CN116605392A - Emergency load rejection mechanism for underwater unmanned submersible - Google Patents
Emergency load rejection mechanism for underwater unmanned submersible Download PDFInfo
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- CN116605392A CN116605392A CN202310624781.0A CN202310624781A CN116605392A CN 116605392 A CN116605392 A CN 116605392A CN 202310624781 A CN202310624781 A CN 202310624781A CN 116605392 A CN116605392 A CN 116605392A
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- titanium alloy
- resistant cabin
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- ballast weight
- sealing ring
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- 230000007246 mechanism Effects 0.000 title claims abstract description 32
- 229910001069 Ti alloy Inorganic materials 0.000 claims abstract description 61
- 238000007789 sealing Methods 0.000 claims abstract description 39
- 239000007788 liquid Substances 0.000 claims abstract description 4
- 239000013535 sea water Substances 0.000 claims description 11
- 230000009471 action Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000005260 corrosion Methods 0.000 abstract description 4
- 230000007797 corrosion Effects 0.000 abstract description 4
- 238000011084 recovery Methods 0.000 abstract description 4
- 238000000034 method Methods 0.000 description 6
- 230000005484 gravity Effects 0.000 description 5
- 238000004458 analytical method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 229910000831 Steel Inorganic materials 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004880 explosion Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 239000010959 steel Substances 0.000 description 2
- 206010042135 Stomatitis necrotising Diseases 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052500 inorganic mineral Inorganic materials 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 239000011707 mineral Substances 0.000 description 1
- 201000008585 noma Diseases 0.000 description 1
- 229910052755 nonmetal Inorganic materials 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/22—Adjustment of buoyancy by water ballasting; Emptying equipment for ballast tanks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63B—SHIPS OR OTHER WATERBORNE VESSELS; EQUIPMENT FOR SHIPPING
- B63B3/00—Hulls characterised by their structure or component parts
- B63B3/13—Hulls built to withstand hydrostatic pressure when fully submerged, e.g. submarine hulls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Ocean & Marine Engineering (AREA)
- Pressure Vessels And Lids Thereof (AREA)
Abstract
The invention relates to an emergency load rejection structure of an underwater unmanned submersible, which comprises a titanium alloy pressure-resistant cabin, an electromagnetic valve, a vacuumizing valve, a ballast weight and an o-shaped sealing ring, wherein the titanium alloy pressure-resistant cabin is arranged in a groove below the unmanned submersible, the inner wall of an opening of the titanium alloy pressure-resistant cabin is grooved, the o-shaped sealing ring is arranged, the o-shaped sealing ring is radially sealed, the sealing mode adopts dynamic sealing, the vacuum valve and the electromagnetic valve are distributed on the upper part of the titanium alloy pressure-resistant cabin, and the whole load rejection device is constructed; the hollow cavity at the joint of the ballast weight and the titanium alloy pressure-resistant cabin is sealed by an o-shaped sealing ring, the o-shaped sealing ring is installed in a radial sealing mode, gas or liquid is prevented from entering, a groove is formed in the inner wall of an opening of the titanium alloy pressure-resistant cabin, and the o-shaped sealing ring is installed, so that the reusability of the mechanism is improved. The invention has the advantages of simple and stable structure, low power consumption, good corrosion resistance and the like, and ensures the safe recovery of the unmanned submersible under special conditions.
Description
Technical Field
The invention belongs to the technical field of underwater load rejection, and particularly relates to an emergency load rejection mechanism for an underwater unmanned submersible.
Background
With the development and use of energy and mineral resources, the ocean attracts attention of various countries, advanced technology and equipment are needed for developing the ocean, and the unmanned underwater vehicle is the only equipment capable of entering deep sea at present, so that the unmanned underwater vehicle plays an important role in detecting and developing the ocean. With the increase of development demands, the safety of unmanned underwater vehicles becomes an urgent problem to be solved. If an accident occurs during operation of the unmanned underwater vehicle, the unmanned underwater vehicle is light, the task fails, and the recovery of the unmanned underwater vehicle fails to cause loss. However, the limited energy source of the submersible cannot be used for submerging and floating, so that the energy source of the submersible is in shortage during operation, and the submersible can immediately release the jettisonable weight when the submersible fails by using the jettisonable mechanism, so that the submersible can obtain larger buoyancy to quickly rise out of the water, and the submersible is favorable for quick positioning and recovery for rescue.
