CN116767471A - Unmanned vehicle throws and carries device under water - Google Patents
Unmanned vehicle throws and carries device under water Download PDFInfo
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- CN116767471A CN116767471A CN202310784563.3A CN202310784563A CN116767471A CN 116767471 A CN116767471 A CN 116767471A CN 202310784563 A CN202310784563 A CN 202310784563A CN 116767471 A CN116767471 A CN 116767471A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title description 3
- 230000007246 mechanism Effects 0.000 claims abstract description 40
- 230000009471 action Effects 0.000 claims abstract description 18
- 230000006835 compression Effects 0.000 claims abstract description 10
- 238000007906 compression Methods 0.000 claims abstract description 10
- 230000005484 gravity Effects 0.000 claims abstract description 7
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 34
- 229910052742 iron Inorganic materials 0.000 claims description 17
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 3
- 238000005498 polishing Methods 0.000 abstract description 7
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 2
- 229910052751 metal Inorganic materials 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 238000010438 heat treatment Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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Abstract
The invention discloses a load rejection device of an underwater unmanned aircraft, which comprises: the device comprises a main mounting plate, a load throwing executing mechanism, a load throwing block, a spring and a load throwing block cover; the load rejection executing mechanism and the load rejection block cover are arranged on the main mounting plate; the polishing carrier block and the spring are arranged in the polishing carrier block cover; the spring is positioned between the throwing carrying block and the throwing carrying block cover, and one end of the spring is fixedly connected with the throwing carrying block cover; when the load-throwing executing mechanism is locked, the load-throwing executing mechanism compresses the load-throwing block, the load-throwing block is restrained in the load-throwing block cover, and the spring is in a compressed state; after the load throwing executing mechanism is unlocked, the compression constraint on the load throwing block is released, and the load throwing block falls off from the load throwing block cover under the combined action of gravity and a spring. According to the underwater unmanned aircraft load-throwing device, the electromagnet with smaller suction force can be used for fixing and throwing away the load-throwing block with larger weight by utilizing the lever principle, and the energy loss is smaller.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to a throwing and loading device of an underwater unmanned aircraft.
Background
The underwater unmanned aircraft is novel marine monitoring equipment with energy sources, self-propulsion and self-control, has underwater operation and sensing operation capabilities, can be separated from the autonomous operation of a mother ship, and has wide application prospect in the aspects of military and civil marine development. The throwing device is an important component of the underwater unmanned aircraft and mainly plays a role in throwing away a throwing load block with a certain weight when the underwater unmanned aircraft encounters an emergency or fails in the underwater operation, so that the self weight of the underwater unmanned aircraft is reduced, and emergency floating is realized.
At present, the common load throwing device of the underwater unmanned aircraft at home and abroad mainly comprises an electromagnetic adsorption type, a fusing type, a motor driving type and the like, wherein the electromagnetic adsorption type directly utilizes an electromagnet to adsorb a load throwing block, so that the load throwing can be realized in a power-off mode, but continuous power supply is needed, the attraction force of the electromagnet needs to be increased along with the increase of the weight of the load throwing block, the power is also increased along with the increase, and the energy consumption is higher when the heavy load throwing block is used. The fusing type metal wire which is hung and thrown by utilizing the resistance heating principle is fused, so that the reliability is high, and the outage and throwing can not be realized. The motor-driven type realizes load throwing by utilizing a motor-driven mechanical device, has high reliability, but cannot realize power-off load throwing.
Disclosure of Invention
The technical solution of the invention is as follows: the utility model provides a solve the not enough of prior art, provide an unmanned vehicles under water and throw and carry device, utilize lever principle, use less suction's electro-magnet can realize that the weight is great throws the fixed of carrier block and throw and leave, the energy loss is less.
In order to solve the technical problems, the invention discloses an underwater unmanned aircraft load rejection device, which comprises: the device comprises a main mounting plate, a load throwing executing mechanism, a load throwing block, a spring and a load throwing block cover;
the load rejection executing mechanism and the load rejection block cover are arranged on the main mounting plate; the polishing carrier block and the spring are arranged in the polishing carrier block cover; the spring is positioned between the throwing carrying block and the throwing carrying block cover, and one end of the spring is fixedly connected with the throwing carrying block cover;
when the load-throwing executing mechanism is locked, the load-throwing executing mechanism compresses the load-throwing block, the load-throwing block is restrained in the load-throwing block cover, and the spring is in a compressed state;
after the load throwing executing mechanism is unlocked, the compression constraint on the load throwing block is released, and the load throwing block falls off from the load throwing block cover under the combined action of gravity and a spring.
