CN106965913A - A kind of delivery of unmanned plane under water and catapult-launching gear - Google Patents

Abstract

An underwater unmanned aerial vehicle carrying and ejecting device is composed of an external shell, an opening system, and an ejecting system. The outer casing realizes the separation and sinking of the tail through the fracture of the explosive bolt at the tail, so that the device generates a deflection moment to achieve the required launch angle of the drone. The cover is opened, and the piston is rapidly raised along the guide rail through the high-pressure gas cylinder to eject the UAV from the device, thus realizing the transportation and launching functions of the underwater submarine-launched UAV. Due to the disadvantages of complex system and other shortcomings, a relatively simple mechanical design is adopted to achieve oblique launch on the water surface, and the internal and external pressure difference sealing method is used to ensure good air tightness, simple structure and low cost.

Description

An underwater unmanned aerial vehicle carrying and ejecting device

technical field

The invention relates to an underwater carrier platform, in particular to an underwater drone carrier and ejection device.

Background technique

In modern ocean exploration or war confrontation, people or equipment deep underwater often need to detect the airspace environment above the sea surface and the driving conditions of ships. Traditional periscopes, buoys, and sonars cannot perform large-scale reconnaissance or detection on the sea surface or in the air. , and the submarine-launched UAV can rely on its flying height to realize a large-scale and effective detection of the environment above sea level; to directly launch the UAV from underwater to the air must overcome the great resistance in the water, which is very difficult for UAVs. High requirements are put forward for the power and sealing performance, and the technical conditions are difficult to meet at this stage. The more conventional method is to use a torpedo-like rotary carrier device. The drone is installed in the carrier device and launched by a submarine. After reaching the water surface, choose an opportunity to eject the drone.

At present, similar carrier devices at home and abroad are mostly limited to carrying and launching submarine-launched missiles. Missile launch is significantly different from UAV launch. Missile launch can be launched vertically or obliquely, and there is no special requirement for launch angle. Generally, small fixed-wing UAVs use propeller blades to ensure that they have sufficient The lifting force of the UAV is successfully lifted into the air, and it is generally only launched at an angle. This feature makes the UAV carrier device must ensure a certain angle with the horizontal plane when it is ejected, which is the biggest difference from the submarine-launched missile carrier.

technical problem to be solved

The purpose of the present invention is to overcome the deficiencies of the prior art and devices, and provide a recyclable underwater UAV carrying and ejection device, which can carry a small UAV and release it from a certain depth underwater, and then float out of the water by itself. After adjusting a certain launch angle on the water surface, open the cover and launch the drone into the air. Low cost and high reliability.

Technical solutions

In order to achieve the above purpose, the following technical solutions are adopted: the carrying platform is mainly composed of an external shell, an ejection system and a cover opening system. The outer shell includes a head section, a cylindrical section, a rear contraction section and a tail section. The overall hydrodynamic shape is similar to a torpedo, with a flat head and a ball tail fixedly connected with six stabilizing fins to ensure a stable underwater navigation attitude. , the entire carrier platform adopts a non-powered, non-controlled, and sealed design, which is completely driven by positive buoyancy to float freely. There is neither a propeller nor a steering gear. The positive buoyancy of the water outlet, and to ensure a certain water outlet depth, the head section and the cylindrical section, the cylindrical section and the rear contraction section shell are all threaded, and the threaded connection is inserted into an O-ring to ensure a waterproof sealing effect. The shrinkage section and the tail section are connected by bolts, and the bolts are fragment-free explosive bolts. In addition, there is a metal tow cable connected to the two. The tow cable is respectively connected to the center of the end face of the tail and the edge of the lower end face of the shrink section. The end face is engraved with a wire groove for storage. The tow cable and the shell are all made of metal materials, and the tail is made of metal materials with a density higher than water to make it have negative buoyancy. Other parts use metal materials with a density lower than water to provide positive buoyancy. Floating out of the water, after the device receives the UAV launch command, the explosion bolt at the tail explodes and breaks, and the tail sinks vertically under the action of negative buoyancy until the metal tow cable connected to the contraction section is tightened, because the other end of the tow cable is connected to the end surface The edge is not the center of the circle, so after tightening, it will give the vertically floating device shell a deflection moment, causing it to deflect obliquely, and then achieve the launch angle required by the drone. The slider can slide back and forth in the groove to change the fixed position of the tow cable. According to the principle of static moment balance, different fixed positions will produce different deflection moments and different launching angles.

