CN110979604B - Emergency load throwing device for underwater robot - Google Patents
Emergency load throwing device for underwater robot Download PDFInfo
- Publication number
- CN110979604B CN110979604B CN201911382112.7A CN201911382112A CN110979604B CN 110979604 B CN110979604 B CN 110979604B CN 201911382112 A CN201911382112 A CN 201911382112A CN 110979604 B CN110979604 B CN 110979604B
- Authority
- CN
- China
- Prior art keywords
- throwing
- load
- lead
- polishing
- underwater robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 12
- 230000005484 gravity Effects 0.000 claims abstract description 11
- 238000007789 sealing Methods 0.000 claims abstract description 11
- 238000005498 polishing Methods 0.000 claims description 74
- 239000002184 metal Substances 0.000 claims description 4
- 239000013535 sea water Substances 0.000 claims description 4
- 239000003638 chemical reducing agent Substances 0.000 abstract description 13
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 abstract description 8
- 238000009434 installation Methods 0.000 abstract description 3
- 238000000926 separation method Methods 0.000 abstract description 2
- 230000003014 reinforcing effect Effects 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000011084 recovery Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000006056 electrooxidation reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 239000002245 particle Substances 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
Classifications
-
- 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
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E30/00—Energy generation of nuclear origin
- Y02E30/30—Nuclear fission reactors
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Ocean & Marine Engineering (AREA)
- Manipulator (AREA)
- Transmission Devices (AREA)
Abstract
The invention belongs to the field of underwater robots, in particular to an emergency load throwing device for an underwater robot, which is characterized in that a direct current motor is used for transmitting torque to a load throwing horizontal shaft after being decelerated by a planetary gear reducer, the load throwing horizontal shaft is used for transmitting rotary motion to a load throwing vertical shaft through gear transmission, the load throwing vertical shaft is used for transmitting rotation to a lead support piece through a rectangular notch, a rectangular chute is arranged between the lead support piece and a load throwing tray, and when the lead support piece rotates and is parallel to the chute of the load throwing tray, a load throwing lead piece falls off from the chute by acting on the lead support piece through gravity, so that separation from a carrier is realized; after a part of the mass is discarded under emergency conditions, the self gravity of the underwater robot is smaller than the buoyancy, so that the underwater robot can safely float out of the water. The invention has the advantages of simple and compact structure, high efficiency, simple control, low cost, good underwater sealing performance, repeated application, easy installation and the like.
Description
Technical Field
The invention belongs to the field of underwater robots, and particularly relates to an emergency load throwing device for an underwater robot.
Background
The ocean resources are abundant in China, and the ocean strong country construction is a development theme and a long-term plan of China. The underwater robot is an automatic control device capable of replacing people to do certain operation in the marine environment, and plays an important role in marine information observation and development and utilization of marine resources. The load rejection technology is an important component in the research of the underwater robot, is the last safety barrier for preventing the underwater robot from being damaged or lost in ultra-deep, and plays an important role in the safety performance of the underwater robot. In order to ensure the safety of the underwater robot, when the underwater robot system fails, part of the structure is damaged and cannot work normally, the control system fails, the energy is insufficient and the like, the weight of the underwater robot needs to be lightened by triggering the throwing device to throw off the ballast weight, larger positive buoyancy is obtained, the underwater robot is enabled to safely float out of the water, and the underwater robot waits for the recovery of a water surface ship. The load throwing device can be divided into a plurality of modes such as a mechanical mode, an electromagnet adsorption mode, a high-temperature fusing mode, an electrochemical corrosion mode, an explosion bolt mode and the like according to different working principles. The current domestic and foreign underwater robot emergency load throwing device has various types and various advantages and disadvantages, but in general, the device has the disadvantages of complex structure, large volume, poor reliability, poor universality, large power consumption and the like.
Disclosure of Invention
In order to solve the defects and shortcomings of the existing emergency load rejection device, the invention aims to provide the emergency load rejection device for the underwater robot. The emergency load throwing device for the underwater robot is suitable for being carried on the underwater robot, does not damage the original line type of the underwater robot, and ensures the operation or navigation safety of the underwater robot and simultaneously ensures that the underwater robot maintains good hydrodynamic characteristics.
