CN113525641B - Emergency suspension device for seabed sonar robot - Google Patents
Emergency suspension device for seabed sonar robot Download PDFInfo
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- CN113525641B CN113525641B CN202110809497.1A CN202110809497A CN113525641B CN 113525641 B CN113525641 B CN 113525641B CN 202110809497 A CN202110809497 A CN 202110809497A CN 113525641 B CN113525641 B CN 113525641B
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- supporting cylinder
- locking motor
- connecting ring
- top cover
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
Abstract
The invention relates to the technical field of underwater robots, in particular to an emergency suspension device. An urgent suspending device for seabed sonar robot includes: the top of the connecting base is provided with a supporting cylinder, a connecting ring and a top cover, and a corrugated pipe is connected between the connecting ring and the top cover and is provided with an air bag sleeve; the slow lifting mechanism comprises a first self-locking motor and a mounting seat, and a first screw rod is connected with a threaded cylinder in the center of the mounting seat; and the emergency lifting mechanism comprises a second self-locking motor and a second screw rod, and the second screw rod is connected with the threaded cylinder at the top of the supporting cylinder. According to the invention, the screw rod transmission is arranged between the top cover and the connecting ring, so that the volume of the corrugated pipe between the top cover and the connecting ring can be freely adjusted as required, and the robot can conveniently and slowly move upwards; in addition, the gas generator is arranged in the high-pressure area, and the electromagnetic valve is arranged on the partition plate, so that the expansion degree of the air bag sleeve can be freely adjusted according to needs, and the floating speed of the robot is controlled.
Description
Technical Field
The invention relates to the technical field of underwater robots, in particular to an emergency suspension device.
Background
An underwater robot or a remote control unmanned submersible vehicle is diving equipment which carries out manual operation under water by utilizing self-carried instruments, an ROV is the most widely used submersible vehicle in the world at present, and plays an important role in the fields of ocean engineering, military and the like. The conventional ROV has the problems of relatively low operation capability, poor maneuverability, limited number of paths and transmission distance of video transmission, poor man-machine interaction capability and expandability and the like, and cannot meet the requirements of related industries or departments such as oceans, military affairs and the like on the ROV.
At present, when the existing submarine sonar robot is used, the robot needs to be placed on the seabed, and a floating device needs to be installed outside the robot so that the robot can quickly float up in an abnormal situation, but the existing floating device is in the form of an automobile anti-collision air bag, for example, in the prior patent technologies CN111252223A and CN105083506A, the temporary floating is realized by utilizing the automatic bouncing of the air bag in an emergency situation, but the devices have the following defects in the prior art: 1. when an abnormality occurs, the robot rapidly expands and floats upwards, in the floating process of the robot, the buoyancy of seawater on the air bag is suddenly exerted on the air bag due to the sudden expansion of the air bag, and at the moment, the robot is in a constant speed or static state, so that in the process of sudden change of a motion state, the connection part of the floating device and the robot breaks or deforms in a time-varying manner, the device is damaged, and the reasonable utilization of resources is influenced; 2. the prior inflatable air bag structure is generally fixed and detachable with a sucker, but the fixed type is inconvenient to detach and also inconvenient to replace the air bag, and the sucker type is easy to cause misoperation and is easy to be separated from equipment in the rapid expansion process of the air bag; 3. in addition, some existing underwater equipment need to be kept in a specific attitude in the floating process, such as an inclined attitude, in the floating process, and the existing inclined attitude generally needs to be comprehensively adjusted by utilizing propellers arranged in multiple directions on the shell of the underwater equipment, so that the adjustment efficiency is low.
Disclosure of Invention
The purpose of the invention is: the emergency suspension device for the seabed sonar robot can effectively solve the problems in the background technology.
The technical scheme of the invention is as follows: an urgent suspending device for seabed sonar robot includes: the connecting base is connected with a cylindrical supporting cylinder, a connecting ring and a top cover in sequence from bottom to top, a corrugated pipe is connected between the connecting ring and the top cover, a folded airbag sleeve is arranged between the connecting ring and the supporting cylinder, and the airbag sleeve is positioned in a low-pressure area.
