CN211055353U - Safe load rejection device for autonomous underwater robot - Google Patents
Safe load rejection device for autonomous underwater robot Download PDFInfo
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- CN211055353U CN211055353U CN201922105564.2U CN201922105564U CN211055353U CN 211055353 U CN211055353 U CN 211055353U CN 201922105564 U CN201922105564 U CN 201922105564U CN 211055353 U CN211055353 U CN 211055353U
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Abstract
The utility model relates to a load rejection device, in particular to a safe load rejection device for an autonomous underwater robot, one end of a cylinder is hermetically connected with a stern end cover, the other end of the cylinder is hermetically connected with a load rejection base arranged on the underwater robot, a steering engine is positioned in the cylinder and arranged on the load rejection base, a load rejection rotating shaft is rotatably arranged on the load rejection base, and the load rejection rotating shaft is connected with the output end of the steering engine through a connecting shaft; one end of the weight connecting piece is connected with the weight, the other end of the weight connecting piece is inserted into the load rejection base, the other end of the weight connecting piece is provided with a load rejection orifice, and the load rejection rotating shaft is accommodated in the load rejection orifice after the weight connecting piece is inserted into the load rejection base; the inside of the load rejection base is provided with a spring, and the spring is compressed between the other end of the weight connecting piece and the load rejection base when carrying the weight. The utility model has the advantages of safety, reliability, compact structure, small size, convenient use and the like.
Description
Technical Field
The utility model relates to a throw and carry the device, specifically speaking is a safe throw and carry device for autonomous underwater robot.
Background
The autonomous underwater robot carries energy and a propulsion device, does not need manual intervention, autonomous navigation control and autonomously executes operation tasks. With the increasing frequency and urgency of ocean exploration, underwater robots are widely used as an important tool.
The load rejection device is an important component of an autonomous underwater robot, and the main functions of the load rejection device generally comprise two aspects: 1. carrying a heavy object to submerge, so that the underwater robot can submerge to the working depth without power, and when the working depth is reached, the heavy object is thrown off by the load throwing device, and the underwater robot operates at the working depth; 2. when the underwater robot finishes work or needs to float to the water surface in case of emergency, the load rejection device rejects the heavy object, the underwater robot reduces the self weight and ensures that the weight is smaller than the buoyancy of the underwater robot, so that the underwater robot floats to the water surface. The safe and reliable load rejection device is an important part for ensuring the normal work of the autonomous underwater robot and being safe and reliable.
At present, underwater robots at home and abroad are various in types, and can be roughly classified into explosion bolt type, electromagnetic adsorption type, fusing type, electrochemical corrosion type, motor driving type and the like. The explosive bolt type load rejection device uses initiating explosive devices, has higher requirements on transportation, installation and use, and has high cost and large explosive impact force; the electromagnetic adsorption type load rejection device needs to be continuously powered during working, so that the energy consumption is high; the fuse-type load rejection device needs to generate large current to fuse the metal wire for carrying the heavy object, the control unit is complex, and the load rejection reliability is poor by adopting a resistance wire heating and fusing principle; the electrochemical corrosion type load rejection device has the defect of overlong response time because the metal wire is broken by electrifying the metal wire with a special formula and utilizing the electrochemical corrosion effect of seawater to reject heavy objects; compared with the load rejection device of the above-mentioned type, the motor-driven load rejection device has better safety, lower energy consumption and quicker response. However, when the energy of the underwater robot is exhausted or the control system cannot be used normally due to an accident, the load rejection device cannot work normally due to the absence of energy or control instructions, and the safety of the underwater robot is affected.
SUMMERY OF THE UTILITY MODEL
In order to solve the problems existing in the conventional load rejection device, the utility model aims to provide an autonomous underwater robot safety load rejection device. The load rejection device is safe, reliable, low in energy consumption, fast in response, compact in structure and strong in universality, and can still reliably reject loads under the condition of losing power supplies.