The aim of the invention is realized by the following technical scheme:
the invention comprises a power source, a throwing load fixing seat, a throwing load horizontal shaft, a pairing bevel gear A, a pairing bevel gear B, a throwing load vertical shaft, a throwing load tray, a throwing load lead block supporting piece, a throwing load base, a throwing load lead block and a lead block locking nut, wherein the power source is arranged on the throwing load fixing seat; the polishing and carrying base is connected with the bottom of the polishing and carrying fixing seat, the upper part of the polishing and carrying vertical shaft is rotationally connected in the polishing and carrying fixing seat and is linked with a pairing bevel gear B, the pairing bevel gear B is meshed with the pairing bevel gear A for transmission, the rotary motion is transmitted to the polishing and carrying vertical shaft, and the lower part of the polishing and carrying vertical shaft is in sealed rotational connection with the polishing and carrying base; the bottom of the throwing load base is provided with a throwing load tray, and the throwing load tray is provided with a strip-shaped chute A; the polishing and carrying lead block supporting piece is rotationally connected with the polishing and carrying lead block, two ends of the polishing and carrying lead block supporting piece extend out of the polishing and carrying lead block respectively, a long-strip-shaped chute B and a cross chute are formed in the upper end of the polishing and carrying lead block supporting piece from top to bottom respectively, the long-strip-shaped chute A on the polishing and carrying tray is supported at the cross chute on the polishing and carrying lead block supporting piece, and the lower end of the polishing and carrying lead block supporting piece is in threaded connection with a lead block locking nut; the lower extreme of throwing carries the vertical axle is rectangle axle head, and this rectangle axle head inserts and locates in the rectangle spout B, and then drives throw and carry lead piece support piece rotates, when this throw carries lead piece support piece rotates to rectangle spout B is parallel with rectangle spout A, throw and carry lead piece support piece by throwing the rectangle spout A on carrying the tray and drop, throw and carry the lead piece and break away from under the action of gravity throw and carry the base, realize emergent throwing and carry.
Wherein: the upper end part of the throwing lead block supporting piece above the cross chute is in a long strip shape corresponding to the long strip chute A, is positioned above the long strip chute A, is provided with the rectangular chute B, and the part of the throwing lead block supporting piece below the cross chute is positioned below the long strip chute A; when the strip-shaped sliding groove B on the throwing lead block supporting piece is perpendicular to the strip-shaped sliding groove A on the throwing tray, the throwing lead block supporting piece is supported by the throwing tray and is locked and positioned with the throwing lead block through the lead block locking nut in threaded connection with the lower end, and the throwing lead block is connected with the throwing base.
The bottom of the throwing load base is provided with a groove, and the throwing load lead block is accommodated in the groove when being connected with the throwing load base, and a gap is reserved between the throwing load lead block and the throwing load base.
The horizontal section of the polishing and carrying lead block is elliptical, and the horizontal section of the groove at the lower end of the polishing and carrying base is elliptical; the arc surface at the lower end of the cast lead block is concentric with the arc surface of the cast base and has the same diameter.
The polishing horizontal shaft is rotationally connected with the polishing fixed seat through a horizontal angular contact bearing, and the horizontal angular contact bearing is used for supporting the rotation of the polishing horizontal shaft and bearing horizontal axial force brought by meshing transmission of the paired bevel gears A and B; the load-throwing vertical shaft is rotationally connected with the load-throwing fixing seat through a vertical angular contact bearing, and the vertical angular contact bearing is used for supporting the load-throwing vertical shaft to perform rotary motion and bear axial load in the vertical direction.
The horizontal angular contact bearing is installed face to face, and horizontal axial load is transferred to the load throwing fixing seat; the vertical angular contact bearing is installed back to back, and transmits vertical axial load to the load throwing fixing seat and finally transmits axial load brought by seawater pressure to the load throwing base.
