CN111731461B - Underwater load rejection mechanism - Google Patents
Underwater load rejection mechanism Download PDFInfo
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- CN111731461B CN111731461B CN202010689650.7A CN202010689650A CN111731461B CN 111731461 B CN111731461 B CN 111731461B CN 202010689650 A CN202010689650 A CN 202010689650A CN 111731461 B CN111731461 B CN 111731461B
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- weight
- fixing
- lever
- load rejection
- assembly
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B63—SHIPS OR OTHER WATERBORNE VESSELS; RELATED EQUIPMENT
- B63C—LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS; LIFE-SAVING IN WATER; EQUIPMENT FOR DWELLING OR WORKING UNDER WATER; MEANS FOR SALVAGING OR SEARCHING FOR UNDERWATER OBJECTS
- B63C11/00—Equipment for dwelling or working underwater; Means for searching for underwater objects
- B63C11/52—Tools specially adapted for working underwater, not otherwise provided for
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Level Indicators Using A Float (AREA)
- Separation Using Semi-Permeable Membranes (AREA)
Abstract
The application discloses an underwater load rejection mechanism, which comprises a fixing assembly, a first fixing plate, a second fixing plate and a heavy block fixing cover, wherein the first fixing plate and the second fixing plate are fixed on the heavy block fixing cover; the electromagnetic assembly is arranged on the first fixing plate; the lever assembly is arranged on the fixing assembly and is fixedly connected with the electromagnetic assembly; and the load rejection assembly is hung on the lever assembly. This application adopts the type electro-magnet of losing power to pass through the release that the lever assembly realized the pouring weight, and is simple and convenient, and the cost is lower.
Description
Technical Field
The application relates to the field of underwater vehicles, in particular to a load rejection mechanism capable of achieving recovery of an underwater autonomous vehicle.
Background
The underwater autonomous vehicle is taken as a high-tech underwater surveying means, is widely applied to oceanographic research and marine resource exploration and development at present, and compared with a cable remote control underwater autonomous vehicle, the recovery of the underwater autonomous vehicle is relatively more difficult due to the fact that no armored cable is used for traction.
At present, the domestic underwater autonomous vehicle is still in a research stage, in particular to a load rejection and recovery mechanism. Due to the complex seabed environment, unexpected faults often occur, and the design of the underwater load rejection device is particularly important for ensuring that the underwater autonomous vehicle can be successfully recovered under unexpected conditions. The existing underwater load rejection technology comprises the following steps: the mechanical load rejection device needs a driving motor, is relatively complex in structure and relatively high in motor cost; fusing load rejection is realized in an electrochemical mode, has certain pollution on the ocean and cannot be used in fresh water; the electromagnet is thrown and is electrified all the time to realize the adsorption function, so that the power consumption is large, the size is large, and the electromagnet is not suitable for a small-sized underwater autonomous vehicle; the device is suitable for releasing the ballast with overlarge mass, and has the advantages of high cost, high explosion impact force and certain danger.
Therefore, how to quickly and conveniently realize the load rejection and recovery of the underwater autonomous vehicle becomes a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
The application provides a throw and carry recovery mechanism adopts the type electro-magnet that loses electricity to realize the release to throwing year mechanism: the weight and the electromagnet are adsorbed together through the secondary lever, the lever is beneficial to reducing the adsorption force of the electromagnet on the weight, the electromagnet is only switched on when released, and the energy consumption is low; the guide mechanism is arranged outside the weight block so as to be convenient to install, and the weight block is of a trapezoidal structure, so that the underwater autonomous vehicle body can still realize a load rejection function when pitching at a certain angle; the inside of the load rejection mechanism adopts an oil-filled sealing mode, and is suitable for the field of full sea depth.
According to the application, provide a mechanism of throwing year, its characterized in that includes:
the fixing assembly comprises a first fixing plate, a second fixing plate and a weight fixing cover, wherein the first fixing plate and the second fixing plate are fixed on the weight fixing cover;
the electromagnetic assembly is arranged on the first fixing plate;
the lever assembly is arranged on the fixing assembly and is fixedly connected with the electromagnetic assembly;
and the load rejection assembly is hung on the lever assembly.
According to some embodiments, the electromagnetic assembly comprises:
the first fixing bracket is fixed on the first fixing plate;
the sealed cabin is fixed on the first fixing support;
the sealed cabin end cover is arranged on the upper end surface of the sealed cabin;
the power-off electromagnet is arranged on the lower end face of the sealed cabin;
and the ferromagnetic disc is electromagnetically connected with the power-off type electromagnet.
