CN114435564A - Autonomous underwater robot rope throwing device and using method thereof - Google Patents
Autonomous underwater robot rope throwing device and using method thereof Download PDFInfo
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- CN114435564A CN114435564A CN202210327476.0A CN202210327476A CN114435564A CN 114435564 A CN114435564 A CN 114435564A CN 202210327476 A CN202210327476 A CN 202210327476A CN 114435564 A CN114435564 A CN 114435564A
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical group [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 17
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims description 10
- 235000017491 Bambusa tulda Nutrition 0.000 claims description 10
- 241001330002 Bambuseae Species 0.000 claims description 10
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims description 10
- 239000011425 bamboo Substances 0.000 claims description 10
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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
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
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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
- B63G8/001—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations
- B63G2008/002—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned
- B63G2008/005—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled
- B63G2008/007—Underwater vessels adapted for special purposes, e.g. unmanned underwater vessels; Equipment specially adapted therefor, e.g. docking stations unmanned remotely controlled by means of a physical link to a base, e.g. wire, cable or umbilical
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Abstract
The invention belongs to the technical field of underwater robots, and provides an autonomous underwater robot rope throwing device and a using method thereof, wherein the rope throwing device comprises a throwing cylinder, the throwing cylinder is arranged on an installation platform of an autonomous underwater robot, the throwing cylinder comprises a throwing head, a stop piece, an ejection driving assembly and a throwing rope, and the ejection driving assembly comprises a compression spring and an electromagnet which are arranged on the throwing cylinder at the inner side of the throwing head; the electromagnet is used for adsorbing the projecting head to extrude the compression spring, and the projecting head is ejected out through the compression spring after demagnetization. The ejection driving assembly drives the ejection head to press the compression spring downwards in an electromagnetic driving mode, the ejection head is ejected out by the compression spring after demagnetization, and when the ejection head ejects out, the ejection driving assembly drives all ejection ropes to eject together after knocking off the stop piece, so that a worker can conveniently recover the underwater autonomous robot after fishing to the ejection head by using the rope fishing device, and safety guarantee is provided for smooth recovery of the underwater autonomous robot.
Description
Technical Field
The invention belongs to the technical field of underwater robots, and particularly relates to an autonomous underwater robot rope throwing device and a using method thereof.
Background
With the development of society and the continuous progress of science and technology, people gradually and deeply explore and develop ocean resources, so that the exploration area of the ocean resources is continuously expanded and continuously extends to deep sea and open sea. Exploration aiming at complex sea conditions is gradually dedicated to research and application of underwater robots in order to eliminate injuries or potential safety hazards to science and technology workers.
At present, the variety of underwater robots adopted for exploring marine resources is increasing, and the underwater robots are also widely applied to multiple industrial fields of military marine technology, marine science and technology investigation, submarine exploration, pipeline maintenance, oil field exploration and the like.
In order to ensure the connection between the underwater robot and the towing vehicle, the underwater robot is usually moved to the right position by cables and then recovered by means of a crane. However, due to the influence of sea waves, rope throwing of the underwater robot is a worldwide problem, and the operation process is difficult. At present, a rope throwing device for an underwater robot usually adopts a mode of initiating explosive device driving and launching, and has the disadvantages of complex process, high manufacturing cost and potential safety hazard. In addition, in the prior art, the underwater robot automatically throws out the cable on the water surface, and a professional on the mother ship salvages the cable and then performs corresponding recovery operation. The operation mode can not enable the robot to automatically complete the rope throwing operation underwater, and the rope throwing accuracy is greatly reduced.
Disclosure of Invention
The invention provides an autonomous underwater robot rope throwing device and a using method thereof, aiming at the problems that the existing underwater robot rope throwing and throwing operations are complicated and cannot effectively and accurately finish the rope throwing operation underwater.