The matched bevel gear A realizes axial positioning through a shaft shoulder and a set screw, realizes circumferential positioning through key connection, the matched bevel gear B realizes axial positioning through a clamp spring, a sleeve and the set screw, realizes circumferential positioning through key connection, and the clamp spring and the sleeve are sleeved on the polishing vertical shaft.
The lead throwing and carrying block is rotationally connected with the lead throwing and carrying block supporting piece and is fixed through a lead throwing and carrying block locking nut, and a metal piece for supporting the lead throwing and carrying block supporting piece to perform rotary motion and preventing friction between the lead throwing and carrying block locking nut and the lead throwing and carrying block is embedded in the lead throwing and carrying block.
And the load-throwing vertical shaft and the load-throwing base are sealed by two O-shaped sealing rings.
The throwing lead block is arranged at the lowest part of the underwater robot carrier, so that the stability of the underwater robot carrier is increased, and the sailing stability of the underwater robot is improved; or, the load-throwing lead block is arranged below the gravity center and the floating center of the underwater robot, so that the underwater robot has no influence on the self posture of the underwater robot carrier after the emergency load-throwing function is realized.
The invention has the advantages and positive effects that:
1. the invention can be integrated with the streamline structure of the underwater robot, and can keep the hydrodynamic characteristic of the underwater robot carrier to the maximum extent.
2. According to the invention, the axial water pressure born by the throwing load vertical shaft is transferred to the angular contact ball bearing and finally transferred to the throwing load fixing seat and the throwing load base, so that the invention can bear larger water pressure and can meet the pressure-resistant requirement of the large-depth underwater robot.
3. According to the invention, the lead throwing block is arranged at the lowest part of the underwater robot carrier, so that the stable height of the underwater robot carrier can be increased, and the navigation stability of the underwater robot is improved.
4. According to the invention, the lead throwing block is arranged below the gravity center and the floating center of the underwater robot, so that the self posture of the carrier of the underwater robot is not changed before and after the emergency throwing function is realized, and the underwater robot is easy to control.
5. The invention adopts double O-ring sealing, has good sealing performance and meets the sealing requirement of the underwater robot working in the deep sea environment.
6. The structure design of the invention ensures that the emergency load throwing device can normally work no matter the direct current motor rotates positively or reversely, realizes the emergency load throwing function, and ensures that the emergency load throwing work is safer and more reliable.
7. When the polishing and carrying action is executed, the polishing and carrying lead block supporting piece and the fixed locking nut are discarded as a whole, and when the polishing and carrying lead block, the polishing and carrying lead block supporting piece and the fixed locking nut are reinstalled for the next use, the polishing and carrying lead block supporting piece and the fixed locking nut are simple and convenient to install, and have strong reusability.
8. The invention has the advantages of simple and compact structure, high efficiency, low power consumption, light weight, simple and reliable control, low cost, simple and quick installation and use and easy installation on the underwater robot.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a cross-sectional view of the internal structure of the present invention;
FIG. 3 is a cross-sectional view A-A of FIG. 2;
wherein: the direct current motor is characterized in that the direct current motor is 1, the planetary gear reducer is 2, the motor fixing seat is 3, the coupler is 4, the cast load fixing seat is 5, the cast load horizontal shaft is 6, the matched bevel gear A is 7, the matched bevel gear B is 8, the matched bevel gear B is 9, the clamp spring is 10, the sleeve is 11, the cast load vertical shaft is 12, the vertical angular contact bearing is 13, the O-shaped sealing ring is 14, the cast load tray is 15, the cast load tray fixing screw is 16, the cast load lead support piece is 17, the cast load base is 18, the cast load lead block is 19, the lead block locking nut is 20, the metal piece is 21, and the upper cover is 22.
Detailed Description
The invention is described in further detail below with reference to the accompanying drawings.