According to some embodiments, the sealed end cap has a receiving aperture therein.
According to some embodiments, the electromagnetic assembly further comprises:
and the pressure compensation piston is arranged in the containing hole.
According to some embodiments, the sealed chamber contains oil.
According to some embodiments, the lever assembly comprises:
the second fixing bracket is arranged on the weight fixing cover;
one end of the first lever is rotatably fixed on the second fixing support, and the other end of the first lever is fixed with the ferromagnetic disc;
the third fixing bracket is arranged on the weight fixing cover;
and the second lever is rotatably fixed on the third fixing bracket.
According to some embodiments, the second lever has a torsion spring.
According to some embodiments, the load rejection assembly comprises:
a weight block;
the weight connecting rod is fixedly connected with the weight;
one end of the hook is clamped with the second lever, and the other end of the hook is connected with the weight connecting rod;
and the weight guide cover is arranged between the weight and the weight fixing cover.
According to some embodiments, the weight fixing housing has a through hole through which the weight connecting rod is connected with the weight.
According to some embodiments, the load rejection mechanism further comprises a hall detection circuit board disposed within the capsule.
According to some embodiments, the load rejection and recovery mechanism can control disconnection of the electromagnetic assembly, then load rejection of the load rejection assembly is achieved through the lever assembly, and finally the underwater autonomous vehicle can automatically float upwards under the action of the buoyancy of water, so that automatic recovery is achieved.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is apparent that the drawings in the following description are only some embodiments of the present application.
Fig. 1 shows a cross-sectional view of a load rejection mechanism according to an example embodiment of the present application.
Fig. 2 shows a front view of a load rejection mechanism according to an example embodiment of the present application.
FIG. 3 shows a perspective view of a load rejection mechanism according to an example embodiment of the present application.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. These embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The same reference numerals denote the same or similar parts in the drawings, and thus, a repetitive description thereof will be omitted.
Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of embodiments of the application. One skilled in the relevant art will recognize, however, that the subject matter of the present application can be practiced without one or more of the specific details, or with other methods, components, devices, steps, and so forth. In other instances, well-known methods, devices, implementations, or operations have not been shown or described in detail to avoid obscuring aspects of the application.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various components, these components should not be limited by these terms. These terms are used to distinguish one element from another. Thus, a first component discussed below may be termed a second component without departing from the teachings of the present concepts. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Those skilled in the art will appreciate that the drawings are merely schematic representations of exemplary embodiments, which may not be to scale. The blocks or flows in the drawings are not necessarily required to practice the present application and therefore should not be used to limit the scope of the present application.
The technical solution of the present application will be described in detail below with reference to the accompanying drawings.
FIG. 1 shows a cross-sectional view of a load rejection mechanism according to an exemplary embodiment of the present application; FIG. 2 illustrates a front view of a load rejection mechanism according to an exemplary embodiment of the present application; FIG. 3 shows a perspective view of a load rejection mechanism according to an example embodiment of the present application.
Referring to fig. 1, 2 and 3, the load rejection mechanism may include a fixing assembly 100, the fixing assembly 100 including a first fixing plate 101, a second fixing plate 103 and a weight fixing housing 105, the first fixing plate 101 and the second fixing plate 103 being fixed on the weight fixing housing 105; the electromagnetic assembly 200 is disposed on the first fixing plate 101; the lever assembly 300 is fixedly connected with the electromagnetic assembly 200; the load rejection assembly 400 is suspended from the lever assembly 300.
According to an example embodiment of the present application, the electromagnetic assembly 200 includes a first fixing bracket 201, the first fixing bracket 201 being fixed to the first fixing plate 101; the sealed cabin 203 is fixed on the first fixed bracket 201; the sealed cabin end cover 205 is arranged on the upper end face of the sealed cabin 203; the power-loss electromagnet 207 is arranged on the lower end face of the sealed cabin 203; the ferromagnetic disc 209 is electromagnetically connected to the power-off electromagnet 207.
According to some exemplary embodiments, one end of the first fixing bracket 201 is fixedly connected to the capsule 203, and the other end is fixedly connected to the first fixing plate 101 by a bolt.
The sealed cabin 203 is a hollow barrel-shaped structure, the upper end face and the lower end face of the sealed cabin 203 are respectively provided with a mounting hole, the upper end part of the sealed cabin 203 is provided with a sealed cabin end cover 205, the sealed cabin end cover 205 is also provided with a mounting hole, and the sealed cabin 203 and the sealed cabin end cover 205 are fixed in a bolt and nut fixing mode.
