CN114933237B - Automatic unlocking device for launching underwater equipment and control method thereof - Google Patents

Abstract

The invention relates to the technical field of underwater automatic unlocking, and discloses an automatic unlocking device for throwing underwater equipment. This an automatic unlocking means for puting in underwater equipment, it dives lock body and dive equipment to the region of puting in advance to drive rings through hoisting equipment, and through the control module cooperation force sensor on the lock body, velocity of flow sensor and pressure sensor carry out accurate detection to the dive position and the atress condition of dive equipment, break away from the couple through the drive of control module control locking mechanism simultaneously, the couple autogiration under the action of gravity breaks away from dive equipment, realize the effect of high accuracy automatic unhook under water.

Description

Automatic unlocking device for launching underwater equipment and control method thereof

Technical Field

The invention relates to the technical field of underwater automatic unlocking, in particular to an automatic unlocking device for launching underwater equipment and a control method thereof.

Background

In the exploration of the ocean, technicians often need to sink equipment into the ocean floor to perform normal deep sea exploration activities, and the common methods are as follows: the equipment is hung on the hauling rope, the hauling rope is controlled by a worker on a ship through the elevator, the equipment is sunk into the seabed, however, in some complex or unknown work sea areas, the worker is difficult to obtain related specific data of the seabed of the task sea area, and when the equipment is put into operation, the effective separation of the pre-putting equipment and the hauling rope is realized, so that certain difficulty exists.

The separation methods commonly used at present are mostly concentrated on the following methods:

(1) sending a diver to dive together with equipment in a shallow sea area, and manually separating a traction rope from the equipment after reaching the seabed, wherein the dive personnel adopting the method has larger potential safety hazard along with the dive of the equipment;

(2) in a deep sea area, a diver cannot reach the device, usually, a set of electromechanical device is installed at the tail end of a traction rope to realize the release operation of the device after landing, but in the mode, a cable needs to be installed in a matched mode to connect the electromechanical device with control equipment on a ship, the cable is influenced by wind and waves in the release process and is easy to be wound with the traction rope, if the cable and the traction rope are fixed together, the winding problem can be avoided, but the cable is easy to be damaged due to back-and-forth friction in a winch in the operation of device release and traction rope recovery;

(3) the method solves the problems to a certain extent, but the ROV has the problems of poor ocean current resistance, easy interference on communication and the like, which undoubtedly increases the construction difficulty and cost, and the construction steps become very complicated.

In summary, an automatic unlocking device for launching underwater equipment is provided to solve the above problems.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides the automatic unlocking device for throwing the underwater equipment, which has the advantages of simple structure, automatic unlocking, long service life and the like, overcomes the defects of a manual mode and an ROV mode, and avoids the problem of cable winding because the device is not required to be connected to the water surface control equipment for throwing.

(II) technical scheme

In order to realize the purposes of simple structure and underwater automatic unlocking, the invention provides the following technical scheme: the utility model provides an automatic unlocking means for puting in underwater equipment, including rings, the bottom of rings is provided with force sensor, the last lock body that is provided with of force sensor, the vertical velocity of flow sensor that is provided with on the lock body, be provided with pressure sensor on the lock body, be provided with in the lock body with force sensor, the control module that velocity of flow sensor and pressure sensor electricity are connected, it has the plumb plane pivoted couple that can follow to articulate on the lock body, be provided with the locking mechanism with couple selectivity joint on the lock body, locking mechanism's input is connected with control module's output electricity.

Preferably, the locking mechanism comprises a driving assembly, a linkage piece and a limiting piece, the driving assembly is arranged in the lock body and used for driving the linkage piece to rotate horizontally, one end of the linkage piece is arranged on the driving assembly in a sliding mode along the horizontal direction, the other end of the linkage piece is hinged to the limiting piece, the limiting piece is arranged on the lock body in a rotating mode along the vertical plane and perpendicular to the driving assembly, the limiting piece is used for being matched with the driving assembly and the linkage piece to limit the hook, and a connecting point between the linkage piece and the limiting piece is located below a hinge point between the limiting piece and the lock body.

