CN101574999B - Underwater emergency release device - Google Patents
Underwater emergency release device Download PDFInfo
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- CN101574999B CN101574999B CN200910072276XA CN200910072276A CN101574999B CN 101574999 B CN101574999 B CN 101574999B CN 200910072276X A CN200910072276X A CN 200910072276XA CN 200910072276 A CN200910072276 A CN 200910072276A CN 101574999 B CN101574999 B CN 101574999B
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- locking backing
- locating piece
- locking
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Abstract
The invention provides an underwater emergency release device which comprises a water-pressure-resistant closed electronic cabin, a control module arranged in the closed electronic cabin and a hangingrelease mechanism arranged outside the closed electronic cabin; the hanging release mechanism consists of a pair of tractive electro-magnets and a pair of no-electricity electro-magnets which are pos itioned in the electronic cabin and penetrate through the wall of the electronic cabin, a magnet power source connected with the control module and two tractive rods articulated outside the closed electronic cabin; the non-articulated ends of the tractive rods are provided with a sucking disk, wherein the sucking disk is opposite to the tractive electro-magnets; the no-electricity electro-magnets is externally provided with a depth-setting release device which is fixed with a bearing bar locating block; one end of a bearing bar is fixed on the bearing bar locating block; the tractive rods are respectively provided with a bearing bar blocking slot; and the closed electronic cabin is externally provided with a self-locking stop pin. The underwater emergency release device has large bearing load, light weight, small volume, simple installation, easy detection and control and high control precision, and can be applied and feasible in ocean at predetermined depths.
Description
(1) technical field
What the present invention relates to is a kind of under-water robot, underwater construction machinery and underwater kit.Specifically a kind of underground releaser.
(2) background technology
Exhaustion day by day with the landing field non-renewable resources, the ocean is because of its be richly stored with biology and mineral resources, the treasure and the last space of human kind sustainable development have been become, the development and use marine resources have risen to the strategic height that concerns national development, and various countries fall over each other to study maritime technology in the hope of seizing the first opportunity.Under-water robot is the important component part of China's blue water strategy, also is the important carrier of coast defence, will play an increasingly important role in the ocean exploitation in future and in fighting under water.
Break away from lash ship and bank base fully during Intelligent Underwater Robot (AUV) work, the deep ocean work environment is very abominable, often is faced with various danger.And Intelligent Underwater Robot is to drop into the conglomerate of the hightech of great amount of manpower and material resources and financial resources, and experiment or data or data that operation obtained have very big value at every turn, many times all relate to state secret.If barrier causes robot accident to sink to the seabed or lose for some reason, will cause very big loss, also be very large to the influence of ocean exploitation and research, therefore, the system of saving oneself of robot also becomes one of key equipment of robot.Underground releaser then is the important component part of the system of saving oneself.
Underground releaser be one under water environment discharge the device of load by operation.Under-water robot, underwater construction machinery and other underwater kit can run into various accidents and et out of order in operation, perhaps need to float again voluntarily the water surface after operation finishes.For save oneself (or reclaiming certainly), need usually to discharge the beacon ball float that has powerful hawser by underground releaser, position and salvage, or adopt the mode of jettisoning ballast weight that the positive buoyancy come-up is provided.
Underground releaser is remote-operated, and so remote operation can compensate electro-motor sum spiral pipe by applying pressure, explosive device, but solvus or metal, or jettisoning heavy duty and finishing from the anchor wire.But the fwd technological system is owing to comprised such as requiring the too many energy, is difficult to seal or shortcoming such as heaviness and be difficult to be used in the conventional demand too.Such as water, these requirements of deep sea pressure and salt combine makes that the motor sum spiral circle of executable operations is quite expensive, and usually is insecure.Dead electricity magnet is failure-free, but costliness all very, and also dangerous.
(3) summary of the invention
The object of the present invention is to provide that a kind of bearing load is big, in light weight, volume is little, install simply, be easy to detect and control the underwater emergency release device that control accuracy is high.