The purpose of the utility model is realized through the following technical scheme:
the utility model comprises a stern end cover, a cylinder, a load rejection base, a load rejection rotating shaft, a weight connecting piece, a connecting shaft, a spring, a weight and a steering engine, wherein one end of the cylinder is hermetically connected with the stern end cover, the other end of the cylinder is hermetically connected with the load rejection base arranged on the underwater robot, the steering engine is positioned in the cylinder and arranged on the load rejection base, the load rejection rotating shaft is rotatably arranged on the load rejection base, and the load rejection rotating shaft is connected with the output end of the steering engine through the connecting shaft; one end of the weight connecting piece is connected with the weight, the other end of the weight connecting piece is inserted into the load rejection base, the other end of the weight connecting piece is provided with a load rejection orifice, and the load rejection rotating shaft is accommodated in the load rejection orifice after the weight connecting piece is inserted into the load rejection base; a spring is arranged in the load rejection base and is compressed between the other end of the weight connecting piece and the load rejection base when a weight is carried; the load rejection rotating shaft is driven by the steering engine to rotate to abut against the load rejection orifice and restrict the movement of the weight connecting piece, and the weight is in a locking state; the load rejection rotating shaft is driven to rotate through the steering engine to a position where a gap is reserved between the load rejection rotating shaft and the load rejection orifice, and the load rejection is achieved under the action of the elastic force and the dead weight of the spring through the weight connecting piece and the weight.
Wherein: the part of the load rejection rotating shaft, which is in contact with the weight connecting piece, is symmetrically milled with flat grooves along the two axial sides, the groove surfaces of the flat grooves are perpendicular to the inserting direction of the weight connecting piece when the load rejection rotating shaft rotates to abut against the load rejection orifice, and the groove surfaces of the flat grooves are parallel to the inserting direction of the weight connecting piece when the load rejection rotating shaft rotates to a position with a gap between the load rejection orifice.
The load rejection rotating shaft is a stepped shaft, one end of the load rejection rotating shaft is provided with a unthreaded hole, and the flat groove is positioned at the other end of the load rejection rotating shaft; one end of the connecting shaft is connected with the output end of the steering engine, and the other end of the connecting shaft is installed in the light hole.
The upper part of the load rejection orifice is inverted splayed, the lower part of the load rejection orifice is in a kidney-shaped shape provided with a minor arc section notch, the notch is communicated with the inverted splayed shape on the upper part, and the chord length of the minor arc section notch is smaller than the diameter of the load rejection rotating shaft; when the load rejection rotating shaft rotates to abut against the load rejection orifice, the load rejection rotating shaft abuts against the lower parts of the two ends of the notch.
The end face of the weight connecting piece is in an inverted T shape, the transverse edge of the T shape is connected with the weight, and the load rejection orifice is arranged on the vertical edge of the T shape.
The load throwing base is provided with a weight connecting piece mounting port and a load throwing rotating shaft mounting port which are communicated with each other, a round hole is formed in the load throwing base above the weight connecting piece mounting port, the round hole is communicated with the weight connecting piece mounting port, and the spring is contained in the round hole.
The inner surface of the stern end cover is provided with a load rejection control panel, the stern end cover is provided with a watertight connector in a sealed and inserted mode, a wiring harness led out from the watertight connector is connected with the load rejection control panel, and the load rejection control panel is connected with the steering engine through the wiring harness, so that the steering engine is controlled.
The load rejection control panel is provided with a microprocessor, a power supply detection circuit, an RS485 communication circuit, a battery pack, a charging control circuit and a power supply switching circuit;
the microprocessor controls the power supply switching circuit to switch to the battery pack to supply power to the steering engine when receiving an external power supply fault signal of the power supply detection circuit, and controls the power supply switching circuit to switch to external power supply to supply power to the steering engine after load rejection is finished;
the power supply detection circuit is used for detecting whether the power supply of the underwater robot fails or not, and sending an external power supply failure signal to the microprocessor when the failure is detected;
the RS485 communication circuit is used for converting a control command of the microprocessor into an RS485 signal to control the steering engine to rotate;
the battery pack is a lithium titanate battery pack;
the charging control circuit is used for charging the battery pack;
and the power supply switching circuit is used for switching between external power supply and battery pack power supply for the steering engine according to the instruction of the microprocessor.