In order to achieve the above purpose, the embodiment of the present invention provides the following technical solutions:
in a first aspect, in one embodiment provided by the present invention, there is provided an autonomous underwater robot line throwing apparatus, comprising a throwing barrel mounted on a mounting platform of an autonomous underwater robot, the throwing barrel comprising:
the throwing head is placed in the throwing cylinder and is arranged towards the opening of the throwing cylinder with an opening;
the stopping piece is arranged on the inner wall of the mouth of the casting barrel outside the casting head and is used for stopping the casting head in the casting barrel;
the ejection driving component is positioned in the ejection barrel at one end of the ejection head, which is far away from the opening of the ejection barrel, and is used for driving the ejection head to eject out of the ejection barrel after impacting the stop piece; and
the ejection rope is connected with the ejection head and used for drawing the ejection head ejected by the projectile;
the ejection driving assembly comprises a compression spring and an electromagnet which are positioned on the ejection barrel inside the ejection head; the electromagnet is used for adsorbing the projecting head to extrude the compression spring, and the projecting head is ejected out through the compression spring after demagnetization.
When the underwater autonomous robot needs to throw the rope, the ejection driving assembly drives the ejection head to press down the compression spring in an electromagnetic driving mode, the compressed spring ejects the rope out after demagnetization, and when the ejection head ejects the rope, the ejection driving assembly drives all the ejection ropes to be thrown out together after knocking off the stop piece, so that a worker can conveniently use the rope fishing device to fish the ejection head and then recover the underwater autonomous robot.
In some optional embodiments, a fixing bracket is further installed between the throwing barrel and the installation platform, and the fixing bracket is fixed on the installation platform of the underwater autonomous robot and is hinged with the throwing barrel through a shaft pin, so that the throwing barrel can rotate around the shaft pin connected with the fixing bracket conveniently; one side of the ejection cylinder is also connected with an ejection adjusting rod, and the ejection adjusting rod is used for adjusting the orientation of the ejection cylinder.
When the underwater autonomous robot needs to throw the rope, if the direction of the throwing rope corresponding to the throwing cylinder of the underwater autonomous robot deviates from the position of the throwing rope to be salvaged and recovered, at the moment, the throwing adjusting rod is started, the direction of the throwing cylinder opening of the throwing cylinder is changed, so that the throwing direction of the throwing head in the throwing cylinder is adjusted, the throwing head is closer to salvaged workers after being thrown, the device is efficient, reliable and light, the problem of throwing angle in the throwing of the underwater autonomous robot is solved, and safety guarantee is provided for the underwater autonomous robot to smoothly recover.
In some optional embodiments, the projectile adjusting rod is an electric push rod, and a cylinder barrel and a push rod of the electric push rod are connected with the projectile barrel through a hinge seat on the mounting platform so as to adjust the telescopic length of the electric push rod and further adjust the orientation of the projectile barrel.
In some alternative embodiments, the stop comprises a locking pin, a locking slider, a locking pin hole, and a locking spring; the locking pinhole is located the throwing nozzle inside wall of throwing a section of thick bamboo, the locking round pin is connected with the locking slider that is located the locking pinhole, install the locking spring in the locking pinhole in the locking slider, the locking spring is used for pushing locking slider and locking round pin to throwing section of thick bamboo inside to the head backstop that throws in the section of thick bamboo is thrown to the locking round pin after stretching out.
In some optional embodiments, the end of the locking pin is provided with a slanting wedge surface, so that when the projectile head is loaded into the projectile barrel or ejected outwards from the projectile barrel, by squeezing the end of the locking pin, a component force for squeezing the locking slide is generated by the slanting wedge surface, so as to compress the locking spring, so that the end of the locking pin is compressed into the locking pin hole, and the projectile head is loaded into the projectile barrel or ejected outwards from the projectile barrel.
In some optional embodiments, in the state that the ejection driving assembly is not activated, the component force of the ejection head on the inclined wedge surface of the end part of the locking pin is smaller than the elastic force of the locking spring, at the moment, the end part of the locking pin cannot be compressed, and the locking pin stops against the ejection head.