The object of the present invention is achieved like this:
Underground releaser of the present invention comprises a watertight sealing electronic compartment, is arranged at the control module in the sealing electronic compartment, is installed in sealing electronics hanging release mechanism out of my cabin; The composition of described hanging release mechanism comprises a pair of attraction electromagnet and a pair of dead electricity electromagnet that is positioned at sealing electronic compartment inside and passes sealing electronics bulkhead, electromagnet link to each other with power supply control module, two are hinged on sealing electronics attraction bar out of my cabin, attract the non-pin jointed end of bar to be provided with sucker, the position of sucker is relative with the position that attracts electromagnet, the dead electricity electromagnet is provided with fixed depth releasing device outward, fixing bearing bar locating piece on the fixed depth releasing device, one end of bearing bar is fixed on the bearing bar locating piece, attracting has the bearing bar draw-in groove on the bar, and the sealing electronics is provided with the self-locking backing pin out of my cabin.
The present invention can also comprise:
1, the sealing electronics is fixed with two positioning and guiding bars out of my cabin.
2, be useful on the tapped bore that adds counterweight on the bearing bar locating piece.
3, self-locking backing pin locating piece is fixed on sealing electronics bilge portion, the self-locking backing pin is hingedly mounted on the self-locking backing pin locating piece, suit self-locking backing pin sleeve on the self-locking backing pin, self-locking backing pin sleeve connects the extension spring of self-locking backing pin, the plug and the socket that cooperatively interact again on self-locking backing pin sleeve and the self-locking backing pin locating piece.
The lever principle that is based on release gear of the present invention has designed the basic module of release gear, can satisfy 4000 meters requirements of one's work under water, the big speed that changes of machinery discards such as discharging ballast with mode of operation down smoothly that travel under water simultaneously, have twice throwing and carry function, adopting Electromagnetic Drive to be released to first selects, the dead electricity magnet drives discharges the scheme as second stage insurance, makes release gear have multistage driving insurance, has well improved the reliability of device.Adopt the electromagnetism class to drive to provide one relatively cheap, bearing load is big, in light weight, volume is little, installs simply, is easy to detect and control, and the control accuracy height, and can both be suitable in predetermined ocean depth and feasible underwater emergency release device.
The present invention compared with prior art has the following advantages:
(1) adopt leverage as bearing mode, it is little to make device have structure, and bearing load is big, connects advantage reliable, easy to loading and unloading.
(2) the unique strength of device is the electromagnet that comes from the sealed module, and its cost is low, and power consumption is little, and magnetic force is big, and has interconvertible characteristics.
(3) adopt miniaturization, lightweight, absolute construction design, and adopt bolted connection between under-water robot or the submarine mechanical equipment body, flexible for installation, convenient.
(4) have machinery release and dead electricity magnet simultaneously and discharge the double insurance function of ballast, and be mutually independent, increased the release gear reliability of saving oneself.
(5) the sealed module outside does not have the requirement of pressure protective treatment, and discharging anchor fitting is machinery all, and major part is made from aluminum, and can reduce overall weight like this.
(6) the most parts of mechanism adopt high-strength aluminium to make, and have solved the problem that iron rust and electrolysis are arranged.Bolt all is with nickel or chromium alloy.And the sealing bulkhead all be be not magnetized, seawater corrosion resistance aluminium makes, appearance has been carried out the surface hard anode oxidation processing, has increased superficial hardness and anti-seawater corrosion ability.
(4) description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention;
Fig. 2 is release gear each component locations view when being unkitted ballast;
Fig. 3 is the upward view of Fig. 2;
Fig. 4 is initial position view when ballast is installed;
Fig. 5 attracts electromagnet and the layout of dead electricity magnet in electronic compartment.
