CN108820174B - Electromagnetic load rejection device of large-depth underwater autonomous vehicle - Google Patents
Electromagnetic load rejection device of large-depth underwater autonomous vehicle Download PDFInfo
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- CN108820174B CN108820174B CN201810653667.XA CN201810653667A CN108820174B CN 108820174 B CN108820174 B CN 108820174B CN 201810653667 A CN201810653667 A CN 201810653667A CN 108820174 B CN108820174 B CN 108820174B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63G—OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; MINE-LAYING; MINE-SWEEPING; SUBMARINES; AIRCRAFT CARRIERS
- B63G8/00—Underwater vessels, e.g. submarines; Equipment specially adapted therefor
- B63G8/14—Control of attitude or depth
- B63G8/24—Automatic depth adjustment; Safety equipment for increasing buoyancy, e.g. detachable ballast, floating bodies
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Abstract
The invention discloses an electromagnetic load rejection device of a large-depth autonomous underwater vehicle, which comprises: the ballast mechanism and the actuating mechanism are connected to the shell. The invention has the advantages that: the ballast device has the advantages that the electromagnet is used as a trigger source, the response speed is high, the mechanical hook and the spring are used as the actuating mechanism, the installation is simple, the maintenance is convenient, the long and short pin shafts are used as the guide rails of the ballast device, the load rejection can be completed under a large inclination angle, and the ballast device has the advantages of high reliability and good safety performance.
Description
Technical Field
The invention relates to the technical field of underwater vehicle load rejection devices, in particular to a large-depth underwater autonomous vehicle electromagnetic load rejection device.
Background
It is well known that the ocean contains a large amount of oil and gas resources deep. In the face of increasingly exhausted land resources and increasing demands of human society, underwater robots capable of completing various detection and operation tasks in a deep environment are rapidly developed.
An Autonomous Underwater Vehicle (AUV) is taken as an important branch of an underwater robot, and is always valued by countries in the world due to the characteristics of large moving range, high automation degree and outstanding operation efficiency. However, increasing the intellectualization of AUVs, increasing their submergence depth and operating range, and improving their own safety have been the issues that have received attention in the course of research and practical use of AUVs. Because the AUV adopts an unmanned control and cableless working mode, the safety of the AUV is tested in various aspects in a complex sea area, in 2003 and 2005, the Japanese 'sea ditch' underwater robot and the UK AUTOSU 2 AUV are respectively lost in executing tasks, once the AUV has a condition in the working process, if the condition cannot be found and salvaged in time, the task fails if the condition is light, and the aircraft is lost and damaged if the condition is heavy, so that the great loss is caused.
The safety guarantee device can select a proper self-rescue mode to realize the floating of the robot when the AUV breaks down, and the safe floating mode of the underwater robot is mostly finished by load rejection. The safe load rejection device enables the underwater autonomous vehicle to obtain positive buoyancy by rejecting load heavy objects such as lead blocks, iron blocks and the like, emergency floating is completed, and a distress signal is sent. For AUV, the development of a miniaturized and generalized reliable release mechanism has important research significance and application value. The electromagnet applied to the underwater autonomous vehicle has certain advantages: the structure is simple, the volume is small, the stroke is large, and the safety and reliability are high; the energy consumption is low; triggering in real time without time delay; the mechanical device as an actuating mechanism has the characteristics of simple and convenient operation of replacing heavy objects and low maintenance requirement. At present, the underwater autonomous vehicle system triggered and unloaded by the electromagnet is customized according to the self condition, and the system does not completely have the characteristics of universality and modularization.
The invention develops and designs a general underwater robot electromagnetic load rejection device which can bear pressure automatically, has high modularization degree and is highly reliable, and the load rejection requirement of a large-depth revolving body and a special-shaped underwater autonomous vehicle is met. The load throwing device has the characteristics of compact structure and high response speed, and has two shaft pins as load throwing slide rails, so that the load can be ensured to smoothly fall off at a large inclination angle.
Disclosure of Invention
In order to solve the defects of the prior art, the invention provides the large-depth electromagnetic load rejection device of the autonomous underwater vehicle, which ensures that the load can smoothly fall off under a large inclination angle.