Preferably, the locating part comprises a first pin shaft, a rotating arm and a limiting part, the first pin shaft is vertically arranged in the lock body relative to the rotating axis of the hook, the rotating arm is arranged on the first pin shaft and movably connected with the linkage part, and the limiting part is arranged on the rotating arm and supports and limits the bottom of the hook.

Preferably, the linkage piece includes slider, universal joint and sliding seat, and the slider sets up on drive assembly along horizontal slip, and the universal joint sets up on the slider and with sliding seat swing joint, and the sliding seat sets up on the swinging boom.

Preferably, drive assembly includes the second round pin axle, the actuating arm, shell fragment and linear electric motor, the second round pin axle is vertical to be set up in the locking body, the actuating arm cup joints in the second round pin epaxially, set up the horizontal spout with slider looks adaptation on the actuating arm, the shell fragment sets up in one side that the movable seat was kept away from to the actuating arm and supports and be located the one end that the second round pin axle is close to the swinging boom with the lock body counterbalance, linear electric motor sets up in the locking body and is located the one end that the shell fragment was kept away from to the second round pin axle, set up the draw-in groove with linear electric motor looks adaptation in the swinging boom, interval between linear electric motor and the second round pin axle is greater than the interval between swinging boom and the second round pin axle.

Preferably, the driving assembly further comprises a magnetic block and a hall sensor, the magnetic block is arranged in the lock body and located above the rotating arm, the hall sensor is arranged in the rotating arm and located right below the magnetic block, and the hall sensor is electrically connected with the control module.

Preferably, the control module comprises a waterproof box, a control circuit and a direct-current power supply, the waterproof box is arranged on the lock body, the control circuit is arranged in the waterproof box and is electrically connected with the tension sensor, the flow velocity sensor, the pressure sensor, the linear motor and the Hall sensor, and the direct-current power supply is arranged in the waterproof box and supplies power to the control circuit.

The technical scheme also provides a control method for the automatic unlocking device for launching the underwater equipment, which comprises the following steps:

s1, respectively setting threshold values of a tension sensor, a flow velocity sensor and a pressure sensor, suspending equipment to be submerged between a lock body and a hook, and locking and limiting the equipment through a locking mechanism;

s2, lifting the lifting ring through lifting equipment and submerging the lifting ring to a throwing area, judging the relation between actual detection values and threshold values of the tension sensor, the flow velocity sensor and the pressure sensor through the control module, controlling the locking mechanism to act and unhooking the submerging equipment.

Preferably, the threshold is determined by testing the dark current condition of the sea area of the launching area through a marine environment detection device.

Preferably, the method further comprises the following steps:

s3, driving the lifting ring to ascend through the hoisting equipment and judging whether the power of the hoisting equipment is reduced or not;

s4, if the power of the hoisting equipment is not reduced, the hoisting equipment drives the hoisting ring to continuously submerge to a certain position, and the step S3 is repeated;

and S5, if the power of the hoisting equipment is reduced, indicating that the submergence equipment is unhooked, and driving the hoisting ring to recover through the hoisting equipment.

(III) advantageous effects

Compared with the prior art, the invention provides an automatic unlocking device for launching underwater equipment, which has the following beneficial effects:

1. the lifting device drives the lifting ring to submerge the lock body and the submergence device to a pre-throwing area, the control module on the lock body is matched with the tension sensor, the flow velocity sensor and the pressure sensor to accurately detect the submergence position and the stress condition of the submergence device, meanwhile, the control module controls the locking mechanism to drive the hook to be separated, the hook automatically rotates under the action of gravity and is separated from the submergence device, and the underwater high-precision automatic unhooking effect is achieved;

2. the locking mechanism is matched with the driving assembly, the linkage piece and the limiting piece, a connecting point between the linkage piece and the limiting piece is positioned below a hinge point between the limiting piece and the lock body, the driving assembly can drive the limiting piece to rotate in a large range by small-amplitude rotation by utilizing a lever principle, quick unhooking of the diving equipment is realized, and meanwhile, the situation that the throwing precision is influenced by interaction with the limiting piece in the process that the diving equipment is detached from a hook is avoided;

3. the first pin shaft, the rotating arm and the limiting part are matched for use through the limiting part, and the rotating axis of the first pin shaft is mutually vertical to the rotating axis of the hook, so that the diving equipment is pressed against the top surface of the limiting part and limits the rotation of the rotating arm when acting force is applied to the hook in the vertical direction by the diving equipment, and the situation that the driving assembly is damaged easily due to overlarge stress and the throwing precision is influenced is further avoided;