In some optional embodiments, the projection head comprises a conical cap, a buoyancy block, an armature block and a projection base, the conical cap is embedded on one side of the buoyancy block facing the projection barrel opening, the projection base is fixed on one side of the buoyancy block far away from the projection barrel opening, the projection base is in an inverted-convex structure, and an armature block is embedded in the middle of the bottom end of the projection base.
In some optional embodiments, the projectile barrel is further provided with a guide rail assembly, the guide rail assembly comprises a rail body embedded on the inner wall of the projectile barrel and rail grooves located in the rail body, the rail grooves are arranged along the axial direction of the projectile barrel, and the number of the rail bodies is two and is centrosymmetric relative to the axis of the projectile barrel.
In some optional embodiments, the number of the stop parts is two, the stop parts are respectively positioned in two track grooves of the projectile barrel mouth, projectile tension arms are further formed on two sides of the projectile base, and the projectile tension arms are arranged in the two track grooves in a sliding mode.
The existence of track groove can be spacing to the projectile head for the projectile head only can move along the axis direction of projectile section of thick bamboo when launching, and utilize the projectile material arm of force of the both sides of base of projectile striking the locking pin of stop part, in order to throw from the projectile section of thick bamboo mouth, avoid the projectile head at the internal rotation of projectile section of thick bamboo, and lead to projectile material arm and stop part to stagger, can't strike the locking pin, or cause the locking pin to lose backstop effect.
In some optional embodiments, a fixed knot is further arranged on the ejection head, the fixed knot is located at the tail of the ejection head, and the fixed knot is used for being connected with one end of the ejection rope so as to drive all the ejection ropes to eject when the ejection head ejects.
In some optional embodiments, one end of the compression spring abuts against a projection base of the projection head, the other end of the compression spring is fixed on a spring fixing seat, the spring fixing seat is connected with the inner wall of the projection barrel, an electromagnet is installed in the middle of the spring fixing seat, and the electromagnet comprises:
the iron core and the armature block are positioned in the same axial direction;
the winding coil is wound on the iron core; and
and the magnetism isolating sleeve is positioned outside the winding coil and the iron core, is fixed on the throwing cylinder and is also provided with a sealing joint for the winding coil to penetrate out.
When the catapult head is driven to be ejected, the winding coil is electrified, a magnetic field generated by the iron core generates suction force on an armature block on the catapult head, the catapult head is driven to slide along the track groove to compress the compression spring, the winding coil is powered off and demagnetized when being ejected, the catapult head is ejected under the action of the elastic force of the compression spring, and the ejected catapult head drives the catapult rope to float to the water surface so that a worker can salvage the underwater autonomous robot.
In some optional embodiments, the projectile rope is arranged in a projectile rope accommodating cavity on one side of the projectile barrel, a partition plate is arranged between the projectile rope accommodating cavity and an inner cavity of the projectile barrel, and a tether pin connected with one end of the projectile rope is arranged in the projectile rope accommodating cavity, so that after the projectile rope is thrown out, the connection with the projectile barrel, the mounting platform and the whole underwater robot is maintained through the tether pin, and the underwater robot is conveniently recycled.
In a second aspect, in one embodiment provided by the present invention, there is provided a method of using an autonomous underwater robotic line throwing apparatus, the method comprising the steps of:
step one, when the underwater autonomous robot receives a rope throwing instruction, adjusting the length of a throwing adjusting rod according to the position of a positioned recovery working ship, and adjusting the throwing angle of a throwing cylinder;
step two, when the angle adjustment is completed, starting the winding coil to be electrified and start working, and compressing a compression spring by an electromagnet adsorption projection head formed by the winding coil and an iron core to complete a state to be launched;
and step three, after responding to a rope throwing instruction, the winding coil is powered off and demagnetized, the throwing head is ejected out from the throwing cylinder port after hitting the stop piece under the elastic force of the compression spring, the throwing head drives all the throwing ropes to pop out, and under the action of the buoyancy block of the throwing head, a worker salvages the throwing head on the water surface and recovers the underwater autonomous robot.