Slowly rise mechanism, its contain install the self-locking motor of top surface in the top cap and install the mount pad at the go-between inner wall, and a lead screw of installation on the self-locking motor output shaft and install the screw thread section of thick bamboo threaded connection who locates at the mount pad center, and set up the gasbag between top cap and the go-between, the internally mounted of mount pad has the baroceptor that is used for detecting atmospheric pressure between a support section of thick bamboo and the go-between.
The emergency lifting mechanism comprises a second self-locking motor arranged at the bottom of the mounting seat and a second screw rod arranged on an output shaft of the second self-locking motor, the second screw rod is in threaded connection with the threaded cylinder at the top of the support cylinder, a partition plate for separating space is arranged inside the support cylinder, an electromagnetic valve for communicating air is arranged in the clapboard, and a gas generator is arranged on the inner bottom surface of the supporting cylinder, the partition plate divides the inner space of the support cylinder into a high pressure region and a low pressure region, and the gas generator is installed at the high pressure region, an igniter is arranged at one side of the gas generator, the inner bottom surface of the supporting cylinder is made of flexible thin-wall materials, a plurality of circles of concentric flexible ribs with different heights are integrally formed at the outer bottom surface of the supporting cylinder, the bottom of the flexible rib body is flattened and roughened, and the bottom of each circle of flexible rib body is pre-attached to the top of the vacuum chuck body.
Connect the bottom center department of base and be connected with vacuum chuck, this vacuum chuck's top is attached in advance to be fixed on the outer bottom surface of a supporting cylinder to set up multiunit stripper bar at the outward flange position equidistant of connecting the base, and connect at the stripper bar towards the extension board of connecting base one side and set up spring coupling between the outside recess of connecting the base, the outer wall setting of connecting the base is the arch of "T" shape to with set up at the inboard spout sliding connection of stripper bar, the stripper bar corresponds with the marginal position of vacuum chuck, and the bottom of stripper bar bonds and has and be hemispherical rubber arch.
A plurality of suspension devices are arranged at different positions of the seabed sonar robot, an igniter, an air pressure sensor, a first self-locking motor, a second self-locking motor and an electromagnetic valve in each suspension device are connected to a wireless transceiver assembly in the suspension device, a plurality of wireless transceiver assemblies in the suspension devices receive wireless control signals of a second microcontroller in the seabed sonar robot, so that the suspension devices can work in a slow-rise mode or a fast-rise mode in a time-sharing or synchronous mode, and the slow-rise or fast-rise speed of each suspension device in each mode can be independently controlled.
The threaded cylinders are provided with two groups and are respectively arranged at the centers of the connecting ring and the supporting cylinder.
The self-locking motor is electrically connected with the auxiliary battery arranged in the top cover through a lead.
No. two self-locking motor and baroceptor all pass through wire and install No. two auxiliary battery electric connection in the mount pad.
The solenoid valve and the igniter are electrically connected with a main battery arranged in the supporting cylinder through leads, and are arranged in the wireless transceiver assembly arranged in the supporting cylinder, the connecting ring and the top cover for wireless connection.
Has the advantages that:
1. according to the invention, the screw rod transmission is arranged between the top cover and the connecting ring, so that the volume of the corrugated pipe between the top cover and the connecting ring can be freely adjusted according to the requirement, the robot can conveniently and slowly move upwards, and the damage and the like caused by the rapid moving upwards are avoided.
2. According to the invention, the gas generator is arranged in the high-pressure area, and the electromagnetic valve is arranged on the partition plate, so that the expansion degree of the air bag sleeve can be freely adjusted according to the requirement, and the air bag can float rapidly.
3. According to the invention, the vacuum chuck is arranged at the bottom of the connecting base, so that the device can be conveniently adsorbed outside the robot, and meanwhile, the extrusion rod is arranged outside the connecting base, so that the edge of the vacuum chuck can be extruded and fixed, and the edge of the vacuum chuck is prevented from being collided or damaged.