In the above-mentioned unmanned vehicles of underwater carries device, carry actuating mechanism that throws includes: the device comprises a watertight electromagnet, an iron block, a long lever spring, a short lever spring and a lever bracket;
the watertight electromagnet and the lever bracket are arranged on the main mounting plate;
an iron block is arranged at one end of the long lever and is positioned above the watertight electromagnet; the other end of the long lever and one end of the short lever are arranged on a rotating shaft above the lever bracket;
one end of the long lever spring is connected with the long lever, and the other end of the long lever spring is connected with the lever bracket;
one end of the short lever spring is connected with the short lever, and the other end is connected with the lever bracket.
In the underwater unmanned aerial vehicle load-throwing device, a slot is formed in the side face of the load-throwing block cover, and the other end of the short lever extends into the load-throwing block cover from the slot.
In the underwater unmanned aircraft load rejection device, one end of the short lever, which is close to the long lever, is provided with a boss; wherein, after the short lever and the long lever are installed together through the lever bracket Fang Zhuaizhou, the boss is positioned below the long lever; the short lever can rotate anticlockwise and freely around the rotating shaft; when the short lever rotates clockwise downwards around the rotating shaft, the long lever is driven to rotate together under the constraint action of the boss.
In the underwater unmanned aircraft load-throwing device, the load-throwing block is in an upper thick-upper thin shape, and a step is arranged in the middle; when the load throwing executing mechanism is locked, the other end of the short lever extends into the load throwing block cover from the slot and is clamped on the step to prevent the load throwing block from falling.
In the underwater unmanned aircraft load-throwing device, when the underwater unmanned aircraft normally works and does not send a load-throwing instruction, the load-throwing executing mechanism is in a locking state, the watertight electromagnet is in an electrified adsorption state, the iron block fixedly connected to the long lever is adsorbed on the watertight electromagnet, the long lever is in a locking state which cannot be rotated, and the short lever cannot rotate downwards and clockwise under the constraint of the boss, so that the load-throwing block is clamped.
In the underwater unmanned aircraft load-throwing device, when the underwater aircraft sends a load-throwing instruction or the underwater aircraft fails accidentally and is powered off, the load-throwing executing mechanism is unlocked, the watertight electromagnet is powered off and loses suction, the adsorption constraint on the iron block is released, the short lever rotates downwards and clockwise under the action of the short lever spring and is separated from the step, the compression constraint on the load-throwing block is lost, and the load-throwing block moves downwards under the combined action of gravity and the spring until the load-throwing block falls off from the load-throwing block cover; after the load throwing action is completed, the long lever returns to the original position under the action of the long lever spring.
In the underwater unmanned aircraft load-throwing device, when the load-throwing block is installed, the watertight electromagnet is electrified to adsorb the iron block, and the long lever is locked at the position; the thicker end of the throwing carrying block is pushed upwards into the throwing carrying block cover, along with the upward movement of the throwing carrying block, the short lever rotates upwards and anticlockwise, until the throwing carrying block moves upwards to a certain position, the short lever is separated from contact with the thick end of the throwing carrying block, the short lever spring pulls the short lever back to the original position and is clamped on a step of the throwing carrying block, and the throwing carrying block is in a locking position under the compression constraint of the short lever and cannot fall.
In the underwater unmanned aircraft load-throwing device, the load-throwing executing mechanisms are N sets, and the N sets of load-throwing executing mechanisms are uniformly distributed around the load-throwing block cover; wherein N is more than or equal to 1.
In the underwater unmanned aerial vehicle load-throwing device, the side face of the load-throwing block cover is provided with N grooves, and the positions of the grooves correspond to the installation positions of the load-throwing executing mechanisms.
The invention has the following advantages:
(1) The invention discloses a load throwing device of an underwater unmanned aircraft, which can realize the fixation and throwing away of a load throwing block with larger weight by using an electromagnet with smaller suction force by utilizing a lever principle and has smaller energy loss.
(2) The invention discloses a load throwing device of an underwater unmanned aircraft, which can be provided with a plurality of sets of load throwing executing mechanisms at the same time, so that accidental throwing away of a load throwing block caused by faults of a single electromagnet is prevented, and the fault rate of the load throwing device is effectively reduced.
