfolding mechanism, complex parts such as an on-missile control instruction, a motor or an initiating explosive device are not needed, the structure is simple and reliable, the size is small, the axial size of the bullet body is only 35mm, the cost is low, and extra energy consumption is not needed;
(3) according to the underwater unmanned equipment single-drive linkage unfolding mechanism and method, the plurality of driven gears are meshed with the same driving gear, the unfolding synchronism is good, no pressure difference exists, the interference on the full-elastic posture is small, and the underwater unmanned equipment single-drive linkage unfolding mechanism is suitable for a deep sea environment;
(4) the positioning bolt provided by the invention utilizes the characteristics of the flexible steel wire, can simply realize the requirement that the positioning bolt does not fall off under the acceleration impact of not more than 20g and can be completely pulled off under the pulling force of more than 40N, and meets the requirement of actual working conditions.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic view of the deployment mechanism of the present invention in position within the body of the unmanned underwater vehicle with the tail portion thereof in a non-detached state;
FIG. 2 is a cross-sectional view A-A of FIG. 1;
FIG. 3 is a cross-sectional view taken along line B-B of FIG. 2;
FIG. 4 is a schematic view of the deployment mechanism of the present invention in a position within the body of the unmanned underwater vehicle with the tail portion removed;
FIG. 5 is a bottom view of the deployment mechanism of the present invention in a deployed state;
FIG. 6 is a cross-sectional view taken at C-C of FIG. 5;
FIG. 7 is a schematic view of a driving gear of the present invention;
FIG. 8 is a schematic view of the construction of the driven gear of the present invention;
FIG. 9 is a schematic view of the construction of the scroll spring of the present invention;
FIG. 10 is a schematic view of a positioning pin according to the present invention;
fig. 11 is a schematic structural view of a safety rope clamping seat in the invention.
Reference numbers in the figures:
the underwater unmanned equipment comprises an underwater unmanned equipment body 1, an end face rotating shaft 11, an unfolding mechanism 2, a driven gear 21, a driving gear 22, a disc 221, a slot 222, a weight-reducing notch 223, a vortex spring 23, a positioning bolt 24, a bolt body 241, a flexible steel wire 242, an installation rope clamping seat 25, a rotating shaft 26, an end cover 27, a locking bolt 28, a body tail 3 and a positioning bolt pulling-out rope 4.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
Example 1
The invention provides a single-drive linkage unfolding mechanism of underwater unmanned equipment, which comprises a driven gear 21, a driving gear 22, a vortex spring 23, a positioning bolt 24, an installation rope clamping seat 25, a rotating shaft 26, an end cover 27, a locking bolt 28 and a cylindrical spring 29, wherein the driven gear is connected with the driving gear 22 through a connecting rod;
on a plurality of driven gear 21 was fixed in unmanned under water equipped body 1 through pivot 26, a plurality of driven gear 21 circumference evenly distributed in the driving gear 22 outside, and mesh simultaneously with driving gear 22. The driving gear 22 is fixed on the end face rotating shaft 11 in the middle of the underwater unmanned equipment body 1 through an end cover 27. As shown in fig. 7, a disk 221, a slot 222 and a weight-reducing slot 223 are arranged on the driving gear 22, the weight-reducing slot 223 is arranged on the disk 221, the slot 222 is connected in the weight-reducing slot 223, the turbine spring 23 is arranged in the disk 221, and the turbine spring 23 provides a force application point through the weight-reducing slot 223. Preferably, as shown in fig. 2, the lightening notch 223 is used as a notch for clamping the scroll spring 23, and is to provide a radial expansion space for the scroll spring 23 to reduce the influence of a radial component force generated when the scroll spring operates on the circular motion of the driving gear 22. Vortex spring 23 one end embedding terminal surface pivot 11 slot in, vortex spring 23 other end embedding slot 222 in, turbine spring 23 passes through end cover 27 and connects between play movable gear 22 and unmanned under water equipment body 1, prevents it and drops, provides power for driving gear 22 motion.