In order to achieve the purpose, the invention adopts the technical scheme that:
a large-depth underwater autonomous vehicle electromagnetic load rejection device comprises: the ballast mechanism comprises a mechanical hook, a reset torsion spring, a flat head screw, a U-shaped connecting block, a connecting block screw, an electromagnet support screw, a stroke push rod, a stroke nut, an electromagnet screw, an electromagnet reset spring, an electromagnet shell and an electromagnet shell screw, the execution mechanism comprises a load lead block, a load spring, a short limiting pin screw, a long limiting pin and a long limiting pin screw, the ballast mechanism and the execution mechanism are connected with the shell, the sealing washer is arranged in a sealing groove of the pressure-resistant mounting support, and the sealing cover plate and the pressure-resistant end socket are in sealing connection with the pressure-resistant mounting support through the end socket inner hexagon screw, the watertight connector is fixed on the side surface of the pressure-resistant mounting bracket through the inner hexagon screw, the O-shaped sealing ring is arranged between the stroke push rod and the pressure-resistant mounting bracket and is sealed in the radial direction, the flat head screw penetrates through the reset torsion spring and the middle hole position of the mechanical hook and is connected with the pressure-resistant mounting bracket, the connecting block screw passes through the upper hole site of the mechanical hook and is connected with the U-shaped connecting block, the U-shaped connecting block is arranged on the stroke push rod, the stroke push rod is fixed on the electromagnet through the electromagnet screw, the tail part of the electromagnet is provided with the electromagnet return spring, the electromagnet and the electromagnet return spring respectively extend into the electromagnet shell, the electromagnet shell is connected with the electromagnet support through the electromagnet shell screw, and the electromagnet support is fixed on the pressure-resistant mounting support through the electromagnet support screw.
The invention is further described in that the load spring is embedded in a spring slot of the load lead block and is fixed on the pressure-resistant mounting bracket in an extruding manner, the load lead block is connected with the short limiting pin through the short limiting pin screw, the short limiting pin is nested in the long limiting pin, and the long limiting pin is connected with the pressure-resistant mounting bracket through the long limiting pin screw.
In a further description of the invention, the bottom surface of the load-bearing lead block is of a profiled design.
Compared with the prior art, the invention has the advantages that: the ballast device has the advantages that the electromagnet is used as a trigger source, the response speed is high, the mechanical hook and the spring are used as the actuating mechanism, the installation is simple, the maintenance is convenient, the long and short pin shafts are used as the guide rails of the ballast device, the load rejection can be completed under a large inclination angle, and the ballast device has the advantages of high reliability and good safety performance.
Drawings
FIG. 1 is a schematic structural view of the present invention as a whole;
FIG. 2 is an exploded schematic view of the enclosure of the present invention;
FIG. 3 is an exploded view of an implementation of the present invention;
fig. 4 is an exploded schematic view of the ballast mechanism of the present invention.
Reference numerals: 1-pressure-resistant mounting bracket, 2-type sealing ring, 3-sealing cover plate, 4-sealing washer, 5-pressure-resistant end socket, 6-end socket hexagon socket screw, 7-watertight connector, 8-socket hexagon screw, 9-mechanical hook, 10-reset torsion spring, 11-flat head screw, 12-U-shaped connecting block, 13-connecting block screw, 14-electromagnet bracket, 15-electromagnet bracket screw, 16-stroke push rod, 17-stroke nut, 18-electromagnet, 19-electromagnet screw, 20-electromagnet reset spring, 21-electromagnet shell, 22-electromagnet shell screw, 23-load lead block, 24-load spring, 25-short limiting pin, 26-short limiting pin screw, 27-long limiting pin, 27-short limiting pin, and the like, 28-long limit pin screw, 101-shell, 102-ballast mechanism, 103-actuator.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood 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.