The two sides of the load rejection base are respectively provided with a deep groove ball bearing and a sliding support, and the load rejection rotating shaft is respectively connected with the load rejection base through the deep groove ball bearing and the sliding support; a sealing ring groove is formed in the load rejection rotating shaft, and an O-shaped ring A sealed with the load rejection base is arranged in the sealing ring groove; the load rejection rotating shaft is rotatably connected with the steering engine mounting base through a thrust ball bearing.
The steering wheel is installed on the load throwing base through the steering wheel installation base, the support column penetrates through a hole on the steering wheel installation base to be aligned with a threaded hole on the load throwing base, a screw D penetrates through the support column, and the screw D is screwed on the load throwing base to fix the steering wheel.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses with steering wheel, steering wheel mounting base, support column, connecting axle, throw and carry the pivot, throw and carry the base, throw and carry parts such as control panel reasonable link together, simple structure, energy consumption are low, be convenient for maintain.
2. The utility model discloses at stern end cover internal surface mounting the control panel of throwing year, can be under the condition of autonomic underwater robot power supply trouble, use the group battery of throwing year control panel inside for the steering wheel power supply, realize throwing year.
3. The utility model discloses a modular design, overall dimension are little, can be easy to assemble to underwater robot on the body.
4. Each pressure-resistant part of the utility model is manufactured by aluminum alloy processing, and the sealing parts are sealed by O-shaped rings, so that the underwater use condition can be satisfied; the thrust ball bearing is used for bearing the water body pressure borne by the load rejection rotating shaft, and the deep groove ball bearing and the sliding support are used for ensuring that the load rejection motion is safe and reliable.
5. The utility model discloses throw and carry restraint position simple structure reasonable, only need rotatory throw to carry the pivot and can realize carrying on and throw and carry, field operation is simple and convenient, and reusability is strong.
6. The utility model discloses a structural design characteristics have decided the steering wheel can positive and negative two-way motion, and when throwing the year mechanism and throw and carry unsmoothly, the control steering wheel positive and negative rotation can improve and throw and carry the reliability.
7. The utility model discloses when having advantages such as motor-driven throw year device energy consumption is low, response speed is fast, have the electromagnetism absorption formula again and throw the characteristics that carry the device outage promptly and throw the year, improved the security of throwing year device.
Drawings
Fig. 1 is a front sectional view of the present invention;
FIG. 2 is a top cross-sectional view of FIG. 1;
FIG. 3 is a cross-sectional view taken along line A-A of FIG. 1 (load rejection shaft lock weight attachment);
FIG. 4 is a cross-sectional view taken along line A-A of FIG. 1 (the load rejection shaft releases the weight attachment);
FIG. 5 is a right side view of FIG. 1;
FIG. 6 is a schematic perspective view of the load rejection rotating shaft of the present invention;
fig. 7 is a schematic perspective view of the weight connecting member of the present invention;
FIG. 8 is a schematic block diagram of the load rejection control panel of the present invention;
FIG. 9 is a flowchart of the microprocessor program for the load rejection control panel of the present invention;
wherein: the device comprises an insulating pad 1, a stern end cover 2, a cylinder 3, a load rejection base 4, a mounting plate 5, a sliding support 6, a load rejection rotating shaft 7, a weight connecting piece 8, a connecting shaft 9, a supporting column 10, a steering engine mounting base 11, a spring 12, a weight 13, a screw A14, a screw B15, a set screw A16, a set screw B17, a set screw C18, a screw D19, a screw E20, a screw F21, a screw G22, an O-shaped ring A23, an O-shaped ring B24, an O-shaped ring C25, an O-shaped ring D26, a deep groove ball bearing 27, a thrust ball bearing 28, a steering engine 29, a watertight connector 30, a load rejection control plate 31, a circular hole 32, a flat groove 33, a load rejection orifice 34, a mounting hole 35 and a unthreaded hole 36.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