4. the linkage piece is matched with the sliding block, the universal joint and the movable seat, so that the driving assembly is relatively hinged with the rotating arm in the horizontal rotation process to realize linkage, and meanwhile, the condition that the unhooking of the diving equipment is influenced by the clamping caused by the dislocation of the angle or the position of the rotating arm in the linkage process with the driving assembly is avoided;

5. the driving assembly is matched with the second pin shaft, the driving arm, the elastic sheet and the linear motor, so that when the driving end of the linear motor is separated from the clamping groove on the driving arm, the driving arm is driven to rotate around the second pin shaft under the action force of the elastic sheet and is linked with the linkage piece to unhook the diving equipment, and meanwhile, the distance between the linear motor and the second pin shaft is larger than the distance between the rotating arm and the second pin shaft, so that the stress of the driving end of the linear motor is further reduced by utilizing the lever principle, and the situation that the throwing precision is influenced due to the fact that the linear motor is too large in stress and easy to damage is avoided;

6. the magnetic block and the Hall sensor in the driving are matched with the control module for use, when the limiting part is connected with the hook in a clamped mode, namely when the driving arm on the driving assembly resets, the control module controls the driving end of the linear motor to be connected with the clamping groove in a clamped mode, automatic locking is achieved, and the situation that the submersible equipment is separated from the hook to influence the putting-in precision of the unlocking device is prevented.

Drawings

FIG. 1 is a perspective view of a first perspective structure of the present invention;

FIG. 2 is a perspective view of a second perspective structure of the present invention;

FIG. 3 is an exploded view of the structure of the present invention;

FIG. 4 is a perspective view of a position limiting element according to the present invention;

FIG. 5 is a perspective view of a linkage of the present invention;

FIG. 6 is a perspective view of the drive assembly of the present invention;

FIG. 7 is an elevational sectional view of the structure of the present invention;

fig. 8 is a circuit schematic diagram of a control circuit of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-2, an automatic unlocking device for throwing underwater equipment comprises a lifting ring 1, wherein a tension sensor 2 is fixedly installed at the bottom of the lifting ring 1, a lock body 3 is fixedly installed on the tension sensor 2, a flow velocity sensor 4 is fixedly installed on the lock body 3 along the vertical direction, a pressure sensor 5 is fixedly installed on the lock body 3, a control module 6 electrically connected with the tension sensor 2, the flow velocity sensor 4 and the pressure sensor 5 is fixedly installed in the lock body 3, a hook 7 capable of rotating along the vertical plane is hinged on the lock body 3, a locking mechanism 8 selectively clamped with the hook 7 is fixedly installed on the lock body 3, and the input end of the locking mechanism 8 is electrically connected with the output end of the control module 6; hang and carry on spacingly with locking mechanism 8 waiting for dive equipment through couple 7 on the lock body 3, hoist and lift by crane rings 1 and dive equipment and put in and dive to waiting to put in the region again through hoisting equipment, through force sensor 2 on the lock body 3, velocity sensor 4 and pressure sensor 5 detect the dive environment of dive equipment and feed back the detected signal to control module 6, control module 6 is through the action of control locking mechanism 8 and then the separation between control dive equipment and the couple 7, avoid underwater undercurrent to treat to put in after the dive equipment unhook influence great and skew the circumstances of putting in the region take place, reach the effect of the automatic unhook of high accuracy under water.

