JP2019098865A - Holding/ejecting apparatus of ejected object and underwater sailing body equipped therewith - Google Patents

Abstract

To provide a holding/ejecting apparatus of an ejected object with a simple construction capable of holding/ejecting an ejected object such as a buoy and provide an underwater sailing body equipped therewith.SOLUTION: The holding/ejecting apparatus ejects an ejected object (buoy 21, apparatus 31 as a target) to the outside of a body 1 of an underwater sailing body, which is housed and held in outer wall recesses H1 and H2 of the body 1, and it comprises a permanent magnet 22 fixed on the opposite side surface to the exposed surface to the outside of the ejected objects housed in the recesses H1 and H2, and an electromagnet 24 provided opposite to the permanent magnet 22 in the recesses H1 and H2, and adsorbed to the permanent magnet 22 in the un-energizing state, and it is configured to eject the ejected objects by energizing the electromagnet 24 to make the electromagnet 24 generate the repulsive magnetic force to the permanent magnet 22.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a device for holding and releasing objects to be discharged from an underwater vehicle used for surveys in the sea, the sea floor, etc., and an underwater vehicle equipped with the same.

  2. Description of the Related Art Conventionally, in order to conduct various surveys in the sea, the sea floor, etc., unmanned underwater vehicles equipped with devices necessary for the survey have been conducted by self-propelled survey at a predetermined location. There are two types of unmanned underwater vehicles: ROV and AUV. The wired underwater vehicle is connected to a mother ship by a cable, and configured to be capable of remote control by obtaining power supply from the mother ship. On the other hand, the non-cordless underwater vehicle is not connected to the mother ship and carries a battery or the like, and is configured to be capable of autonomous navigation based on, for example, contents programmed in advance.

  In such an underwater vehicle, for example, a no-track type underwater vehicle, after the survey is finished, the buoy connected by the rope to the underwater vehicle is released from the underwater vehicle, for example, the operation of a mother ship etc. The crew catches the floating buoy and recovers the underwater vehicle.

  Patent Documents 1 and 2 disclose a configuration for releasing a buoy, although not a buoy for recovery of a underwater vehicle.

  In the configuration of Patent Document 1, the buoy is accommodated in a recess provided on the outer surface of the underwater vehicle, and the buoy is mounted on a buoy pedestal biased upward by a spring, and the biasing force of the spring is applied. A recess closure plate is provided to hold the buoy within the recess against. The recess closing plate is fixed by a detonating bolt, and when the detonating bolt is cut by detonating, the biasing force of the spring opens the recess closing plate to release the buoy. The buoy is provided with a satellite navigation receiver and the like, and is used as a position confirmation device for confirming the position of the underwater vehicle while it is running.

  Further, in the configuration of Patent Document 2, the buoy and the vertically movable lid under the buoy are accommodated in a vertical circular hole provided in the underwater vehicle, and the bottom of the buoy is penetrated through the lid. Bolt is attached. Then, a mechanism for holding the lower end portion of the bolt and for releasing the holding (hereinafter referred to as a "holding and releasing mechanism") is provided. Also, the lid under the buoy is biased upward by a spring, and the buoy is accommodated in the vertical circular hole by holding the lower end of the bolt by the holding release mechanism. When holding by the holding and releasing mechanism is released, the biasing force of the spring raises the lid, and the buoy on the lid is released from the vertical circular hole. The above-mentioned holding and releasing mechanism uses a cartridge in which an electric detonator or the like is accommodated, and the electric detonating tube is operated to explode the cartridge so that the holding of the lower end of the bolt is released. . The buoy is provided with a satellite navigation system, and is used as a position confirmation device for confirming the position of the underwater vehicle while traveling.

Unexamined-Japanese-Patent No. 1-249590 Unexamined-Japanese-Patent No. 5-131978

  In the case of the configurations of Patent Documents 1 and 2 described above, the configuration for holding and releasing the buoy is complicated. In the underwater vehicle, it is desirable to provide a safe, low power consumption system that facilitates the configuration for holding and releasing objects such as buoys.