4. The arrangement of the high-pressure area and the low-pressure area enables the air bag to be inflated and the adsorption effect of the sucker to be greatly increased.
5. The independent operation of a plurality of suspension devices arranged in different directions can help to complete different attitude adjustment of the robot in the floating or other operation processes.
Drawings
FIG. 1 is an overall block diagram of the present invention;
FIG. 2 is an extended structural view of the bellows of the present invention;
FIG. 3 is a view showing an expanded structure of an airbag cover according to the present invention;
FIG. 4 is a cross-sectional view of the attachment ring and the top cover of the present invention;
FIG. 5 is a cross-sectional view of the support cylinder and the connection ring of the present invention;
fig. 6 is a bottom view of the present invention.
In the figure: 1-connecting a base; 2-a support cylinder; 3-connecting rings; 4-a top cover; 5-a corrugated pipe; 6-a self-locking motor; 7-a first screw rod; 8-a mounting seat; 9-a threaded cylinder; 10-a barometric sensor; 11-a second self-locking motor; 12-second lead screw; 13-a solenoid valve; 14-an airbag cover; 15-an extension plate; 16-squeeze the rod.
Detailed Description
Slowly rise mechanism, it contains self-locking motor 6 of installing the top surface in top cap 4 and installs the mount pad 8 at go-between 3 inner walls, and a lead screw 7 of installing on the self-locking motor 6 output shaft and install the threaded cylinder 9 threaded connection who locates at the center of mount pad 8, and sets up the gasbag between top cap 4 and the go-between 3, the internally mounted of mount pad 8 has the baroceptor 10 that is used for detecting atmospheric pressure between a support section of thick bamboo 2 and the go-between 3.
The quick lifting mechanism comprises a second self-locking motor 11 arranged at the bottom of a mounting seat 8 and a second lead screw 12 arranged on an output shaft of the second self-locking motor 11, the second lead screw 12 is in threaded connection with a threaded cylinder 9 at the top of a supporting cylinder 2, a partition plate for separating space is arranged inside the supporting cylinder 2, an electromagnetic valve 13 for air communication is arranged inside the partition plate, a gas generator is arranged on the inner bottom surface of the supporting cylinder 2, the partition plate divides the space inside the supporting cylinder 2 into a high-pressure area and a low-pressure area, the gas generator is arranged in the high-pressure area, an igniter is arranged on one side of the gas generator, the inner bottom surface of the supporting cylinder 2 is made of flexible thin-wall materials, a plurality of concentric flexible ribs with different heights are integrally formed on the outer bottom surface of the supporting cylinder 2, the bottoms of the flexible ribs are subjected to flattening roughening treatment, and the bottoms of the flexible ribs are pre-attached to the top of a vacuum chuck body, however, the bottom of the flexible rib and the vacuum chuck are only pre-attached and are not fixedly connected together.
Connect the bottom center department of base 1 and be connected with vacuum chuck, this vacuum chuck's top is attached in advance and is fixed on the outer bottom surface of a support section of thick bamboo 2 to set up multiunit stripper bar 16 at the outward flange position of connecting base 1 equidistant, and connect at stripper bar 16 towards connecting the extension board 15 of base 1 one side and seting up spring coupling between the recess of connecting base 1 outside, the outer wall setting of connecting base 1 is the arch of "T" shape to with set up at 16 inboard spout sliding connection of stripper bar, stripper bar 16 corresponds with the marginal position of vacuum chuck, and the bottom of stripper bar 16 bonds and has and be hemispherical rubber arch.
A plurality of suspension devices are arranged at different positions of the seabed sonar robot, an igniter, an air pressure sensor, a first self-locking motor 6, a second self-locking motor 11 and an electromagnetic valve 13 in each suspension device are connected to a wireless transceiver assembly in the suspension device, a plurality of wireless transceiver assemblies in the suspension devices receive wireless control signals of a second microcontroller in the seabed sonar robot, so that the suspension devices can work in a slow lifting mode or a fast lifting mode in a time-sharing or synchronous mode, and the slow lifting speed or the fast lifting speed of each suspension device in each mode can be independently controlled.