Compared with the prior art, the invention has the beneficial effects that:
compared with the conventional rope throwing device, the autonomous underwater robot rope throwing device disclosed by the embodiment of the invention skillfully utilizes the light magnetic attraction load and the spring as the rope throwing power mechanism, and does not need to install complicated structural parts such as a rope throwing motor and the like; the locking structure or the buckling cover does not need to be opened or closed independently, the automatic impact stop structure can be popped out when the rope is thrown, all throwing ropes are driven to be popped out, so that workers can use the rope fishing device to recover the autonomous underwater robot, the throwing direction of the throwing head in the throwing cylinder can be adjusted conveniently, the throwing head is closer to the salvaged workers after being thrown, the efficiency is high, the reliability and the light weight are realized, the problem of the throwing angle in the throwing of the underwater autonomous robot is solved, and the safety guarantee is provided for the smooth recovery of the underwater autonomous robot.
These and other aspects of the invention are apparent from and will be elucidated with reference to the embodiments described hereinafter. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention, as claimed.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention.
Fig. 1 is a schematic structural diagram of an autonomous underwater robot line throwing device of the present invention.
Fig. 2 is a schematic structural view of a stopper of the autonomous underwater robot rope throwing device of the present invention.
Fig. 3 is a schematic structural diagram of a throwing head in the autonomous underwater robot line throwing device of the present invention.
Fig. 4 is a schematic structural view of a rope throwing and accommodating cavity located on one side of an electromagnet in the autonomous underwater robot rope throwing device.
Fig. 5 is a schematic structural diagram of a guide rail assembly in the autonomous underwater robot line throwing device of the invention.
Description of reference numerals:
1-mounting a platform; 11-a fixed support; 12-a projectile adjusting lever;
2-a projectile cylinder;
21-a stop member; 211-a locking pin; 212-locking slide; 213-locking pin hole; 214-a locking spring;
22-a projectile head; 221-a conical cap; 222-a buoyancy block; 223-armature block; 224-fixing the knot; 225-projectile base; 226-ejection tension arm;
23-ejection drive assembly; 231-a compression spring; 232-spring fixing seat; 233-winding coil; 234-iron core; 235-magnetic isolation sleeve; 236-sealing joint;
24-a guide rail assembly; 241-a track body; 242-track grooves;
25-a projectile line;
3-throwing the rope and accommodating the cavity; 31-a tether pin; 32-partition plate.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The inventor of the application finds that the existing underwater robot usually adopts a way of initiating explosive device driving launching, the process is complex, the manufacturing cost is high, and potential safety hazards exist. The underwater robot automatically throws out the mooring rope on the water surface, and a professional on the mother ship salvages the mooring rope and then carries out corresponding recovery operation. The operation mode can not enable the robot to automatically complete the rope throwing operation underwater, and the rope throwing accuracy is greatly reduced.
In order to solve the above problems, according to the autonomous underwater robot line throwing device provided by the embodiment of the present invention, under the dual actions of the magnetic attraction load formed in the casting cylinder 2 of the autonomous underwater robot and the spring providing the casting elasticity in the casting cylinder 2, the casting head 22 connected to the casting line 25 is ejected out of the casting cylinder 2 to drive all the casting lines 25 to eject, so that the worker can use the line scooper to recover the autonomous underwater robot.
The technical scheme of the invention is further explained by the specific implementation mode in combination with the attached drawings.
Fig. 1 shows a schematic structural view of a rope throwing face of an autonomous underwater robot rope throwing device provided with the invention.
In one embodiment provided by the present invention, as shown in fig. 1, there is provided an autonomous underwater robot line throwing apparatus, comprising a throwing barrel 2, the throwing barrel 2 being mounted on a mounting platform 1 of an autonomous underwater robot. In this embodiment, a fixing support 11 is further installed between the projectile tube 2 and the installation platform 1, the fixing support 11 is fixed on the installation platform 1 of the underwater autonomous robot and is hinged to the projectile tube 2 through a shaft pin, and the projectile tube 2 can conveniently rotate around the shaft pin connected with the fixing support 11; one side of the ejection cylinder 2 is also connected with an ejection adjusting rod 12, and the ejection adjusting rod 12 is used for adjusting the orientation of the ejection cylinder 2.
