CN217170944U

CN217170944U - Active load rejection device for underwater robot

Info

Publication number: CN217170944U
Application number: CN202220861907.7U
Authority: CN
Inventors: 申洪彬; 江景涛; 何萍
Original assignee: Qingdao Pengpai Ocean Exploration Technology Co ltd
Current assignee: Qingdao Pengpai Ocean Exploration Technology Co ltd
Priority date: 2022-04-14
Filing date: 2022-04-14
Publication date: 2022-08-12
Anticipated expiration: 2032-04-14

Abstract

The utility model relates to an unmanned underwater vehicle field, especially active throwing load device for underwater robot under water. One end of the load rejection support is fixedly connected with a linear bearing, a lead block sliding rod is arranged in a through hole in the linear bearing in the vertical direction in a sliding mode, and the bottom of the lead block sliding rod is fixedly connected with a lead block; the electro-magnet is fixed on throwing a year support, the connecting rod includes connecting rod I and connecting rod II, it is articulated between connecting rod I and the connecting rod II, the articulated department of connecting rod I and connecting rod II is located the below of electro-magnet, the one end of connecting rod I is articulated with throwing a year support, the rigidity of the one end of connecting rod I, the other end and the carriage of connecting rod II are articulated, the outside of carriage is fixed with the slider, the opposite face of slider and lead slide bar all is equipped with the wedge, and mutually support between two wedges, the slider is equipped with forward wedge towards one side of lead slide bar, one side of the lead slide bar that corresponds is equipped with the retrograde wedge. The self-locking type load rejection device is simple in structure, small in size, and reliable in load rejection, and has self-locking performance.

Description

Active load rejection device for underwater robot

Technical Field

The utility model relates to an unmanned underwater vehicle field, especially active throwing load device for underwater robot under water.

Background

With the continuous deepening of the national ocean strategy, the importance of the deep-sea autonomous aircraft is increasingly prominent. Payload systems are critical emergency systems for underwater vehicles, which are mainly safety systems that are triggered when an unpredictable malfunction or emergency occurs in a device. The main working principle of the system at present is to abandon a relatively large load so as to reduce the self weight, so as to ensure that the underwater vehicle quickly floats upwards under the unpowered condition, thereby realizing the recovery of equipment and avoiding generating larger economic loss.

The existing load rejection technology mainly comprises the steps of corroding devices such as a suspension wire used for load rejection by utilizing a chemical reaction or directly absorbing loads required to be rejected by utilizing an electromagnet, wherein the electrochemical reaction time required by the chemical reaction corrosion method is long, and the load rejection device is extremely easy to clamp on equipment and is not easy to fall off. The control electromagnetism iron break-make electricity realizes the throwing load, can realize the control of throwing load through the simplest mode, but the problem that the mode of the direct actuation of electro-magnet exists is that the size of throwing load has directly been decided to the suction size, and the suction of electro-magnet is very fast along with the distance decay, throws and carries and will appear throwing load risk of dropping between the electro-magnet a little gapped and rocking, and the reliability is lower. In addition, in patent application with application number 202110493182.0 entitled "an underwater active and passive dual-drive load rejection device and an operation method thereof", it is disclosed that a load rejection mode in two states is successfully realized by using active and passive two sets of systems, but the structure of the load rejection device in the scheme is large, the load rejection device is only suitable for large-scale equipment, small-scale equipment does not have enough installation space, and the problems that the ballast block of the device is not clamped and is not dropped in time and the like due to continuous shaking on the equipment still need further experiments.

SUMMERY OF THE UTILITY MODEL

The utility model aims to overcome the above-mentioned defect that prior art exists, provide an active throwing year device for underwater robot, its simple structure, it is small, possess from the locking performance, throw and carry reliably.

The technical scheme of the utility model is that: a load rejection device for an underwater robot comprises a lead block, a linear bearing, a lead block sliding rod, a connecting rod, a load rejection support and an electromagnet, wherein one end of the load rejection support is fixedly connected with the linear bearing;

the electromagnet is fixed on the load rejection support, the connecting rod comprises a connecting rod I and a connecting rod II, the connecting rod I is hinged with the connecting rod II, the hinged position of the connecting rod I and the connecting rod II is located below the electromagnet, one end of the connecting rod I is hinged with the load rejection support, the position of the end of the connecting rod I is fixed, the other end of the connecting rod II is hinged with the sliding frame, a sliding groove is formed in the top surface of the load rejection support, the sliding frame is arranged in the sliding groove in a sliding mode, a sliding block is fixed on the outer side of the sliding frame, wedge-shaped surfaces are arranged on opposite surfaces of the sliding block and a lead slide bar and are matched with each other, a forward wedge-shaped surface is arranged on one side, facing the lead slide bar, of the sliding block, and a reverse wedge-shaped surface is arranged on one side, corresponding to the lead slide bar;

when the electromagnet is in a power-off state, the hinged part between the connecting rod I and the connecting rod II is bent downwards due to gravity; when the electromagnet is in a power-off state, the electromagnet has magnetism, and the connecting rod I and the connecting rod II are located on the same horizontal line.