The cover opening system is composed of a top cover, a shell hinged with the top cover, a dual-purpose vacuum pump for whipping, a small air storage tank, a solenoid valve, a pressure sensor and a ventilation duct; wherein the vacuum pump and the small air storage tank are placed at the bottom of the cylindrical section In the air storage room, the air storage tank is equipped with a solenoid valve to control the air flow in and out. The gas storage tank is connected to the vacuum pump through a ventilation conduit, and the vacuum pump is connected to a two-position three-way solenoid valve through the conduit. The air pipe placed inside the guide rail leads to the upper drone placement area. The vacuum pump can not only extract the gas in the drone storage compartment, but also inject high-pressure gas into the cabin. The top cover and the lower shell adopt hinges and bolts. The double link method, the bolts are explosion-free bolts, which not only ensures the opening and closing of the top cover but also ensures that the shell will not be separated. A small pressure sensor is installed on the inside of the top cover to detect the internal air pressure of the shell, and there are four bolt assembly holes on the outside to ensure Assembling explosive bolts, the seal between the top cover and the shell is sealed by pressure difference. There is a hollow sealing rubber strip around the hatch cover, and a circle of grooves is engraved on the shell connected to the hatch cover to realize the fit with the rubber strip. During assembly, the inner chamber is evacuated by a vacuum pump, and the sealing strip of the hatch cover will be continuously compressed and deformed until it is completely fastened and sealed. A large pressure difference between the inside and outside of the device is maintained. When covering, the vacuum pump pumps air to the front cabin through the air guide tube. When the pressure is sufficient, the explosion bolt breaks, and the air pressure will open the front cover to release the drone. When the pressure is insufficient, the high-pressure gas cylinder at the bottom can supply air to the front cabin through the two-position three-way valve. .

The ejection system is composed of a high-pressure gas cylinder, a gas cylinder partition, a one-way solenoid valve, a gas storage chamber, a sliding piston, a piston guide rail, an adapter for a drone, and a fixing ring; the high-pressure gas cylinder is fixedly connected to the bottom of the cylindrical section warehouse, The bottle mouth is equipped with a one-way solenoid valve, on which the gas cylinder partition is fixedly connected with the surrounding warehouse wall. There is an opening on the side of the gas cylinder. The upper end of the air storage chamber is a slidable piston, and the two sides of the piston are slidingly connected with the guide rails of the warehouse wall. The upper end of the piston is connected with the UAV adapter, and the adapter is also in contact with the guide rails through pulleys. The upper surface of the gas cylinder partition, the lower end surface of the sliding piston, and the lower end surface of the guide rail jointly form a closed space, and a fixed ring is arranged at the end point of the upper end of the guide rail.

Beneficial effect

1. Traditional unpowered and uncontrolled devices generally can only achieve vertical floating launch. Compared with traditional devices, the present invention can adjust the floating attitude angle.

2. This device only uses "throwing tail" to change the position of the total center of gravity to change the floating attitude angle, without the need for propellers and steering gear and other equipment, with low cost and high reliability.

3. The opening system of this device adopts the sealing method of internal and external pressure difference, which has better sealing effect, simpler mechanical structure and can cooperate with the ejection system through a two-position three-way valve to ensure smooth opening.

4. The top cover bolt connection and the tail tow cable connection can ensure that the whole device is always a whole, which is convenient for recycling.

Description of drawings

Figure 1: The overall schematic diagram of the outer shell of the carrier platform;

Figure 2: Schematic diagram of the structure of the top cover of the shell head;

Figure 3: Schematic diagram of the shrinkage section at the rear of the housing;

Figure 4: Schematic diagram of the structure of the tail of the shell;

Figure 5: Schematic diagram of the end of the attitude adjustment of the shell out of the water and throwing the tail;

Figure 6: Schematic diagram of the overall internal structure of the cylindrical section;

Figure 7: Schematic diagram of the main structure at the bottom of the cylindrical section;

Among them: 1-top cover; 2-shell hinged with the top cover; 3-cylindrical section shell; 4-rear contraction section shell; tail section shell and tail fin; 6-communication tow cable; 7-top cover Bolt assembly hole; 8-top cover explosion bolt; 9-top cover pressure sensor; 10-hinge; 11-hollow sealing strip; 16-Tower cable storage slot; 17-Trailer cable connection hook; 18-Tail explosion bolt; 19-Trailer connection cable; 20-Suction and exhaust port; 21-Fixed ring; Man-machine; 23-UAV adapter; 24-cylindrical shell wall; 25-piston guide rail; 26-piston; 27-two-position three-way solenoid valve; High-pressure gas cylinder; 31-gas cylinder side one-way valve; 32-gas cylinder forward one-way valve; 33-ventilation conduit; 34-vacuum pump; 35-ventilation conduit after the pump; 36-small gas storage tank; 37-high pressure Cylinder pressure sensor; 38-adapter pulley; 39-gas storage tank valve;

detailed description

The present invention will be described in detail below with reference to the accompanying drawings and examples.