(3) The invention discloses a load throwing device of an underwater unmanned aircraft, which has a simple structure, only an electromagnet needs to be watertight packaged, other parts are metal non-bearing parts, and the load throwing operation is simple and reliable.
(4) The invention discloses a load throwing device of an underwater unmanned aircraft, which can realize power-off load throwing and has higher safety.
(5) The invention discloses a load throwing device of an underwater unmanned aircraft, wherein a load throwing block is of a simple cylindrical shape, and the load throwing device is simple to process and low in use cost.
(6) The invention discloses a load throwing device of an underwater unmanned aircraft, which can realize fixation by pushing a load throwing block into a fixed position along a load throwing block cover when the load throwing block is installed, and is simple and convenient to operate.
Drawings
FIG. 1 is a general assembly view of an underwater unmanned vehicle load rejection apparatus in an embodiment of the present invention;
FIG. 2 is an assembled schematic view of a load rejection actuator according to an embodiment of the present invention;
fig. 3 is a schematic diagram of a polishing carrier block according to an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the embodiments of the present invention disclosed herein will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1, in this embodiment, the underwater unmanned vehicle load-rejection device includes: the device comprises a main mounting plate 1, a load rejection executing mechanism, a load rejection block 7, a spring 8 and a load rejection block cover 9. Wherein, the load throwing executing mechanism and the load throwing block cover 9 are arranged on the main mounting plate 1; the polishing carrier block cover 9 is internally provided with a polishing carrier block 7 and a spring 8; the spring 8 is positioned between the throwing carrying block 7 and the throwing carrying block cover 9, and one end of the spring 8 is fixedly connected with the throwing carrying block cover 9. When the load throwing executing mechanism is locked, the load throwing executing mechanism compresses the load throwing block 7, the load throwing block 7 is restrained in the load throwing block cover 9, and the spring 8 is in a compressed state. After the load throwing executing mechanism is unlocked, the compression constraint on the load throwing block 7 is released, and the load throwing block 7 falls off from the load throwing block cover 9 under the combined action of gravity and the spring 8.
In this embodiment, the load rejection executing mechanism may specifically include: the watertight electromagnet 2, the iron block 3, the long lever 4, the long lever spring 5, the short lever 6, the short lever spring 10 and the lever bracket 11. Wherein, the watertight electromagnet 2 and the lever bracket 11 are arranged on the main mounting plate 1; an iron block 3 is arranged at one end of the long lever 4, and the iron block 3 is positioned above the watertight electromagnet 2; the other end of the long lever 4 and one end of the short lever 6 are arranged on a rotating shaft above the lever bracket 11; one end of the long lever spring 5 is connected with the long lever 4, and the other end is connected with the lever bracket 11; one end of the short lever spring 10 is connected with the short lever 6, and the other end is connected with the lever bracket 11. The side of the load-throwing block cover 9 is provided with a slot, and the other end of the short lever 6 extends into the load-throwing block cover 9 from the slot.
Preferably, as shown in fig. 2, the short lever 6 is provided with a boss 61 near one end of the long lever 4. Wherein, after the short lever 6 and the long lever 4 are installed together through the rotating shaft above the lever bracket 11, the boss 61 is positioned below the long lever 4. The short lever 6 can rotate anticlockwise and freely around the rotating shaft; when the short lever 6 rotates clockwise around the rotation axis, the long lever 4 is driven to rotate together under the constraint of the boss 61. The clockwise and counterclockwise directions in this embodiment are the directions in which the long lever 4 and the short lever 6 are viewed in the right direction as shown in fig. 1.
Preferably, as shown in fig. 3, the load-throwing block 7 is in an upper thick shape and a lower thin shape, and a step 71 is arranged in the middle; when the load throwing executing mechanism is locked, the other end of the short lever 6 extends into the load throwing block cover 9 from the slot and is clamped on the step 71, so that the load throwing block 7 is prevented from falling.
In this embodiment, when the underwater vehicle normally works without sending out a load rejection instruction, the load rejection executing mechanism is in a locked state, the watertight electromagnet 2 is in an electrified adsorption state, the iron block 3 fixedly connected to the long lever 4 is adsorbed on the watertight electromagnet 2, the long lever 4 is in a locked state in which the long lever 4 cannot rotate, and the short lever 6 cannot rotate clockwise under the constraint of the boss 61, so that the load rejection block 7 is clamped.