As shown in fig. 1-9, the utility model comprises a stern end cover 2, a cylinder 3, a load rejection base 4, a load rejection rotating shaft 7, a weight connecting piece 8, a connecting shaft 9, a steering engine mounting base 11, a spring 12, a weight 13, a steering engine 29, a watertight connector 30, a load rejection control panel 31, various screws and O-shaped rings, wherein one end of the cylinder 3 is connected with the stern end cover 2 through a set screw A16 and sealed through an O-shaped ring D26, the other end of the cylinder 3 is connected with the load rejection base 4 arranged on the underwater robot through a screw F21 and sealed through an O-shaped ring B24; steering wheel 29 and steering wheel mounting base 11 all are located barrel 3, and steering wheel 29 is installed on throwing year base 4 through steering wheel mounting base 11. In the embodiment, four support columns 10 penetrate through hole positions on the steering engine mounting base 11 to be aligned with threaded holes on the load rejection base 4, and then four screws D19 penetrate through the four support columns 10 to be screwed on the load rejection base 4 to fix the steering engine 29. The load rejection base 4 is rotatably provided with a load rejection rotating shaft 7, and the load rejection rotating shaft 7 is connected with the output end of the steering engine 29 through a connecting shaft 9. The steering engine 29 and the steering engine mounting base 11 of the embodiment are connected through a screw E20, an output flange of the steering engine 29 is connected with one end (flange end) of the connecting shaft 9 through a screw C18, the other end of the connecting shaft 11 is installed in an unthreaded hole 36 of the load rejection rotating shaft 7 and is connected through a set screw B17, and synchronous rotation is achieved. The two sides of the load rejection base 4 are respectively provided with a deep groove ball bearing 27 and a sliding support 6, and the load rejection rotating shaft 7 is respectively connected with the load rejection base 4 through the deep groove ball bearing 27 and the sliding support 6, so that the load rejection rotating shaft 7 can rotate more smoothly in the load rejection base 4; the inner ring and the outer ring of the deep groove ball bearing 27 are respectively matched with the load rejection rotating shaft 7 and the load rejection base 4; the slide support 6 is mounted to the load rejection base 4 by a screw a 14. Two sealing ring grooves 37 are processed on the load rejection rotating shaft 7, and an O-shaped ring A23 sealed with the load rejection base 4 is accommodated in each sealing ring groove 37. The load rejection rotating shaft 7 is rotatably connected with the steering engine mounting base 11 through a thrust ball bearing 28, and the thrust ball bearing 28 is used for bearing the pressure of seawater on the load rejection rotating shaft 7. A sealed dry cabin is formed among the stern end cover 2, the cylinder 3, the load rejection base 4 and the load rejection rotating shaft 7, and the steering engine 29 and the load rejection control plate 31 are consistently positioned in the dry cabin to ensure normal work of the dry cabin. One end of the weight connecting piece 8 is connected with the weight 13 through a screw B15, the other end is inserted into the load rejection base 4, the other end of the weight connecting piece 8 is provided with a load rejection orifice 34, and the load rejection rotating shaft 7 is accommodated in the load rejection orifice 34 after the weight connecting piece 8 is inserted into the load rejection base 4. A spring 12 is housed in the load rejection base 4, and when a weight 13 is loaded, the spring 12 is compressed between the other end of the weight link 8 and the load rejection base 4. The load rejection rotating shaft 7 is driven to rotate through the steering engine 29 until the load rejection rotating shaft abuts against the load rejection orifice 34 and the heavy object connecting piece 8 is restrained from moving, and the heavy object 13 is in a locking state; the load rejection rotating shaft 7 is driven to rotate through the steering engine 29 until a gap is reserved between the load rejection rotating shaft and the load rejection hole 34, and the load rejection is realized by the weight connecting piece 8 and the weight 13 under the action of the elasticity and the self weight of the spring 12. The load rejection base 4 of the embodiment is respectively provided with a weight connecting piece mounting port and a load rejection rotating shaft mounting port which are communicated with each other, a round hole 32 is arranged in the load rejection base 4 above the weight connecting piece mounting port, the round hole 32 is communicated with the weight connecting piece mounting port, the spring 12 is accommodated in the round hole 32 and is tightly pressed in the load rejection base 4 through the mounting plate 5 on the load rejection base 4; the utility model discloses a throw and carry device wholly through four mounting holes on the mounting panel 5 with the underwater robot body link to each other.
