CN216580897U

CN216580897U - Underwater vehicle depthkeeping device of breaking down

Info

Publication number: CN216580897U
Application number: CN202121951933.0U
Authority: CN
Inventors: 李小涛; 夏孔明; 曹甜; 卢波
Original assignee: Wuhan Zhongkehaixun Electronic Technology Co ltd
Current assignee: Wuhan Zhongkehaixun Electronic Technology Co ltd
Priority date: 2021-08-19
Filing date: 2021-08-19
Publication date: 2022-05-24
Anticipated expiration: 2031-08-19

Abstract

The utility model discloses a depth-keeping anchoring device for an underwater vehicle, and relates to the technical field of underwater robots. The ground-grabbing anchor comprises a cabin shell, a Kevlar cable and a depth-fixing anchor releaser, wherein one end of the Kevlar cable is connected to a ground-grabbing anchor, the other end of the Kevlar cable is connected to a cable head releaser, the cable head releaser is fixedly connected into the cabin shell, the ground-grabbing anchor is fixed at the bottom of the depth-fixing anchor releaser through a nut, the depth-fixing anchor releaser is fixedly connected into the cabin shell, a cavity of the cabin shell is filled with glass beads, the outer surface of the glass beads is conformal with a cavity of the cabin shell, and the inner surface of the glass beads is conformal with the shape of the ground-grabbing anchor. The combination of the glass beads and the ground anchor is in a micro negative buoyancy state in water, the influence on the balance weight performance of the underwater vehicle after load rejection is small, the underwater vehicle can perform detection tasks at a specified depth, the influence on the navigation performance of the underwater vehicle after load rejection is small, and the application range is wide.

Description

Underwater vehicle depthkeeping device of breaking down

Technical Field

The utility model belongs to the technical field of underwater robots, and particularly relates to a depth-keeping anchoring device for an underwater vehicle.

Background

The underwater vehicle is widely applied to the fields of scientific investigation, deep sea operation, salvage and lifesaving and the like, and small volume and high space utilization rate are important research and design indexes due to the special performance requirements of the underwater vehicle. When certain detection tasks are executed, the underwater vehicle is required to have the function of floating at the fixed depth in a specified area, and the navigation detection tasks can be continuously executed after the fixed depth detection tasks are completed. At present, the main method is that after the gravity anchor is unloaded, buoyancy adjustment of the underwater vehicle is realized through a sea water pump or an oil sac, and the method can increase the development cost and complexity of the underwater vehicle, reduce the reliability of the underwater vehicle and reduce the effective space utilization rate of the underwater vehicle.

Therefore, the existing underwater vehicle depth-fixing anchoring device has low practicability and cannot meet the requirements in practical use, so that an improved technology is urgently needed in the market to solve the problems.

SUMMERY OF THE UTILITY MODEL

The utility model aims to provide a depth-fixed anchoring device for an underwater vehicle, which is characterized in that by arranging glass beads and a ground grabbing anchor, the ground grabbing anchor can be automatically unfolded to enhance the ground grabbing effect after the underwater vehicle carries out the load-throwing and ground grabbing anchor, the influence of the balance weight parameter performance of an underwater vehicle is small, and the problems that the complexity of the underwater vehicle is increased and the reliability of the underwater vehicle is reduced when the underwater vehicle is used in the future in the prior art are solved.

In order to solve the technical problems, the utility model is realized by the following technical scheme:

