The invention belongs to the technical field of unmanned underwater vehicles, and particularly relates to an autonomous embedded type unmanned underwater vehicle anchoring device and an anchoring method thereof. The problems that due to the defects that an anchor carried in an unmanned underwater vehicle is light in weight, poor in seabed hard substrate adaptability and the like, the mooring force is insufficient, and anchoring cannot be achieved are solved. According to the technical scheme, the device comprises an anchoring device, one end of a mooring cable is connected with an anchoring section bulkhead, the other end of the mooring cable is connected with a rear guide pipe, before the anchoring device is started to work, the mooring cable is wound into a cylindrical cluster to be embedded into a middle hole of a gas generation chamber, one end of the mooring cable is connected with the rear guide pipe, and the other end of the mooring cable is connected with a locking mechanism in an anchoring cabin; the shoot nail is mounted in the front guide pipe through a supporting rod, a plurality of anchor teeth which are circumferentially symmetrical are mounted on the front guide pipe, the anchor teeth are connected with the front guide pipe through torsional springs, the anchor teeth are restrained by the wall of an anchoring cabin before exiting from the cabin and automatically spread under the action of the torsional springs after exiting from the cabin, rope nets are mounted among the anchor teeth, and the rope nets are also spread in the spreading process of the anchor teeth and used for increasing anchoring force.
本发明属于无人水下航行器技术领域,具体涉及一种自主埋没式无人水下航行器锚泊装置及其锚固方法。为解决无人水下航行器内部携带的锚因重量轻、海底硬底质适应性差等缺陷带来的系留力不足、无法锚定等问题。本发明采用的技术方案包括锚泊装置,其系缆一端连接锚泊段舱壁,另一端连接后导管,锚泊装置启动工作前,系缆绕制成圆柱形团状物嵌入燃气发生室的中孔,一端与后导管连接,另一端与锚泊舱内锁定机构连接,射钉通过支撑杆安装在前导管内,前导管上安装周向对称的多个锚齿,锚齿与前导管之间通过扭簧连接,锚齿在出舱前受锚泊舱舱壁约束,出舱后在扭簧作用下自动展开,锚齿之间安装有绳网,锚齿展开过程中绳网也展开,用于增大锚系力。
Autonomous embedded unmanned underwater vehicle anchoring device and anchoring method thereof
一种自主埋没式无人水下航行器锚泊装置及其锚固方法
2025-04-11
Patent
Electronic Resource
Chinese