The lower end face of the sealed cabin 203 is provided with a mounting hole, the power-off electromagnet 207 is also provided with a mounting hole, and the sealed cabin 203 and the power-off electromagnet 207 are fixed in a bolt and nut fixing mode.
According to the exemplary embodiment of the application, the capsule 203 is formed into a hollow sealed cavity structure through a capsule end cover 205 and a power-off electromagnet 207, and the sealed cavity is filled with oil. The working environment of the load rejection mechanism is under water, the outer surface of the sealed cabin 203 is in direct contact with water, the outer surface bears the action of water pressure, oil liquid filled in the sealed cabin 203 can resist the water pressure of the outer surface of the sealed cabin 203, and the sealed cabin 203 is prevented from deforming.
The sealed cabin end cover 205 is provided with a containing hole 215, a pressure compensation piston 217 is arranged in the containing hole 215, when the load rejection mechanism works in deep water, the pressure compensation piston 217 can relieve the pressure inside the sealed cabin 203 through the up-and-down movement of the piston in the containing hole 215, and pressure compensation is carried out, so that the sealed cabin 203 can bear higher external pressure, and the sealed cabin 203 is prevented from being damaged and deformed due to overlarge pressure.
According to some exemplary embodiments, the upper surface of the ferromagnetic disc 209 is electromagnetically connected to the power-off type electromagnet 207, the ferromagnetic disc 209 is provided with a threaded hole, and the lever assembly 300 is fixedly connected to the ferromagnetic disc 209 through a bolt.
According to the embodiment of the application, a Hall detection circuit board 211 is arranged in the sealed cabin 203, a cylindrical magnet 213 is installed on the ferromagnetic disc 209, the Hall detection circuit board 211 is arranged on the side wall of the power-off type electromagnet 207 and is close to the contact surface of the power-off type electromagnet 207 and the ferromagnetic disc 209, and the cylindrical magnet 213 is arranged on the ferromagnetic disc 209. When the underwater autonomous vehicle is required to carry out load rejection, the hall detection circuit board 211 judges whether the power-off electromagnet 207 is separated from the ferromagnetic disc 209 or not by detecting the cylindrical magnet 213 arranged on the ferromagnetic disc 209.
According to some exemplary embodiments, the lever assembly 300 may include a second fixing bracket 301, the second fixing bracket 301 being disposed on the weight fixing housing 105; one end of the first lever 303 is rotatably fixed on the second fixing bracket 301, and the other end of the first lever is fixed with the ferromagnetic disc 209; the third fixing bracket 307 is arranged on the weight fixing cover 105; the second lever 305 is rotatably fixed to the third fixing bracket 307.
According to an exemplary embodiment of the present application, a torsion spring 309 (see fig. 2) is provided on the second lever 305, and the torsion spring 309 is coaxially fixed to the third fixing bracket 307 together with the second lever 305. One end of the torsion spring 309 is fixed on the second lever 305, and the other end is fixed on the torsion spring fixing piece 311 of the third fixing bracket 307, so that the torsion spring 309 can realize the automatic return of the second lever 305. The third fixing bracket 307 has a limit pin, and the second lever 305 rebounds to the limit pin under the action of the torsion spring 309.
According to an example embodiment of the present application, the load rejection assembly 400 may include a weight 401, the weight 401 being fixedly connected to a weight connecting rod 403; one end of a hook 405 is hung on the second lever 305, and the other end is connected with the weight connecting rod 403; the weight guide housing is disposed between the weight 401 and the weight retainer housing 105.
According to some example embodiments, the weight guide housing may include a ramp structure with an inner plate 407-1 and a vertical structure with an outer plate 407-2, which may provide a guide function when installed with the weight retainer housing 105.
The weight 401 is in a trapezoid structure, the inner surface of the inner plate 407-1 of the weight guide housing is in a trapezoid inclined surface structure, the weight 401 and the weight guide housing are firstly assembled in a split manner during installation, through holes which can be concentrically arranged are formed in the middle of the weight guide housing and the weight 401, and after the weight connecting rod 403 sequentially penetrates through the weight guide housing and the weight 401, the weight connecting rod 403 is fixedly connected with the weight 401 and then penetrates through the weight fixing housing 105 to be hung on the second lever 305.