the utility model relates to a depth-fixing anchoring device for an underwater vehicle, which comprises a cabin section shell, a Kevlar cable and a depth-fixing anchor releaser, wherein one end of the Kevlar cable is connected to a ground grabbing anchor, the other end of the Kevlar cable is connected to a cable head releaser, the cable head releaser is fixedly connected to the cabin section shell, the ground grabbing anchor is fixed at the bottom of the depth-fixing anchor releaser through a nut, the depth-fixing anchor releaser is fixedly connected to the cabin section shell, a cavity of the cabin section shell is filled with glass beads, the outer surfaces of the glass beads are conformal to a cavity of the cabin section shell, the inner surfaces of the glass beads are conformal to the shape of the ground grabbing anchor, the glass beads are divided into three pieces, the ground grabbing anchor comprises an anchor rod and a bottom plate, a group of annular array anchor rods are rotatably connected to the bottom plate through a pin shaft, the top of the anchor rod is fixedly connected with a cable head, the stock appearance is the mushroom form, and the top quality is heavy, and has the arm of force between barycenter and the rotation axis, and under free state, the stock can rotate to the horizontality around the round pin axle, can increase after the stock expandes with submarine contact surface, the reinforcing effect of grabbing.

Furthermore, the cavity of the cabin shell comprises a Kevlar cable, glass beads and a ground grabbing anchor, the Kevlar cable is flatly laid in grooves at the tops of the glass beads and the ground grabbing anchor, the ground grabbing anchor is in a folded state and is embedded into the glass beads, a pulley is arranged on one side of the cabin shell, the outer surface of the glass beads is in a small-angle conical shape and can be used for sliding down from the cavity of the cabin shell of the underwater vehicle after the glass beads are released, the glass beads can be separated from the ground grabbing anchor after sliding out of the cabin shell, and by arranging the pulley, the edge friction between the Kevlar cable and the cabin shell can be avoided during transportation, and the Kevlar cable can be prevented from being broken when the underwater vehicle hovers.

Further, depthkeeping anchor releaser includes base, steel ball and release lever, the spacing stopper of sliding connection in the base, it has the electro-magnet to peg graft at the top of spacing stopper, spacing stopper is with the steel ball joint at the top of release lever, the bolted connection supporting seat is passed through to the bottom of base, peg graft in the supporting seat at the top of release lever, and the base internal surface section of thick bamboo wall plays the guide effect to the removal of spacing stopper, adopts twice radial seal mode between the upper portion of spacing stopper and the base, and the thin wall drum of spacing stopper bottom can carry on spacingly to the steel ball, and the steel ball is solid circular steel ball, is connected with spacing flange between supporting seat and the release lever, can be used for preventing that water pressure effort from conducting to the effect axle of electro-magnet, reinforcing release reliability of action.

Furthermore, the electromagnet is fixedly connected inside the cabin section shell, a limiting tongue is fixed on an acting shaft of the electromagnet, the limiting tongue is conical, one end of the limiting tongue is inserted into a limiting hole in the top of the limiting plug, the base is connected with the cabin section shell, an O-shaped ring is arranged between the base and the cabin section shell, the limiting tongue is inserted into the limiting hole and can be used for fixing and limiting the limiting plug, and the depth-setting anchor releaser and the cable head releaser are fixedly connected with the cabin section shell and are respectively sealed by two radial and axial O-shaped rings.

Further, the internal surface of spacing stopper bottom is the thin wall drum of conical surface, be connected with compression spring between spacing stopper and the release lever, the ring channel has been seted up to the one end of release lever, the external screw thread has been seted up to the other end of release lever, the release lever passes through the nut and is connected with the bottom plate of grabbing the earth anchor, through setting up the release lever, can be used for injecing glass bead and the vertical direction displacement of grabbing the earth anchor, through seting up the ring channel at the top of release lever, can be used for blocking the steel ball.

Furthermore, a cable head fixing block is arranged at the bottom of the cable head releaser, one end of the cable head fixing block is connected with the steel ball, the other end of the cable head fixing block is connected with the cable head of the Kevlar cable, the Kevlar cable is movably connected with the pulley, the basic composition and the working principle of the cable head releaser are consistent with those of the depth-setting anchor releaser, and the only change is to change the release lever into a shorter cable head fixing block.