The utility model discloses in, throw and carry the device and install in underwater robot's head cabin of permeating water, throw the one end and the first cabin end cap fixed connection that carry the support, still be fixed with the lead block guide housing on the first cabin end cap, the lead block guide housing is located the below of throwing carrying the support, and the lead block slides and sets up in the lead block guide housing. Through lead block guide cover, the falling direction of lead block has played the guide effect, makes lead block descend along vertical direction, prevents that the lead block from descending the in-process and not falling according to the predetermined direction.

The lead block top is equipped with the mounting groove, and the lead block slide bar slides and sets up in the mounting groove.

The utility model has the advantages that:

(1) after the electromagnet is powered off, a self-locking state can be formed among the connecting rod, the sliding block and the lead block sliding rod in the load rejection device, at the moment, the load rejection task of the heavy lead block can be completed through the magnet with low magnetic attraction, and the reliability of the load rejection process of the whole load rejection device is improved;

(2) the structure is simple, the volume is small, and the device is suitable for small equipment;

(3) the whole device is completely installed in the water permeable cabin of the head cabin, and has small influence on the navigation resistance of the underwater robot.

Drawings

Fig. 1 is a schematic view of the installation structure of the present invention;

FIG. 2 is a schematic structural view of the present invention when the electromagnet keeps magnetic property;

FIG. 3 is a schematic cross-sectional view of the present invention showing the electromagnet being kept magnetic;

fig. 4 is a schematic view of the cross-sectional structure of the present invention when the electromagnet loses magnetism.

In the figure: 1, a head water-permeable cabin; 2, a cabin plug; 3, lead block guide cover; 5, lead blocks; 6, a linear bearing; 7, lead block slide bars; 8, an electromagnet; 9, throwing and loading the bracket; 10, a slide block; 11, a connecting rod I; and 12 connecting rods II.

Detailed Description

In order to make the above objects, features and advantages of the present invention more comprehensible, embodiments of the present invention are described in detail below with reference to the accompanying drawings.

In the following description, specific details are set forth in order to provide a thorough understanding of the present invention. The invention can be implemented in a number of other ways than those described herein, and those skilled in the art will be able to make similar generalizations without departing from the spirit of the invention. The invention is therefore not limited to the specific embodiments disclosed below.

As shown in figure 1, underwater robot with throwing year device install in underwater robot's head cabin of permeating water 1, should throw year device through throwing year leg joint on underwater robot's head cabin end cap 2, the bottom in head cabin of permeating water 1 is equipped with the through-hole that makes the lead whereabouts. Because the device is completely arranged in the head water-permeable cabin 1, the influence on the navigation resistance of the underwater robot is small.

The load rejection device for the underwater robot comprises a lead block 5, a linear bearing 6, a lead block slide rod 7, a connecting rod, a load rejection support 9 and an electromagnet 8, wherein one end of the load rejection support 9 is fixedly connected with a head cabin plug 2, and the other end of the load rejection support 9 is fixedly connected with the linear bearing 6. An axial through hole in the vertical direction is formed in the linear bearing 6, the lead block sliding rod 7 is arranged in the through hole of the linear bearing 6 in a sliding mode, and the other degrees of freedom of the lead block except the vertical direction can be limited through the linear bearing 6. The bottom of the lead block slide rod 7 is fixedly connected with the lead block 5 through a bolt. In this embodiment, the top of the lead block 5 is provided with an installation groove, and the lead block sliding rod 7 is slidably arranged in the installation groove. The head cabin plug 2 is also fixed with a lead block guide cover 3, and the lead block guide cover 3 is positioned below the load rejection support 9. Lead 5 slides and sets up in lead guide housing 3, through lead guide housing 3, has played the guide effect to the whereabouts direction of lead 5, makes the lead descend along vertical direction, prevents that the lead from descending the in-process and not falling according to the predetermined direction.