The load rejection rotating shaft 7 of the embodiment is a stepped shaft, one end connected with the connecting shaft 9 is provided with a unthreaded hole 36, and the other end of the connecting shaft 9 is milled flat and inserted into the unthreaded hole 36 and is connected through a set screw B17 to realize synchronous rotation; flat grooves 33 are symmetrically milled on two axial sides of the contact part of the other end of the load rejection rotating shaft 7 and the weight connecting piece 8, the groove surfaces of the flat grooves 33 are perpendicular to the inserting direction of the weight connecting piece 8 when the load rejection rotating shaft 7 rotates to abut against the load rejection orifice 34, and the groove surfaces of the flat grooves 33 are parallel to the inserting direction of the weight connecting piece 8 when the load rejection rotating shaft 7 rotates to have a gap with the load rejection orifice 34.
The end face of the weight attachment 8 of this embodiment is in the form of an inverted "T", the transverse edge of which is connected to the weight 13, and the load rejection aperture 34 opens at the vertical edge of the "T". The upper part of the load rejection orifice 34 of the embodiment is inverted 'splayed', the lower part is in a waist hole shape provided with a minor arc section gap, the gap is communicated with the inverted 'splayed' shape of the upper part, the chord length of the minor arc section gap is smaller than the diameter of the load rejection rotating shaft 7 and is larger than the distance between the groove surfaces of the two flat grooves 33 on the load rejection rotating shaft 7; when the load rejection rotating shaft 7 rotates to abut against the load rejection hole 34, the load rejection rotating shaft abuts against the lower parts of the two ends of the notch.
In the embodiment, a load rejection control plate 31 is arranged on the inner surface of a stern end cover 2, an insulating pad 1 is arranged on the outer surface of the stern end cover 2, and a watertight connector 30 penetrates through the insulating pad 1 and is inserted into the stern end cover 2; the wire harness led out from the watertight connector 30 is connected with the load rejection control plate 31, and the load rejection control plate 31 is connected with the steering engine 29 through the wire harness, so that the steering engine 29 is controlled. The watertight connector 30 of the present embodiment is a watertight connector.
The load rejection control panel 31 of this embodiment is composed of a microprocessor circuit, a power supply detection circuit, an RS485 communication circuit, a high discharge rate battery pack, a charge control circuit, and a power supply switching circuit. The power supply detection circuit is connected with the external power supply of the load rejection device and used for detecting whether the external power supply still exists. And the RS485 communication circuit is connected with a control system of the underwater robot and a steering engine 29 in the load rejection device and is used for communicating the load rejection control plate 31 with the steering engine 29. The high discharge rate battery pack is used as a standby power supply. The charging control circuit charges the high-discharge-rate battery pack by using external power supply and automatically stops charging after the battery pack is fully charged. The power supply switching circuit is used for switching a power supply of the steering engine 29, and the power supply of the steering engine 29 is switched between external power supply and a high-discharge-rate battery pack. The microprocessor circuit controls the operation of the load rejection control board 31. When the underwater robot provides external power supply for the load rejection device, the load rejection control board 31 charges the high discharge rate battery pack in the load rejection control board 31 by using the external power supply provided by the underwater robot for the load rejection device; when the underwater robot power supply system breaks down, the load rejection control board 31 detects that the external power supply disappears, and the load rejection control board 31 uses the high-discharge-rate battery pack inside to supply power for the steering engine 29. And the steering engine 29 is controlled to rotate through an RS485 communication circuit in the steering engine.