Preferably, the locking mechanism 8 includes a driving assembly 81, a linkage member 82 and a limiting member 83, the driving assembly 81 is disposed in the lock body 3 for driving the linkage member 82 to rotate horizontally, one end of the linkage member 82 is slidably mounted on the driving assembly 81 along the horizontal direction, the other end of the linkage member is hinged to the limiting member 83, the limiting member 83 is rotatably mounted on the lock body 3 along the vertical plane and is perpendicular to the rotation direction of the hook 7, the limiting member 83 is used for limiting the hook 7 by matching with the linkage member 82, and the hinge point between the linkage member 82 and the limiting member 83 is located below the hinge point between the limiting member 83 and the lock body 3, as shown in fig. 3; drive linkage 82 horizontal rotation through drive assembly 81, linkage 82 and locating part 83 interact and drive locating part 83 rotatory and break away from couple 7, couple 7 autogiration under the effect of gravity makes this lock body 3 and couple 7 be convenient for carry out the automatic unhook with dive equipment, because the pin joint between linkage 82 and locating part 83 is located the below of pin joint between locating part 83 and the lock body 3, utilize lever principle to make drive assembly 81 rotate by a small margin just can drive locating part 83 rotatory and realize the quick unhook of dive equipment on a large scale, avoid dive equipment to break away from the condition emergence that couple 7 in-process and locating part 83 interact and influence the input precision simultaneously.

Preferably, the limiting member 83 includes a first pin 831, a rotating arm 832 and a limiting portion 833, the first pin 831 is perpendicular to the rotation axis of the hook 7 and movably mounted in the lock body 3, the rotating arm 832 hinged to the linkage member 82 is sleeved on the outer wall of the pin 831, and the limiting portion 833 abutted against the bottom of the hook 7 is fixedly mounted on the rotating arm 832, as shown in fig. 4; rotating arm 832 and lock body 3 swing joint are with rotating arm 831 through first round pin axle 831, thereby and thereby fixed mounting has spacing portion 833 that supports with couple 7 bottom to make this unlocking device lift by crane the dive in-process, because dive equipment self action of gravity drives couple 7 and compresses tightly and restrict the rotating arm 832 rotatory to the top of spacing portion 833, rethread rotating arm 832 is for the perpendicular setting of the rotation axis of couple 7, realize the auto-lock when making couple 7 compress tightly spacing portion 833, this automatic unlocking device's input precision has further been improved, and avoid drive assembly 81 atress to influence the condition of input precision and take place through big fragile.

Preferably, the linkage 82 includes a sliding block 821, a universal joint 822 and a movable seat 823, the sliding block 821 is installed on the driving assembly 81 in a sliding manner along the horizontal direction, the universal joint 822 is movably installed on the sliding block 821, the universal joint 822 is hinged to the rotating arm 832 through the movable seat 823, and a hinge point of the movable seat 823 hinged to the rotating arm 832 is located below the first pin 831, as shown in fig. 5; the driving assembly 81 drives the sliding block 821 to rotate horizontally, the sliding block 821 interacts with the rotating arm 832 through the universal joint 822 and the movable seat 823 and drives the rotating arm 832 to rotate along a vertical plane, so that linkage between the driving assembly 81 and the rotating arm 832 is realized, and the sliding block 821 is connected with the driving assembly 81 in a sliding mode along the horizontal direction, so that when the driving assembly 81 rotates horizontally, the sliding block 821 can adjust a stress point between the sliding block 821 and the rotating arm 832 in a self-adaptive mode, meanwhile, the universal joint 822 adjusts an angle between the sliding block 821 and the rotating arm 832 in a self-adaptive mode, and the situation that the rotating arm 832 is in linkage with the driving assembly 81 and is blocked to influence unhooking of the submarine equipment is avoided.

Preferably, the driving assembly 81 includes a second pin 811, a driving arm 812, an elastic piece 813 and a linear motor 814, the second pin 811 is vertical and installed in the lock body 3, the driving arm 812 is sleeved on an outer wall of the second pin 811, a sliding slot matched with the slider 821 is formed in the driving arm 812, the elastic piece 813 abutting against the lock body 3 is fixedly installed at one side of the driving arm 812, which is far away from the slider 821, and located at one end of the second pin 811, which is close to the rotating arm 832, the linear motor 814 is fixedly installed in the lock body 3 and located at one end of the second pin 811, which is far away from the elastic piece 813, a clamping slot matched with a driving end of the linear motor 814 is formed in the driving arm 812, and a distance between the linear motor 814 and the second rotating shaft 811 is greater than a distance between the rotating arm 832 and the second rotating shaft 811, as shown in fig. 6; the linear motor 814 is started and the driving end of the linear motor is separated from the clamping groove, the elastic piece 813 releases elastic potential energy and drives the driving arm 812 to rotate around the second pin shaft 811, meanwhile, the driving arm 812 interacts with the sliding block 821, the sliding block 821 drives the rotating arm 832 to rotate along a vertical plane through the universal joint 822 and the movable seat 823 to achieve automatic unhooking of the diving equipment, the distance between the linear motor 814 and the second rotating shaft 811 is larger than the distance between the rotating arm 832 and the second rotating shaft 811, the stress of the driving end of the linear motor 814 is further reduced by utilizing the lever principle, and the situation that the putting precision is affected due to the fact that the linear motor 814 is stressed too much and is easy to damage is avoided.