(5) specific embodiment
For example the present invention is done description in more detail below in conjunction with accompanying drawing:
In conjunction with Fig. 1, underground releaser of the present invention comprises a watertight sealing electronic compartment 1, the high-strength aluminium that the about 17mm of the bulkhead of sealed module is thick is made, make release gear can be applied to 4000 meters dark environment, control module 2 is positioned at electronic compartment, one cover is installed in the leverage 3 outside the sealing electronic compartment 1, and ballast 20 is by hanging on the leverage 3 from locking and hanging hook 4.
In conjunction with Fig. 2 and Fig. 3, when not hanging ballast 20, attract not energising of electromagnet 15, attract electromagnet 15 to be positioned at sealing electronic compartment 1 inside, and pass sealing electronic compartment 1 wall so that magnetic force to be provided.Attract bar 9 to be fixed on outside the sealing electronic compartment 1, attract bar locating piece 10 and sealing electronic compartment 1 by bolted connection by attracting bar locating piece 10.The sucker 14 that energising attracts electromagnet 15 to attract on the bar 9.Ballast 20 is by hanging on the bearing bar 11 from locking and hanging hook 4, bearing bar 11 is connected with fixed depth releasing device 13 by bearing bar locating piece 12, attract bar 9 and bearing bar 11 to form the core component of leverage, dead electricity magnet 17 passes the bulkhead of sealing electronic compartment 1, attract the top of fixed depth releasing device 13, the power supply with control module 2 of dead electricity magnet 17 links to each other, place in the sealing electronic compartment 1, attract between electromagnet 15 and the sealing electronic compartment 1 by 18 sealings of electromagnet seal ring, and electromagnet seal ring 18 compresses by electromagnet Sealing shield ring 19, and electromagnet Sealing shield ring 19 connects by screw with the electronics bulkhead.Between dead electricity magnet 17 and the sealing electronic compartment 1 sealing with attract electromagnet 15 sealings identical.The positioning and guiding bar 16 of ballast 20 is fixed on sealing electronic compartment 1 bottom by screw thread.
When being unkitted ballast, self-locking backing pin 5 is opened naturally, and self-locking backing pin sleeve 6 can be realized stretching and contraction under self-locking backing pin extension spring 7 effects.Self-locking backing pin 5 leans on bolted connection with self-locking backing pin locating piece 8, and self-locking backing pin locating piece 8 is by being bolted to sealing electronic compartment 1 bottom.Attract bar 9 to open naturally, band sucker 14 ends ride on the self-locking backing pin 5, and sucker 14 leans on bolted connection with attracting bar 9, and the angle that attracts bar 9 to open can satisfy bearing bar 11 and enter into when balance position in the fluting that attracts bar 9.Bearing bar 11 is fixing by screw thread and bearing bar locating piece 12, and bearing bar locating piece 12 other ends have tapped bore, can add counterweight, to guarantee that bearing bar 11 under balance, can rest in the fluting that attracts bar 9.Bearing bar locating piece 12 leans on bolted connection with fixed depth releasing device 13.
Operation install ballast 20 situation as shown in Figure 4, when needs are installed ballast 20, pulling self-locking backing pin sleeve 6, self-locking backing pin 5 is depressed into level attitude, unclamping self-locking backing pin sleeve 6 enters in the hold down groove of self-locking backing pin locating piece 8 its fixed end, attract bar 9 to be horizontal under the effect of self-locking backing pin 5 this moment, and the sucker 14 of end contacts fully with attracting electromagnet 15, and the end of bearing bar 11 is positioned at the fluting that attracts bar 9.Can connect fixing by bolt 19 from locking and hanging hook 4 and ballast 20.Positioning guide hole alignment guide radius stay on the ballast 20 16 is promoted ballast, when when locking and hanging hook 4 contacts with bearing bar 11, self-locking hanging hook assembly 1 rotates around bearing pin 23, in the time of in bearing bar 11 enters into self-locking hanging hook assembly 2 22 fully, self-locking hanging hook assembly 1 returns to initial position under the effect of extension spring 24, can realize self-locking from locking and hanging hook 4, extension spring 24 two ends are separately fixed on self-locking hanging hook assembly 1 and the self-locking hanging hook assembly 2 22.After two ballasts 20 install, attract electromagnet 15 energisings by 2 pairs of control modules, spur self-locking backing pin sleeve 6 then, self-locking backing pin sleeve 6 fixed ends and the hold down groove of self-locking backing pin locating piece 8 are separated, and self-locking backing pin 5 is put the position of opening to initial natural.