In the automatic throwing and loading mechanism of a deep sea sampler, the piston is acted on by seawater pressure, and in the ultra-deep state, a steel ball positioned by the piston enters a clamping groove to automatically release a ballast weight, compared with the automatic throwing and loading mechanism, the automatic throwing and loading mechanism finally releases by the self gravity of the ballast weight, but the mechanical design process requirement of the throwing and loading mechanism is higher, the risk of steel ball clamping exists, the spring force of the piston determines how deep to release, a large amount of experimental data support is needed to put into practice, and the internal friction force of the piston changes along with the service time of the mechanism, so that the releasing time of the automatic throwing and loading mechanism is more unstable; in the patent 'fusing type load throwing device for underwater equipment', an alloy resistance wire is connected with a ballast weight through a high-strength nonmetal connecting wire, and the resistance wire is fused through boosting to realize load throwing; in the emergency load throwing device of the underwater glider, an explosion bolt is used for controlling the release of the load throwing, and although the load throwing action and the whole load throwing mechanism are all feasible, the explosion bolt is a dangerous article, and has certain potential safety hazards in the transportation, storage and installation processes, so that a certain degree of danger can be caused, and the load throwing mechanism used by the invention has no dangerous operation risk. In the patent 'a controllable electromagnetic load-throwing module of an underwater robot and an emergency load-throwing method thereof', the underwater robot is subjected to emergency load-throwing by using an electromagnetic load-throwing method, electromagnetic adsorption type electromagnetic load-throwing device is powered on all the time when the underwater robot is not in load-throwing, the power consumption is high, the contact surface is easy to corrode, the load-throwing is possibly unsuccessful, and the pressure-resistant cabin is made of titanium alloy materials.
Disclosure of Invention
The invention aims to provide an emergency load rejection mechanism for an underwater unmanned submersible.
The aim of the invention is realized by the following technical scheme:
an emergency load rejection mechanism for an underwater unmanned submersible comprises an electromagnetic valve, a vacuumizing valve, a titanium alloy pressure-resistant cabin, a hollow cavity, a ballast weight and an o-shaped sealing ring; the integral load throwing mechanism is characterized in that a titanium alloy pressure-resistant cabin is arranged in a groove below the unmanned submersible, an opening is formed in the inner wall of an opening of the titanium alloy pressure-resistant cabin, an o-shaped sealing ring is arranged on the opening, a vacuumizing valve and an electromagnetic valve are distributed on the upper part of the titanium alloy pressure-resistant cabin, and a ballast weight is propped into the hollow cavity from the lower part of the titanium alloy pressure-resistant cabin.
The invention may further include:
1. the hollow cavity at the joint of the ballast weight and the titanium alloy pressure-resistant cabin is sealed by an o-shaped sealing ring, the o-shaped sealing ring is installed in a radial sealing mode, gas or liquid is prevented from entering, a groove is formed in the inner wall of an opening of the titanium alloy pressure-resistant cabin, and the o-shaped sealing ring is installed, so that the reusability of the mechanism is improved.
2. The ballast weight is pushed into the titanium alloy pressure-resistant cabin from bottom to top, the diameter of the ballast weight is smaller than that of the hollow cavity, and the height of the adsorbed part of the ballast weight is one half of that of the titanium alloy pressure-resistant cabin.
3. Before the submersible is launched, a ballast weight is pushed into the titanium alloy pressure-resistant cabin from bottom to top, the electromagnetic valve is closed, the vacuum pump is connected with the vacuum valve to vacuumize the titanium alloy pressure-resistant cabin, and the vacuum valve is closed, so that the vacuum degree in the titanium alloy pressure-resistant cabin is maintained, and the titanium alloy pressure-resistant cabin adsorbs the ballast weight.
4. When the load throwing mechanism throws load, the electromagnetic valve is controlled to be opened, internal and external pressure changes, seawater enters the titanium alloy pressure-resistant cabin, at the moment, the ballast weight has downward resultant force, and the ballast weight and the o-shaped sealing ring move downwards under the action of the dynamic sealing structure, so that the ballast weight is separated from the titanium alloy pressure-resistant cabin.
The invention has the beneficial effects that:
the invention optimizes and improves the ballasting and the throwing modes of the throwing mechanism of the underwater submersible, and the titanium alloy pressure-resistant cabin solves the problem that the traditional electromagnetic adsorption type is seriously affected by seawater corrosion, and has the advantages of strong corrosion resistance and convenient maintenance; after ballasting, the o-shaped sealing ring ensures that seawater and air cannot enter the pressure-resistant cabin through the titanium alloy through radial sealing, and the o-shaped ring mounting groove is formed in the inner wall of the opening of the titanium alloy pressure-resistant cabin, so that the reusability of the o-shaped ring is improved; in the load throwing process, the electromagnetic valve is opened, the internal pressure and the external pressure of the titanium alloy pressure-resistant cabin are changed, so that the dynamic friction force between the ballast weight and the o-shaped ring is counteracted by the pressure difference between the self gravity and the seawater, the ballast weight is separated from the titanium alloy pressure-resistant cabin, the load throwing is realized, and compared with the complex mechanical load throwing, the emergency load throwing is realized in a more simplified and stable mode. The invention has the advantages of simple and stable structure, low power consumption, good corrosion resistance and the like, and ensures the safe recovery of the unmanned submersible under special conditions.