  The present invention has been made to solve the problems as described above, and a device for holding and releasing a substance capable of holding and releasing a substance to be discharged such as a buoy by a simple configuration, and underwater navigation provided with the same The purpose is to provide a running body.

  In order to achieve the above object, according to an aspect of the present invention, there is provided an apparatus for holding and releasing an object according to an aspect of the present invention, the external object of the main body of the underwater vehicle. And a permanent magnet fixed to a surface opposite to the surface exposed to the outside of the object contained in the recess, and a permanent magnet facing the permanent magnet in the recess The electromagnet to be attracted to the permanent magnet in a non-energized state, and the electromagnet is energized to cause the electromagnet to generate a magnetic force that repels the permanent magnet; It is configured to release an object.

  According to this configuration, by leaving the electromagnet in the non-energized state, the permanent magnet fixed to the object to be released is attracted to the electromagnet fixed within the recess, and the object to be released is accommodated in the recess It is kept in the When the object to be released is discharged, by energizing the electromagnet, the electromagnet and the permanent magnet repel each other, and the object to be released is released to the outside of the main body together with the permanent magnet. Therefore, since the configuration for holding and releasing the substance to be released is configured by the permanent magnet and the electromagnet, the configuration can be simplified.

  The object may be a buoy connected at one end to the other end of the rope connected to the main body.

  According to this configuration, when the underwater vehicle is recovered by releasing the buoy during or after the underwater vehicle floats from deep water (under water) to the water surface (sea surface), it floats on the water surface. The buoy is a mark indicating the position of the underwater vehicle.

  The to-be-released object may be a device which is discharged downward from the main body to be a target.

  According to this configuration, while the underwater vehicle travels the water (in the water), it releases the targeted equipment toward the predetermined location on the bottom of the water (bottom), whereby the predetermined location on the bottom of the water It becomes a mark or observation point that indicates

  An underwater vehicle according to an aspect of the present invention is provided with the above-described device for holding and releasing the object to be released.

  The present invention provides a device for holding and releasing a substance having the above-described configuration and capable of holding and releasing a substance such as a buoy by a simple configuration, and a underwater vehicle including the same. The effect of being able to

FIG. 1A is a schematic view of the underwater vehicle of an example of the present embodiment as viewed from above, and FIG. 1B is a schematic diagram of the underwater vehicle as viewed from the side. FIG. 2 is a longitudinal sectional view showing an outline of a front portion of the underwater vehicle shown in FIGS. 1 (A) and 1 (B). FIGS. 3A and 3B are diagrams showing an example of specific configurations of the permanent magnet and the electromagnet, respectively.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the drawings. In the following, the same or corresponding elements are denoted by the same reference numerals throughout all the drawings, and the redundant description will be omitted. Further, the present invention is not limited to the following embodiments.

(Embodiment)
FIG. 1A is a schematic view of the underwater vehicle of an example of the present embodiment as viewed from above, and FIG. 1B is a schematic diagram of the underwater vehicle as viewed from the side. Moreover, FIG. 2 is a longitudinal cross-sectional view which shows the outline of the front part of the underwater vehicle.

  As shown in FIG. 1, this underwater vehicle A is provided with a torpedo-shaped main body 1, a horizontal wing 2 having an elevator 3, a vertical wing 4 and a propulsion unit 5 etc. ) Can be The main body 1 is composed of a buoyancy material to be the outer wall thereof, a framework (not shown), and the like. The main body 1 is provided with lifting eyes 41, 42, 43 at the top and the tip of the bow. Inside the main body 1, an electric motor 6 for rotationally driving the propulsion unit 5, a power source 7 comprising a secondary battery or the like, a Doppler sonar 8, a depth meter 9, an azimuth meter 10, a control device 11 and the like are mounted. The power source 7 is a power source of the underwater vehicle A, and supplies power to each part of the underwater vehicle A such as the electric motor 6 and the like. The control device 11 includes a CPU, a memory, and the like, and controls each part of the underwater vehicle A. In addition, the cable which transmits electric power and a signal is not shown in figure.