Example 1, as shown in fig. 1 to 4:
a large-depth underwater autonomous vehicle electromagnetic load rejection device comprises: the ballast device comprises a shell 101, a ballast mechanism 102 and an actuating mechanism 103, wherein the shell 101 comprises a pressure-resistant mounting bracket 1, an O-shaped sealing ring 2, a sealing cover plate 3, a sealing washer 4, a pressure-resistant end socket 5, an end socket inner hexagon screw 6, a watertight connector 7 and an inner hexagon screw 8, the ballast mechanism 102 comprises a mechanical hook 9, a reset torsion spring 10, a flat head screw 11, a U-shaped connecting block 12, a connecting block screw 13, an electromagnet bracket 14, an electromagnet bracket screw 15, a stroke push rod 16, a stroke nut 17, an electromagnet 18, an electromagnet screw 19, an electromagnet reset spring 20, an electromagnet shell 21 and an electromagnet shell screw 22, the actuating mechanism 103 comprises a load lead block 23, a load spring 24, a short limiting pin 25, a short limiting pin screw 26, a long limiting pin 27 and a long limiting pin screw 28, the ballast mechanism 102 and the actuating mechanism 103 are connected to the shell 101, the sealing washer 4 is, the sealing cover plate 3 and the pressure-resistant end enclosure 5 are hermetically connected with the pressure-resistant mounting bracket 1 through an end enclosure inner hexagon screw 6, a watertight connector 7 is fixed on the side surface of the pressure-resistant mounting bracket 1 through an inner hexagon screw 8, an O-shaped sealing ring 2 is arranged between a stroke push rod 16 and the pressure-resistant mounting bracket 1 and is radially sealed, a flat head screw 11 passes through a reset torsion spring 10 and a middle hole position of a mechanical hook 9 and is connected with the pressure-resistant mounting bracket 1, a connecting block screw 13 passes through an upper hole position of the mechanical hook 9 and is connected with a U-shaped connecting block 12, the U-shaped connecting block 12 is arranged on the stroke push rod 16, the stroke push rod 16 is fixed on an electromagnet 18 through an electromagnet screw 19, the tail part of the electromagnet 18, the electromagnet housing 21 is connected to the electromagnet support 14 by means of electromagnet housing screws 22, and the electromagnet support 14 is fixed to the pressure-resistant mounting bracket 1 by means of electromagnet support screws 15.
The load spring 24 is embedded in a spring clamping groove of the load lead block 23 and is fixed on the pressure-resistant mounting support 1 in an extruding manner, the load lead block 23 is connected with the short limiting pin 25 through a short limiting pin screw 26, the short limiting pin 25 is embedded in the long limiting pin 27, and the long limiting pin 27 is connected with the pressure-resistant mounting support 1 through a long limiting pin screw 28.
The bottom surface of the load lead block 20 is of a profile design.
In this embodiment, the load rejection device is prepared before use:
the load rejection device has the characteristic of self-bearing and can bear the water pressure of 30Mpa to the maximum extent, wherein the sealing washer 4 is arranged in the sealing groove of the pressure-resistant mounting bracket 1, the sealing cover plate 3 and the pressure-resistant end enclosure 5 are connected with the pressure-resistant mounting bracket 1 through the end enclosure inner hexagon screw 6 and finish end face sealing, the watertight connector 7 is arranged on the side face of the pressure-resistant mounting bracket 1 through the inner hexagon screw 8, and the O-shaped sealing ring 2 is arranged between the stroke push rod 16 and the pressure-resistant mounting bracket 1 and finish radial sealing. In addition, the bottom surface of the loading lead block 20 in the ballast mechanism III is provided with a profile design, and the integral load rejection device can be directly installed in an underwater autonomous vehicle through screws and a pressure-resistant mounting bracket 1. Before use, the electromagnet 18 is powered off, the stroke push rod 16 is in the maximum displacement opening position, and the mechanical hook 9 is in a tension state; the load lead block 23 and the short limit pin 25 are connected into a whole through a short limit pin screw 26, the load spring 24 is embedded in a spring clamping groove of the ballast lead block 23, and the short limit pin 25 is extruded towards the pressure-resistant mounting bracket 1 along the long limit pin 27. In the process, the mechanical hook 9 is stressed to be firstly loosened and then stressed again due to the action of the torsion spring 10. Finally, the short limiting pin 25 is nested on the long limiting pin 27, the load spring 24 is compressed between the lead ballast block 23 and the pressure-resistant mounting bracket 1, and the mechanical hook is clamped in the annular clamping groove of the lead ballast block 23, so that the preparation stage before use is completed.