The positioning bolt 24 penetrates through a through hole between the driving gear 22 and the end face rotating shaft 11, the positioning bolt 24 is clamped tightly through an installation rope clamping seat 25, and the installation rope clamping seat 25 is fixed on the driving gear 22 through a bolt. The positioning bolt 24 provides a limit for the scroll spring 23 which has completed deformation energy storage. The positioning pin 24 comprises a flexible steel wire 242 and a pin body 241, wherein the flexible steel wire 242 is arranged in a round hole of the pin body 241 and can be welded into a whole by adopting a low-temperature soldering mode. The positioning bolt 24 penetrates through a through hole between the driving gear 22 and the end face of the middle part of the underwater unmanned equipment body 1, is limited on the driving gear 22 through a flexible steel wire, and the flexible steel wire is clamped between the driving gear 22 through a safety rope clamping seat 25. Under the action of impact acceleration not greater than 20g, the positioning bolt 24 does not fall off, and the stored energy of the vortex spring 23 is not released; under the action of an external force larger than 40N, the positioning bolt 24 smoothly falls off, and the stored energy of the vortex spring 23 begins to be released.
In an initial state, one end of the locking bolt 28 is embedded into a circular hole in the end face of the middle part of the underwater unmanned equipment body 1, and the other end of the locking bolt is constrained between the end faces of the driven gears 21; after the driven gear 21 moves to the preset position, one end of the limit pin 28 is connected to the round hole in the middle end face of the underwater unmanned equipment body 1, and the other end of the limit pin 28 is inserted into the limit hole of the driven gear 21 through the cylindrical spring 29 to limit the unfolding mechanism 2.
More specifically, the driving gear 22, the driven gear 21, the positioning bolt 24, the safety rope clamping seat 25, the end cover 27, the rotating shaft 26 and the locking bolt 28 can adopt antirust aluminum alloy 3A21 and adopt a micro-arc oxidation surface treatment process, so that the weight of the mechanism is reduced, and the requirements of long-time seawater soaking and wear resistance are met; the vortex spring 23 and the cylindrical spring 29 can be made of 316L stainless steel materials, and the requirement on seawater corrosion resistance is met.
As shown in fig. 8, the driven gear 21 can design an arc-shaped extending arm with a suitable size based on the requirement of the unfolding length index, the arc shape makes full use of the circular characteristic of the underwater unmanned equipment body, and related elements can be designed on the top of the extending arm according to the requirement of a mounting component.
As shown in fig. 11, the safety rope holder 25 is designed with a semicircular hole, the diameter of the circular hole can be set according to the diameter of the flexible steel wire and the required pulling-out force, and the end of the circular hole is chamfered so as to facilitate the flexible steel wire to be smoothly pulled out.
As shown in fig. 6, the driven gear 21 is designed with a guiding chamfer corresponding to the limiting hole of the locking bolt 28, so that when the driven gear 21 moves to a proper position, the locking bolt 28 is inserted into the hole under the action of the cylindrical spring 29 to form a locking state.
The driving gear 22, the end face rotating shaft 11 and the end cover 27, and the driven gear 21, the underwater unmanned equipment body 1 and the rotating shaft 26 are in clearance fit, so that the driving gear 22 and the driven gear 21 are ensured to do circular motion smoothly along the axis.
The working principle is as follows:the driving gear 22 provides power through the turbine spring 23 to do circular motion, the driven gear 21 is driven by the driving gear 22 to do synchronous motion, the extending arms of the driven gear 21 are unfolded at the same time, and after the driven gear 21 is unfolded to a preset position, the locking bolt 28 is inserted into the limiting hole of the driven gear 21 to be locked under the action of the cylindrical spring 29.
In conclusion, the synchronous unfolding of the multiple stretching arms is realized, the working synchronism is good, no pressure difference exists, the interference of the unfolding operation on the posture of the underwater unmanned equipment body is effectively inhibited, and the underwater unmanned equipment is suitable for the deep sea environment. The unfolding mechanism 2 does not need complex parts such as a motor or initiating explosive devices, is simple and reliable in structure, small in size, low in cost and free of extra energy consumption, and only occupies 35mm of the axial size of the projectile body, and does not need to be powered by a battery inside the underwater unmanned equipment 1.