Preferably, the driving assembly 81 further includes a magnetic block 815 and a hall sensor 816, the magnetic block 815 is fixedly mounted in the lock body 3 and located right above the driving arm 812, and the hall sensor 816 electrically connected to the control module 6 is fixedly mounted in the driving arm 812 and located right below the magnetic block 815; through rotating couple 7 to the level, and through pressing rotating arm 832 or actuating arm 812, make spacing portion 833 on the rotating arm 832 support with couple 7, hall sensor 816 is rotatory to the magnetic block 815 directly under simultaneously, and hall sensor 816 will detect the signal of telecommunication transmission of magnetic block 815 and give control module 6, and control module 6 control linear electric motor 814 starts and makes the drive end of linear electric motor 814 and the draw-in groove n joint on the actuating arm 812, realizes simple convenient quick automatic locking and spacing effect.

Preferably, the control module 6 includes a waterproof box 61, a control circuit 62 and a dc power supply 63, the waterproof box 61 is fixedly installed on the lock body 3, the control circuit 62 electrically connected with the tension sensor 2, the flow rate sensor 4, the pressure sensor 5, the linear motor 814 and the hall sensor 816 is fixedly installed in the waterproof box 61, and the dc power supply 63 is fixedly installed in the waterproof box 61 and supplies power to the control circuit 62, as shown in fig. 7-8; wrap up control circuit 62 and DC power supply 63 through waterproof box 61 to improved this unlocking means's waterproof performance, adopted DC power supply 63 to supply power to control circuit 62 and avoided the cable to make a round trip to rub in the capstan winch in the operation that the cable easily retrieved with the haulage rope and easily receive the damage and influence life's condition emergence.

The output end of the dc power supply 63 outputs dc12V and dc 5V, respectively, wherein the output dc12V is used as the working power supply of the load, and the output dc 5V is used as the working power supply of the control circuit 62.

The control circuit 62 comprises four parts, namely a power supply driving circuit, a multi-harmonic oscillation circuit, a combinational logic circuit and a motor driving circuit;

the power supply driving circuit is composed of a Hall sensor 816 and a switch circuit, the Hall sensor 816 is directly powered by 5V direct current output by a power supply, when the driving arm 812 is closed, a magnetic block 815 arranged on the lock body 3 is in contact with the Hall sensor 816, due to Hall effect, the Hall sensor 816 can output a high level signal, when the elastic sheet 813 drives the Hall sensor 816 on the driving arm 812 to rotate and separate from the magnetic block 815, the output of the Hall sensor 816 keeps low level.

The switching circuit is composed of a triode and a relay, when the output signal of the Hall sensor 816 becomes high level, the triode amplifies the signal to reach the threshold value of the relay, the switching circuit is conducted, and the subsequent circuit can work normally.

The multivibrator circuit uses a multivibrator connected with a 555 timer, the oscillator is powered by direct current 5v and outputs stable square waves, and a reliable clock signal is provided for a trigger.

The combinational logic circuit comprises a trigger, a grounded capacitor and a logic judgment unit. The trigger is a keep-block D-type trigger, three input ports of the D-type trigger are respectively electrically connected with a signal output end of the tension sensor 2, a signal output end of the flow velocity sensor 4 and a signal output end of the pressure sensor 5, the rest input ports are kept in a suspended state, three ports of eight output ports of the D-type trigger are used and connected to the logic judging unit, and the rest unused output ports are also kept in a suspended state.