Electromagnet 8 is fixed on throwing year support 9, and the connecting rod includes connecting rod I11 and connecting rod II 12, and is articulated between connecting rod I11 and the connecting rod II 12, and articulated department between connecting rod I11 and the connecting rod II 12 is located electromagnet 8's below, and the one end of connecting rod I11 is articulated with throwing year support 9, has guaranteed the rigidity of connecting rod I11 one end. The other end of the connecting rod II 12 is hinged to the sliding frame, a sliding groove is correspondingly formed in the load throwing support 9, the sliding frame is arranged in the sliding groove, and the sliding frame can do reciprocating motion in the horizontal direction along the sliding groove. When the electromagnet 8 is in a power-on state, the hinge joint between the connecting rod I11 and the connecting rod II 12 is in a downward bending state under the action of gravity; when electro-magnet 8 is in the outage state, electro-magnet 8 has magnetism, and articulated between I11 of connecting rod and the connecting rod II 12 is overcome the action of gravity under the magnetic attraction effect that is in electro-magnet 8, and I11 of connecting rod and II 12 of connecting rod are the horizontality this moment. The outside of carriage is fixed with slider 10, and the opposite face of slider 10 and lead slide bar 7 all is equipped with the wedge face, and mutually supports between two wedge faces, and slider 10 is equipped with forward wedge face towards one side of lead slide bar 7 promptly, and one side of the lead slide bar 7 that corresponds is equipped with the wedge face of falling to. When the forward wedge-shaped surface and the backward wedge-shaped surface are mutually attached, the lead block sliding rod 7 always keeps the movement trend of falling downwards under the action of gravity, at the moment, the sliding block 10 is fixedly connected with the lead block sliding rod 7 through the acting force between the two wedge-shaped surfaces, and the sliding block 10 always keeps the movement trend towards the direction of the electromagnet.

The operation of the device is as follows. As shown in fig. 2 and 3, when 8 outage of electro-magnet and have magnetism, the electro-magnet produces ascending magnetic attraction to articulated department between connecting rod I11 and the connecting rod II 12, lie in same water flat line between connecting rod I11 and the connecting rod II 12 this moment, connecting rod II 12 produces outside thrust to slider 10, this thrust makes and is in the state of closely laminating all the time between the wedge face of slider 10 and the wedge face between the lead slide bar 7, the connecting rod this moment, form self-locking state between slider 10 and the lead slide bar 7, under the effect of the supporting force that makes progress of the wedge face lead slide bar 7 at slider 10, no matter how big gravity of lead 5, can't drop under the fixed connection of lead slide bar. As shown in fig. 4, when the electromagnet 8 is powered on and loses magnetism, the magnetic attraction of the electromagnet 8 to the connecting rod disappears, at this time, the hinge joint between the connecting rod i 11 and the connecting rod ii 12 moves downwards under the action of gravity, at this time, the connecting rod ii 12 drives the slider 10 to retract, the slider 10 is not in contact with the lead slide rod 7 any more, the slider 10 does not produce upward supporting force to the lead slide rod 7 any more, under the action of gravity of the lead 5, the lead 5 drives the lead slide rod 7 to move downwards and fall from the through hole at the bottom of the head water-permeable chamber 1, and load rejection is realized.

It is right above that the utility model provides an underwater robot is with throwing year device introduces in detail. The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the method and its core ideas of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims. The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The utility model provides a throwing carries device for underwater robot which characterized in that: the lead casting device comprises a lead block (5), a linear bearing (6), a lead block sliding rod (7), a connecting rod, a load rejection support (9) and an electromagnet (8), wherein one end of the load rejection support (9) is fixedly connected with the linear bearing (6), the lead block sliding rod (7) is arranged in a through hole in the linear bearing (6) in the vertical direction in a sliding mode, and the bottom of the lead block sliding rod (7) is fixedly connected with the lead block (5);

the electromagnet (8) is fixed on the load rejection support (9), the connecting rod comprises a connecting rod I (11) and a connecting rod II (12), the connecting rod I (11) is hinged with the connecting rod II (12), the hinged position of the connecting rod I (11) and the connecting rod II (12) is positioned below the electromagnet (8), one end of the connecting rod I (11) is hinged with the load rejection support (9), the position of the end of the connecting rod I (11) is fixed, the other end of the connecting rod II (12) is hinged with the sliding frame, the top surface of the load rejection support (9) is provided with a sliding groove, the sliding frame is arranged in the sliding groove in a sliding mode, a sliding block (10) is fixed on the outer side of the sliding frame, and wedge-shaped surfaces are arranged on opposite surfaces of the sliding block (10) and the lead block sliding rod (7), the two wedge-shaped surfaces are matched with each other, a forward wedge-shaped surface is arranged on one side, facing the lead block sliding rod (7), of the sliding block (10), and a reverse wedge-shaped surface is arranged on one side, corresponding to the lead block sliding rod (7);

when the electromagnet (8) is in a power-on state, the hinged position between the connecting rod I (11) and the connecting rod II (12) is bent downwards; when the electromagnet (8) is in a power-off state, the connecting rod I (11) and the connecting rod II (12) are located on the same horizontal line.

2. The load rejection device for an underwater robot as claimed in claim 1, wherein: the load rejection device is installed in a head water-permeable cabin (1) of the underwater robot, one end of a load rejection support (9) is fixedly connected with a head cabin plug (2), a lead block guide cover (3) is further fixed on the head cabin plug (2), the lead block guide cover (3) is located below the load rejection support (9), and a lead block (5) is arranged in the lead block guide cover (3) in a sliding mode.

3. The load rejection device for an underwater robot as claimed in claim 1, wherein: the lead block sliding rod is characterized in that an installation groove is formed in the top of the lead block (5), and the lead block sliding rod (7) is arranged in the installation groove in a sliding mode.