When operation discharged ballast 20, to attracting the outage of electromagnet 15, sucker 14 separated with attracting electromagnet 15 by control module 2 controls, then attract bar 9 to be rotated down, blocked by self-locking backing pin 5, bearing bar 11 separates in the fluting that attracts bar 9, from locking and hanging hook 4 and ballast 20 along bearing bar 11 landings.The angle that self-locking this moment backing pin 5 is opened becomes 28 degree with sealing electronic compartment 1 bottom surface, the open angle that attracts bar 9 is greater than 42 degree, with assurance bearing bar 11 smooth opening, and bearing bar 11 1 ends still can be in the fluting that attracts bar 9, so that install next time when balance position.When control attracts electromagnet 15 malfunctioning, control module 2 will control dead electricity magnet 17 and switch on, with fixed depth releasing device 13, and bearing bar locating piece 12, bearing bar 11 is together dished out from locking and hanging hook 4 and ballast 20.
Below promptly be basic operation process of the present invention, by experiment as can be known, the overall dimensions of mechanism can be decided as required, and the weight of ballast and the intensity of parts also can change as required.
Claims (5)
1. a underwater emergency release device comprises a watertight sealing electronic compartment, is arranged at the control module in the sealing electronic compartment, is installed in sealing electronics hanging release mechanism out of my cabin; It is characterized in that: the composition of described hanging release mechanism comprises a pair of attraction electromagnet and a pair of dead electricity electromagnet that is positioned at sealing electronic compartment inside and passes sealing electronics bulkhead, electromagnet links to each other with the power supply of control module, two are hinged on sealing electronics attraction bar out of my cabin, attract the non-pin jointed end of bar to be provided with sucker, the position of sucker is relative with the position that attracts electromagnet, the dead electricity electromagnet is provided with fixed depth releasing device outward, fixing bearing bar locating piece on the fixed depth releasing device, one end of bearing bar is fixed on the bearing bar locating piece, attracting has the bearing bar draw-in groove on the bar, and the sealing electronics is provided with the self-locking backing pin out of my cabin.
2. underwater emergency release device according to claim 1 is characterized in that: the sealing electronics is fixed with two positioning and guiding bars out of my cabin.
3. underwater emergency release device according to claim 1 and 2 is characterized in that: be useful on the tapped bore that adds counterweight on the bearing bar locating piece.
4. underwater emergency release device according to claim 1 and 2, it is characterized in that: self-locking backing pin locating piece is fixed on sealing electronics bilge portion, the self-locking backing pin is hingedly mounted on the self-locking backing pin locating piece, suit self-locking backing pin sleeve on the self-locking backing pin, self-locking backing pin sleeve connects the extension spring of self-locking backing pin, on self-locking backing pin sleeve and the self-locking backing pin locating piece plug and the socket that cooperatively interacts is arranged.