Example 2
The embodiment 2 is completed on the basis of the embodiment 1, and specifically, the following steps are performed:
as shown in fig. 2, the present embodiment includes a driving gear 22, four driven gears 21, a set of scroll springs 23, a set of positioning bolts 24, two safety rope holders 25, an end cover 27, four rotating shafts 26, four locking bolts 28, and four cylindrical springs 29.
The four driven gears 21 are simultaneously meshed with the driving gear 22, the four driven gears 21 synchronously move under the driving of the driving gear 22, when the four driven gears 21 move to a preset position, the four locking bolts 28 are inserted into the limiting holes of the driven gears 21 under the action of the four cylindrical springs 29, and the unfolding mechanism is completely locked.
Furthermore, the number of teeth of the driving gear 22 and the driven gear 21 can be determined according to the size requirement and the single-crank linkage number, in this embodiment, the number of teeth of the driving gear 22 is 100, the number of teeth of the driven gear 21 is 23, the gear pressure angle can be α ═ 20 °, the gear module can be calculated according to the bearing capacity, m ═ 1 can be obtained, and the gear precision can be selected to 7 levels.
Example 3
The invention also provides a deployment method of the underwater unmanned equipment single-drive linkage deployment mechanism, which comprises the following steps:
s1, after the underwater unmanned equipment is launched out of the pipe, the underwater unmanned equipment body 1 is in a vertical posture, the tail 3 of the body falls off synchronously, and the positioning bolt 24 is pulled off by the pulling force generated by the falling off of the tail 3 of the body through the positioning bolt pulling-off rope 4;
s2, under the action of the turbine spring 23 which is applied with prestress, the driving gear 22 makes circular motion along the central shaft;
s3, under the drive of the driving gear 22, the driven gears 21 do circular motion along the axes thereof to drive the extending arms to be synchronously extended;
and S4, after the driven gear 21 rotates to a set angle, the locking bolt 28 is embedded into the limit hole of the driven gear 21 under the action of the cylindrical spring 29, and the unfolding mechanism 2 is driven to finish working.
More specifically, after the unfolding mechanism 2 is finished, the plane multi-propeller starts to work, and the underwater unmanned equipment is propelled, posture adjusted and hovered controlled according to needs.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The underwater unmanned equipment single-drive linkage unfolding mechanism is characterized by comprising a driven gear (21), a driving gear (22), a vortex spring (23) and a locking bolt (28), wherein the driven gear (21), the driving gear (22), the vortex spring (23) and the locking bolt (28) are respectively connected to an underwater unmanned equipment body (1), the driven gear (21) is meshed with the driving gear (22), and the turbine spring (23) is connected with the driving gear (22);
the driving gear (22) provides power through the turbine spring (23) to do circular motion, the driven gear (21) is driven by the driving gear (22) to do synchronous motion to drive the extending arm of the driven gear (21) to be unfolded, and after the driven gear (21) is unfolded to a preset position, the locking bolt (28) is inserted into the limiting hole of the driven gear (21) to be locked under the action of the cylindrical spring (29).
2. The underwater unmanned aerial vehicle single-drive linkage deployment mechanism of claim 1, wherein the driven gear (21) is fixed on the underwater unmanned aerial vehicle body (1) through the rotating shaft (26), and the driving gear (22) is fixed on the end face rotating shaft (11) in the middle of the underwater unmanned aerial vehicle body (1) through the end cover (27).
3. The underwater unmanned aerial vehicle single-drive linkage deployment mechanism of claim 2, wherein one end of the vortex spring (23) is embedded into the slot of the end face rotating shaft (11), the other end of the vortex spring (23) is embedded into the slot of the driving gear (22), and the turbine spring (23) is connected between the output gear (22) and the underwater unmanned aerial vehicle body (1) through the end cover (27).
4. The underwater unmanned aerial vehicle single-drive linkage deployment mechanism of claim 1, further comprising a positioning bolt (24), wherein the positioning bolt (24) penetrates through a through hole between the driving gear (22) and the end face rotating shaft (11), and a flexible steel wire (242) on the positioning bolt (24) is clamped through a mounting rope clamping seat (25) on the driving gear (22).