The utility model discloses a theory of operation does:
when the heavy object 13 needs to be carried, the underwater robot provides external power supply for the load rejection device. The power supply detection circuit detects external power supply, and the power supply switching circuit automatically uses the external power supply as a power supply of the steering engine because the voltage of the high-discharge-rate battery pack is lower than the external power supply. Meanwhile, the charging control circuit charges the battery pack with high discharge rate. The load rejection rotating shaft 7 is driven by the steering engine 29 to rotate to a release position, namely the groove surface of the flat groove 33 of the load rejection rotating shaft 7 is parallel to the insertion direction of the weight connecting piece 8, and because the distance between the two flat groove surfaces of the load rejection rotating shaft 7 is smaller than the chord length of the minor arc section on the load rejection orifice 34, the load rejection rotating shaft 7 enters from the top of the load rejection orifice 34 until entering the waist hole shape at the lower part of the load rejection orifice 34 in the insertion process of the weight connecting piece 8. The weight connecting block 8 and the weight 13 are pressed into a weight connecting piece mounting opening on the load rejection base 4, and the spring 12 is compressed and deformed to store elastic potential energy. After the heavy object 13 is installed in place, the steering engine 29 is controlled to rotate, the connecting shaft 9 and the load rejection rotating shaft 7 synchronously rotate, when the load rejection rotating shaft 7 rotates to the locking position, namely the groove surface of the flat groove 33 of the load rejection rotating shaft 7 is perpendicular to the inserting direction of the heavy object connecting piece 8, the load rejection rotating shaft 7 abuts against the load rejection orifice 34, the load rejection rotating shaft 7 restrains the heavy object connecting piece 8 to move, and at the moment, the load rejection device locks the heavy object 13.
When the heavy object 13 needs to be released, the steering engine 29 is controlled to rotate, and the connecting shaft 9 and the load rejection rotating shaft 7 rotate synchronously. When the load rejection rotating shaft 7 is rotated to the releasing position, the weight connecting piece 8 loses constraint, and the weight 13 is separated from the load rejection device under the action of the elastic force of the spring 12 and the self gravity, so that the load rejection is completed.
When the underwater robot power supply system breaks down, the power supply switching circuit switches the steering engine power supply into the high-discharge-rate battery pack, and the power supply detection circuit detects that external power supply disappears. When the load rejection control panel 31 detects that external power supply disappears, the load rejection control panel 31 uses a high-discharge-rate battery pack inside the load rejection control panel to supply power to the steering engine 29, the steering engine 29 is controlled to rotate through an RS485 communication circuit inside the load rejection control panel 31, and the connecting shaft 9 and the load rejection rotating shaft 7 rotate synchronously; when the load rejection rotating shaft 7 rotates to the release position, the load rejection is completed. After the load rejection is finished, the load rejection control panel 31 switches the steering engine power supply into external power supply, and the high-discharge-rate battery pack in the load rejection control panel 31 is prevented from being over-discharged.