Drawings
FIG. 1 is a block diagram of an unmanned submersible emergency load rejection mechanism;
FIG. 2 is a schematic illustration of the load-rejection operation;
fig. 3 is a top view of the load rejection mechanism.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
As shown in figure 1, the invention provides an emergency load rejection mechanism of an underwater unmanned submersible, which consists of a titanium alloy pressure-resistant cabin 3, an electromagnetic valve 1, a vacuumizing valve 2, a hollow cavity 4 and a ballast weight 5, wherein the titanium alloy pressure-resistant cabin 3 is arranged in a groove below the unmanned submersible, the inner wall of an opening of the titanium alloy pressure-resistant cabin 3 is grooved, an o-shaped sealing ring 6 is arranged, the o-shaped sealing ring is radially sealed, and the sealing mode is dynamic sealing. The vacuum valve 2 and the electromagnetic valve 1 are distributed on the titanium alloy pressure-resistant cabin 3, and the titanium alloy pressure-resistant cabin 3, the vacuum valve 2 and the electromagnetic valve 1 together form an integral load-throwing frame. And (3) pushing the ballast weight 5 into the cabin from bottom to top at the lower part of the titanium alloy pressure-resistant cabin 3, vacuumizing the hollow cavity 4 by using a vacuum pump, and maintaining the hollow cavity, thereby completing the construction of the whole load-throwing mechanism.
The hollow cavity 4 at the joint of the ballast weight 5 and the titanium alloy pressure-resistant cabin 3 is sealed by an o-shaped sealing ring 6, the o-shaped sealing ring 6 is installed in a radial sealing way, gas or liquid is prevented from entering, the inner wall of the opening of the titanium alloy pressure-resistant cabin 3 is grooved, and the o-shaped sealing ring 6 is installed, so that the reusability of the mechanism is improved.
The ballast weight 5 is pushed into the titanium alloy pressure-resistant cabin 3 from bottom to top, the diameter of the ballast weight 5 is slightly smaller than that of the hollow cavity 4, and the height of an adsorbed part of the ballast weight 5 is half of the height of the titanium alloy pressure-resistant cabin 3.
The load throwing mechanism can be integrated with the streamline of the submersible, so that the resistance of seawater during the navigation of the submersible is reduced and the hydrodynamic characteristic of the submersible is improved when the submersible is normally operated.
When the underwater submersible needs to be thrown and carried, referring to fig. 2, the electromagnetic valve 1 is electrified, seawater is sucked by the hollow cavity 4, the titanium alloy pressure-resistant cabin 3 is instantaneously depressurized, the downward acting force is generated by the seawater in the cavity by the ballast weight 5, the gravity of the ballast weight is added, the resultant force is larger than the friction force generated by the outer wall of the ballast weight 5 and the o-shaped sealing ring 6, and the ballast weight 5 slides downwards at the moment, so that the throwing and carrying are realized.
As shown in fig. 2 and 3, it is assumed that sea water density ρ=1050 kg/m 3 Gravity acceleration g=9.8n/kg, ballast weight 5 height h=0.3 m, ballast weight 5 mass m=48 kg, transverse pressure difference between o-ring 6 and ballast weight 5 is 200 lbs., static friction force f between o-ring 6 and ballast weight 5 is obtained from "Noma diagram method for rapidly calculating friction force of o-ring_ Zhao Dingsheng" reference document 1 =57N kinetic friction force f 2 The pressure of 1 standard atmosphere is recorded as pa1, the vacuum pressure of a hollow cavity after the vacuum valve 2 acts on the titanium alloy pressure-resistant cabin 3 is 0.02 x 0.1Mpa and recorded as pa2, and the diameter of the titanium alloy pressure-resistant cabin in a vacuumizing state is at least 0.073m after analysis and calculation.
The analysis process comprises the following steps: in normal underwater operation, the ballast weight 5 is subjected to static friction force f acted by the self-gravity G, o type sealing ring 6 and the ballast weight 5 1 The upward pressure of seawater on the ballast weight 5 is such that the titanium alloy pressure-resistant cabin 3 in the vacuumized condition sucks the ballast weight 5, and the resultant forces should be equal, i.e. the minimum area S of the titanium alloy pressure-resistant cabin is calculated, and p=f/S:
S＝F/P＝(G-f 1 )/(pa1-pa2)＝(470N-57N)/(0.1Mpa-0.02*0.1Mpa)＝0.0042㎡
the minimum diameter of the titanium alloy pressure-resistant chamber is 0.073m calculated by the area formula of the circle.