Preferably, the ejection adjusting rod 12 is an electric push rod, and a cylinder barrel and a push rod of the electric push rod are connected with the ejection barrel 2 through a hinge seat on the mounting platform 1, so that the telescopic length of the electric push rod is adjusted, and the orientation of the ejection barrel 2 is adjusted.
When the underwater autonomous robot needs to throw the rope, if the rope throwing direction corresponding to the throwing barrel 2 of the underwater autonomous robot deviates from the position of the rope to be salvaged and recovered, at the moment, the throwing adjusting rod 12 is started, the direction of the throwing barrel opening of the throwing barrel 2 is changed, so that the throwing direction of the throwing barrel 2 is adjusted, the throwing is closer to salvaged workers after being thrown, the efficiency, the reliability and the light weight are realized, the problem of the throwing angle in the throwing of the underwater autonomous robot is solved, and the safety guarantee is provided for the underwater autonomous robot to smoothly recover.
Referring to figure 1, the projectile cartridge 2 comprises a stop 21, a projectile head 22, an ejection drive assembly 23, a guide rail assembly 24 and a projectile cord 25. The throwing head 22 is placed in the throwing barrel 2, the throwing head 22 is arranged towards the opening of the throwing barrel 2, the stop piece 21 is arranged on the inner wall of the opening of the throwing barrel outside the throwing head 22, and the stop piece 21 is used for stopping the throwing head 22 in the throwing barrel 2.
In the embodiment of the invention, referring to fig. 1 and 3, the ejection head 22 includes a conical cap 221, a buoyancy block 222, an armature block 223 and an ejection base 225, the conical cap 221 is embedded on one side of the buoyancy block 222 facing the ejection barrel mouth, the ejection base 225 is fixed on one side of the buoyancy block 222 away from the ejection barrel mouth, the ejection base 225 is in an inverted-convex structure, and the armature block 223 is embedded in the middle of the bottom end of the ejection base 225.
As shown in fig. 1 and 5, the guide rail assembly 24 includes a rail body 241 embedded in the inner wall of the shooting pot 2, and rail grooves 242 formed in the rail body 241, the rail grooves 242 being arranged in the axial direction of the shooting pot 2, the number of the rail bodies 241 being two and being symmetrical with respect to the axis of the shooting pot 2.
The number of the stop parts 21 is two and the stop parts are respectively positioned in the two track grooves 242 of the projectile barrel mouth, projectile moment arms 226 are further formed on two sides of the projectile base 225, and the projectile moment arms 226 are arranged in the two track grooves 242 in a sliding mode.
In this embodiment, the existence of the track groove 242 can limit the projectile head 22, so that the projectile head 22 can only move along the axial direction of the projectile barrel 2 when being ejected, and the projectile moment arms 226 on the two sides of the projectile base 225 impact the locking pins 211 of the stop members 21 to be ejected from the mouth of the projectile barrel, thereby preventing the projectile moment arms 226 from staggering with the stop members 21 and preventing the projectile moment arms 226 from impacting the locking pins 211 or preventing the locking pins 211 from losing the stop function due to the rotation of the projectile head 22 in the projectile barrel 2.
Referring to fig. 1 and 2, in one embodiment of the present invention, the stopper 21 includes a locking pin 211, a locking slider 212, a locking pin hole 213, and a locking spring 214; locking pinhole 213 is located the projectile tube mouth inside wall of projectile tube 2, locking round pin 211 is connected with the locking slider 212 that is located locking pinhole 213, install locking spring 214 in the locking pinhole 213 in the locking slider 212, locking spring 214 is used for pushing locking slider 212 and locking round pin 211 to projectile tube 2 inside to stopping is blocked to projectile head 22 in projectile tube 2 after locking round pin 211 stretches out.