Through the extension plate 15 in the extrusion stem 16 inboard and the border position of being connected base 1 set up the spring, can be after the outer wall connection of connecting base 1 and robot is accomplished, connect the extrusion stem 16 of base 1 outside to the outside direction extrusion of robot to will connect the clearance between base 1 and the robot outer wall and plug up, prevent that external object from colliding or mistake from touching the edge of vacuum chuck, thereby improve the security when vacuum chuck uses.
Referring to fig. 1 and 6, the outer wall of the connection base 1 is provided with a T-shaped protrusion, and is slidably connected with a sliding groove formed in the inner side of the extrusion rod 16.
The T-shaped bulge is arranged outside the connecting base 1, and the sliding groove is arranged on the inner side of the extrusion rod 16, so that the extrusion rod 16 can only slide up and down.
Referring to fig. 5 and 6, the extrusion stem 16 corresponds to the edge of the vacuum chuck, and a hemispherical rubber protrusion is bonded to the bottom of the extrusion stem 16.
Through setting up extrusion stem 16 in the marginal position that is close to the vacuum chuck, can extrude fixedly to the edge of vacuum chuck, secondly, be the hemisphere through the one end design with extrusion stem 16, avoid damaging the edge of vacuum chuck.
Referring to fig. 4, an air pressure sensor 10 for detecting air pressure between the support cylinder 2 and the connection ring 3 is installed inside the mounting seat 8.
Through set up baroceptor 10 between a support section of thick bamboo 2 and go-between 3, can detect whether the pressure between a support section of thick bamboo 2 and the go-between 3 is stable, conveniently in time repairs and changes.
Referring to fig. 4 and 5, the screw cylinders 9 are provided in two sets and installed at the centers of the connection ring 3 and the support cylinder 2, respectively.
By providing two sets of threaded cylinders 9 and respectively mounting them at the centers of the connection ring 3 and the support cylinder 2, the distance between the support cylinder 2 and the connection ring 3 and the distance between the connection ring 3 and the top cover 4 can be adjusted.
Referring to fig. 5, the partition plate divides the inner space of the support cylinder 2 into a high pressure region and a low pressure region, and the gas generator is installed at the high pressure region and an igniter is provided at one side of the gas generator.
By providing an igniter on one side of the gas generator, the reaction of the substances inside the gas generator can be accelerated.
Referring to fig. 4, the first self-locking motor 6 is electrically connected to the first auxiliary battery mounted inside the top cover 4 through a wire.
A secondary battery in the top cover 4 supplies power for a self-locking motor 6.
Referring to fig. 4, the second self-locking motor 11 and the air pressure sensor 10 are electrically connected to the second auxiliary battery installed inside the mounting base 8 through wires.
And a second auxiliary battery in the mounting seat 8 supplies power for a second self-locking motor 11.
Referring to fig. 5, the solenoid valve 13 and the igniter are electrically connected to the main battery installed inside the support cylinder 2 through wires, and are wirelessly connected between the wireless transceiver assemblies installed inside the support cylinder 2, the connection ring 3 and the top cover 4.
The wireless transceiver assembly is arranged inside the support cylinder 2, the connecting ring 3 and the top cover 4, so that wireless communication is carried out among the support cylinder 2, the connecting ring 3 and the top cover 4.
During the installation, through the outer wall connection of the vacuum chuck of connecting base 1 bottom and robot, connect the completion back, because the inboard extension 15 of extrusion stem 16 passes through spring coupling with the border position of being connected base 1, consequently after the outer wall connection of connecting base 1 and robot is accomplished, the extrusion stem 16 of connecting the base 1 outside extrudees to the outside direction of robot, thereby will connect the clearance between base 1 and the robot outer wall to plug up, prevent that external object from colliding or mistake from touching the edge of vacuum chuck, thereby security when improving vacuum chuck and using.
