JPS6052038B2 - Deep mooring mine sweeping device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a strafing device for moored sea mines laid at great depth.

There are two types of mines that are laid underwater: flushable mines and tethered mines, but in order to ensure the safe navigation of ships, etc., it is necessary to sweep and remove these laid mines.

This method of strafing includes methods such as carrying out from a ship using the mine's sensitivity to magnetism and acoustics, and in the case of moored mines laid in relatively shallow water, the cutter is towed by a ship. There is a method to neutralize the mines by cutting the cables that anchor them to the seabed and floating the mines to the surface of the water.

However, in recent years, advances in sea mines and their laying technology have led to mines being laid in deeper waters, and moreover, technology has become more sophisticated, such as equipping the mines themselves with a sabotage function. It's getting to the point where I can't handle it anymore. In line with these technological trends, the present invention safely and efficiently removes moored mines that are laid at depths that cannot be dealt with by conventional strafing methods, are equipped with advanced jamming devices, and are not sensitive to magnetism, acoustics, etc. The object of the present invention is to provide a deep mooring mine strafing device for reliable strafing. For this reason, the deep moored mine strafing device of the present invention has an approximately streamlined fuselage outer shape, is equipped with a propulsion device at its rear end, and is equipped with a steering wing that protrudes outward from the outer plate constituting the fuselage outer shape. An underwater vehicle, a steering device that drives a steering blade to control the navigation motion of the underwater vehicle, and an engagement device provided at the rear end of the underwater vehicle to control the underwater vehicle. A coupler arranged at the rear, a rope with one end connected to the coupler, and a rope connected to the other end of the rope and towed by the underwater vehicle at a constant distance from the underwater vehicle. A control device that sends a signal to the steering machine to turn the underwater vehicle that has arrived near the mine in order to entangle the rope with the mooring rope of the mine laid in the water tower, and to turn the underwater vehicle around the mooring rope. It is characterized by a device that ignites and detonates the explosives carried by the robes in order to cut the tangled ropes.

Hereinafter, embodiments of the present invention will be explained with reference to the drawings.
FIG. 1 is a diagram showing an embodiment of an underwater vehicle constituting a part of the deep moored mine strafing device of the present invention, and shows a cross section of the underwater vehicle except for the attachment portions of the front wing and the steering wing to the fuselage. Show the diagram.

Figure 2 shows a mooring cable cutting device that is connected to the engagement device provided at the rear end of the underwater vehicle shown in Figure 1, and is towed by the underwater vehicle to cut the rope mooring snow. One embodiment of the device is shown, and the third
The figure is a diagram showing the process of cutting a mine's mooring line using the deep mooring mine strafing device of the present invention. Underwater vehicle 20
The body 10 has a streamlined external shape and is constructed by covering the outside of the shell material with an outer panel 1. The outer panel 1 is made of a metal plate-reinforced plastic (FRP) plate, etc., and in consideration of external pressure during deep navigation, the fuselage 10 is made of a non-pressure-resistant structure except for the control device 8 housed inside. There is. Reference numeral 2 denotes a front wing protruding from the outer plate 1 in the center of the fuselage 10, which generates lift to maintain the underwater vehicle 20 at a constant depth underwater by the fluid pressure received when the underwater vehicle 20 travels. It is provided for the purpose of generating.

3 is a vertical stabilizer protruding from the outer plate 1 at the rear end of the fuselage 10;
A steering wing consisting of a horizontal stabilizer may be equipped with a rudder and an elevator as shown in the figure, or the entire steering wing 3 may be rotated around an axis that passes through the outer plate 1 and is attached to the fuselage 1. good.

4 is a propulsion device installed at the rear end of the fuselage 10. It is driven by a propulsion device driving electric motor 5 and a battery 6 provided in the propeller 10 to cause the underwater vehicle 20 to travel.

However, the underwater vehicle 20 may be moved by other means such as rocket propulsion instead of using this method. Reference numeral 7 denotes a steering device for receiving a control signal from the outside of the ship 30 on the water surface and steering the steering blade 3 or the rudder or elevator in order to make the underwater vehicle 20 navigate according to instructions from the outside. It is.

8 is a control device consisting of a depth sensor programmer, a control electronic circuit, 4 explosive ignition control devices, etc.

Reference numeral 9 denotes an engagement device whose tip portion is pivotally attached to the rear end of the aircraft so as not to interfere with the navigation device of the underwater vehicle 20 such as the propeller 4 such as the tip of the steering blade 3; It is equipped with coupler 14.

One end of the lobe 11 is connected to the coupler 14, through which a signal line for transmitting a signal from the controller 8 is conducted. robe 1
1, the tip of a mounting member 15 of a spreading plate 13, which is formed into a roughly cross shape in consideration of stability during towing, is connected to the other end. The spreading plate 13 and the attachment member 15 are provided to attach the machine snow 16 to the mooring rope 17 that is moored to the sinker 18 sunk on the seabed 19 and the lobe 11 that tows it. The rear part of the mounting member 15 receives an activation signal from the controller 8 in the fuselage 1 via a signal line in the lobe and detonates an explosive 1 to cut the found mooring rope 17.
2 is loaded.

In addition to attaching the explosive 12 to the rear end of the attachment member 15 as described above, the explosive 12 may also be attached using a section of the fuselage 10 (using a pressure shell structure). Since the depth moored mine strafing device of the present invention is configured as described above, first, the laying position and depth of the moored mine 16 are detected using a known mine detector mounted on a ship, and then the depth and depth of the moored mine 16 are detected. Measure the direct distance and bearing to the mine 16.

When launching the underwater vehicle 20, consideration must be given to the speed of the tidal current at the installation location, but even if this correction is possible, it is generally not possible to There is an error in the position information, and this error becomes particularly large as the installation depth increases. Therefore, once the approximate mine laying position is known, using a known launcher equipped with the deep moored mine strafing device of the present invention on the ship 30, the direction should be approximately aligned with the target snow laying position. , the underwater vehicle 20 is launched with the cruising depth etc. adjusted in advance. At this time, the lobe 11 shown in FIG.
If this interferes with the launch of the lobe, the lobe retractor 15 may be stored in a lobe retractor (not shown) provided inside the attachment member 15 before the launch. In this case, underwater vehicle 2
Needless to say, the lobe 11 is unwound and expanded after the ship 0 leaves the ship 30. The underwater vehicle 20 launched in the direction of the snow machine 16 laying position has the lobes 11 shown in FIG. While towing a mooring line cutting device consisting of explosives 12, the underwater vehicle 2 is
The aircraft will proceed straight ahead until the adjustment depth and straight adjustment time set by the controller 8 mounted on the aircraft are satisfied.

(Fig. 3a) As mentioned above, information on tidal currents and misalignment of the underwater vehicle 20 can be obtained in advance by known methods, so if the steering blade 3 is preset, the information on the tidal current and misalignment of the underwater vehicle 20 can be obtained in advance. Misalignment of medium-sized vehicle,
There is no need to detect deviations in direction due to tidal currents, etc., and there is no need to correct them. Then, the underwater vehicle 20 travels straight ahead for a distance (time) determined in advance by the controller 8, and when it reaches a certain depth close to the depth of the liner snow 16, the underwater vehicle 20 begins to navigate underwater according to the command from the controller 8. Turning is started by controlling the steering wing 3 of the body 20 (Figures 3b and 3d). The turning radius R of the underwater vehicle 20 is maintained at a value given by the following equation based on the hydrodynamic characteristics of the underwater vehicle 20 and the steering angle δr. ,one,. ，
、． 74n. ．． ,, where f: Overall length of the fuselage (m) p: Seawater density (K9s2/M4) A: Cross-sectional area of the fuselage (M2) δ,: Steering angle (Rap) m: Mass of the underwater vehicle (Kgs2/m) CO : Resistance coefficient [D/FOD: Resistance force (K9)] C, β
: Lateral force gradient [X-mediated/FOS: Lateral force (K9)] C, δr:
Lateral force gradient [FONO] Cs,: Lateral force gradient [X piece/FONO
] CNβ: Yawing moment gradient [藷/FO'] CNδr: Yawing moment gradient [Floor VFOe] CN,: Yawing moment gradient [ε/FONOf] FO: ↓PV2A (Kg) NO: f/2■ (s) r: Yaw angular velocity (Rad/s) V: Underwater vehicle cruising speed (m/s) β: Angle between the direction of the flow and the fuselage axis (Rad) The direction rudder angle δr is controlled by the control pipe 8 and set in advance. According to the instructions given by the programmer, the turning radius R of the underwater vehicle 20 is controlled (commanded) so that it gradually increases as time passes, that is, the turning radius R of the underwater vehicle 20 gradually decreases.

When the underwater vehicle 20 turns, the extension plate 1 of the mooring cable cutting device shown in FIG. 2 is towed from the rear end of the underwater vehicle 20.
3. The explosive 12 and the attachment member 15 are towed inside the turning circle of the underwater vehicle 20, as shown in Figures 3b and 3d. This effect can be increased by rotating the shaft on which the expansion plate 13 is attached to the mounting member 15 and tilting it within a horizontal plane, but this operation is also performed by commands from the controller 8. As the underwater vehicle 20 continues to turn in this state, the lobe 11 being towed by the underwater vehicle 20 finally gets entangled with the mooring rope 17 mooring the mine 16, and finally, as shown in FIG. 3c. The state shown in is reached. When the sensor in the controller 8 detects this state or the set time of the timer is fulfilled, the explosive 12 is ignited by a command from the controller 8, and this explosive force causes the mooring rope to
7 is cut off, the mine 16 rises to the sea surface, and is rendered ineffective, completing the mine strafing.

Since the deep mine strafing device of the present invention is configured and operated as described above, the present invention can detect the approximate location of mooring type mines laid at depth using a known detector. The programmer of the controller 8 built into the fuselage of the underwater vehicle 20 constituting the deep mine strafing device is set based on the approximate depth and direct distance of the target (mine),
An underwater vehicle is launched from a ship, and the rudder angle is set straight ahead while gradually changing the turning radius according to instructions from the programmer. By doing so, the towed lobe is entangled with the mooring rope, and the gunpowder is ignited and exploded. With the simple configuration 7, deep moored mines can be swept safely, reliably, and inexpensively without using large-scale minesweeping or a sweeping device.

[Brief explanation of drawings]

Fig. 1 is a partial cross-sectional view of an underwater vehicle constituting the deep mine strafing device of the present invention, and Fig. 2 shows a mooring line cutting device towed by the underwater vehicle of Fig. 1. 3A and 3B are diagrams illustrating the progress of the rope cutting operation using the apparatus of the present invention, and FIGS. 3a, 3b, and 3c are views seen from the side. Figure 3d is a plan view. 1... Outer plate, 2... Front wing, 3... Steering wing, 4...
...propeller, 5... electric motor for driving the propeller,
6... Battery, 7... Steering gear, 8...
...Controller, 9...Engagement device, 10...
- Body, 11... Robe, 12... Explosives, 13... Expansion plate, 14... Coupler,
15...Mounting member, 16...Mounting machine snow, 17.
... mooring line, 18 ... sinker, 19 ...
Undersea, 20... Underwater vehicle, 30...
Ship, 40...Mooring rope cutting device.

Claims (1)

[Claims] 1. An underwater vehicle having a substantially streamlined fuselage exterior shape, equipped with a propulsion device at its rear end, and a steering wing that protrudes outward from the outer panel forming the fuselage exterior, and navigation of the underwater vehicle. A steering device that drives a steering blade to control motion, a coupler disposed at the rear of the underwater vehicle via an engagement device provided at the rear end of the underwater vehicle, and one end of which is connected to the coupler. A rope attached to the rope, a tension plate attached to the other end of the rope and towed by the underwater vehicle at a constant distance from the underwater vehicle, and a rope attached to the mooring line of a mine laid underwater. A controller that sends a signal to the steering gear to turn the underwater vehicle around the mooring line, which has arrived near the mine in order to tangle the mine, and ignites the explosives carried in order to cut the mooring line that has become tangled in the rope. 1. A deep moored mine mopping device comprising: a device for detonating a mine;