The end of the locking pin 211 is provided with a slanted wedge surface, so that when the projectile head 22 is loaded into the projectile barrel 2 or is ejected outwards from the projectile barrel 2, the end of the locking pin 211 is pressed, a component force pressing the locking slide block 212 is generated by the slanted wedge surface, so as to compress the locking spring 214, the end of the locking pin 211 is compressed into the locking pin hole 213, and the projectile head 22 is loaded into the projectile barrel 2 or is ejected outwards from the projectile barrel 2.
In the state that the ejection driving assembly 23 is not activated, the component force of the ejection head 22 on the inclined wedge surface at the end of the locking pin 211 is smaller than the elastic force of the locking spring 214, at this time, the end of the locking pin 211 cannot be compressed, and the locking pin 211 stops the ejection head 22.
The throwing head 22 is further provided with a fixed knot 224, the fixed knot 224 is located at the tail of the throwing head 22, the throwing rope 25 is connected with the throwing head 22 and used for drawing the throwing head 22 ejected by the projectile, and the fixed knot 224 is connected with one end of the throwing rope 25 so as to drive all the throwing ropes 25 to be ejected when the throwing head 22 is ejected.
In one embodiment of the invention, the projectile rope 25 is arranged in the projectile rope receiving cavity 3 at one side of the projectile barrel 2, a partition plate 32 is arranged between the projectile rope receiving cavity 3 and the inner cavity of the projectile barrel 2, and a tether rope pin 31 connected with one end of the projectile rope 25 is arranged in the projectile rope receiving cavity 3, so that after the projectile rope 25 is thrown out, the connection with the projectile barrel 2, the mounting platform 1 and the whole underwater robot is maintained through the tether rope pin 31, and the underwater robot is convenient to recycle.
Referring to fig. 1 and 4, the ejection drive assembly 23 is located in the ejection barrel 2 at the end of the ejection head 22 away from the opening of the ejection barrel 2, and the ejection drive assembly 23 is used for driving the ejection head 22 to eject the ejection barrel 2 after striking the stop member 21. The ejection driving component 23 comprises a compression spring 231 and an electromagnet of the ejection barrel 2 positioned inside the ejection head 22; the electromagnet is used for adsorbing the ejection head 22 to extrude the compression spring 231, and ejecting the ejection head 22 through the compression spring 231 after demagnetization.
One end of the compression spring 231 is abutted to the ejection base 225 of the ejection head 22, the other end of the compression spring 231 is fixed on a spring fixing seat 232, the spring fixing seat 232 is connected with the inner wall of the ejection barrel 2, and an electromagnet is mounted in the middle of the spring fixing seat 232.
In one embodiment of the present invention, the electromagnet includes an iron core 234, a winding coil 233, and a magnetic shield sleeve 235. The iron core 234 and the armature block 223 are located in the same axial direction; the winding coil 233 is wound on the iron core 234; the magnetic isolation sleeve 235 is located outside the winding coil 233 and the iron core 234, the magnetic isolation sleeve 235 is fixed on the casting barrel 2, and a sealing joint 236 for the winding coil 233 to penetrate out is further arranged on the magnetic isolation sleeve 235.
When the throwing head 22 is driven to be ejected, the winding coil 233 is electrified, a magnetic field generated by the iron core 234 generates suction force on the armature block 223 on the throwing head 22, the throwing head 22 is driven to slide along the track groove 242, the compression spring 231 is compressed, the winding coil 233 is powered off and demagnetized when the throwing head is ejected, the throwing head 22 is ejected under the elastic force of the compression spring 231, and the ejected throwing head 22 drives the throwing rope 25 to float to the water surface, so that a worker can salvage the underwater autonomous robot.