When the robot needs to slowly lift, the first self-locking motor 6 at the bottom of the top cover 4 is controlled to move the first screw rod 7 to rotate, the first screw rod 7 is in threaded connection with the threaded cylinder 9 arranged at the center of the mounting seat 8, so that when the first screw rod 7 rotates, the length of the first screw rod 7 extending out of the threaded cylinder 9 can be adjusted, namely the distance between the top cover 4 and the connecting ring 3 is controlled, high-pressure gas is stored between the top cover 4 and the connecting ring 3 and is limited by the bellows 5 between the top cover 4 and the connecting ring 3, the size of the device is increased when the distance between the top cover 4 and the connecting ring 3 is increased, the overall size of the robot is increased, the water discharge amount and the water discharge rate of the robot are increased, and the distance between the top cover 4 and the buoyancy connecting ring 3 can be controlled by the first self-locking motor 6, so that the expansion degree and the expansion speed of the device can be controlled, therefore, the buoyancy of the robot is controlled, the use safety of the device is improved, the situation that the robot is damaged due to rapid upward movement is avoided, and the robot is formed into the shape shown in figure 3.
Slowly rise mechanism, it contains self-locking motor 6 of installing the top surface in top cap 4 and installs the mount pad 8 at go-between 3 inner walls, and a lead screw 7 of installing on the self-locking motor 6 output shaft and install the threaded cylinder 9 threaded connection who locates at the center of mount pad 8, and sets up the gasbag between top cap 4 and the go-between 3, the internally mounted of mount pad 8 has the baroceptor 10 that is used for detecting atmospheric pressure between a support section of thick bamboo 2 and the go-between 3.
The emergency lifting mechanism comprises a second self-locking motor 11 arranged at the bottom of the mounting seat 8 and a second screw rod 12 arranged on an output shaft of the second self-locking motor 11, and the second screw rod 12 is in threaded connection with the threaded cylinder 9 at the top of the support cylinder 2, a partition board for separating space is arranged inside the support cylinder 2, an electromagnetic valve 13 for communicating air is arranged in the clapboard, and a gas generator is arranged on the inner bottom surface of the supporting cylinder 2, the partition plate divides the space inside the support cylinder 2 into a high pressure region and a low pressure region, and the gas generator is installed at the high pressure region, an igniter is arranged at one side of the gas generator, the inner bottom surface of the supporting cylinder 2 is made of flexible thin-wall materials, a plurality of circles of concentric flexible ribs with different heights are integrally formed at the outer bottom surface of the supporting cylinder 2, the bottom of the flexible rib body is flattened and roughened, and the bottom of each circle of flexible rib body is pre-attached to the top of the vacuum chuck body.
Connect the bottom center department of base 1 and be connected with vacuum chuck, this vacuum chuck's top is attached in advance and is fixed on the outer bottom surface of a support section of thick bamboo 2 to set up multiunit stripper bar 16 at the outward flange position of connecting base 1 equidistant, and connect at stripper bar 16 towards connecting the extension board 15 of base 1 one side and seting up spring coupling between the recess of connecting base 1 outside, the outer wall setting of connecting base 1 is the arch of "T" shape to with set up at 16 inboard spout sliding connection of stripper bar, stripper bar 16 corresponds with the marginal position of vacuum chuck, and the bottom of stripper bar 16 bonds and has and be hemispherical rubber arch.
A plurality of suspension devices are arranged at different positions of the seabed sonar robot, an igniter, an air pressure sensor, a first self-locking motor 6, a second self-locking motor 11 and an electromagnetic valve 13 in each suspension device are connected to a wireless transceiver assembly in the suspension device, a plurality of wireless transceiver assemblies in the suspension devices receive wireless control signals of a second microcontroller in the seabed sonar robot, so that the suspension devices can work in a slow lifting mode or a fast lifting mode in a time-sharing or synchronous mode, and the slow lifting speed or the fast lifting speed of each suspension device in each mode can be independently controlled.