The utility model has the following beneficial effects:

1. according to the utility model, the glass beads are arranged, so that the glass beads can slide down from the cabin shell when the ground-grabbing anchor is released, and because the glass beads and the ground-grabbing anchor are slightly negative buoyancy under water, the influence on the balance weight performance parameters of the underwater vehicle after release is small, and the navigation task can be continuously executed without adding other buoyancy adjusting mechanisms.

2. By arranging the ground grabbing anchor, the anchor rod of the ground grabbing anchor can be automatically unfolded under the action of gravity when the ground grabbing anchor is released, so that the contact area with the water bottom is increased, the grabbing force of the ground grabbing anchor is increased, and the ground grabbing anchor is simple in structure, safe, reliable and very convenient.

Drawings

FIG. 1 is a schematic structural diagram of an underwater vehicle depth-keeping anchoring device;

FIG. 2 is a schematic view of the internal structure of the nacelle shell of the present invention;

FIG. 3 is a schematic view of the ground-engaging anchor of the present invention after deployment;

FIG. 4 is a schematic structural view of the depth-setting anchor releaser of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1. a deck section housing; 11. a pulley; 2. a Kevlar cable; 3. glass beads; 4. grabbing a ground anchor; 41. an anchor rod; 42. a pin shaft; 43. a rope end fixing piece; 44. a base plate; 5. a depthkeeping anchor releaser; 51. a base; 52. a limiting plug; 53. steel balls; 54. a supporting seat; 55. a release lever; 56. an O-shaped ring; 57. a compression spring; 58. an electromagnet; 581. a limiting tongue; 6. a cable head release; 61. mooring rope head fixing blocks.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

Referring to fig. 1, the utility model relates to a depth-fixing anchoring device for an underwater vehicle, which comprises a cabin shell 1, a kevlar cable 2 and a depth-fixing anchor releaser 5, wherein one end of the kevlar cable 2 is connected to a ground grabbing anchor 4, the other end of the kevlar cable 2 is connected to a cable head releaser 6, the cable head releaser 6 is fixedly connected to the cabin shell 1, the ground grabbing anchor 4 is fixed to the bottom of the depth-fixing anchor releaser 5 through a nut, the depth-fixing anchor releaser 5 is fixedly connected to the cabin shell 1, and a cavity of the cabin shell 1 is filled with glass beads 3.

As shown in fig. 1-3, the cavity of the cabin shell 1 includes a kevlar cable 2, glass beads 3 and a ground-grasping anchor 4, the kevlar cable 2 is tiled in the grooves at the top of the glass beads 3 and the ground-grasping anchor 4, the ground-grasping anchor 4 is in a folded state and is embedded in the glass beads 3, one side of the cabin shell 1 is provided with a pulley 11, the outer surface of the glass beads 3 is conformal with the cavity of the cabin shell 1, the inner surface of the glass beads 3 is conformal with the shape of the ground-grasping anchor 4, the glass beads 3 are equally divided into three pieces, the ground-grasping anchor 4 includes an anchor rod 41 and a bottom plate 44, a group of annular array anchor rods 41 are rotatably connected on the bottom plate 44, the anchor rod 41 is rotatably connected on the bottom plate 44 through a pin shaft 42, the top of the anchor rod 41 is fixedly connected with a rope head fixing member 43, the releasing lever 55 is connected with the bottom plate 44 of the ground-grasping anchor 4 through a nut, when in use, the depth-setting anchor releaser 5 releases the releasing lever 55, the glass beads 3 and the ground grabbing anchor 4 can fall off from a cavity in the cabin shell 1, when the glass beads 3 slide out of the cabin shell 1, the glass beads are separated from the ground grabbing anchor 4, the anchor rod 41 of the ground grabbing anchor 4 rotates to be in a horizontal state around the pin shaft 42 on the bottom plate 44 under the action of gravity, at the moment, the ground grabbing anchor 4 can increase the contact area with the water bottom through the unfolded anchor rod 41, when the ground grabbing anchor 4 sinks, the ground grabbing anchor 4 is connected to one end of the Kevlar cable 2 through the rope head fixing piece 43, the other end of the Kevlar cable 2 is connected to an underwater vehicle, and the underwater vehicle can be suspended in water more stably.