As shown in fig. 1, in an embodiment provided by the invention, a method for using the autonomous underwater robot line throwing device is also provided, and the method comprises the following steps:
step one, when the underwater autonomous robot receives a rope throwing instruction, adjusting the length of a throwing adjusting rod 12 according to the position of a positioned recovery working ship, and adjusting the throwing angle of a throwing cylinder 2;
step two, when the angle adjustment is completed, starting the winding coil 233 to be electrified and start working, compressing the compression spring 231 by the electromagnet adsorption ejection head 22 formed by the winding coil 233 and the iron core 234, and completing the state to be emitted;
and step three, after responding to a rope throwing instruction, the winding coil 233 is powered off and demagnetized, the throwing head 22 is ejected from the throwing cylinder port after striking the stop part 21 under the action of the elastic force of the compression spring 231, the throwing head 22 drives all the throwing ropes 25 to pop up, and under the action of the buoyancy block 222 of the throwing head 22, a worker salvages the throwing head 22 on the water surface and recovers the underwater autonomous robot.
When the throwing head 22 is driven to be ejected, the winding coil 233 is electrified, a magnetic field generated by the iron core 234 generates suction force on the armature block 223 on the throwing head 22, the throwing head 22 is driven to slide along the track groove 242, the compression spring 231 is compressed, the winding coil 233 is powered off and demagnetized when the throwing head is ejected, the throwing head 22 is ejected under the elastic force of the compression spring 231, and the ejected throwing head 22 drives the throwing rope 25 to float to the water surface, so that a worker can salvage the underwater autonomous robot.
In summary, compared with the conventional rope throwing device, the autonomous underwater robot rope throwing device disclosed in the embodiment of the invention skillfully utilizes the light-weight magnetic attraction load and the spring as the rope throwing power mechanism, and does not need to be provided with complicated structural members such as a rope throwing motor and the like; also need not to open alone or close locking structure or buckle lid, can pop out at automatic striking backstop structure when throwing the rope, drive whole throwing rope 25 and pop out, so that the staff uses to drag for the rope ware and retrieves autonomic underwater robot, be convenient for adjust the throw position of throwing head 22 in the section of thick bamboo 2, make throwing head 22 throw the back and be close to the staff who salvages more, high-efficient reliable lightweight, solve the throwing angle problem in throwing of autonomic robot under water, retrieve smoothly for autonomic robot under water and provide the safety guarantee.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. The utility model provides an autonomic underwater robot jettison device, includes jettison section of thick bamboo (2), its characterized in that, jettison section of thick bamboo (2) are installed on autonomic underwater robot's mounting platform (1), jettison section of thick bamboo (2) include:
the throwing head (22) is placed in the throwing cylinder (2), and the throwing head (22) faces to the opening of the throwing cylinder (2);
the stop piece (21) is arranged on the inner wall of the mouth of the throwing barrel on the outer side of the throwing head (22), and the stop piece (21) is used for stopping the throwing head (22) in the throwing barrel (2);
the ejection driving component (23) is positioned in the ejection barrel (2) at one end, far away from the opening of the ejection barrel (2), of the ejection head (22), and the ejection driving component (23) is used for driving the ejection head (22) to impact the stop piece (21) and then eject out of the ejection barrel (2); and
the ejection rope (25), the ejection rope (25) is connected with the ejection head (22) and used for drawing the ejection head (22) ejected by the projectile;
wherein the ejection driving component (23) comprises a compression spring (231) and an electromagnet which are positioned on the ejection barrel (2) at the inner side of the ejection head (22); the electromagnet is used for adsorbing the ejection head (22) to extrude the compression spring (231), and ejecting the ejection head (22) through the compression spring (231) after demagnetization.
2. The autonomous underwater robot throwing rope device of claim 1, wherein a fixing bracket (11) is further installed between the throwing barrel (2) and the mounting platform (1), and the fixing bracket (11) is fixed on the mounting platform (1) of the autonomous underwater robot and hinged with the throwing barrel (2) through a shaft pin.
3. The autonomous underwater robot line throwing device of claim 2, wherein the throwing adjusting lever (12) is an electric push rod, and a cylinder barrel and a push rod of the electric push rod are connected with the throwing cylinder (2) through a hinged seat on the mounting platform (1).
4. The autonomous underwater robot line throwing device of claim 1, characterized in that said stopper (21) comprises a locking pin (211), a locking slider (212), a locking pin hole (213) and a locking spring (214); the locking pin hole (213) is located on the inner side wall of the mouth of the throwing barrel (2), the locking pin (211) is connected with a locking slide block (212) located in the locking pin hole (213), and a locking spring (214) is installed in the locking pin hole (213) in the locking slide block (212).