Through the extension plate 15 in the extrusion stem 16 inboard and the border position of being connected base 1 set up the spring, can be after the outer wall connection of connecting base 1 and robot is accomplished, connect the extrusion stem 16 of base 1 outside to the outside direction extrusion of robot to will connect the clearance between base 1 and the robot outer wall and plug up, prevent that external object from colliding or mistake from touching the edge of vacuum chuck, thereby improve the security when vacuum chuck uses.
Referring to fig. 1 and 6, the outer wall of the connection base 1 is provided with a T-shaped protrusion, and is slidably connected with a sliding groove formed in the inner side of the extrusion rod 16.
The T-shaped bulge is arranged outside the connecting base 1, and the sliding groove is arranged on the inner side of the extrusion rod 16, so that the extrusion rod 16 can only slide up and down.
Referring to fig. 5 and 6, the extrusion stem 16 corresponds to the edge of the vacuum chuck, and a hemispherical rubber protrusion is bonded to the bottom of the extrusion stem 16.
Through setting up extrusion stem 16 in the marginal position that is close to the vacuum chuck, can extrude fixedly to the edge of vacuum chuck, secondly, be the hemisphere through the one end design with extrusion stem 16, avoid damaging the edge of vacuum chuck.
Referring to fig. 4, an air pressure sensor 10 for detecting air pressure between the support cylinder 2 and the connection ring 3 is installed inside the mounting seat 8.
Through set up baroceptor 10 between a support section of thick bamboo 2 and go-between 3, can detect whether the pressure between a support section of thick bamboo 2 and the go-between 3 is stable, conveniently in time repairs and changes.
Referring to fig. 4 and 5, the screw cylinders 9 are provided in two sets and installed at the centers of the connection ring 3 and the support cylinder 2, respectively.
By providing two sets of threaded cylinders 9 and respectively mounting them at the centers of the connection ring 3 and the support cylinder 2, the distance between the support cylinder 2 and the connection ring 3 and the distance between the connection ring 3 and the top cover 4 can be adjusted.
Referring to fig. 5, the partition plate divides the inner space of the support cylinder 2 into a high pressure region and a low pressure region, and the gas generator is installed at the high pressure region and an igniter is provided at one side of the gas generator.
By providing an igniter on one side of the gas generator, the reaction of the substances inside the gas generator can be accelerated.
Referring to fig. 4, the first self-locking motor 6 is electrically connected to the first auxiliary battery mounted inside the top cover 4 through a wire.
A secondary battery in the top cover 4 supplies power for a self-locking motor 6.
Referring to fig. 4, the second self-locking motor 11 and the air pressure sensor 10 are electrically connected to the second auxiliary battery installed inside the mounting base 8 through wires.
And a second auxiliary battery in the mounting seat 8 supplies power for a second self-locking motor 11.
Referring to fig. 5, the solenoid valve 13 and the igniter are electrically connected to the main battery installed inside the support cylinder 2 through wires, and are wirelessly connected between the wireless transceiver assemblies installed inside the support cylinder 2, the connection ring 3 and the top cover 4.
The wireless transceiver assembly is arranged inside the support cylinder 2, the connecting ring 3 and the top cover 4, so that wireless communication is carried out among the support cylinder 2, the connecting ring 3 and the top cover 4.
During the installation, through the outer wall connection of the vacuum chuck of connecting base 1 bottom and robot, connect the completion back, because the inboard extension 15 of extrusion stem 16 passes through spring coupling with the border position of being connected base 1, consequently after the outer wall connection of connecting base 1 and robot is accomplished, the extrusion stem 16 of connecting the base 1 outside extrudees to the outside direction of robot, thereby will connect the clearance between base 1 and the robot outer wall to plug up, prevent that external object from colliding or mistake from touching the edge of vacuum chuck, thereby security when improving vacuum chuck and using.
