CN112097038A

CN112097038A - Sensor dragging device for unmanned self-made underwater robot

Info

Publication number: CN112097038A
Application number: CN202010968074.XA
Authority: CN
Inventors: 王雪斌; ***
Original assignee: Tianjin University; China National Offshore Oil Corp CNOOC; CNOOC Deepwater Development Ltd
Current assignee: Tianjin University; China National Offshore Oil Corp CNOOC; CNOOC Deepwater Development Ltd
Priority date: 2020-09-15
Filing date: 2020-09-15
Publication date: 2020-12-18
Anticipated expiration: 2040-09-15
Also published as: CN112097038B

Abstract

The invention discloses a sensor dragging device for an unmanned self-made underwater robot, which belongs to the technical field of underwater robots and is characterized in that: the front end of the torque traction shaft is connected with a coupler, the rear part of the torque traction shaft is provided with an axial tension bearing part, the torque traction shaft is sleeved with a non-torsion tension component which does not have torsion force transmission with the torque traction shaft, the non-torsion tension component is positioned in front of the axial tension bearing part, the torque traction shaft is sleeved with a thrust bearing, and the thrust bearing is arranged between the axial tension bearing part and the non-torsion tension component; the non-twisting bracing member is detachably provided with a traction assembly. The device can realize back-twisting between the towed floating ball or the towed sensor and the propeller main shaft of the underwater robot, avoid the mooring rope from winding the propeller, and facilitate the disassembly and the replacement of the floating ball or the towed sensor.

Description

Sensor dragging device for unmanned self-made underwater robot

Technical Field

The invention belongs to the technical field of ocean unmanned self-made underwater robots, and particularly relates to a sensor dragging device for an unmanned self-made underwater robot.

Background

Unmanned self-made underwater robots are fields which develop rapidly in recent years, and various novel unmanned self-made underwater robots are developed. As the underwater robot and ocean measuring sensor technology in China is still in the technology research and development stage, a large number of water area tests need to be developed. In the test process, in order to ensure the safety of the underwater robot and determine the position of the underwater robot at the same time, a floating ball or a sensor is usually required to be pulled at the tail of the underwater robot. At present, a floating ball or a sensor is directly connected with a propeller main shaft of an underwater robot through a cable, the cable is easy to wind the propeller, and the test is influenced.

Disclosure of Invention

Aiming at the problems in the prior art, the invention provides a sensor dragging device for an unmanned self-made underwater robot, which solves the problem that a cable is wound with a propeller of the underwater robot.

The invention is realized in this way, a sensor dragging device for unmanned self-made underwater robot, which is characterized in that: the front end of the torque traction shaft is connected with a coupler, the rear part of the torque traction shaft is provided with an axial tension bearing part, the torque traction shaft is sleeved with a non-torsion tension component which does not have torsion force transmission with the torque traction shaft, the non-torsion tension component is positioned in front of the axial tension bearing part, the torque traction shaft is sleeved with a thrust bearing, and the thrust bearing is arranged between the axial tension bearing part and the non-torsion tension component; the non-twisting bracing member is detachably provided with a traction assembly.

In the device, a thrust bearing is arranged between the axial tension bearing part and the non-torsion stretching part, and no torsion force is transmitted between the non-torsion stretching part and the torsion stretching shaft part, so that the torsion force of the propeller main shaft is prevented from being transmitted to the mooring rope, the mooring rope is untwisted, and the problem that the mooring rope is wound around the propeller is completely avoided. On the other hand, the non-torsion stretching component is detachably provided with the traction assembly, and the traction assembly is used as a component combination for traction of the floating ball or the sensor, so that the replacement of the floating ball or the sensor can be facilitated.

In the above technical solution, preferably, the traction assembly includes a transverse pin rod, the transverse pin rod has two claw parts mounted in a scissor manner, the front part of the claw part has a claw, the rear part of the claw part is provided with two sliding grooves with staggered projections, a shear slide rod is installed in the sliding grooves in series, and the shear slide rod is connected with the traction annular part; the claw of the claw component is hooked with the non-torsion stretching component, a sleeve is installed on the transverse pin rod and extends to the side of the claw, and the sleeve prevents the non-torsion stretching component from being separated from the side of the claw. This technical scheme provides a concrete structure of pulling the subassembly, and in this scheme, the hook of accessible tractive annular part control hook part opens and shuts, has dashed the quick break away from or combine that realizes pulling the subassembly and not twist reverse the part of stretching, can realize the quick assembly disassembly of floater or sensor, and easy operation is swift.

In the above technical scheme, preferably, the external member is a cylinder, the side wall of the external member is symmetrically provided with insertion holes inserted with the transverse pin rods, and the outer side of the external member is provided with the tail fin plate. The tail fin plate enables the traction assembly to have a flow guiding function, and the running state of the device under water is enabled to be more stable.