As shown in fig. 1 to 3, the invention comprises a power source, a motor fixing seat 3, a coupler 4, a cast-load fixing seat 5, a cast-load horizontal shaft 6, a matched bevel gear A7, a horizontal angular contact bearing 8, a matched bevel gear B9, a clamp spring 10, a sleeve 11, a cast-load vertical shaft 12, a vertical angular contact bearing 13, a cast-load tray 15, a cast-load lead block supporting piece 17, a cast-load base 18, a cast-load lead block 19 and a lead block locking nut 20, wherein the power source comprises a direct current motor 1 and a planetary gear reducer 2, the direct current motor 1 and the planetary gear reducer 2 are inserted together and are inserted on the motor fixing seat 3, and the motor fixing seat 3 and the cast-load fixing seat 5 are connected through screws; the direct current motor 1, the planetary gear reducer 2 and the load rejection horizontal shaft 6 are coaxially connected in series. The load-throwing horizontal shaft 6 is rotatably connected to the inside of the load-throwing fixing seat 5 through a horizontal angular contact bearing 8, one end of the load-throwing horizontal shaft is connected with the output end of the planetary gear reducer 2 through a coupler 4, and the other end of the load-throwing horizontal shaft is connected with a pairing bevel gear A7 in a key manner. The polishing and carrying base 18 is connected with the bottom of the polishing and carrying fixed seat 5, the upper part of the polishing and carrying vertical shaft 12 is rotationally connected in the polishing and carrying fixed seat 5 through the vertical angular contact bearing 13, the paired bevel gear B9 is connected with the paired bevel gear B9 in a key way, the paired bevel gear B9 is meshed with the paired bevel gear A7 for transmission, the rotary motion is transmitted to the polishing and carrying vertical shaft 12, and the lower part of the polishing and carrying vertical shaft 12 is in sealed rotational connection with the polishing and carrying base 18. The horizontal angular contact bearing 8 is used for supporting the rotation of the load-throwing horizontal shaft 6 and bearing horizontal axial force caused by helical gear transmission, transmitting horizontal axial load to the load-throwing fixing seat 5, axially positioning the matched helical gear A7 through a shaft shoulder and a set screw, and circumferentially positioning through key connection; the matched bevel gear B9 realizes axial positioning through a clamp spring 10, a sleeve 11 and a set screw, and realizes circumferential positioning through key connection; the clamp spring 10 and the sleeve 11 are sleeved on the load-throwing vertical shaft 12, so that the effects of axial positioning and preventing the load-throwing vertical shaft 12 from moving are achieved, and the clamp spring 10 and the sleeve 11 are positioned between the matched bevel gear B9 and the vertical angular contact bearing 13. The matched bevel gear A7 and the matched bevel gear B9 are meshed for transmission, so that space vertical shaft transmission can be realized, and the whole structure of the load rejection emergency device is compact. The bottom of the throwing load base 18 is provided with a throwing load tray 15, and the throwing load tray 15 is provided with a strip-shaped chute A; the polishing lead block supporting piece 17 is rotationally connected with the polishing lead block 19, two ends of the polishing lead block supporting piece are respectively extended out of the polishing lead block 19, a long-strip-shaped chute B and a cross chute are respectively formed in the upper end of the polishing lead block supporting piece 17 from top to bottom, a long-strip-shaped chute A on the polishing tray 15 is supported at the cross chute on the polishing lead block supporting piece 17, and a lead block locking nut 20 is connected with the lower end of the polishing lead block supporting piece 17 in a threaded manner; the lower end of the vertical polishing and carrying shaft 12 is a rectangular shaft end which is inserted into the rectangular chute B so as to drive the polishing and carrying lead block supporting piece 17 to rotate, when the polishing and carrying lead block supporting piece 17 rotates to the point that the rectangular chute B is parallel to the rectangular chute A, the polishing and carrying lead block supporting piece 17 falls off from the rectangular chute A on the polishing and carrying tray 15, and the polishing and carrying lead block 19 breaks away from the polishing and carrying base 18 under the action of gravity, so that the emergency polishing and carrying function is realized.
In order to facilitate processing and assembly, the load-throwing fixing seat 5 of the present embodiment is designed as two parts which are symmetrical in front and back, and are connected together by socket head cap screws, and has an auxiliary fixing function of fixing reinforcing plates, and a cover plate 22 for preventing particles such as dust from entering is arranged above the reinforcing plates.