The load rejection device working process:
when the autonomous underwater vehicle breaks down in the operation process, the safety load rejection device receives a corresponding fault signal to start working. Firstly, the electromagnet 18 starts to work by receiving an electric signal sent by the power supply module, a coil in the electromagnet 18 is switched on and off to generate electromagnetic attraction, the stroke push rod 16 is pulled to move towards the electromagnet 18, and the return spring 20 in the electromagnet 18 is compressed. On the other hand, the stroke push rod 16 is connected with the U-shaped connecting block 12 to pull the mechanical hook 9 to displace, and under the constraint of the flat head screw 11, the mechanical hook 9 is separated from the annular clamping groove of the load lead 23, so that the constraint of the load lead 23 is lost. At this time, since the load spring 24 is compressed between the load lead 23 and the pressure-resistant mounting bracket 1, a downward elastic force is generated after the restraint is lost, so that the load lead 23 is separated from the load rejection apparatus. In addition, the load lead block 23 and the short limiting pin 25 are connected into a whole through the short limiting pin screw 26, and the short limiting pin 25 can drive the load lead block 23 to slide along the embedded long limiting pin 27 along the vertical direction, so that the load rejection work is completed.
Resetting the load rejection device:
because the electric signal required by the load rejection device is a transient signal, the load rejection device finishes work after the electric signal disappears. At this time, the coil is de-energized and the attraction force is lost after the electromagnet 18 loses the electric signal, and the stroke push rod 16 returns to the initial state under the action of the return spring 20 inside the electromagnet 18. Thereby pushing the U-shaped connecting block 12 and the mechanical hook 9 to be in the initial state as well. And the resetting process of the load rejection device is completed after the load lead block 23 and the short limiting pin 25 are replaced.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (3)
1. A large-depth underwater autonomous vehicle electromagnetic load rejection device comprises: the ballast device comprises a shell (101), a ballast mechanism (102) and an execution mechanism (103), and is characterized in that the shell (101) consists of a pressure-resistant mounting support (1), an O-shaped sealing ring (2), a sealing cover plate (3), a sealing washer (4), a pressure-resistant end socket (5), an end socket inner hexagon screw (6), a watertight connector (7) and an inner hexagon screw (8), the ballast mechanism (102) consists of a mechanical hook (9), a reset torsion spring (10), a flat head screw (11), a U-shaped connecting block (12), a connecting block screw (13), an electromagnet support (14), an electromagnet support screw (15), a stroke push rod (16), a stroke nut (17), an electromagnet (18), an electromagnet screw (19), an electromagnet reset spring (20), an electromagnet shell (21) and an electromagnet shell screw (22), and the execution mechanism (103) consists of a load lead block (23), The pressure-resistant installation support comprises a load spring (24), a short limiting pin (25), a short limiting pin screw (26), a long limiting pin (27) and a long limiting pin screw (28), wherein a ballast mechanism (102) and an actuating mechanism (103) are connected to a shell (101), a sealing washer (4) is arranged in a sealing groove of the pressure-resistant installation support (1), a sealing cover plate (3) and a pressure-resistant end enclosure (5) are in sealing connection with the pressure-resistant installation support (1) through an end enclosure inner hexagon screw (6), a watertight connector (7) is fixed on the side surface of the pressure-resistant installation support (1) through an inner hexagon screw (8), an O-shaped sealing ring (2) is arranged between a stroke push rod (16) and the pressure-resistant installation support (1) and is in radial sealing, and a flat head screw (11) passes through a reset torsion spring (10) and the middle part of a mechanical hook (9) and is connected with the pressure-resistant installation support (1), connecting block screw (13) pass the upper portion hole site of mechanical hook (9) with U type connecting block (12) are connected, U type connecting block (12) are located stroke push rod (16), stroke push rod (16) pass through electromagnet screw (19) are fixed in electro-magnet (18), electro-magnet (18) afterbody is equipped with electromagnet return spring (20), electro-magnet (18) with electromagnet return spring (20) stretch into respectively in electromagnet shell (21), electromagnet shell (21) pass through electromagnet shell screw (22) with electromagnet support (14) are connected, electromagnet support (14) pass through electromagnet support screw (15) are fixed in withstand voltage installing support (1).