According to some exemplary embodiments, the trapezoidal structure of the weight 401 can ensure that the payload rejection function can still be achieved when the underwater autonomous vehicle is tilted at a certain angle, for example, 70 °.
According to the exemplary embodiment of the application, before the underwater autonomous vehicle is put into use, the load rejection mechanism is fixed on the underwater autonomous vehicle body through the mounting points on the first fixing plate 101 and the second fixing plate 103 of the fixing assembly 100. At this time, the power-off electromagnet is in a non-energized state, and the ferromagnetic disc 209 is electromagnetically connected with the power-off electromagnet 207.
The first end of the first lever 303 is fixedly connected with the ferromagnetic disc 209, the second end is matched with the second lever 305, and the body of the first lever 303 is rotatably fixed on the first rotating shaft 304 of the second fixed bracket 301. When the ferromagnetic disc 209 is electromagnetically connected to the power-off electromagnet 207, the first lever 303 holds the second lever 305. Since the first end of the first lever 303 is located at a greater distance from the first rotation axis 304 than the second end, the electromagnetic force can be smaller than the force of the weight 401 by the lever ratio. The weight 401 is connected to the hook 405 by the weight connecting rod 403 and is suspended on the second lever 305 by the hook 405.
According to the embodiment of the application, when the recovery of the underwater autonomous vehicle fails, the emergency load rejection mechanism needs to be started for recovering the underwater autonomous vehicle. When the load rejection mechanism is powered on, the magnetism disappears after the power-off electromagnet 207 is powered on, and the ferromagnetic disc 209 is disconnected with the power-off electromagnet 207; the ferromagnetic disc 209 is fixedly connected with a first end of the first lever 303, the first lever 303 enables the second lever 305 to rotate around the second rotating shaft 306 under the action of the weight 401, and the first lever 303 rotates around the first rotating shaft 304; the first lever 303 is disengaged from the second lever 305; then the second lever 305 is disengaged from the hook 405, and the weight 401 is released. After the weight 401 is unloaded, the weight of the underwater autonomous vehicle is reduced, and the underwater autonomous vehicle can float out of the water surface under the action of the buoyancy of the water, so that the underwater autonomous vehicle can be recovered.
According to some exemplary embodiments, when the load rejection mechanism is reused, the load rejection assembly 400 is reinstalled, the weight 401, the weight connecting rod 403, and the hook 405 are installed together, and the whole is placed into the weight guide housing. The assembled integral parts are then assembled to the weight holding housing 105 while the weight 401 is pushed up, so that the hook 405 is suspended from the second lever 305. When in installation, the hook and the weight connecting rod 403 firstly pass through the weight fixing cover 105; when the weight guide cover passes through the weight fixing cover 105, the guide function is automatically realized, the second lever 305 penetrates through the closed U-shaped structure of the hook 405 by continuously pushing upwards, and the second lever 305 is connected with the first lever 303 by continuously pushing upwards, so that the installation process of the load rejection assembly 400 is realized.
According to some exemplary embodiments, the weight 401 may be held down to ensure successful disengagement from the stationary assembly 100 under the force of gravity after the weight 401 is released. When the load rejection mechanism is installed, the first fixing plate 101 and the second fixing plate 103 need to be fixed on the body of the underwater autonomous vehicle, and the weight is ensured to be downward.
According to some exemplary embodiments, the connection of the weight retainer cage 105 to the body of the underwater autonomous vehicle is achieved through the first retainer plate 101 and the second retainer plate 103. One end of the first fixing plate 101 and the second fixing plate 103 is fixed on the body of the underwater autonomous vehicle through bolts, and the other end is fixed on the weight fixing cover 105.
According to some exemplary embodiments, the first fixing bracket 201 is fixed with the first fixing plate 101 by screws; the first lever 303 is fixed to the rotary shaft 304 on the second fixing bracket 301 by a nut; the second lever 305 is fixed to the rotary shaft 306 of the third fixing bracket 307 by a nut; the first fixing plate 101 and the second fixing plate 103 are fixed to the weight fixing housing 105 by nuts.
According to an example embodiment of the present application, the hook 405 may be a U-shaped structure, a connecting rod is disposed at an opening of the U-shaped structure to form a closed structure, and the second lever 305 is hung on the second lever 305 through the U-shaped structure; the load rejection is achieved by disengagement of the second lever 305 from the hook 405; and the weight is reduced by the weight 401, so that the underwater autonomous vehicle floats upwards in water to recover the underwater autonomous vehicle.