In the embodiment, when the underwater vehicle sends out a load throwing instruction or the underwater vehicle fails accidentally and is powered off, the load throwing executing mechanism is unlocked, the watertight electromagnet 2 is powered off and loses suction, the absorption constraint on the iron block 3 is released, the short lever 6 rotates downwards and clockwise under the action of the short lever spring 10 and is separated from the step 71, the compression constraint on the load throwing block 7 is lost, and the load throwing block 7 moves downwards under the combined action of gravity and the spring 8 until falling from the load throwing block cover 9; after the load throwing action is completed, the long lever 4 returns to the original position under the action of the long lever spring 5.
In the embodiment, when the load throwing block 7 is installed, the watertight electromagnet 2 is electrified to adsorb the iron block 3, and the long lever 4 is locked at the position; the thicker end of the throwing carrying block 7 is pushed upwards into the throwing carrying block cover 9, along with the upward movement of the throwing carrying block 7, the short lever 6 rotates upwards and anticlockwise, until the throwing carrying block 7 moves upwards to a certain position, the short lever 6 is separated from the thicker end of the throwing carrying block 7, the short lever spring 10 pulls the short lever 6 back to the original position and is clamped on the step 71 of the throwing carrying block 7, and the throwing carrying block 7 is in a locking position under the compression constraint of the short lever 6 and cannot fall.
In this embodiment, the load-throwing executing mechanisms may be N sets, where N sets of load-throwing executing mechanisms are uniformly distributed around the load-throwing block cover 9; wherein N is more than or equal to 1. Correspondingly, the side surface of the load-throwing block cover 9 is provided with N grooves, and the positions of the grooves correspond to the installation positions of the load-throwing executing mechanisms.
Although the present invention has been described in terms of the preferred embodiments, it is not intended to be limited to the embodiments, and any person skilled in the art can make any possible variations and modifications to the technical solution of the present invention by using the methods and technical matters disclosed above without departing from the spirit and scope of the present invention, so any simple modifications, equivalent variations and modifications to the embodiments described above according to the technical matters of the present invention are within the scope of the technical matters of the present invention.
What is not described in detail in the present specification belongs to the known technology of those skilled in the art.
Claims (10)
1. An underwater unmanned vehicle load rejection apparatus, comprising: the device comprises a main mounting plate (1), a load-throwing executing mechanism, a load-throwing block (7), a spring (8) and a load-throwing block cover (9);
the load throwing executing mechanism and the load throwing block cover (9) are arranged on the main mounting plate (1); a load throwing block (7) and a spring (8) are arranged in the load throwing block cover (9); the spring (8) is positioned between the throwing carrying block (7) and the throwing carrying block cover (9), and one end of the spring (8) is fixedly connected with the throwing carrying block cover (9);
when the load throwing executing mechanism is locked, the load throwing executing mechanism compresses the load throwing block (7), the load throwing block (7) is restrained in the load throwing block cover (9), and the spring (8) is in a compressed state;
after the load throwing executing mechanism is unlocked, the compression constraint on the load throwing block (7) is released, and the load throwing block (7) falls off from the load throwing block cover (9) under the combined action of gravity and the spring (8).
2. The underwater unmanned aircraft load rejection apparatus of claim 1, wherein the load rejection actuator comprises: the device comprises a watertight electromagnet (2), an iron block (3), a long lever (4), a long lever spring (5), a short lever (6), a short lever spring (10) and a lever bracket (11);
the watertight electromagnet (2) and the lever bracket (11) are arranged on the main mounting plate (1);
an iron block (3) is arranged at one end of the long lever (4), and the iron block (3) is positioned above the watertight electromagnet (2); the other end of the long lever (4) and one end of the short lever (6) are arranged on a rotating shaft above the lever bracket (11);
one end of the long lever spring (5) is connected with the long lever (4), and the other end is connected with the lever bracket (11);
one end of the short lever spring (10) is connected with the short lever (6), and the other end is connected with the lever bracket (11).
3. The underwater unmanned vehicle load rejection device according to claim 2, wherein the side of the load rejection block cover (9) is provided with a slot, and the other end of the short lever (6) extends into the load rejection block cover (9) from the slot.