5. The autonomous underwater robot line throwing device of claim 4, wherein the end of the locking pin (211) is provided with a wedge surface, and in the state that the ejection driving assembly (23) is not activated, the force component generated by the throwing head (22) on the wedge surface at the end of the locking pin (211) is smaller than the elastic force of the locking spring (214).
6. The autonomous underwater robot line throwing device of claim 1, wherein the throwing head (22) comprises a conical cap (221), a buoyancy block (222), an armature block (223) and a throwing base (225), the conical cap (221) is inlaid on one side of the buoyancy block (222) facing the throwing nozzle, the throwing base (225) is fixed on one side of the buoyancy block (222) far away from the throwing nozzle, the throwing base (225) is in an inverted-convex-shaped structure, and the armature block (223) is inlaid in the middle of the bottom end of the throwing base (225).
7. The autonomous underwater robot line throwing device of claim 6, wherein the throwing barrel (2) is further provided with a guide rail assembly (24), the guide rail assembly (24) comprises a rail body (241) embedded on the inner wall of the throwing barrel (2) and rail grooves (242) located in the rail body (241), the rail grooves (242) are arranged along the axial direction of the throwing barrel (2), and the number of the rail bodies (241) is two and is symmetrical with respect to the axis center of the throwing barrel (2).
8. The autonomous underwater robot line throwing device of claim 7, wherein the number of the stop members (21) is two and the stop members are respectively located in two rail grooves (242) of the throwing nozzle, a throwing elastic arm (226) is further formed on each side of the throwing base (225), and the throwing elastic arm (226) is slidably arranged in the two rail grooves (242).
9. The autonomous underwater robot line throwing device of claim 8, wherein one end of the compression spring (231) abuts against a throwing base (225) of the throwing head (22), the other end of the compression spring (231) is fixed on a spring fixing seat (232), the spring fixing seat (232) is connected with the inner wall of the throwing barrel (2), an electromagnet is installed in the middle of the spring fixing seat (232), and the electromagnet comprises:
the iron core (234), the iron core (234) and the armature block (223) are positioned in the same axial direction;
a winding coil (233) wound around the iron core (234); and
the magnetism isolating sleeve (235) is located outside the winding coil (233) and the iron core (234), the magnetism isolating sleeve (235) is fixed on the throwing cylinder (2), and a sealing joint (236) for the winding coil (233) to penetrate through is further arranged on the magnetism isolating sleeve (235).
10. A method of using an autonomous underwater robot line throwing apparatus, comprising an autonomous underwater robot line throwing apparatus as claimed in any one of claims 1 to 9, the method comprising the steps of:
s1, when the underwater autonomous robot receives a rope throwing instruction, adjusting the length of a throwing adjusting rod (12) according to the position of the positioned recovery work ship, and adjusting the throwing angle of a throwing cylinder (2);
s2, when the angle adjustment is completed, the winding coil (233) is started to be electrified and starts to work, the compression spring (231) is compressed by the electromagnet adsorption and ejection head (22) formed by the winding coil (233) and the iron core (234), and the state to be transmitted is completed;
s3, after responding to a rope throwing instruction, the winding coil (233) is powered off and demagnetized, the throwing head (22) is ejected out from the throwing cylinder port after striking the stop piece (21) under the action of the elastic force of the compression spring (231), the throwing head (22) drives all the throwing ropes (25) to be ejected, and under the action of the buoyancy block (222) of the throwing head (22), a worker salvages the throwing head (22) on the water surface and recovers the underwater autonomous robot.
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| CN202210327476.0A CN114435564A (en) | 2022-03-30 | 2022-03-30 | Autonomous underwater robot rope throwing device and using method thereof |
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| CN202210327476.0A CN114435564A (en) | 2022-03-30 | 2022-03-30 | Autonomous underwater robot rope throwing device and using method thereof |
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Application publication date: 20220506 |