The underwater UAV carrying and ejection device is mainly composed of an external shell, a sealed cover opening system and an ejection system; the external shell is shown in Figure 1, including the top cover 1, the head shell hinged with the top cover 2. Cylindrical section shell 3, rear contraction section shell 4, tail section and tail fin 5; the device is launched by a submarine or other underwater equipment, and a communication recovery cable 6 is dragged at the tail to always be connected with the parent equipment; the inside of the shell is Hollow, the column section 3 is used to store the UAV and its ejection equipment, the head 1 and 2 are for sealing and opening, and the contraction section 4 is mainly for storing electronic and communication equipment; the top cover 1 and the shell 2 use hinges 10 and explosion-proof The double connection mode of the bolt 8 ensures that the cover is opened and the top cover is not separated from the shell. The shell 2, the column shell 3, the shell 3 and the contraction shell 4 are all assembled with internal threads, and are covered with O-shaped rubber The ring ensures sealing, and the shell 4 of the contraction section and the tail 5 are assembled with explosive bolts 18 to ensure that the tail 5 can be separated from the shell 4. At the same time, a metal tow cable 19 is connected, and the tow cable is stored in the tow cable storage groove 16 during assembly. One end of the tow cable is connected to the hook 17 in the center of the end face of the tail shell 5, and the other end is connected to the wire groove slider 15 through the wire groove 13, and the slider 15 can slide back and forth in the groove to change the position; And the method of changing the total center of gravity is used to make the shell deflect when it is floating to generate a deflection moment to achieve the launch angle required by the UAV. Therefore, shells 1-4 are made of metal materials with a density lower than water to ensure sufficient positive buoyancy. Tail 5 uses The metal material with a density greater than water makes it have negative buoyancy; when the carrier device is launched underwater, it floats out of the water under the action of positive buoyancy. When the attitude adjustment signal is received, the explosive bolt 18 breaks, the tail casing 5 is separated from the casing 4, and the casing 5 sinks vertically under the action of the negative buoyancy until the metal tow cable connected to the casing 4 is tightened. 15 is not at the axis of the shell. At this time, the position of the total center of gravity of the device changes and is no longer on the axis. The total center of gravity generates a deflection moment relative to the buoyancy center, causing the shell 1-4 to deflect; according to the principle of static moment balance, the moment The deflection stops when the balance is rebalanced; different positions of the slider 15 will generate different deflection moments, which in turn will cause different deflection angles of the housing.

When the device reaches the required UAV launch angle, the opening system will work immediately; before opening the cover, ensure that the cabin is completely sealed. The hinge 10 is used to connect to ensure the integrity, and the explosion bolt 8 is used to ensure the tightness and instant disconnection; the front cover 1 has a hollow sealing strip 11, and the shell 2 is engraved with a strip assembly groove 12. When assembling , first put the lid on and tighten it, and the sealing rubber strip 11 is deformed during the tightening process to produce a sealing effect; after the lid is completely tightened, four explosion bolts are sequentially loaded and tightened through the bolt assembly hole 7, at this time The top cover 1 has been fully assembled, and the internal whipping dual-purpose vacuum pump 35 quickly evacuates the cabin, and the vacuum pump passes air through the exhaust port 20 through the conduit 33, the upper and left ports of the two-position three-way solenoid valve 27, and the conduit 35 Send it into the small gas storage tank 36, the gas storage tank mouth is connected with a solenoid valve 39 to control the gas in and out; the pressure in the cabin can be judged by the pressure sensor 9 at the top cover; after the vacuum is completed, the sealing work is completed, and a large pressure difference is maintained inside and outside the cabin The top cover and the shell are always in close contact; after the water outlet of the cabin receives the instruction to open the cover, the vacuum pump 35 works, and the gas in the small air storage tank 36 passes through the air guide tube 35, the left port and the upper port of the two-position three-way valve 27 , the air guide pipe 33 and the exhaust port 20 lead into the front cabin, if the pressure sensor 9 feedback does not reach the required air pressure to open the front cover, the left port of the two-position three-way valve 27 is closed, the lower port is opened, and the high-pressure gas cylinder 30 The gas passes through the lower port and the upper port of the two-position three-way valve 27 and the exhaust port 20 into the front cabin through the check valve 31, the air guide pipe 33, and the exhaust port 20 until the pressure sensor 9 shows that the air pressure in the front cabin meets the pressure required for opening the cover. When the one-way valve 31 and the two-position three-way valve 27 are closed, the explosion bolt 8 breaks, and the high pressure in the cabin pushes the front cover 1 outward, and the cover opening is completed;