When the rapid lifting is needed, a second self-locking motor 11 at the bottom of the mounting seat 8 is controlled to move a second screw rod 12 to rotate, since the second screw 12 is in threaded connection with the thread cylinder 9 arranged at the center of the support cylinder 2, when the second screw 12 rotates, the length of the second screw 12 extending out of the thread cylinder 9 can be adjusted, namely, the distance between the support cylinder 2 and the connecting ring 3 is controlled, and then an igniter positioned in the high-pressure area is controlled to ignite the gas generator, so that the substances in the gas generator react, thereby generating a large amount of gas, this gas is stored in a high pressure zone, after which the solenoid valve 13 on the partition is controlled, transporting the air to a low pressure zone, the air bag cover 14 at the low pressure region is rapidly expanded to form a shape as shown in fig. 3, which provides a large amount of buoyancy to the robot, and simultaneously controls the volume of the gas in the low pressure region by controlling the solenoid valve 13.
In addition, in the two embodiments, the inner bottom surface of the support cylinder 2 is made of the flexible thin-wall material, a plurality of concentric flexible ribs with different heights are integrally formed on the outer bottom surface of the support cylinder 2, the bottom of each flexible rib is subjected to the flattening roughening treatment, the bottom of each ring of flexible rib is pre-attached to the top of the vacuum chuck body, but the bottom of each flexible rib is only pre-attached to the vacuum chuck and is not fixedly connected with the vacuum chuck body, so that when the suction chuck is attached to the robot shell, the flexible thin-wall material on the inner bottom surface of the support cylinder 2 can be deformed through a high-pressure area below the partition plate of the support cylinder 2, pressure is applied to the chuck body, the suction chuck is more firmly attached to the robot shell, and the firmness of the suction is enhanced.
In addition, a plurality of suspension devices are arranged at different positions of the seabed sonar robot, an igniter, an air pressure sensor, a first self-locking motor 6, a second self-locking motor 11 and an electromagnetic valve 13 in each suspension device are connected to a wireless transceiver assembly in the suspension device, the wireless transceiver assemblies in the suspension devices receive wireless control signals of a second microcontroller in the seabed sonar robot, so that the suspension devices can work in a slow lifting mode or a fast lifting mode in a time-sharing or synchronous mode, the slow lifting speed or the fast lifting speed of each suspension device in each mode can be independently controlled, the independent operation of the suspension devices in different positions enables the robot to be assisted to finish different posture adjustment in the floating process or other operation processes, specifically, the expansion degrees of air bags in each suspension device are different/the expansion lengths of corrugated pipes are different, the volume in the suspension device is different, so that the underwater robot receives different attaching forces at different positions to generate torsion, in addition, different suspension devices execute slow lifting/fast lifting actions at different moments, so that the posture of the underwater robot can be realized through torsion, and fine posture adjustment can be obtained, the starting moment of the slow lifting/fast lifting actions of the suspension devices at different positions and the expansion and space adjustment in a mode are realized through a target posture, a microcontroller and a reverse operation in the robot, a control instruction is wirelessly sent, the opening duration/opening moment of an expansion ignition and an electromagnetic valve and the motor are controlled to perform internal space adjustment, particularly, the electromagnetic valve is closed in advance before the gas in a high-pressure area is released to an air bag in a low-pressure area, so that the extrusion of a sucker can be kept under the gas release and normal state, the whole period stability of the stable sucker is kept.
Although the invention has been described in detail above with reference to a general description and specific examples, it will be apparent to one skilled in the art that modifications or improvements may be made thereto based on the invention. Accordingly, such modifications and improvements are intended to be within the scope of the invention as claimed.