As shown in fig. 1-4, the depth-fixing anchor releaser 5 comprises a base 51, a steel ball 53 and a release lever 55, wherein a limit plug 52 is slidably connected in the base 51, an electromagnet 58 is inserted into the top of the limit plug 52, the steel ball 53 is clamped on the top of the release lever 55 by the limit plug 52, the bottom of the base 51 is connected with a support base 54 through a bolt, the top of the release lever 55 is inserted into the support base 54, the electromagnet 58 is fixedly connected inside the cabin shell 1, a limit tongue 581 is fixed on an action shaft of the electromagnet 58, the limit tongue 581 is conical, one end of the limit tongue 581 is inserted into a limit hole on the top of the limit plug 52, the base 51 is connected with the cabin shell 1, an O-ring 56 is arranged between the base 51 and the cabin shell 1, the inner surface at the bottom of the limit plug 52 is a thin-wall cylinder with a conical surface, a compression spring 57 is connected between the limit plug 52 and the release lever 55, one end of the release lever 55 is provided with an annular groove, the other end of the release lever 55 is provided with external threads, the release lever 55 is connected with the bottom plate 44 of the ground grabbing anchor 4 through a nut, the bottom of the cable head releaser 6 is provided with a cable head fixing block 61, one end of the cable head fixing block 61 is connected with the steel ball 53, the other end of the cable head fixing block 61 is connected with the cable head of the Kevlar cable 2, the Kevlar cable 2 is movably connected with the pulley 11, when the underwater vehicle needs to suspend, firstly, the electromagnet 58 in the depth setting anchor releaser 5 can contract the limiting tongue 581 to enable the limiting tongue 581 to leave the limiting hole at the top of the limiting plug 52, when the limiting plug 52 loses the limiting of the limiting tongue 581, the steel ball 53 can be contacted and restrained, the compression spring 57 can recover and convert the elastic potential energy of the release lever 55 into the kinetic energy of the release lever 55, and the release lever 55 can be accelerated to leave the base 51 under the influence of the compression spring 57 and the gravity of the release lever, meanwhile, the glass beads 3 and the ground grabbing anchor 4 are thrown out of the cavity of the cabin shell 1, the ground grabbing anchor 4 is made to sink, when the ground grabbing anchor 4 sinks, the underwater vehicle is connected to the ground grabbing anchor 4 through the Kevlar cable 2 and can be suspended in water, after a depth-setting detection task is finished, the electromagnet 58 in the cable head releaser 6 enables the limiting plug 52 in the cable head releaser 6 to lose limiting, the compression spring 57 in the cable head releaser 6 enables the cable head fixing block 61 to be ejected out, the cable head fixing block 61 leaves the cable head releaser 6 under the action of elasticity and gravity, the Kevlar cable 2 connected to the cable head fixing block 61 is thrown into the water together, the underwater vehicle loses the constraint of the ground grabbing anchor 4, and a navigation detection task can be continued.

One specific application of this embodiment is: firstly, assembling a Kevlar cable 2, a ground grabbing anchor 4 and glass beads 3 and then integrally installing the assembled Kevlar cable, ground grabbing anchor and glass beads into a cavity of a cabin shell 1, secondly, clamping a release rod 55 in a depth setting anchor releaser 5 in a base 51 through steel balls 53, thirdly, when an underwater vehicle suspends, popping the release rod 55 out of the depth setting anchor releaser 5, throwing the ground grabbing anchor 4 and the glass beads 3 out of the cabin shell 1 at the same time, sinking the ground grabbing anchor 4 to the bottom of the water, enabling the underwater vehicle to suspend in the water through the Kevlar cable 2, when the underwater vehicle needs to navigate and detect, popping a cable head fixing block 61 connected with the Kevlar cable 2 through a cable head releaser 6, enabling the cable head fixing block 61 to leave the underwater vehicle, and when the cable head fixing block 61 leaves the underwater vehicle, enabling the underwater vehicle to lose the restraint of the ground grabbing anchor 4, the voyage exploration can be performed.