After the cover is opened, the pressure in the front cabin drops to atmospheric pressure instantly, and the ejection system starts to work; the core component of the ejection system is the ejection piston 26, the two sides of the piston are connected with the guide rail 25, and the piston can slide up and down on the guide rail. The upper part of the piston is the UAV adapter 23, and the adapter is also connected to the guide rail through the pulley 38, and it can also slide on the guide rail; the cylinder partition 29, the lower end surface of the piston 26, the barrel wall and the lower end surface of the guide rail 25 form a closed space together. That is, the gas storage chamber 28, the upper end surface of the piston is the front cabin for storing the drone; after receiving the ejection signal, the one-way valve 31 is closed, the one-way valve 32 is opened, and the high-pressure gas in the high-pressure gas storage cylinder 30 is instantly released by the one-way valve. 32 enters the air storage chamber 28, pushes the piston 26 to move upward quickly, and the piston 26 also pushes the adapter 23 and the drone 22 to move upward, and the end of the guide rail is equipped with a fixed ring 21, which can block the adapter 23 and the piston 26, only to ensure that no one The machine launches the tube, and the ejection is complete.

Claims (4)

1. An underwater unmanned aerial vehicle carrier device, mainly composed of an external shell, an ejection system and a cover opening system, characterized in that: the deflection of the carrier device is realized by generating a deflection moment through the separation of the shell; The cooperation of the solenoid valve realizes the sealing of the cabin and the opening of the cover; the ejection of the drone is realized by deflation of the high-pressure gas cylinder and impacting the piston. 2. A kind of underwater unmanned aerial vehicle carrier device according to claim 1, it is characterized in that described external casing system is made up of head section, cylindrical section, rear portion contraction section and tail section casing; The power shape looks like a torpedo, the head is flat, the tail is a ball tail and is fixedly connected with six stabilizing fins. The head section and the cylindrical section, and the cylindrical section and the rear contraction section shell are all threaded, and the threaded connection is inserted into the O Type sealing ring, the rear contraction section and the tail section are connected by bolts, and the bolts are non-fragmentation explosive bolts. In addition, the two are also connected with a metal tow cable, and the tow cable is respectively connected to the center of the end face of the tail and the edge of the lower end face of the contraction section. The end face is engraved with wire grooves to store the tow cables, and the wire grooves in the shrinking section are equipped with sliders. The sliders can slide back and forth in the grooves to change the fixed position of the tow cables. Different fixed positions will produce different deflection moments and get different launch results. angle. 3. A kind of underwater unmanned aerial vehicle carrying device according to claim 1, it is characterized in that described cover opening system consists of a top cover, a shell hinged with the top cover, a dual-purpose vacuum pump for whipping, a small air storage tank, It is composed of solenoid valve, pressure sensor and ventilation conduit; the vacuum pump and small air storage tank are placed in the gas storage room at the bottom of the cylindrical section, the outlet of the gas storage tank is a solenoid valve, the gas storage tank and the vacuum pump are connected through a ventilation conduit, and the vacuum pump is connected with two through the conduit. Three-way solenoid valve, one end of the solenoid valve is connected to the bottom high-pressure gas cylinder, and one section is connected to the upper UAV placement area through the air pipe placed inside the guide rail. The top cover and the lower shell are double-linked by hinges and bolts. The bolts are There are no fragments of explosion bolts, a small pressure sensor is installed inside the top cover, and there are four bolt assembly holes on the outside. The seal between the top cover and the shell is sealed by pressure difference. The shell is engraved with a circle of grooves. During assembly, the vacuum pump keeps the inner chamber vacuum. The hatch cover sealing rubber strip is compressed and deformed until it is fully buckled and sealed. A large pressure difference is maintained inside and outside the device. The gas extracted by the vacuum pump is stored in the small gas storage through the ventilation duct. Tank, when the front cover is started and opened, the vacuum pump pumps air to the forward cabin, the explosion bolt breaks, and the gas rushes through the front cover to release the drone. When the pressure is insufficient, the high-pressure gas cylinder at the bottom supplies air to the forward cabin through the two-position three-way valve. 4. A kind of underwater unmanned aerial vehicle carrying device according to claim 1, it is characterized in that described ejection system is made of high-pressure gas cylinder, gas cylinder partition, one-way solenoid valve, gas storage chamber, sliding piston, piston Composed of guide rails, UAV adapters, and fixing rings; high-pressure gas cylinders are fixed at the bottom of the cylindrical section of the warehouse, and a one-way solenoid valve is installed at the mouth of the bottle, on which the gas cylinder partition is fixedly connected with the surrounding warehouse walls, and there is an opening on the side of the gas cylinder , the opening is equipped with a one-way solenoid valve and is connected to the two-position three-way solenoid valve through the air guide tube. The gas cylinder partition is a gas storage chamber, and the upper end of the gas storage chamber is a slidable piston. Connected, the upper end of the piston is connected with the UAV adapter, and the adapter is also in contact with the guide rail through the pulley. The upper surface of the gas cylinder partition, the lower end of the sliding piston, and the lower end of the guide rail together form a closed space, and a fixed ring is installed at the end of the upper end of the guide rail. .