  The underwater vehicle A can change its traveling direction by steering the elevators 3 and the vertical wings 4. The underwater vehicle A can autonomously navigate in the sea (underwater). That is, the control device 11 inputs measured values of the Doppler sonar 8, depth meter 9, azimuth meter 10, etc., and controls the elevator 3, vertical wing 4 and electric motor 6 based on a preset program, The underwater vehicle A is configured to travel a preset course.

  The configuration for realizing the navigation (running) function of the underwater vehicle A described above is an example, and the present invention is not limited to the above configuration.

  At the upper front of the underwater vehicle A, a recovery buoy 21 is accommodated which serves as a mark (target) indicating the position of the underwater vehicle A when the underwater vehicle A is recovered. The buoy 21 is a first example of the emission object. As shown in FIG. 2, the buoy 21 is formed of a substantially cylindrical buoyant body, and is accommodated in a recess H1 provided on the outer wall of the main body 1. The buoy 21 is connected to the other end of the rope 29 whose one end is connected to the main body 1 (in this example, the recovery eye 42). One end of the rope 29 may be connected to the lifting eye 43 at the end of the bow, or a mounting bracket may be separately provided at an appropriate position of the main body 1 and connected to the mounting bracket. Good. Inside the main body 1, a storage chamber 30 in which most of the rope 29 is stored is provided in communication with the recess H1.

  The permanent magnet 22 is fixed to the surface on the opposite side to the surface exposed to the outside of the buoy 21 accommodated in the recess H1. The surface of the permanent magnet 22 fixed to the buoy 21 is an S pole (or N pole), and the surface contacting the electromagnet 24 on the opposite side is an N pole (or S pole).

  Further, in the recess H1, an electromagnet device 23A having an electromagnet 24 facing the permanent magnet 22 is provided. In the electromagnet device 23A, an electromagnet 24 is disposed in a casing 25 attached to the main body 1 via a pressure equalizing oil 26, and an O-ring or the like is provided between the casing 25 and the electromagnet 24 to seal the pressure equalizing oil 26. A sealing material 27 is provided. Thus, the electromagnet 24 is fixed to the main body 1 at a predetermined position in the recess H1. The electromagnet 24 is disposed on the back side of the recess H1 with respect to the permanent magnet 22.

  The control device 11 (FIG. 1) controls the energization and non-energization of the electromagnet 24. When the electromagnet 24 is energized, the electromagnet 24 is energized from the power source 7 (FIG. 1) via the underwater connector 28 and the like. At this time, the electromagnet 24 is configured to be energized such that a magnetic force that repels the permanent magnet 22 is generated.

  In the non-energized state in which the electromagnet 24 is not energized, the permanent magnet 22 adsorbs the electromagnet 24, and as shown in FIG. 2, the buoy 21 fixed to the permanent magnet 22 is the recess H 1 of the main body 1. It is held in a state of being housed in At this time, the buoy 21 is disposed in the recess H1 with the surface opposite to the permanent magnet 22 exposed to the outside. On the other hand, when the electromagnet 24 is energized, the buoy 21 is released from the main body 1 together with the permanent magnet 22 by the repulsive force (repulsive force).

  As described above, the permanent magnet 22 and the electromagnet 24 are used to constitute a holding and releasing apparatus for a substance to be discharged (for example, the buoy 21 or a device 31 to be a target described later).

  The storage position of the buoy 21 is not limited to the front upper portion of the main body 1 and may be another position. For example, it may be a front end portion of the main body 1. An electromagnet device 23A is provided in accordance with the storage position of the buoy 21.

  FIGS. 3A and 3B are diagrams showing an example of specific configurations of the permanent magnet 22 and the electromagnet 24, respectively.

  In the case of FIG. 3A, a ring-shaped permanent magnet 22A is used as the permanent magnet 22. Further, an electromagnet 24A is used as the electromagnet 24. The electromagnet 24A includes an iron core 24a, a coil 24b wound around the iron core 24a, and a yoke 24c fixed to the iron core 24a. The yoke 24c is a bottomed cylindrical body having a cylindrical side wall and a bottom portion integrally formed to be connected to the side wall. In this case, when the electromagnet 24A is not energized, the permanent magnet 22A adsorbs the yoke 24c of the electromagnet 24A.