During the process of throwing, the ballast weight 5 is subjected to a dynamic friction force f acting with the o-shaped sealing ring 2 Self gravity G, downward pressure F generated by height difference 3 :
F 3 ＝ρgh＝1050kg/m 3 *9.8N/kg*0.3m＝3087N
At this time the ballast weights are subjected to a resultant force F 4 :
F 4 ＝G-f 2 +F 3 ＝470N-18N+3086N＝3538N
From the calculated resultant force F 4 It is known that the ballast weight will pop out smoothly.
Through analysis, under the assumption conditions, the diameter of the titanium alloy pressure cabin is deduced to be at least 0.073m, and the titanium alloy pressure cabin can be smoothly ejected in emergency load rejection. This shows that the structure of the present invention is theoretically possible.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (5)
1. An emergent mechanism of carrying of throwing for unmanned submersible under water, its characterized in that: comprises an electromagnetic valve (1), a vacuumizing valve (2), a titanium alloy pressure-resistant cabin (3), a hollow cavity (4), a ballast weight (5) and an o-shaped sealing ring (6); the integral throwing and carrying structure is characterized in that a titanium alloy pressure-resistant cabin (3) is arranged in a groove below the unmanned submersible, an opening inner wall of the titanium alloy pressure-resistant cabin (3) is grooved, an o-shaped sealing ring (6) is arranged on the opening inner wall of the titanium alloy pressure-resistant cabin, a vacuumizing valve (2) and an electromagnetic valve (1) are distributed at the upper part of the titanium alloy pressure-resistant cabin (3), and a ballast weight (5) is propped into a hollow cavity (4) from the lower part of the titanium alloy pressure-resistant cabin (3).
2. An emergency load rejection mechanism for an underwater unmanned submersible as in claim 1 wherein: the hollow cavity (4) at the joint of the ballast weight (5) and the titanium alloy pressure-resistant cabin (3) is sealed by an o-shaped sealing ring (6), the o-shaped sealing ring (6) is installed in a radial sealing mode, gas or liquid is prevented from entering, a groove is formed in the inner wall of an opening of the titanium alloy pressure-resistant cabin (3), and the o-shaped sealing ring (6) is installed for sealing, so that the reusability of the mechanism is improved.
3. An emergency load rejection mechanism for an underwater unmanned submersible as in claim 1 wherein: the ballast weight (5) is pushed into the titanium alloy pressure-resistant cabin (3) from bottom to top, the diameter of the ballast weight (5) is smaller than that of the hollow cavity (4), and the height of an adsorbed part of the ballast weight (5) is half of that of the titanium alloy pressure-resistant cabin (3).
4. An emergency load rejection mechanism for an underwater unmanned submersible as in claim 1 wherein: before the submersible is launched, a ballast weight (5) is pushed into the titanium alloy pressure-resistant cabin (3) from bottom to top, a valve of the electromagnetic valve (1) is closed, a vacuum pump is connected with the vacuum valve (2) to vacuumize the titanium alloy pressure-resistant cabin (3) and the vacuum valve (2) is closed, so that the vacuum degree in the titanium alloy pressure-resistant cabin (3) is kept, and the titanium alloy pressure-resistant cabin (3) adsorbs the ballast weight (5).
5. An emergency load rejection mechanism for an underwater unmanned submersible as in claim 1 wherein: when the load throwing mechanism throws load, the valve of the electromagnetic valve (1) is controlled to be opened, the internal pressure and the external pressure are changed, seawater enters the titanium alloy pressure-resistant cabin (3), at the moment, the ballast weight (5) has downward resultant force, and the ballast weight (5) and the o-shaped sealing ring (6) move downwards under the action of the dynamic sealing structure, so that the ballast weight (5) is separated from the titanium alloy pressure-resistant cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310624781.0A CN116605392A (en) | 2023-05-30 | 2023-05-30 | Emergency load rejection mechanism for underwater unmanned submersible |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310624781.0A CN116605392A (en) | 2023-05-30 | 2023-05-30 | Emergency load rejection mechanism for underwater unmanned submersible |
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| CN116605392A true CN116605392A (en) | 2023-08-18 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117508517A (en) * | 2024-01-04 | 2024-02-06 | 天津瀚海蓝帆海洋科技有限公司 | Corrosion-resistant sealed underwater magnetic load rejection device and production method thereof |
-
2023
- 2023-05-30 CN CN202310624781.0A patent/CN116605392A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117508517A (en) * | 2024-01-04 | 2024-02-06 | 天津瀚海蓝帆海洋科技有限公司 | Corrosion-resistant sealed underwater magnetic load rejection device and production method thereof |
| CN117508517B (en) * | 2024-01-04 | 2024-03-12 | 天津瀚海蓝帆海洋科技有限公司 | Corrosion-resistant sealed underwater magnetic load rejection device and production method thereof |
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