2. The large-depth underwater autonomous vehicle electromagnetic load rejection device according to claim 1, wherein the load spring (24) is embedded in a spring clamping groove of the load lead block (23) and fixed to a pressure-resistant mounting bracket (1) in an extruding manner, the load lead block (23) is connected with the short limiting pin (25) through the short limiting pin screw (26), the short limiting pin (25) is embedded in the long limiting pin (27), and the long limiting pin (27) is connected with the pressure-resistant mounting bracket (1) through the long limiting pin screw (28).
3. The large-depth underwater autonomous vehicle electromagnetic load rejection device according to claim 1, wherein said bottom surface of said loading lead (20) is of profiled design.
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| CN201810653667.XA CN108820174B (en) | 2018-06-22 | 2018-06-22 | Electromagnetic load rejection device of large-depth underwater autonomous vehicle |
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| CN201810653667.XA CN108820174B (en) | 2018-06-22 | 2018-06-22 | Electromagnetic load rejection device of large-depth underwater autonomous vehicle |
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| CN108820174B true CN108820174B (en) | 2020-09-29 |
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| CN110510084B (en) * | 2018-11-29 | 2023-06-06 | 上海海洋大学 | Full sea depth composite detection vehicle and application method thereof |
| CN110316316B (en) * | 2018-12-21 | 2021-02-19 | 中国船舶重工集团公司第七一0研究所 | Self-adjusting load insurance limiting device for deployment type underwater vehicle |
| CN113460271B (en) * | 2021-07-05 | 2022-04-08 | 上海海事大学 | Automatic cable releasing device of underwater robot |
| CN115009483A (en) * | 2022-06-11 | 2022-09-06 | 西北工业大学 | Single-use underwater vehicle underwater anchoring and parking device and method |
| CN116477032B (en) * | 2023-06-06 | 2024-02-23 | 博雅工道（北京）机器人科技有限公司 | Load rejection device, load rejection method and underwater equipment |
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| SU1784219A1 (en) * | 1990-10-11 | 1992-12-30 | Gennadij V Surninov | Device for switching off electric water heater after boiling of water |
| US6021731A (en) * | 1998-07-14 | 2000-02-08 | The United States Of America As Represented By The Secretary Of The Navy | Ballast system for underwater vehicle |
| RU2214340C2 (en) * | 2001-12-17 | 2003-10-20 | Федеральное государственное унитарное предприятие Санкт-Петербургское морское бюро машиностроения "Малахит" | Device for securing and releasing surfacing buoy on submersible technical facility |
| SE0400565D0 (en) * | 2004-03-07 | 2004-03-07 | Doris Staahle | Control of telescopic moving elements |
| CN101404420B (en) * | 2008-10-23 | 2010-08-11 | 浙江大学 | Deep sea non-contact type electric energy transmission coupler |
| CN101402396B (en) * | 2008-11-21 | 2011-01-26 | 哈尔滨工程大学 | Emergency release gear module of submersible |
| CN102295064A (en) * | 2011-06-10 | 2011-12-28 | 中海油田服务股份有限公司 | Unlocking-type ballast device for autonomous underwater vehicle |
| CN102493977B (en) * | 2011-11-25 | 2014-02-26 | 西北工业大学 | Simple abutting device |
| CN103863536B (en) * | 2014-02-27 | 2016-05-04 | 中国船舶重工集团公司第七一〇研究所 | One under water external discharges attitude regulating mechanism certainly |
| CN105015742B (en) * | 2014-04-22 | 2017-11-24 | 上海海洋大学 | Benthoscope ballast desertion device |
| CN204871548U (en) * | 2015-07-22 | 2015-12-16 | 上海交通大学 | A low -power consumption is thrown and is carried device for underwater vehicle |
| AU2017224138A1 (en) * | 2016-02-26 | 2018-08-30 | Ion Geophysical Corporation | Variable buoyancy control and recovery system for seismic data acquisition |
| CN207496892U (en) * | 2017-04-11 | 2018-06-15 | 北京工业大学 | The ballast fixed pedestal rigid locking and Quick release device of a kind of subsurface buoy |
| CN107697251A (en) * | 2017-10-09 | 2018-02-16 | 西北工业大学 | A kind of combination drive buoyancy regulating device for underwater glider |
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