Claims (5)
1. The utility model provides a seabed sonar robot is with urgent suspending device which characterized in that includes:
the top of the connecting base (1) is sequentially connected with a cylindrical supporting cylinder (2), a connecting ring (3) and a top cover (4) from bottom to top, a corrugated pipe (5) is connected between the connecting ring (3) and the top cover (4), a folded airbag sleeve (14) is arranged between the connecting ring (3) and the supporting cylinder (2), and the airbag sleeve (14) is positioned in a low-pressure area;
the slow lifting mechanism comprises a first self-locking motor (6) arranged on the inner top surface of the top cover (4) and a mounting seat (8) arranged on the inner wall of the connecting ring (3), a first lead screw (7) arranged on an output shaft of the first self-locking motor (6) is in threaded connection with a threaded cylinder (9) arranged at the center of the mounting seat (8), an air bag is arranged between the top cover (4) and the connecting ring (3), and an air pressure sensor (10) used for detecting air pressure between the supporting cylinder (2) and the connecting ring (3) is arranged inside the mounting seat (8);
the emergency lifting mechanism comprises a second self-locking motor (11) arranged at the bottom of a mounting seat (8) and a second screw rod (12) arranged on an output shaft of the second self-locking motor (11), wherein the second screw rod (12) is in threaded connection with a threaded cylinder (9) at the top of a supporting cylinder (2), a partition plate used for separating space is arranged inside the supporting cylinder (2), an electromagnetic valve (13) used for air communication is arranged inside the partition plate, a gas generator is arranged on the inner bottom surface of the supporting cylinder (2), the space inside the supporting cylinder (2) is divided into a high pressure area and a low pressure area by the partition plate, the gas generator is arranged in the high pressure area, an igniter is arranged on one side of the gas generator, the inner bottom surface of the supporting cylinder (2) is made of a flexible thin-wall material, and a plurality of concentric flexible ribs with different heights are integrally formed on the outer bottom surface of the supporting cylinder (2), the bottom of the flexible rib body is flattened and roughened, and the bottom of each circle of flexible rib body is pre-attached to the top of the vacuum chuck body;
the vacuum sucker is connected to the center of the bottom of the connecting base (1), the top of the vacuum sucker is fixed on the outer bottom surface of the supporting cylinder (2) in a pre-attached mode, a plurality of groups of extrusion rods (16) are arranged at equal intervals on the outer edge of the connecting base (1), an extension plate (15) connected to one side, facing the connecting base (1), of each extrusion rod (16) is in spring connection with a groove formed in the outer portion of the connecting base (1), T-shaped bulges are arranged on the outer wall of the connecting base (1) and are in sliding connection with sliding grooves formed in the inner sides of the extrusion rods (16), the extrusion rods (16) correspond to the edge of the vacuum sucker, and hemispherical rubber bulges are bonded to the bottom of the extrusion rods (16);
a plurality of suspension devices are arranged at different positions of the seabed sonar robot, an igniter, an air pressure sensor, a self-locking motor (6), a second self-locking motor (11) and an electromagnetic valve (13) in each suspension device are connected to a wireless transceiver assembly in the suspension device, a plurality of wireless transceiver assemblies in the suspension devices receive wireless control signals of a second microcontroller in the seabed sonar robot, the suspension devices can work in slow lifting or fast lifting modes in a time-sharing or synchronous mode, and the slow lifting or fast lifting speed of each suspension device in each mode can be independently controlled.
2. The emergency suspension device for the seabed sonar robot according to claim 1, is characterized in that: the two groups of the thread cylinders (9) are respectively arranged at the centers of the connecting ring (3) and the supporting cylinder (2).
3. The emergency suspension device for the seabed sonar robot according to claim 1, is characterized in that: the first self-locking motor (6) is electrically connected with a first auxiliary battery arranged in the top cover (4) through a lead.
4. The emergency suspension device for the seabed sonar robot according to claim 1, is characterized in that: no. two self-locking motor (11) and air pressure sensor (10) all pass through the wire and install No. two auxiliary battery electric connection in mount pad (8) inside.
5. The emergency suspension device for the seabed sonar robot according to claim 1, is characterized in that: solenoid valve (13) and igniter all through wire and install the main battery electric connection in supporting a section of thick bamboo (2) inside, and install and support between section of thick bamboo (2), go-between (3) and the inside wireless transceiver assembly of top cap (4) wireless connection.
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| CN113895598B (en) * | 2021-11-08 | 2022-08-05 | 中国船舶科学研究中心 | Bottom-sitting support rod device for deep sea submersible and operation method |
| CN114030577A (en) * | 2021-11-19 | 2022-02-11 | 沈阳航天新光集团有限公司 | Buoyancy adjusting device |
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