The above are only preferred embodiments of the present invention, and the present invention is not limited thereto, and any modification, equivalent replacement, and improvement made to the technical solutions described in the above embodiments, and to some of the technical features thereof, are included in the scope of the present invention.

Claims

1. The utility model provides an underwater vehicle depthkeeping anchoring device, includes cabin shell (1), Kevlar hawser (2) and depthkeeping anchor releaser (5), its characterized in that: one end of the Kevlar cable (2) is connected to a ground grabbing anchor (4), the other end of the Kevlar cable (2) is connected to a cable head releaser (6), the cable head releaser (6) is fixedly connected to the cabin shell (1), the ground grabbing anchor (4) is fixed to the bottom of a depth-fixing anchor releaser (5) through a nut, the depth-fixing anchor releaser (5) is fixedly connected to the cabin shell (1), and glass beads (3) are filled in a cavity of the cabin shell (1);

the outer surface of the glass bead (3) is conformal with the cavity of the cabin shell (1), the inner surface of the glass bead (3) is conformal with the shape of the ground grabbing anchor (4), and the glass bead (3) is divided into three parts;

grab ground anchor (4) and include stock (41) and bottom plate (44), rotate on bottom plate (44) and be connected with stock (41) of a set of annular array, stock (41) rotate through round pin axle (42) and connect on bottom plate (44), the top fixedly connected with fag end mounting (43) of stock (41).

2. The underwater vehicle depthkeeping anchoring device according to claim 1, wherein a cavity of the cabin shell (1) comprises Kevlar cables (2), glass beads (3) and ground grabbing anchors (4), the Kevlar cables (2) are tiled in grooves in the tops of the glass beads (3) and the ground grabbing anchors (4), the ground grabbing anchors (4) are in a folded state and are embedded into the glass beads (3), and pulleys (11) are arranged on one side of the cabin shell (1).

3. The underwater vehicle depth-keeping anchoring device of claim 1, wherein the depth-keeping anchor releaser (5) comprises a base (51), a steel ball (53) and a release lever (55), the base (51) is connected with a limiting plug (52) in a sliding manner, the top of the limiting plug (52) is inserted with an electromagnet (58), the limiting plug (52) clamps the steel ball (53) at the top of the release lever (55), the bottom of the base (51) is connected with a supporting seat (54) through a bolt, and the top of the release lever (55) is inserted in the supporting seat (54).

4. The underwater vehicle depth-keeping anchoring device of claim 3, wherein the electromagnet (58) is fixedly connected inside the cabin section shell (1), a limiting tongue (581) is fixed on an acting shaft of the electromagnet (58), the limiting tongue (581) is conical, one end of the limiting tongue (581) is inserted into a limiting hole in the top of a limiting plug (52), the base (51) is connected with the cabin section shell (1), and an O-shaped ring (56) is arranged between the base (51) and the cabin section shell (1).

5. The underwater vehicle depth-keeping anchoring device of claim 4, wherein the inner surface of the bottom of the limiting plug (52) is a thin-walled cylinder with a conical surface, a compression spring (57) is connected between the limiting plug (52) and a release lever (55), one end of the release lever (55) is provided with an annular groove, the other end of the release lever (55) is provided with an external thread, and the release lever (55) is connected with a bottom plate (44) of the ground grabbing anchor (4) through a nut.

6. The underwater vehicle depthkeeping anchoring device of claim 1, wherein a cable head fixing block (61) is arranged at the bottom of the cable head releaser (6), one end of the cable head fixing block (61) is connected with the steel ball (53), the other end of the cable head fixing block (61) is connected with a cable head of the Kevlar cable (2), and the Kevlar cable (2) is movably connected with the pulley (11).