The tension sensor 2 can preset a threshold value a before use, only when tension is smaller than the threshold value a, the tension sensor 2 can output a high-level signal to the trigger, the flow rate sensor 4 can also preset a threshold value b, and when the actual water flow rate detected by the flow rate sensor 4 is relatively smaller than the threshold value b, the flow rate sensor 4 can output a high-level signal to the trigger. Similarly, the pressure sensor 5 needs to set a threshold value c in advance, and only when the equipment dives to a proper depth and the pressure detected by the pressure sensor 5 is greater than the threshold value c, a high level signal is output to the trigger.

After receiving signals sent by the tension sensor 2, the flow velocity sensor 4 and the pressure sensor 5, the trigger can detect and distinguish the three signals inside at the rising edge of the clock, so that the influence of external uncertain factors on the sensor signals is effectively eliminated, and the accuracy of the logical judgment result of a signal group in a subsequent logical judgment unit is also ensured.

Three grounding capacitors are respectively connected to three output ports of the trigger, when the logic levels of the three input ports of the trigger are changed, voltage burrs are likely to appear at the output ports of the trigger, and the three capacitors can effectively relieve the competition-risk phenomenon, so that the working stability of the system is ensured.

The logic judging unit is a combination of a three-input NAND gate and a three-input NOT gate, and can output a final logic signal 1, namely a high-level signal, only when signals sent by the tension sensor 2, the flow velocity sensor 4 and the pressure sensor 5 are judged to be all high levels through the trigger, and the logic judging unit outputs a logic signal 0 under other conditions.

The motor driving circuit is composed of a triode, a relay and a load, when the logic judging unit outputs a low level, the motor driving circuit cannot work, when the logic judging unit outputs a high level, a signal is driven and amplified by the triode to reach a threshold value of closing the relay, the DC power supply 63 outputs DC12v to supply power to the load, and the load works normally.

The technical scheme also provides a control method for the automatic unlocking device for launching the underwater equipment, which comprises the following steps:

s1, respectively setting threshold values a, b and c of a tension sensor 2, a flow velocity sensor 4 and a pressure sensor 5, suspending equipment to be submerged between a lock body 3 and a hook 7, and locking the equipment through a rotating arm 832 and a limiting part 833 on a locking mechanism 8;

s2, the lifting ring 1 is lifted by the lifting equipment and is submerged to a throwing area, the relation between actual detection values of the tension sensor 2, the flow velocity sensor 4 and the pressure sensor 5 and a threshold value is judged by the control module 6, and the linear motor 814 on the locking mechanism 8 is controlled to act, so that automatic unhooking of the submerged equipment is realized.

The control module 6 has the following judgment logic:

when the actual detection value of the tension sensor 2 is greater than the threshold value a, the tension sensor 2 will generate a low level signal of "0";

when the actual detection value of the tension sensor 2 is smaller than the threshold value a, the tension sensor 2 will generate a high level signal of "1";

when the actual detection value of flow sensor 4 is greater than threshold value b, flow sensor 4 will generate a low level signal of "0";

when the actual detection value of flow sensor 4 is less than threshold value b, flow sensor 4 will generate a high level signal of "1";

when the actual detection value of the pressure sensor 5 is smaller than the threshold value c, the pressure sensor 5 will generate a low level signal of "0";

when the actual detection value of the pressure sensor 5 is greater than the threshold value c, the pressure sensor 5 will generate a high level signal of "1";

if and only if the tension sensor 2, the flow rate sensor 4 and the pressure sensor 5 all output the high level signal "1", the control module 6 outputs the high level signal "1" and drives the linear motor 814 to act, otherwise, the control module 6 outputs the low level signal "0".

(1) And (3) hoisting, wherein the equipment is suspended in the air, the actual detection value of the tension sensor 2 is a ' = G > a, the output of the tension sensor 2 is ' 0 ', no water flows, the output of the flow velocity sensor 4 is ' 1 ', and the output of the pressure sensor 5 is ' 0 '.

(2) The top of the diving equipment is just completely immersed into the water surface, at the moment, the water displacement of the equipment is the maximum, so the buoyancy is the maximum, the actual detection value of the tension sensor 2 is a ' < G < a, the output of the tension sensor 2 is ' 1 ', no water flows through, the output of the flow velocity sensor 4 is ' 1 ', the preset depth is not reached, and the output of the pressure sensor 5 is ' 0 '.