The load throwing horizontal shaft 6 and the load throwing vertical shaft 12 realize two-space vertical shaft transmission through arc-shaped equal-diameter bevel gears, so that the overall structure of the load throwing device is simple and compact. According to the invention, the sealing connection is realized through the two O-shaped sealing rings 14 between the hole in the middle of the load-throwing base 18 and the load-throwing vertical shaft 12, and double sealing is safer and more reliable.
The upper end part of the lead throwing support piece 17 above the cross chute is of a strip shape corresponding to the strip chute A, is positioned above the strip chute A, is provided with a rectangular chute B, and the part of the lead throwing support piece 17 below the cross chute is positioned below the strip chute A; when the strip-shaped sliding groove B on the throwing-load lead block supporting piece 17 is mutually perpendicular to the strip-shaped sliding groove A on the throwing-load tray 15, the throwing-load lead block supporting piece 17 is supported by the throwing-load tray 15 and is locked and positioned with the throwing-load lead block 19 through the lead block locking nut 20 with the lower end in threaded connection, and the throwing-load lead block 19 is connected with the throwing-load base 18.
The bottom of the load-throwing base 18 in this embodiment is provided with a groove, and the load-throwing lead block 19 is accommodated in the groove when connected with the load-throwing base 18, and a gap is left between the load-throwing base 18 and the lead block. The horizontal section of the polishing and carrying lead block 19 is elliptical, and the horizontal section of the groove at the lower end of the polishing and carrying base 18 is elliptical; the lead throwing block 19 is embedded with a groove at the lower end of the throwing base 18 and a gap is reserved; the throwing-carrying base 18 is a part of the underwater robot, the arc surface at the lower end of the throwing-carrying lead block 19 is concentric with the arc surface of the throwing-carrying base 18 and has the same diameter, so that the navigation resistance of the underwater robot is reduced, and the underwater robot has good hydrodynamic characteristics.
The horizontal polishing load shaft 6 is rotationally connected with the polishing load fixing seat 5 through a horizontal angular contact bearing 8, and the horizontal angular contact bearing 8 is used for supporting the rotation of the horizontal polishing load shaft 6 and bearing horizontal axial force caused by meshing transmission of the paired bevel gears A7 and B9; the vertical load throwing shaft 12 is rotationally connected with the load throwing fixing seat 5 through a vertical angular contact bearing 13, the vertical load throwing shaft 12 can receive vertical upward axial load under the water due to the action of seawater pressure, and the vertical angular contact bearing 13 is used for supporting the vertical load throwing shaft 12 to perform rotary motion and bear the axial load in the vertical direction. The horizontal angular contact bearing 8 is installed face to face, so that the axial span is reduced, and the horizontal axial load is transmitted to the load throwing fixing seat 5; the vertical angular contact bearing 13 is installed back to back, the axial span is increased, the vertical axial load is transferred to the load throwing fixing seat 5, and the axial load caused by the seawater pressure is finally transferred to the load throwing base 18.
The lead throwing block 19 of the embodiment is rotationally connected with the lead throwing block support member 17 and is fixed by the lead throwing block locking nut 20, and a metal member 21 (which may be made of stainless steel) is pre-embedded in the lead throwing block 19, so as to support the lead throwing block support member 17 for rotation and prevent friction between the lead throwing block locking nut 20 and the lead throwing block 19, thereby reducing torque required by rotation of the lead throwing block support member 17 and reducing output torque of a motor.
The lower end of the lead throwing support piece 17 of the embodiment is provided with external threads with set length, so that the lead throwing lock nut 20 is ensured to lock the lead throwing block 19, a gap is reserved between the lead throwing block 19 and the lead throwing base 18, and the lead throwing block 19 and the lead throwing base 18 are prevented from being adhered together.
The lead throwing block 19 of the embodiment is arranged at the lowest part of the underwater robot carrier, so that the stability of the underwater robot carrier is increased, and the sailing stability of the underwater robot is improved. Or, the lead throwing block 19 is arranged below the gravity center and the floating center of the underwater robot, so that the underwater robot has no influence on the self posture of the underwater robot carrier after the emergency throwing function is realized.