5. underwater emergency release device according to claim 3, it is characterized in that: self-locking backing pin locating piece is fixed on sealing electronics bilge portion, the self-locking backing pin is hingedly mounted on the self-locking backing pin locating piece, suit self-locking backing pin sleeve on the self-locking backing pin, self-locking backing pin sleeve connects the extension spring of self-locking backing pin, on self-locking backing pin sleeve and the self-locking backing pin locating piece plug and the socket that cooperatively interacts is arranged.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910072276XA CN101574999B (en) | 2009-06-15 | 2009-06-15 | Underwater emergency release device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910072276XA CN101574999B (en) | 2009-06-15 | 2009-06-15 | Underwater emergency release device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101574999A CN101574999A (en) | 2009-11-11 |
| CN101574999B true CN101574999B (en) | 2011-03-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910072276XA Expired - Fee Related CN101574999B (en) | 2009-06-15 | 2009-06-15 | Underwater emergency release device |
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| Country | Link |
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| CN (1) | CN101574999B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103910051A (en) * | 2014-04-14 | 2014-07-09 | 张志刚 | Addressing-type submarine detector distributor |
Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102582807B (en) * | 2012-03-30 | 2014-06-18 | 青岛科技大学 | Electromagnetic type underwater sensor network node carrying device |
| CN102658555B (en) * | 2012-05-08 | 2014-11-05 | 哈尔滨工程大学 | Gas drive type underwater disconnecting device |
| CN103057682B (en) * | 2012-11-15 | 2015-04-08 | 中国科学院沈阳自动化研究所 | Underwater vehicle protection device and method based on depth control |
| CN105015742B (en) * | 2014-04-22 | 2017-11-24 | 上海海洋大学 | Benthoscope ballast desertion device |
| CN103935490B (en) * | 2014-04-28 | 2016-04-20 | 哈尔滨工程大学 | Safe valve type underwater fixed depth releasing device |
| CN104118547B (en) * | 2014-07-02 | 2016-11-09 | 中国海洋大学 | The Fuse Type release device of a kind of subsea anchor system weight and using method thereof |
| CN104875866B (en) * | 2015-05-14 | 2016-03-09 | 中国海洋大学 | One is Electroreleasing device under water |
| CN106568480B (en) * | 2016-11-07 | 2019-04-16 | 东莞市松研智达工业设计有限公司 | A kind of anti-lost briny environment monitor |
| CN106394831B (en) * | 2016-11-07 | 2018-05-15 | 楚雄欣源水利电力勘察设计有限责任公司 | A kind of monitoring water environment device |
| CN106956750B (en) * | 2017-04-11 | 2018-11-02 | 北京工业大学 | A kind of the ballast fixed pedestal rigid locking and Quick release device of subsurface buoy |
| CN108177749B (en) * | 2018-02-11 | 2023-09-05 | 烟台宏远氧业股份有限公司 | Deep diving device |
| CN109131802B (en) * | 2018-10-12 | 2020-12-22 | 哈尔滨工程大学 | Multi-mode load rejection device of underwater robot |
| CN110816749B (en) * | 2019-11-21 | 2020-06-16 | 中国科学院声学研究所 | Underwater magnetic force releasing and butting device |
| CN111470004B (en) * | 2020-05-25 | 2021-01-29 | 中国船舶科学研究中心 | A installation auxiliary device for fixed function cabin in deep sea |
| CN112616783A (en) * | 2020-12-18 | 2021-04-09 | 浙江大学 | Full-sea-depth multipurpose fishing device and using method thereof |
| CN113120201B (en) * | 2021-05-24 | 2022-04-05 | 哈尔滨工程大学 | Unmanned aerial vehicle recovery unit under water based on cyclic annular fork mechanism of cutting |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3337255A (en) * | 1965-08-30 | 1967-08-22 | Nicoloff Nicholas | Apparatus for releasably suspending objects under water |
| US4118060A (en) * | 1977-04-14 | 1978-10-03 | The Regents Of The University Of California | Underwater release mechanism |
-
2009
- 2009-06-15 CN CN200910072276XA patent/CN101574999B/en not_active Expired - Fee Related
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3337255A (en) * | 1965-08-30 | 1967-08-22 | Nicoloff Nicholas | Apparatus for releasably suspending objects under water |
| US4118060A (en) * | 1977-04-14 | 1978-10-03 | The Regents Of The University Of California | Underwater release mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103910051A (en) * | 2014-04-14 | 2014-07-09 | 张志刚 | Addressing-type submarine detector distributor |
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| Publication number | Publication date |
|---|---|
| CN101574999A (en) | 2009-11-11 |
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Granted publication date: 20110316 Termination date: 20170615 |