Claims (10)
1. The utility model provides a safe device of throwing year for autonomous underwater vehicle which characterized in that: the underwater robot bearing comprises a stern end cover (2), a cylinder body (3), a load rejection base (4), a load rejection rotating shaft (7), a weight connecting piece (8), a connecting shaft (9), a spring (12), a weight (13) and a steering engine (29), wherein one end of the cylinder body (3) is hermetically connected with the stern end cover (2), the other end of the cylinder body is hermetically connected with the load rejection base (4) arranged on an underwater robot, the steering engine (29) is positioned in the cylinder body (3) and arranged on the load rejection base (4), the load rejection rotating shaft (7) is rotatably arranged on the load rejection base (4), and the load rejection rotating shaft (7) is connected with the output end of the steering engine (29) through the connecting shaft (9); one end of the weight connecting piece (8) is connected with the weight (13), the other end of the weight connecting piece is inserted into the load rejection base (4), the other end of the weight connecting piece (8) is provided with a load rejection orifice (34), and the load rejection rotating shaft (7) is accommodated in the load rejection orifice (34) after the weight connecting piece (8) is inserted into the load rejection base (4); a spring (12) is arranged in the load rejection base (4), and when a heavy object (13) is carried on the spring (12), the spring is compressed between the other end of the heavy object connecting piece (8) and the load rejection base (4); the load rejection rotating shaft (7) is driven to rotate through the steering engine (29) to abut against the load rejection orifice (34) and restrict the heavy object connecting piece (8) to move, and the heavy object (13) is in a locking state; the load rejection rotating shaft (7) is driven to rotate through the steering engine (29) to form a gap between the load rejection rotating shaft and the load rejection orifice (34), and the load rejection is realized under the action of the elasticity and the dead weight of the spring (12) through the weight connecting piece (8) and the weight (13).
2. The autonomous underwater vehicle safety load rejection device as recited in claim 1, wherein: the part of the load rejection rotating shaft (7) in contact with the weight connecting piece (8) is symmetrically milled with flat grooves (33) along the two axial sides, the groove surfaces of the flat grooves (33) are perpendicular to the inserting direction of the weight connecting piece (8) when the load rejection rotating shaft (7) rotates to abut against the load rejection orifice (34), and the groove surfaces of the flat grooves (33) are parallel to the inserting direction of the weight connecting piece (8) when the load rejection rotating shaft (7) rotates to a position with a gap between the load rejection orifice (34).
3. The autonomous underwater vehicle safety load rejection device as recited in claim 2, wherein: the load rejection rotating shaft (7) is a stepped shaft, one end of the load rejection rotating shaft is provided with a unthreaded hole (36), and the flat groove (33) is positioned at the other end of the load rejection rotating shaft (7); one end of the connecting shaft (9) is connected with the output end of the steering engine (29), and the other end of the connecting shaft is installed in the unthreaded hole (36).
4. The autonomous underwater vehicle safety load rejection device as recited in claim 1, wherein: the upper part of the load rejection orifice (34) is inverted splayed, the lower part of the load rejection orifice is in a kidney-shaped shape provided with a minor arc section notch, the notch is communicated with the inverted splayed shape on the upper part, and the chord length of the minor arc section notch is smaller than the diameter of the load rejection rotating shaft (7); when the load rejection rotating shaft (7) rotates to abut against the load rejection hole (34), the load rejection rotating shaft abuts against the lower parts of the two ends of the notch.
5. The autonomous underwater vehicle safety load rejection device as recited in claim 1, wherein: the end face of the weight connecting piece (8) is inverted T-shaped, the transverse edge of the T-shape is connected with the weight (13), and the load rejection hole (34) is arranged on the vertical edge of the T-shape.
6. The autonomous underwater vehicle safety load rejection device as recited in claim 1, wherein: the load rejection base (4) is provided with a weight connecting piece mounting port and a load rejection rotating shaft mounting port which are communicated with each other, a round hole (32) is formed in the load rejection base (4) above the weight connecting piece mounting port, the round hole (32) is communicated with the weight connecting piece mounting port, and the spring (12) is accommodated in the round hole (32).
7. The autonomous underwater vehicle safety load rejection device as recited in claim 1, wherein: the inner surface of the stern end cover (2) is provided with a load rejection control plate (31), the stern end cover (2) is connected with a watertight connector (30) in a sealed and inserted mode, a wiring harness led out from the watertight connector (30) is connected with the load rejection control plate (31), the load rejection control plate (31) is connected with the steering engine (29) through the wiring harness, and the steering engine (29) is controlled.