In the above technical scheme, preferably, the tail fin plate includes an upper fin plate and a lower fin plate, and the lower fin plate is provided with a counterweight body. The balance of the external member in water is improved by the counterweight body, and the stability of the device in water is further improved.

Drawings

FIG. 1 is an exploded view of a structure according to a first embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a first embodiment of the present invention;

FIG. 3 is a schematic view of the connection of the finger elements to the pulling loop elements in accordance with one embodiment of the present invention;

FIG. 4 is a schematic view of the structure of the finger member in accordance with one embodiment of the present invention;

FIG. 5 is a schematic view of the mounting structure of the draft assembly in accordance with one embodiment of the present invention;

FIG. 6 is a schematic view of the working state of the present invention;

fig. 7 is a schematic view of the installation structure of the traction assembly in the second embodiment of the present invention.

1. A torque-pulling shaft; 2. a coupling; 3. an axial tension bearing portion; 4. a non-torsional bracing member; 5. a thrust bearing; 6. a transverse pin; 7. a finger member; 8. a shear slide bar; 9. pulling the annular member; 10. a kit; 11. a U-shaped frame; 12. a cable; 13. a sensor; 14. a tail fin plate; 15. a counterweight body; 16. a sleeve; 17. a stop lever; 18. AUV equipment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail with reference to the following embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In order to solve the problem that a cable is wound with a propeller of an underwater robot, the invention particularly provides a sensor towing device for an unmanned self-made underwater robot, which can avoid the cable from being wound with the propeller and is convenient for replacing a floating ball or a sensor. To further illustrate the structure of the present invention, the following detailed description is made with reference to the accompanying drawings:

example one

Referring to fig. 1 to 6, a sensor towing apparatus for an unmanned home-made underwater robot includes a torque towing shaft 1. Specifically, the torque pulling shaft 1 is a metal cylindrical shaft. The front end of the torque traction shaft element 1 is connected with a coupler 2. The front end of the torque traction shaft element 1 is connected with a propeller main shaft of the underwater robot through the shaft coupling 2. In this embodiment, the Underwater robot is an AUV device 18, that is, an Autonomous Underwater Vehicle (AUV). The coupler 2 is a known part in the mechanical field, and can be specifically selected and assembled according to the model size of a propeller main shaft of the underwater robot. In this embodiment, GIC 25X31 is preferably selected for the coupling 2.

The rear part of the torque traction shaft element 1 is provided with an axial tension bearing part 3. Specifically, the axial tension bearing part 3 is a circular plate which is fixed at the rear end of the torque traction shaft 1 and is coaxial with the torque traction shaft 1, and the diameter of the circular plate is larger than that of the torque traction shaft 1, so that a shoulder capable of transmitting traction force is formed at the transition part of the axial tension bearing part 3 and the torque traction shaft 1.

The torsion pulling shaft 1 is sleeved with a non-torsion pulling part 4 which has no torsion force transmission with the torsion pulling shaft 1. Specifically, the non-torsion stretching member 4 is also a circular plate, and a through hole having a diameter larger than that of the torsion stretching shaft 1 is formed in the center of the non-torsion stretching member 4, and the torsion stretching shaft 1 penetrates through the through hole. A spherical bearing is arranged between the non-torsion stretching component 4 and the torsion pulling shaft component 1, the inner ring of the spherical bearing is sleeved on the torsion pulling shaft component 1, and the through hole of the non-torsion stretching component 4 is sleeved on the outer ring of the spherical bearing.

The non-torsion stretching component 4 is positioned in front of the axial tension bearing part 3, and a thrust bearing 5 is sleeved on the torsion stretching shaft component 1. The shaft ring of the thrust bearing 5 is fixed on the torsion traction shaft element 1, the axial tension bearing part 3 is pressed against the end face of the shaft ring, and the non-torsion support-pull part 4 is pressed against the seat ring. The thrust bearing 5 is arranged between the axial tension bearing part 3 and the non-torsional bracing part 4. Thereby, the traction force can be transmitted between the torsion traction shaft element 1 and the non-torsion tension member 4 without transmitting the torsion force. In the technical scheme, the front is the advancing direction of the underwater robot.

The non-torsional bracing member 4 is detachably provided with a traction assembly. In this embodiment, the pulling assembly comprises a transverse pin 6. The axis of the transverse pin 6 is perpendicular to the axis of the torque-pulling shaft 1. The transverse pin 6 has two jaw members 7 mounted in scissor fashion. That is, the two claw parts 7 are provided with pin holes, and the two claw parts are arranged crosswise, and the transverse pin rod 6 penetrates through the pin holes of the two claw parts 7. The front part of the hook component 7 is provided with a hook part, and the rear part of the hook component 7 is provided with two sliding chutes with staggered projections. And a shear slide rod 8 is serially arranged in the sliding groove, and the axis of the shear slide rod 8 is parallel to the axis of the transverse pin rod 6. The shear slide bar 9 slides in the sliding groove, so that the crossing angle of the two claw parts 7 can be changed, and the opening and closing of the hook-shaped parts at the front ends of the two claw parts 7 are realized.