5. The underwater unmanned aerial vehicle single drive linkage deployment mechanism of claim 4, wherein the positioning latch (24) provides a limit for the volute spring (23) which has completed deformation energy storage.
6. The underwater unmanned aerial vehicle single-drive linkage deployment mechanism of claim 1, wherein after the driven gear (21) moves to a preset position, one end of the limit pin (28) is connected in a circular hole in the middle end face of the underwater unmanned aerial vehicle body (1), and the other end of the limit pin (28) is inserted into a limit hole of the driven gear (21) through the cylindrical spring (29).
7. The underwater unmanned aerial vehicle single-drive linkage deployment mechanism of claim 6, wherein a guide chamfer is provided in a limit hole of the driven gear (21).
8. The underwater unmanned aerial vehicle single-drive linkage deployment mechanism of claim 3, wherein a disc (221), a slot (222) and a weight-reducing notch (223) are arranged on the driving gear (22), the weight-reducing notch (223) is arranged on the disc (221), the slot (222) is connected in the weight-reducing notch (223), the turbine spring (23) is arranged in the disc (221), and the turbine spring (23) provides a force application point through the weight-reducing notch (223).
9. The underwater unmanned aerial vehicle single-drive linkage deployment mechanism of claim 2, wherein clearance fit is adopted among the driving gear (22), the end face rotating shaft (11) and the end cover (27), and among the driven gear (21), the underwater unmanned aerial vehicle body (1) and the rotating shaft (26).
10. The deployment method of the underwater unmanned aerial vehicle single drive linkage deployment mechanism of any one of claims 1 to 9, comprising the steps of:
s1, after the underwater unmanned equipment is launched out of the pipe, the underwater unmanned equipment body (1) is in a vertical posture, the tail part (3) of the body falls off synchronously, and the positioning bolt (24) is pulled off by pulling force generated by falling off of the tail part (3) of the body through the positioning bolt pulling-off rope (4);
s2, under the action of the turbine spring (23) which is pre-stressed, the driving gear (22) makes circular motion along the central shaft;
s3, under the drive of the driving gear (22), the driven gears (21) do circular motion along the axes of the driven gears to drive the extending arms to be synchronously unfolded;
s4, after the driven gear (21) rotates to a set angle, the locking bolt (28) is embedded into the limit hole of the driven gear (21) under the action of the cylindrical spring (29), and the unfolding mechanism (2) is driven to finish working.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111520370.4A CN114291234B (en) | 2021-12-13 | 2021-12-13 | Underwater unmanned equipment single-drive linkage unfolding mechanism and unfolding method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111520370.4A CN114291234B (en) | 2021-12-13 | 2021-12-13 | Underwater unmanned equipment single-drive linkage unfolding mechanism and unfolding method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114291234A true CN114291234A (en) | 2022-04-08 |
| CN114291234B CN114291234B (en) | 2022-11-29 |
Family
ID=80967241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111520370.4A Active CN114291234B (en) | 2021-12-13 | 2021-12-13 | Underwater unmanned equipment single-drive linkage unfolding mechanism and unfolding method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114291234B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191123797A (en) * | 1910-11-12 | 1912-03-21 | Gregory Caldwell Davison | Improvements in and relating to Hydroplane Arrangements for Submarine and Submergible Boats and the like. |
| US6880780B1 (en) * | 2003-03-17 | 2005-04-19 | General Dynamics Ordnance And Tactical Systems, Inc. | Cover ejection and fin deployment system for a gun-launched projectile |
| CN202109837U (en) * | 2011-06-17 | 2012-01-11 | 王聪 | Underwater emission motion body tail wing synchronous unfolding device |
| WO2012017229A1 (en) * | 2010-08-05 | 2012-02-09 | Bae Systems Plc | Unmanned underwater vehicle payload launch |