(3) The flying ring 1 is completely immersed in water and sinks, at the moment, the pulling force on the automatic unlocking device is equal to the gravity of equipment and the buoyancy of the automatic unlocking device, so that the pulling force is kept unchanged in the descending process, the output of the pulling force sensor 2 is 1, water flows through the pulling force sensor, the actual detection value of the flow rate sensor 4 is b' > b, the output of the flow rate sensor 4 is 0, the water pressure is gradually increased along with the gradual increase of the depth, but the preset depth is not reached, and the output of the water pressure sensor 5 is 0.

(4) The diving equipment and the automatic unlocking device are completely immersed in water and are in a hovering state, the state occurs when a dark current or a large storm or a hovering calibration horizontal coordinate position exists, at the moment, the output of the tension sensor 2 is 1, and because the diving equipment and the automatic unlocking device are in the hovering state in water, the output of the flow velocity sensor 4 is 1, and the preset depth is not reached, the output of the water pressure sensor 5 is 0.

(5) When the diving equipment and the automatic unlocking device land at a preset position, the hoisting equipment is in a loose state, the tension sensor 2 outputs 1, the flow velocity sensor 4 outputs 1 because the flow velocity sensor 4 does not move relatively in the vertical direction, and the water pressure sensor 5 outputs 1 because the preset depth is reached.

The tension sensor 2, the flow rate sensor 4 and the water pressure sensor 5 are respectively represented by A, B and C, the level signal output by the control module 6 is Y, the high level is effective, and the following table shows that:

A	B	C	Y
				0	0	0	0
0	0	1	0
				0	1	0	0
0	1	1	0
				1	0	0	0
1	0	1	0
				1	1	0	0
1	1	1	1

in conclusion, if and only if all output high level "1" at tension sensor 2, velocity of flow sensor 4 and water pressure sensor 5, and then trigger drive assembly 81 and make automatic unlocking means unblank, finally reach the purpose of automatic release equipment under the special environment.

Preferably, the threshold is determined by testing the sea area undercurrent condition of the release area through the marine environment detection device, that is, the threshold corresponding to different release areas is set, so that the release accuracy of the automatic unlocking device is further improved.

Preferably, the method further comprises the following steps:

s3, driving the lifting ring 1 to ascend through the lifting equipment and judging whether the power of the lifting equipment is reduced or not;

s4, if the power of the hoisting equipment is not reduced, the hoisting equipment drives the hoisting ring 1 to continuously submerge to a certain position, and the step S3 is repeated;

s5, if the power of the hoisting equipment is reduced, indicating that the diving equipment is unhooked, and driving the hoisting ring 1 to be recovered through the hoisting equipment; the hoisting equipment is used for recovering the hoisting ring 1 and judging the power change condition of the hoisting equipment, so that whether the submerged equipment is unhooked or not is further confirmed, if the submerged equipment is not unhooked, the submerged equipment continues to submerge and repeatedly detects the power change until the submerged equipment is unhooked, and the effects of cycle control and automatic unhooking are achieved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrases "comprising one of 8230; \8230;" 8230; "does not exclude the presence of additional like elements in a process, method, article, or apparatus that comprises the element.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims (6)

1. The utility model provides an automatic unlocking means for launching subsea equipment, includes rings (1), its characterized in that: the bottom of the hanging ring (1) is provided with a tension sensor (2), the tension sensor (2) is provided with a lock body (3), the lock body (3) is vertically provided with a flow velocity sensor (4), the lock body (3) is provided with a pressure sensor (5), the lock body (3) is internally provided with a control module (6) which is electrically connected with the tension sensor (2), the flow velocity sensor (4) and the pressure sensor (5), the lock body (3) is hinged with a hook (7) which can rotate along a vertical plane, the lock body (3) is provided with a locking mechanism (8) which is selectively clamped with the hook (7), and the input end of the locking mechanism (8) is electrically connected with the output end of the control module (6);

the locking mechanism (8) comprises a driving assembly (81), a linkage piece (82) and a limiting piece (83), the driving assembly (81) is arranged in the lock body (3) and used for driving the linkage piece (82) to rotate horizontally, one end of the linkage piece (82) is arranged on the driving assembly (81) in a sliding mode along the horizontal direction, the other end of the linkage piece (82) is hinged to the limiting piece (83), the limiting piece (83) is arranged on the lock body (3) in a rotating mode along the vertical plane and perpendicular to the driving assembly (81), the limiting piece (83) is used for being matched with the driving assembly (81) and the linkage piece (82) to limit the hook (7), and a connection point between the linkage piece (82) and the limiting piece (83) is located below a hinge point between the limiting piece (83) and the lock body (3);