It should be noted that each of the embodiments described above with reference to the drawings is only for illustrating the present application and not for limiting the scope of the present application, and those skilled in the art should understand that modifications or equivalent substitutions made on the present application without departing from the spirit and scope of the present application should be covered by the present application. Furthermore, unless the context indicates otherwise, words that appear in the singular include the plural and vice versa. Additionally, all or a portion of any embodiment may be utilized with all or a portion of any other embodiment, unless stated otherwise.
Claims (6)
1. An underwater load rejection mechanism, comprising:
the fixing assembly comprises a first fixing plate, a second fixing plate and a weight fixing cover, wherein the first fixing plate and the second fixing plate are fixed on the weight fixing cover;
the electromagnetic assembly comprises a first fixing support, a sealed cabin end cover, a power-off electromagnet and a ferromagnetic disc, wherein the first fixing support is fixed on the first fixing plate, the sealed cabin is fixed on the first fixing support, the sealed cabin end cover is arranged on the upper end face of the sealed cabin, the power-off electromagnet is arranged on the lower end face of the sealed cabin, and the ferromagnetic disc is in electromagnetic connection with the power-off electromagnet;
a lever assembly comprising: the second fixing support is arranged on the weight fixing cover, the first lever is rotatably fixed on the second fixing support, the first end of the first lever is fixedly connected with the ferromagnetic disc, and the third fixing support is arranged on the weight fixing cover; the second lever is rotatably fixed on the third fixing support, and the second end of the first lever supports the second lever when the ferromagnetic disc is electromagnetically connected with the power-off type electromagnet;
a load rejection assembly comprising: the weight block connecting rod is fixedly connected with the weight block, one end of the hook is clamped with the second lever, the other end of the hook is connected with the weight block connecting rod, and the weight block guide cover is arranged between the weight block and the weight block fixing cover; the weight fixing cover is provided with a through hole, and the weight connecting rod penetrates through the through hole to be connected with the weight.
2. The underwater load rejection mechanism of claim 1, wherein said capsule end cap has a receiving aperture therein.
3. The underwater load rejection mechanism of claim 2, wherein said electromagnetic assembly further comprises:
and the pressure compensation piston is arranged in the containing hole.
4. An underwater load rejection mechanism according to claim 1, wherein said sealed chamber contains oil.
5. The underwater load rejection mechanism of claim 1, wherein said second lever has a torsion spring.
6. The underwater load rejection mechanism of claim 1, further comprising: and the Hall detection circuit board is arranged in the sealed cabin.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010689650.7A CN111731461B (en) | 2020-07-17 | 2020-07-17 | Underwater load rejection mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010689650.7A CN111731461B (en) | 2020-07-17 | 2020-07-17 | Underwater load rejection mechanism |
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| Publication Number | Publication Date |
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| CN111731461A CN111731461A (en) | 2020-10-02 |
| CN111731461B true CN111731461B (en) | 2021-01-08 |
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| CN202010689650.7A Active CN111731461B (en) | 2020-07-17 | 2020-07-17 | Underwater load rejection mechanism |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112407208A (en) * | 2020-11-18 | 2021-02-26 | 西北工业大学 | Load rejection device and load rejection method based on electromagnetic adsorption and release |
| CN112937818B (en) * | 2021-03-24 | 2022-07-12 | 中国船舶科学研究中心 | Deep-sea dual-drive load rejection device and load rejection method thereof |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4286539A (en) * | 1978-04-05 | 1981-09-01 | Joseph Pignone | Dual buoyancy device |
| US4300254A (en) * | 1980-04-28 | 1981-11-17 | Mobil Oil Corporation | Release mechanism for underwater device, such as seismograph |
| CN101830275A (en) * | 2010-06-03 | 2010-09-15 | 华中科技大学 | Deep sea ballast releasing device |
| CN103612730B (en) * | 2013-11-22 | 2014-08-27 | 华中科技大学 | Underwater automatic releasing device |
| CN203958579U (en) * | 2014-04-22 | 2014-11-26 | 上海海洋大学 | Bathyscaph 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 |
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Effective date of registration: 20201224 Address after: No. 28-a, innovation and entrepreneurship Park, 4668 Xinbei Road, Tanggu Ocean Science Park, Binhai New Area, Tianjin, 300457 Applicant after: Tianjin Haiyi Technology Co.,Ltd. Address before: 300457 Tianjin Binhai New Area Muning road No.45 Jinbin development plant No.7 Applicant before: Tianjin Deepfar Ocean Technology Co.,Ltd. |
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