8. The autonomous underwater vehicle safety load rejection device as recited in claim 7, wherein: the load rejection control panel (31) is provided with a microprocessor, a power supply detection circuit, an RS485 communication circuit, a battery pack, a charging control circuit and a power supply switching circuit;
the microprocessor controls the power supply switching circuit to switch to the battery pack to supply power to the steering engine when receiving an external power supply fault signal of the power supply detection circuit, and controls the power supply switching circuit to switch to external power supply to supply power to the steering engine after load rejection is finished;
the power supply detection circuit is used for detecting whether the power supply of the underwater robot fails or not, and sending an external power supply failure signal to the microprocessor when the failure is detected;
the RS485 communication circuit is used for converting a control command of the microprocessor into an RS485 signal to control a steering engine (29) to rotate;
the battery pack is a lithium titanate battery pack;
the charging control circuit is used for charging the battery pack;
and the power supply switching circuit is used for switching between external power supply and battery pack power supply for the steering engine (29) according to the instruction of the microprocessor.
9. The autonomous underwater vehicle safety load rejection device as recited in claim 1, wherein: the two sides of the load rejection base (4) are respectively provided with a deep groove ball bearing (27) and a sliding support (6), and the load rejection rotating shaft (7) is connected with the load rejection base (4) through the deep groove ball bearing (27) and the sliding support (6); a sealing ring groove (37) is formed in the load rejection rotating shaft (7), and an O-shaped ring A (23) sealed with the load rejection base (4) is arranged in the sealing ring groove (37); the load rejection rotating shaft (7) is rotatably connected with the steering engine mounting base (11) through a thrust ball bearing (28).
10. The autonomous underwater vehicle safety load rejection device as recited in claim 1, wherein: steering wheel (29) are installed on throwing year base (4) through steering wheel mounting base (11), and support column (10) are passed the hole site on this steering wheel mounting base (11) and are adjusted well with the screw hole on throwing year base (4), wear to be equipped with screw D (19) in support column (10), this screw D (19) are screwed throw and carry on base (4), will steering wheel (29) are fixed.
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| CN201922105564.2U CN211055353U (en) | 2019-11-29 | 2019-11-29 | Safe load rejection device for autonomous underwater robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201922105564.2U CN211055353U (en) | 2019-11-29 | 2019-11-29 | Safe load rejection device for autonomous underwater robot |
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| CN211055353U true CN211055353U (en) | 2020-07-21 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775231A (en) * | 2019-11-29 | 2020-02-11 | 中国科学院沈阳自动化研究所 | Safe load rejection device for autonomous underwater robot |
| CN111994240A (en) * | 2020-09-10 | 2020-11-27 | 中国船舶科学研究中心 | Shearing device capable of automatically releasing floating raft |
| CN114180014A (en) * | 2021-12-27 | 2022-03-15 | 杭州电子科技大学 | Load rejection structure for underwater equipment |
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2019
- 2019-11-29 CN CN201922105564.2U patent/CN211055353U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110775231A (en) * | 2019-11-29 | 2020-02-11 | 中国科学院沈阳自动化研究所 | Safe load rejection device for autonomous underwater robot |
| CN110775231B (en) * | 2019-11-29 | 2024-06-25 | 中国科学院沈阳自动化研究所 | Autonomous underwater robot is with safe device of carrying that throws |
| CN111994240A (en) * | 2020-09-10 | 2020-11-27 | 中国船舶科学研究中心 | Shearing device capable of automatically releasing floating raft |
| CN114180014A (en) * | 2021-12-27 | 2022-03-15 | 杭州电子科技大学 | Load rejection structure for underwater equipment |
| CN114180014B (en) * | 2021-12-27 | 2023-01-24 | 杭州电子科技大学 | Load rejection structure for underwater equipment |
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