  Further, in the case of FIG. 3B, a cylindrical permanent magnet 22 B is used as the permanent magnet 22. Also, an electromagnet 24 B is used as the electromagnet 24. The electromagnet 24B includes an iron core 24d and a coil 24e wound around the iron core 24d. In this case, when the electromagnet 24B is not energized, the permanent magnet 22B adsorbs the iron core 24d of the electromagnet 24B.

  3A and 3B, when the electromagnet 24 is not energized, the permanent magnet 22 adsorbs the electromagnet 24 and is fixed to the permanent magnet 22 by its attracting force. The buoy 21 is held in the recess H1.

  In FIGS. 3A and 3B, (N) and (S) represent the N pole and the S pole of the permanent magnet 22 and the N pole and the S pole when the electromagnet 24 is energized. Although illustrated, the N pole and the S pole may be reversed, respectively.

  The configurations of the permanent magnet 22 and the electromagnet 24 are not limited to the configurations of FIG. 3A and FIG. 3B, and the permanent magnet 22 attracts the electromagnet 24 when the electromagnet 24 is not energized. When the electromagnet 24 is energized, a repulsive force (repulsive force) may be generated between the permanent magnet 22 and the electromagnet 24.

  In addition, as shown in FIG. 2, the underwater vehicle A is a device 31 (hereinafter referred to as a “target device 31”) which is a target to be a mark indicating a predetermined position (place) on the bottom of the sea. ) Is stored. The target device 31 is accommodated in a recess H2 provided on the outer wall on the bottom side of the main body 1 of the underwater vehicle A. The target device 31 is a second example of the substance to be released, and is a substance to be discharged downward from the main body 1 toward the sea floor. As the target device 31, an acoustic transmitter (for example, a transponder) or a metal plate of a predetermined shape that can be detected by a sonar or the like by reflecting an acoustic wave or the like can be used. In addition, in FIG. 1, FIG. 2, the shape at the time of using a metal plate as the target apparatus 31 is illustrated.

  As described above, the permanent magnet 22 is fixed to the surface opposite to the surface exposed to the outside of the target device 31 housed in the recess H2. The surface of the permanent magnet 22 fixed to the target device 31 is an S pole (or N pole), and the surface in contact with the opposite electromagnet 24 is an N pole (or S pole).

  Further, in the recess H2, an electromagnet device 23B having an electromagnet 24 opposed to the permanent magnet 22 is provided. The electromagnet device 23B can be configured in the same manner as the aforementioned electromagnet device 23A.

  The target device 31 serves as, for example, a mark indicating the survey place in the survey conducted after the survey by the underwater vehicle A. Since it is assumed that this target device 31 is released under high pressure deep in the seabed, the surface of the electromagnet 24 in contact with the permanent magnet 22 has a rough surface, so that the target magnet 31 and the electromagnet 24 can be separated. Seawater is likely to intrude in between, and the target device 31 is likely to be released.

  This underwater vehicle A is used for various surveys in the sea, the sea floor, and the like. In the survey using the underwater vehicle A, the underwater vehicle A is, for example, any sonar mounted (not shown) while underwater-navigating a preset course after being lowered from the mother ship. Survey the seabed using). When the control device 11 detects predetermined specific information from the output of the sonar, the control device 11 energizes the electromagnet 24 of the electromagnet device 23B to release the target device 31 downward. The target device 31 serves as a mark of a detection point of specific information. Then, when the survey is finished and, for example, the surface of the vehicle rises to 10 meters below sea level or above, the electromagnet 24 of the electromagnet device 23A is energized to release the buoy 21 onto the sea surface. Thereafter, the navigation of the underwater vehicle A is stopped at a predetermined timing.

  Thereafter, the underwater vehicle A is recovered. As an example of this recovery method, after approaching the buoy 21 floating on the sea surface in the mother ship, for example, a worker or the like of the mother ship grabs the buoy 21 and the rope 29 using a predetermined tool and The underwater vehicle A is pulled up to the mother ship and recovered. As described above, when the underwater vehicle A is recovered, the buoy 21 floating on the sea surface serves as a mark indicating the position of the underwater vehicle A.