| CN103057679A (en) * | 2013-01-11 | 2013-04-24 | 哈尔滨工程大学 | Mutual butt joint device for double intelligent underwater robots and butt joint method |
| CN109631686A (en) * | 2018-12-11 | 2019-04-16 | 彩虹无人机科技有限公司 | A kind of scout missile folding wing mechanism |
| JP2020059414A (en) * | 2018-10-11 | 2020-04-16 | 三井Ｅ＆Ｓ造船株式会社 | Underwater vehicle, expansion recovery system for underwater vehicle, and expansion recovery method for underwater vehicle |
| CN112623163A (en) * | 2020-12-15 | 2021-04-09 | 西安精密机械研究所 | Reliable butt joint and self-destruction device and method suitable for underwater unmanned underwater vehicle |
-
2021
- 2021-12-13 CN CN202111520370.4A patent/CN114291234B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB191123797A (en) * | 1910-11-12 | 1912-03-21 | Gregory Caldwell Davison | Improvements in and relating to Hydroplane Arrangements for Submarine and Submergible Boats and the like. |
| US6880780B1 (en) * | 2003-03-17 | 2005-04-19 | General Dynamics Ordnance And Tactical Systems, Inc. | Cover ejection and fin deployment system for a gun-launched projectile |
| WO2012017229A1 (en) * | 2010-08-05 | 2012-02-09 | Bae Systems Plc | Unmanned underwater vehicle payload launch |
| CN202109837U (en) * | 2011-06-17 | 2012-01-11 | 王聪 | Underwater emission motion body tail wing synchronous unfolding device |
| CN103057679A (en) * | 2013-01-11 | 2013-04-24 | 哈尔滨工程大学 | Mutual butt joint device for double intelligent underwater robots and butt joint method |
| JP2020059414A (en) * | 2018-10-11 | 2020-04-16 | 三井Ｅ＆Ｓ造船株式会社 | Underwater vehicle, expansion recovery system for underwater vehicle, and expansion recovery method for underwater vehicle |
| CN109631686A (en) * | 2018-12-11 | 2019-04-16 | 彩虹无人机科技有限公司 | A kind of scout missile folding wing mechanism |
| CN112623163A (en) * | 2020-12-15 | 2021-04-09 | 西安精密机械研究所 | Reliable butt joint and self-destruction device and method suitable for underwater unmanned underwater vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114291234B (en) | 2022-11-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US7475846B2 (en) | Fin retention and deployment mechanism | |
| US6021731A (en) | Ballast system for underwater vehicle | |
| US11009323B2 (en) | Very low-power actuation devices | |
| CN108622342B (en) | Multi-stage separable unmanned underwater vehicle | |
| US7700902B2 (en) | Locking assembly for rotary shafts | |
| EP2222551B1 (en) | System and method for deployment and actuation | |
| US11243056B2 (en) | Very low power actuation devices | |
| CN109539902B (en) | Electric-drive folding wing system with large aspect ratio | |
| KR101073260B1 (en) | Control fin deploying and actuating system for guided projectiles | |
| CN112525022B (en) | Fuse security mechanism with modular design | |
| US3969977A (en) | Hull module weapon or equipment system | |
| CN113085462A (en) | Cross-medium unmanned aerial vehicle device and control method thereof | |
| CN108791773B (en) | A kind of air-drop type underwater glider based on electromagnetism spademan | |
| CN114291234B (en) | Underwater unmanned equipment single-drive linkage unfolding mechanism and unfolding method | |
| US5448941A (en) | Underwater delivery system | |
| US6672239B1 (en) | Elastomeric launch assembly and method of launch | |
| US6871610B1 (en) | Assembly for launching bodies from an underwater platform | |
| KR101621606B1 (en) | Underwater Moving Apparatus Enhanced Maneuver Performance | |
| US5050523A (en) | Pivoted vehicle launch for submarine | |
| CN115014132A (en) | Controllable unfolding mechanism for target missile rudder piece and target missile provided with same | |
| US6736685B2 (en) | Stowable integrated motor propulsor fins | |
| CN220187557U (en) | Missile wing folding mechanism | |
| US3934288A (en) | Object release device | |
| KR102291189B1 (en) | Small Underwater Vehicle having a hovering system using the tube type launcher | |
| CN221316703U (en) | Unmanned aerial vehicle wing folding and unfolding mechanism is penetrated to controllable aerial section of thick bamboo that expands |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |