CN102849190A - Emergency ejection device of underwater glider - Google Patents
Emergency ejection device of underwater glider Download PDFInfo
- Publication number
- CN102849190A CN102849190A CN2012100941434A CN201210094143A CN102849190A CN 102849190 A CN102849190 A CN 102849190A CN 2012100941434 A CN2012100941434 A CN 2012100941434A CN 201210094143 A CN201210094143 A CN 201210094143A CN 102849190 A CN102849190 A CN 102849190A
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- underwater glider
- shell
- explosive bolt
- emergency device
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Abstract
The invention discloses an emergency ejection device of an underwater glider, comprising an emergency ejection unit and an explosive bolt, wherein the emergency ejection unit comprises an enclosed shell, an emergency ejection electric control unit and an auxiliary counter weight are arranged in the shell, the ignition end of the explosive bolt penetrates the enclosed shell, the emergency ejection electric control unit comprises a water pressure sensor, an output signal of the water pressure sensor is connected with the input end of a voltage comparator to compare with the reference voltage of the submerged depth of the underwater glider, the output end of the voltage comparator is connected with a switching circuit, the input end of the switching circuit is connected with the input end of a relay, and the output end of the relay is connected with the ignition circuit of the explosive bolt. According to the invention, the underwater glider can be floated by emergency ejection when there is a failure or other emergency circumstances during a voyage, and the safe recovery of the underwater glider body can be effectively guaranteed; by arranging the auxiliary counter weight in the enclosed shell, the configuration or adjustment of the underwater glider becomes convenient.
Description
Technical field
The present invention relates to submarine navigation device, relate in particular to the underwater glider without propulsion system.
Background technology
Underwater glider is a kind of submarine navigation device without propulsion system, only rely on built-in actuating unit adjustment center-of-gravity position and surplus buoyancy to control himself motion, a kind of new shape submarine navigation device or under-water robot, it is equipped with various sensors, is used for long-time, on a large scale marine environment detection and monitoring.The shortcoming of existing underwater glider is without emergeney ejectioning device, and glider breaks down when navigating by water under water or in emergency circumstances can't meet an urgent need and floats, and has potential safety hazard.
Summary of the invention
For the above-mentioned shortcoming of existing underwater glider, applicant provides a kind of emergeney ejectioning device of underwater glider so that underwater glider breaks down under sail or other in emergency circumstances, can float by Emergency Device, eliminate safe hidden trouble.
Technical scheme of the present invention is as follows:
The emergeney ejectioning device of underwater glider comprises Emergency Device unit and explosive bolt, and described Emergency Device unit comprises containment shell, and Emergency Device electrical controller and auxiliary counterweight are installed in the shell, and the firing tip of described explosive bolt passes described containment shell; Described Emergency Device electrical controller comprises the water depth pressure sensor, the sensor ends of water depth pressure sensor is stretched out from body skin, the output signal of water depth pressure sensor connects the input end of voltage comparator, compare with the reference voltage of underwater glider submerged depth, the mouth connecting valve circuit of voltage comparator, the mouth of switch circuit is connected with the input end of relay, and the mouth of relay is connected with the firing circuit of explosive bolt;
In the shell of described Emergency Device unit dividing plate is installed, battery is installed in the below of dividing plate, the symmetrical counterweight of installing of all sides of battery, and described sensor, voltage comparator, switch circuit and relay are installed in the top of dividing plate;
Described shell is connected and composed by drain pan and cover plate for sealing, and described shell is streamline contour.
Described Emergency Device unit and explosive bolt are installed on the afterbody of underwater glider.
Technique effect of the present invention:
1, the present invention is connected in the foot piece of underwater glider by the explosive bolt among the present invention, total weight of the present invention (comprises containment shell, the auxiliary counterweight that arranges in the intrinsic weight of explosive bolt and Emergency Device electrical controller and the containment shell) (perhaps shunting action is played in main counterweight load so that be installed on corresponding the alleviating of main counterweight load of underwater glider main body, main counterweight load places the sealed module of underwater glider, can't throw and carry), underwater glider break down under sail or other in emergency circumstances, explosive bolt explodes automatically, underwater glider can be automatically with Emergency Device of the present invention, so that the center-of-gravity position of underwater glider main body moves on effectively, surplus buoyancy effectively strengthens, the underwater glider main body is emergent floats, and can effectively guarantee the safe retrieving of underwater glider main body.
2, the present invention also is provided with auxiliary counterweight in the containment shell except the intrinsic weight of containment shell, explosive bolt and Emergency Device electrical controller.Requirement according to underwater gliding, when underwater glider center-of-gravity position and surplus buoyancy are set, except the above-mentioned intrinsic weight of the present invention can not be regulated, can regulate the main counterweight load of underwater glider main body, the auxiliary counterweight that arranges in can also the auxiliary adjustment containment shell is so so that the configuration of underwater glider or debugging become convenient.
3, among the present invention electrical controller is installed, emergeney ejectioning device becomes a separate unit, have simple in structure, the advantage of good reliability.Emergency Device electrical controller among the present invention is comprised of pressure sensor, voltage comparator, switch circuit and relay, and is simple in structure, and modularization is installed, and has further improved functional reliability.
4, shell of the present invention is streamline contour, is beneficial to not to be reduced in the glide resistance in the water in the Emergency Device situation of the present invention.
Description of drawings
Fig. 1 is mounting structure figure of the present invention.
Fig. 2 is the electrical controller figure of the emergent Emergency Device of the present invention.
Fig. 3 is application erection plan of the present invention.
The specific embodiment
Below in conjunction with accompanying drawing enforcement of the present invention is further described.
See Fig. 1, the present invention includes Emergency Device unit and explosive bolt 3, described Emergency Device unit comprises containment shell 9, shell 9 is connected and composed by drain pan and lid shell thread seal, between seal ring is installed, described shell 9 is streamline contour, is beneficial to not in the Emergency Device situation of the present invention, be reduced in the glide resistance in the water, the anticorrosion aluminum alloy materials of shell 9 usefulness is made.Emergency Device electrical controller and auxiliary counterweight 7 are installed in the shell 9.The igniting terminals of described explosive bolt 1 pass described containment shell 9, seal with seal ring between the lid shell of explosive bolt 1 and shell 9.See Fig. 1, Fig. 2, described Emergency Device electrical controller comprises water depth pressure sensor 2(shape JYB-K), the sensor ends of water depth pressure sensor 2 is stretched out from the drain pan of body skin 9, between seal with seal ring.The output signal vi of water depth pressure sensor connects the input end of voltage comparator LM311, compare with the reference voltage vr of underwater glider submerged depth, the input end (base stage) of the mouth connecting valve pipe Q1 of voltage comparator, the mouth of switch circuit (collecting electrode) is connected with the coil of relay.The output contact of relay K 1 is connected with the firing circuit of explosive bolt 1.
The maximum diving depth that the submerged depth (approximating the submerged depth of emergeney ejectioning device in seawater) of the underwater glider of corresponding said reference voltage vr allows for described underwater glider, pressure signal voltage vr by the pressure sensor perception obtains this maximum diving depth according to the conventional approach conversion, is set the value of this reference voltage V r among Fig. 2 by potential device R1.As input voltage Vi during more than or equal to Vr, voltage comparator LM311 exports high level signal, three pole switch pipe Q1 conducting, the open contact adhesive of relay K 1, the firing circuit of explosive bolt is connected, and igniting triggers explosive bolt, and realization Emergency Device unit separates with the underwater glider main body.After Emergency Device unit and underwater glider main body broke away from, the glider main body floated up to the water surface.
See Fig. 1, in the shell 9 of Emergency Device unit dividing plate 7 is installed, battery pack 5 is installed in the below of dividing plate 7, and symmetrical installation of all sides of battery pack 5 assisted counterweight load 6, and described sensor, voltage comparator, switch circuit and relay K 1 are installed by circuit card in the top of dividing plate.Above-mentioned pressure sensor, voltage comparator, three pole switch pipe Q1, relay K 1 and explosive bolt are all the commercial goods, and all from the battery pack 5 among Fig. 1, each power values as shown in Figure 2 for the power supply of each components and parts.The effect of diode D1 is to form the loop with the coil of relay K 1 among Fig. 2, prevents that the coil inverse electromotive force is to the damage of higher level's electrical part.
See Fig. 3, be application erection plan of the present invention, only draw the afterbody of underwater glider main body among the figure.8 is the foot piece of underwater glider main body among the figure, and the present invention is installed on an end of foot piece 8 by explosive bolt 1, and the other end of foot piece 8 is installed after-peak tank 10, and empennage 9 is installed at the middle part of foot piece 8, and empennage 9 and the present invention lay respectively at upside and the downside of foot piece 8.The present invention is installed on the afterbody of underwater glider, and its advantage is to increase in the time of can not gliding resistance to underwater glider streamline contour head in water.
Electrical controller is installed among the present invention, and emergeney ejectioning device becomes a separate unit, have simple in structure, the advantage of good reliability.Electrical controller also can be installed in the underwater glider main body, but the structure complicated, reliability reduces.
Above description is explanation of the invention, is not limitation of the invention, and limited range of the present invention, is done any type of modification and all be should be protection scope of the present invention within basic conception scope of the present invention referring to claim.
Claims (4)
1. the emergeney ejectioning device of underwater glider, it is characterized in that: comprise Emergency Device unit and explosive bolt, described Emergency Device unit comprises containment shell, and Emergency Device electrical controller and auxiliary counterweight are installed in the shell, and the firing tip of described explosive bolt passes described containment shell; Described Emergency Device electrical controller comprises the water depth pressure sensor, the sensor ends of water depth pressure sensor is stretched out from body skin, the output signal of water depth pressure sensor connects the input end of voltage comparator, compare with the reference voltage of underwater glider submerged depth, the mouth connecting valve circuit of voltage comparator, the mouth of switch circuit is connected with the input end of relay, and the mouth of relay is connected with the firing circuit of explosive bolt.
2. press the emergeney ejectioning device of the described underwater glider of claim 1, it is characterized in that: in the shell of described Emergency Device unit dividing plate is installed, battery is installed in the below of dividing plate, the described auxiliary counterweight of the symmetrical installation of all sides of battery, described sensor, voltage comparator, switch circuit and relay are installed in the top of dividing plate.
3. by the emergeney ejectioning device of the described underwater glider of claim 1, it is characterized in that: described shell is connected and composed by drain pan and cover plate for sealing, and described shell is streamline contour.
4. by the emergeney ejectioning device of the described underwater glider of claim 1, it is characterized in that: described Emergency Device unit and explosive bolt are installed on the afterbody of underwater glider.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100941434A CN102849190A (en) | 2012-04-01 | 2012-04-01 | Emergency ejection device of underwater glider |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100941434A CN102849190A (en) | 2012-04-01 | 2012-04-01 | Emergency ejection device of underwater glider |
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| Publication Number | Publication Date |
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| CN102849190A true CN102849190A (en) | 2013-01-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2012100941434A Pending CN102849190A (en) | 2012-04-01 | 2012-04-01 | Emergency ejection device of underwater glider |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103204230A (en) * | 2013-03-07 | 2013-07-17 | 中国船舶重工集团公司第七○二研究所 | Retractable and disposable sampling basket of manned submersible |
| CN103496442A (en) * | 2013-09-16 | 2014-01-08 | 中国船舶重工集团公司第七一〇研究所 | Underwater load rejection mechanism |
| CN103879531A (en) * | 2014-04-02 | 2014-06-25 | 中国船舶重工集团公司第七○二研究所 | Emergency load rejection micropower control module of underwater glider |
| CN105947146A (en) * | 2016-05-12 | 2016-09-21 | 中国船舶重工集团公司第七○二研究所 | Emergency load rejection and position indicating device and method of unmanned underwater vehicle |
| CN106553747A (en) * | 2015-09-28 | 2017-04-05 | 东莞前沿技术研究院 | The piece-rate system of ballast |
| CN106926994A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of safe jettison system of underwater robot |
| CN107089310A (en) * | 2017-04-19 | 2017-08-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Manned underwater vehicle sampling basket desertion device |
| CN108469731A (en) * | 2018-02-28 | 2018-08-31 | 哈尔滨工程大学 | A kind of wave glider malfunction monitoring and robust control method |
| CN108829102A (en) * | 2018-06-12 | 2018-11-16 | 哈尔滨工程大学 | The wave glider course heading control method that adaptive bow is merged to information |
| CN108860537A (en) * | 2018-06-06 | 2018-11-23 | 上海海洋大学 | A kind of emergeney ejectioning device based on battery |
| CN113253740A (en) * | 2021-06-28 | 2021-08-13 | 天津海翼科技有限公司 | Emergency method of underwater robot and electronic equipment |
| CN114455036A (en) * | 2021-12-29 | 2022-05-10 | 宜昌测试技术研究所 | Electric and fire fusion driven underwater sound release device |
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| CN101797974A (en) * | 2010-03-30 | 2010-08-11 | 中国船舶重工集团公司第七〇二研究所 | Manual ballast desertion device |
| CN201842239U (en) * | 2010-11-10 | 2011-05-25 | 中国船舶重工集团公司第七一○研究所 | Embedded ballast release mechanism |
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2012
- 2012-04-01 CN CN2012100941434A patent/CN102849190A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE19640967A1 (en) * | 1995-10-13 | 1997-04-17 | Peter Pleyer | Submarine for military or civilian use |
| CN101402396A (en) * | 2008-11-21 | 2009-04-08 | 哈尔滨工程大学 | Emergency release gear module of submersible |
| CN201434067Y (en) * | 2009-04-10 | 2010-03-31 | 岳睿 | Explosion-proof electromechanical integration device |
| CN101797974A (en) * | 2010-03-30 | 2010-08-11 | 中国船舶重工集团公司第七〇二研究所 | Manual ballast desertion device |
| CN201842239U (en) * | 2010-11-10 | 2011-05-25 | 中国船舶重工集团公司第七一○研究所 | Embedded ballast release mechanism |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103204230B (en) * | 2013-03-07 | 2015-09-09 | 中国船舶重工集团公司第七○二研究所 | Manned submersible can folding and unfolding jettisonable sampling basket |
| CN103204230A (en) * | 2013-03-07 | 2013-07-17 | 中国船舶重工集团公司第七○二研究所 | Retractable and disposable sampling basket of manned submersible |
| CN103496442A (en) * | 2013-09-16 | 2014-01-08 | 中国船舶重工集团公司第七一〇研究所 | Underwater load rejection mechanism |
| CN103879531A (en) * | 2014-04-02 | 2014-06-25 | 中国船舶重工集团公司第七○二研究所 | Emergency load rejection micropower control module of underwater glider |
| CN103879531B (en) * | 2014-04-02 | 2016-01-13 | 中国船舶重工集团公司第七○二研究所 | A kind of underwater glider emergency safety is thrown and is carried Micro Energy Lose control module |
| CN106553747A (en) * | 2015-09-28 | 2017-04-05 | 东莞前沿技术研究院 | The piece-rate system of ballast |
| CN106926994A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of safe jettison system of underwater robot |
| CN105947146B (en) * | 2016-05-12 | 2018-01-26 | 中国船舶重工集团公司第七○二研究所 | UAV navigation Emergency Device shows a device and method |
| CN105947146A (en) * | 2016-05-12 | 2016-09-21 | 中国船舶重工集团公司第七○二研究所 | Emergency load rejection and position indicating device and method of unmanned underwater vehicle |
| CN107089310A (en) * | 2017-04-19 | 2017-08-25 | 中国船舶科学研究中心（中国船舶重工集团公司第七0二研究所） | Manned underwater vehicle sampling basket desertion device |
| CN108469731A (en) * | 2018-02-28 | 2018-08-31 | 哈尔滨工程大学 | A kind of wave glider malfunction monitoring and robust control method |
| CN108860537A (en) * | 2018-06-06 | 2018-11-23 | 上海海洋大学 | A kind of emergeney ejectioning device based on battery |
| CN108860537B (en) * | 2018-06-06 | 2023-09-22 | 上海海洋大学 | Emergency load rejection device based on storage battery |
| CN108829102A (en) * | 2018-06-12 | 2018-11-16 | 哈尔滨工程大学 | The wave glider course heading control method that adaptive bow is merged to information |
| CN108829102B (en) * | 2018-06-12 | 2021-01-05 | 哈尔滨工程大学 | Course control method of wave glider with self-adaptive heading information fusion |
| CN113253740A (en) * | 2021-06-28 | 2021-08-13 | 天津海翼科技有限公司 | Emergency method of underwater robot and electronic equipment |
| CN114455036A (en) * | 2021-12-29 | 2022-05-10 | 宜昌测试技术研究所 | Electric and fire fusion driven underwater sound release device |
| CN114455036B (en) * | 2021-12-29 | 2023-06-27 | 宜昌测试技术研究所 | Electric and initiating explosive device fusion-driven underwater sound releasing device |
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Application publication date: 20130102 |