  The target device 31 released to the seabed during navigation can be found, for example, by a sonar or the like mounted on the mother ship, and can be used as a mark of the next survey place.

  As described above, the buoy 21 for recovery and the target device 31 discharged downward are objects (targets) that become marks after the release.

  In the present embodiment, the configuration for holding and releasing the substance to be released (the buoy 21, the target device 31 and the like) includes the permanent magnet 22 and the electromagnet 24, so the configuration can be simplified. Moreover, since an explosive etc. are not used, it is preferable also in terms of safety. Further, since the electromagnet 24 only needs to be energized when releasing the object to be released, less power consumption is required.

  Further, in the present embodiment, as a configuration for holding and releasing only one of the buoy 21 and the target device 31, the permanent magnet 22 and the electromagnet 24 may be used.

  In the present embodiment, although the buoy 21 is used for recovering the underwater vehicle A, for example, the buoy 21 is used as a position confirmation device for the underwater vehicle A as described in Patent Document 2 described above. It may be configured to be used. In this case, the rope 29 connecting the buoy 21 and the main body 1 is unnecessary, and the position information acquisition device and the sound wave transmission device by GPS etc. are mounted on the buoy 21 and the obtained position information into the underwater vehicle A by underwater sound wave. It is configured to transmit and receive the underwater vehicle A. Then, in the middle of the navigation of the underwater vehicle A (in the middle of the survey), the buoy 21 is released, and the position information acquired by floating the buoy 21 above the sea surface is transmitted to the underwater vehicle A, and the underwater vehicle In A, it is comprised so that it correct | amends and navigates based on a positional information.

  Further, in the present embodiment, one set of the permanent magnet 22 and the electromagnet 24 corresponding to each other is provided for one object to be released (for example, the buoy 21 and the target device 31). It may be provided. Further, one permanent magnet 22 and a plurality of electromagnets 24 corresponding to the permanent magnet 22 may be provided for one object to be released. Also, a plurality of permanent magnets 22 and a single electromagnet 24 corresponding to the plurality of permanent magnets 22 may be provided for one object to be released. Therefore, it can be configured to provide one or more permanent magnets 22 and one or more electromagnets 24 for one object to be released.

  In the present embodiment, the non-cordless underwater vehicle A has been described, but in the case of a corded underwater vehicle which is remotely operated from the mother ship, except the recovery buoy 21 to which the rope 29 is connected. It is possible to apply about the structure which hold | maintains and discharge | releases the to-be-released object (for example, target apparatus 31 grade | etc.,).

  From the above description, many modifications and other embodiments of the present invention will be apparent to those skilled in the art. Accordingly, the above description should be taken as exemplary only, and is provided for the purpose of teaching those skilled in the art the best mode of carrying out the present invention. The structural and / or functional details may be substantially altered without departing from the spirit of the present invention.

  INDUSTRIAL APPLICABILITY The present invention is useful as a device for holding and releasing objects to be released that can hold and release objects such as buoys with a simple configuration, and a underwater vehicle including the same.

A Underwater vehicle H1, H2 Recess 1 Main body of underwater vehicle 21 Buoy 22 Permanent magnet 24 Electromagnet 29 Rope 31 Target device (target device)

Claims (4)

A holding and releasing apparatus for releasing an object contained and held in a recess of an outer wall of a main body of a underwater vehicle to the outside of the main body,
A permanent magnet fixed to a surface opposite to the surface exposed to the outside of the object contained in the recess;
An electromagnet provided in the recess to face the permanent magnet and attracted to the permanent magnet in a non-energized state;
The object to be released is configured to be released by energizing the electromagnet so as to cause the electromagnet to generate a magnetic force that repels the permanent magnet.
Retaining and releasing device for released material. The object to be released is a buoy connected at one end to the other end of the rope connected to the main body,
An apparatus for holding and releasing the substance according to claim 1. The object to be released is a device which is emitted downward from the main body to be a target object.
An apparatus for holding and releasing the substance according to claim 1. An underwater vehicle comprising the device for holding and releasing the substance according to any one of claims 1 to 3.

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