The shear slide bar 8 is connected with a traction annular component 9, the traction annular component 9 is positioned behind the claw component 7, and the shear slide bar 8 is conveniently driven.

The hook portion of the hook claw member 7 is hooked to the non-twist pulling member 4. That is, the hook portion of the hook claw member 7 hooks the outer edge portion of the non-twist stretching member 4 to transmit the traction force. A sleeve 10 is mounted on the transverse pin 6, the sleeve 10 extending to the side of the hook. The sleeve 10 prevents the non-twist stay member 4 from coming out from the side of the hook portion. Specifically, the sleeve 10 is a cylinder, and the side wall of the sleeve 10 is symmetrically provided with insertion holes inserted with the transverse pin rods 6. The two ends of the transverse pin 6 penetrate through the insertion holes and extend out of the sleeve 10. In this embodiment, the protruding end of the transverse insertion rod 6 is sleeved with a U-shaped frame 11, and the U-shaped frame 11 is connected with a floating ball or a sensor 13 through a cable 12. The distance between the inner wall of the sleeve 10 and the side of the hook is less than the diameter of the non-twist bracing member 4, thereby ensuring that the non-twist bracing member 4 can only be pulled out from between the finger members by axial displacement.

The outer side of the sleeve 10 is provided with a tail fin 14. The tail fin plate 14 enables the traction assembly to have a flow guiding function, and the running state of the device under water is enabled to be more stable. The tail fin 14 is a plate body welded to the sleeve 10. The tail fin plate 14 comprises an upper fin plate and a lower fin plate, and the lower fin plate is provided with a counterweight body 15. The balance weight body 15 improves the balance of the sleeve in water, and further improves the stability of the device in water. The counterweight body 15 is a metal block welded at the lower part of the lower fin plate, and the outer contour of the counterweight body is elliptic so as to reduce the self water flow resistance.

Example two

Referring to fig. 7, the present embodiment has the following distinguishing features compared with the embodiments: the diameter of the non-torsion stretching component 4 is larger than that of the axial tension bearing part 3, the specific structure of the traction assembly and the connection mode between the traction assembly and the non-torsion stretching component 4 are specifically that the traction assembly comprises a sleeve 16, the front end of the sleeve 16 is provided with a jack, the non-torsion stretching component 4 and the axial tension bearing part 3 are inserted into the jack, and the front end of the sleeve 16 is provided with a stop lever 17 through a screw.

The tail fin plate 14 is fixed on a sleeve 16, and the rear end of the sleeve 16 is connected with a floating ball or a sensor 13 through a cable 12.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention.

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 and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. The utility model provides a sensor dragging device for unmanned self-control underwater robot which characterized in that: the front end of the torque traction shaft is connected with a coupler, the rear part of the torque traction shaft is provided with an axial tension bearing part, the torque traction shaft is sleeved with a non-torsion tension component which does not have torsion force transmission with the torque traction shaft, the non-torsion tension component is positioned in front of the axial tension bearing part, the torque traction shaft is sleeved with a thrust bearing, and the thrust bearing is arranged between the axial tension bearing part and the non-torsion tension component; the non-twisting bracing member is detachably provided with a traction assembly.

2. The sensor towing apparatus for the unmanned homemade underwater robot according to claim 1, characterized in that: the traction assembly comprises a transverse pin rod, the transverse pin rod is provided with two claw parts which are arranged in a shearing mode, the front parts of the claw parts are provided with claws, the rear parts of the claw parts are provided with two sliding grooves with staggered projections, shear slide rods are arranged in the sliding grooves in series, and the shear slide rods are connected with a traction annular part; the claw of the claw component is hooked with the non-torsion stretching component, a sleeve is installed on the transverse pin rod and extends to the side of the claw, and the sleeve prevents the non-torsion stretching component from being separated from the side of the claw.

3. The sensor towing apparatus for the unmanned homemade underwater robot according to claim 2, characterized in that: the external member is the cylinder, the lateral wall symmetry of external member be equipped with the jack of horizontal pin pole grafting, the outside of external member is equipped with the tail fin board.

4. The sensor towing apparatus for the unmanned homemade underwater robot according to claim 3, characterized in that: the tail fin plate comprises an upper fin plate and a lower fin plate, and the lower fin plate is provided with a counterweight body.