the limiting piece (83) comprises a first pin shaft (831), a rotating arm (832) and a limiting portion (833), the first pin shaft (831) is vertically arranged in the lock body (3) relative to a rotating axis of the hook (7), the rotating arm (832) is arranged on the first pin shaft (831) and movably connected with the linkage piece (82), and the limiting portion (833) is arranged on the rotating arm (832) and supports and limits the bottom of the hook (7);

the linkage piece (82) comprises a sliding block (821), a universal joint (822) and a movable seat (823), the sliding block (821) is arranged on the driving assembly (81) in a horizontally sliding mode, the universal joint (822) is arranged on the sliding block (821) and movably connected with the movable seat (823), and the movable seat (823) is arranged on the rotating arm (832);

drive assembly (81) includes second round pin axle (811), actuating arm (812), shell fragment (813) and linear electric motor (814), second round pin axle (811) is vertical to be set up in lock body (3), actuating arm (812) cup joint on second round pin axle (811), set up the horizontal spout with slider (821) looks adaptation on actuating arm (812), shell fragment (813) set up in one side that actuating arm (812) kept away from movable seat (823) and with lock body (3) counterbalance and lie in the one end that second round pin axle (811) is close to swinging boom (832), linear electric motor (814) set up in lock body (3) and lie in the one end that second round pin axle (811) kept away from shell fragment (813), set up the draw-in groove with linear electric motor (814) looks adaptation in swinging boom (832), the interval between linear electric motor (814) and the second round pin axle (811) is greater than the interval between swinging boom (832) and second round pin axle (811).

2. The automatic unlocking device for launching underwater equipment according to claim 1, characterized in that: the driving assembly (81) further comprises a magnetic block (815) and a Hall sensor (816), the magnetic block (815) is arranged in the lock body (3) and is located above the rotating arm (832), the Hall sensor (816) is arranged in the rotating arm (832) and is located right below the magnetic block (815), and the Hall sensor (816) is electrically connected with the control module (6).

3. The automatic unlocking device for launching underwater equipment as claimed in claim 2, characterized in that: control module (6) include waterproof box (61), control circuit (62) and DC power supply (63), waterproof box (61) set up on lock body (3), control circuit (62) set up in waterproof box (61) and with force sensor (2), velocity of flow sensor (4), pressure sensor (5), linear electric motor (814) and hall sensor (816) electricity are connected, DC power supply (63) set up in waterproof box (61) and supply power to control circuit (62).

4. The control method for the automatic unlocking device for launching the underwater equipment is characterized by comprising the following steps of according to any one of claims 1 to 3:

s1, respectively setting threshold values of a tension sensor (2), a flow velocity sensor (4) and a pressure sensor (5), suspending equipment to be submerged between a lock body (3) and a hook (7), and locking and limiting the equipment through a locking mechanism (8);

s2, lifting the lifting ring (1) through lifting equipment and submerging the lifting ring to a throwing area, judging the relation between actual detection values and threshold values of the tension sensor (2), the flow velocity sensor (4) and the pressure sensor (5) through the control module (6), and controlling the locking mechanism (8) to act to enable the submerging equipment to be automatically unhooked.

5. The control method for launching the automatic unlocking device of the underwater equipment is characterized in that the threshold value is determined by testing the sea area undercurrent condition of the launching area through a marine environment detection device.

6. The control method for the automatic unlocking device for launching the underwater equipment is characterized by further comprising the following steps of:

s3, driving the lifting ring (1) to ascend through the lifting equipment and judging whether the power of the lifting equipment is reduced or not;

s4, if the power of the hoisting equipment is not reduced, the hoisting equipment drives the hoisting ring (1) to continuously submerge to a certain position, and the step S3 is repeated;

and S5, if the power of the hoisting equipment is reduced, indicating that the submergence equipment is unhooked, and driving the hoisting ring (1) to recover through the hoisting equipment.

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