4. An underwater unmanned aircraft load rejection device according to claim 3, wherein a boss (61) is provided at one end of the short lever (6) adjacent to the long lever (4); wherein, after the short lever (6) and the long lever (4) are installed together through the Fang Zhuaizhou on the lever bracket (11), the boss (61) is positioned below the long lever (4); the short lever (6) can rotate anticlockwise and freely around the rotating shaft; when the short lever (6) rotates clockwise downwards around the rotating shaft, the long lever (4) is driven to rotate together under the constraint action of the boss (61).
5. The underwater unmanned aircraft load rejection device according to claim 4, wherein the load rejection block (7) has an upper thick and a lower thin profile, and a step (71) is arranged in the middle; when the load throwing executing mechanism is locked, the other end of the short lever (6) stretches into the load throwing block cover (9) from the slot and is clamped on the step (71) to prevent the load throwing block (7) from falling.
6. The underwater unmanned vehicle load-throwing device according to claim 5, wherein when the underwater vehicle is not normally operated and a load-throwing instruction is not sent, the load-throwing executing mechanism is in a locking state, the watertight electromagnet (2) is in an electrified adsorption state, the iron block (3) fixedly connected to the long lever (4) is adsorbed on the watertight electromagnet (2), the long lever (4) is in a locking state which cannot be rotated, and the short lever (6) cannot be rotated clockwise under the constraint of the boss (61), so that the load-throwing block (7) is clamped.
7. The underwater unmanned aircraft load rejection device according to claim 6, wherein when the underwater aircraft gives out a load rejection instruction or the underwater aircraft fails accidentally and is powered off, the load rejection executing mechanism is unlocked, the watertight electromagnet (2) is powered off and loses suction, the adsorption constraint on the iron block (3) is released, the short lever (6) rotates downwards clockwise under the action of the short lever spring (10) and is separated from the step (71), the compression constraint on the load rejection block (7) is removed, and the load rejection block (7) moves downwards under the combined action of gravity and the spring (8) until falling off from the load rejection block cover (9); after the load throwing action is completed, the long lever (4) returns to the original position under the action of the long lever spring (5).
8. The underwater unmanned aircraft load rejection device according to claim 7, wherein when the load rejection block (7) is installed, the watertight electromagnet (2) is electrified to absorb the iron block (3), and the long lever (4) is locked in position; the thicker end of the throwing carrying block (7) is pushed into the throwing carrying block cover (9) upwards, along with the upward movement of the throwing carrying block (7), the short lever (6) rotates upwards anticlockwise until the throwing carrying block (7) moves upwards to a certain position, the short lever (6) is separated from contact with the thicker end of the throwing carrying block (7), the short lever spring (10) pulls the short lever (6) back to the original position and is clamped on the step (71) of the throwing carrying block (7), and the throwing carrying block (7) is in a locking position under the compression constraint of the short lever (6) and cannot fall.
9. The underwater unmanned aircraft load rejection device according to claim 1, wherein the load rejection executing mechanisms are N sets, and the N sets of load rejection executing mechanisms are uniformly distributed around the load rejection block cover (9); wherein N is more than or equal to 1.
10. The underwater unmanned aircraft load rejection device according to claim 9, wherein the side of the load rejection block cover (9) is provided with N slots, the position of each slot corresponding to the installation position of each load rejection actuator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310784563.3A CN116767471A (en) | 2023-06-29 | 2023-06-29 | Unmanned vehicle throws and carries device under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310784563.3A CN116767471A (en) | 2023-06-29 | 2023-06-29 | Unmanned vehicle throws and carries device under water |
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| Publication Number | Publication Date |
|---|---|
| CN116767471A true CN116767471A (en) | 2023-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310784563.3A Pending CN116767471A (en) | 2023-06-29 | 2023-06-29 | Unmanned vehicle throws and carries device under water |
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| CN (1) | CN116767471A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117416507A (en) * | 2023-12-18 | 2024-01-19 | 中国空气动力研究与发展中心空天技术研究所 | Water-entering load-reducing device and bionic cross-medium aircraft |
-
2023
- 2023-06-29 CN CN202310784563.3A patent/CN116767471A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117416507A (en) * | 2023-12-18 | 2024-01-19 | 中国空气动力研究与发展中心空天技术研究所 | Water-entering load-reducing device and bionic cross-medium aircraft |
| CN117416507B (en) * | 2023-12-18 | 2024-02-20 | 中国空气动力研究与发展中心空天技术研究所 | Water-entering load-reducing device and bionic cross-medium aircraft |
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