The installation process of the invention is as follows:
the direct current motor 1 and the planetary gear reducer 2 are connected in a coaxial direct connection mode, the planetary gear reducer 2 is simultaneously inserted into the motor fixing seat 3, the locating spigot of the planetary gear reducer 2 is sleeved with the spigot hole, the planetary gear reducer 2 is ensured to be coaxial with the motor fixing seat 3, a big hole is formed in the other end of the motor fixing seat 1, and the screw for fixing the planetary gear reducer 2 can be screwed and fixed on the motor fixing seat 3. The coupler 4 is installed into the motor fixing seat 3 from a large hole at the other end of the motor fixing seat 3, is sleeved with the output shaft of the planetary gear reducer 2 and is fixed by a set screw.
The key and the pairing bevel gear A7 are arranged on the throwing load horizontal shaft 6 and fixed by using a set screw, the horizontal direction angular contact bearing 8 is arranged on the throwing load horizontal shaft 6 face to face and integrally arranged on the rear half part of the throwing load fixing seat 5, the vertical direction angular contact bearing 13, the sleeve 11, the clamp spring 10, the key, the pairing bevel gear B9 and the O-shaped sealing ring 14 are arranged on the throwing load vertical shaft 12 first and then, the horizontal direction angular contact bearing 8 is integrally arranged on the rear half part of the throwing load fixing seat 5, and the two pairing bevel gears are meshed with each other.
The front half part and the rear half part of the load-throwing fixing seat 5 are buckled and connected with the fixed reinforcing plate through screws, the coupler 4 is connected with the load-throwing horizontal shaft 6 through set screws after the load-throwing fixing seat is assembled, the motor fixing seat 3 is fixed on the load-throwing fixing seat 5 through screw connection, holes are formed in two ends of the motor fixing seat 3, and the screws are conveniently screwed.
The load-throwing fixing seat 5 is integrally arranged on the load-throwing base 18, at the moment, the load-throwing vertical shaft 12 is inserted into the vertical hole of the load-throwing base 18 together, and is fixed on the load-throwing base 18 through threaded holes on two sides of the load-throwing base 18 by using screws.
The throwing load tray is connected below the throwing load base 18 through the fixing screw 16, the throwing load lead block supporting piece 17 is inserted into a hole of the throwing load lead block 19 from top to bottom and fixed by using the lead block locking nut 20, the whole fixed assembly is inserted into a strip-shaped groove of the throwing load tray 15 from bottom to top, and the motor is controlled to rotate, so that the direct current motor 1 is stopped when the throwing load lead block supporting piece 17 and the strip-shaped groove of the throwing load tray 15 are perpendicular to each other.
The working principle of the invention is as follows:
when the underwater robot has system faults or encounters danger during operation, the control system sends out an instruction to start the direct current motor 1; the direct current motor 1 transmits torque to the throwing load horizontal shaft 6 after being decelerated by the planetary gear reducer 2, transmits torque to the throwing load vertical shaft 12 through gear engagement transmission, the throwing load vertical shaft 12 transmits rotation to the throwing load lead block supporting piece 17 through the rectangular shaft end and the strip-shaped groove B, a cross-shaped chute is arranged between the throwing load lead block supporting piece 17 and the throwing load tray 15, and when the throwing load lead block supporting piece 17 rotates to the strip-shaped chute B to be parallel to the strip-shaped chute A on the throwing load tray 15, the throwing load lead block 19 falls off from the strip-shaped chute A under the action of gravity and the throwing load lead block supporting piece 17, so that separation from the throwing load base 18 is realized. At the moment, the whole weight of the underwater robot is reduced, and enough positive buoyancy is generated, so that the underwater robot can timely float out of the water surface and safely recover on the water surface
The invention adopts a mechanical type throwing load mode, has simple and compact structure, high efficiency, low power consumption, safe and reliable work, low cost and easy carrying, and the throwing load lead block is arranged below the floating center and the gravity center of the underwater robot, so that the floating center of the underwater robot is provided with larger stable center height, the navigation stability of the carrier is improved, the carrier posture is not changed before and after the emergency throwing load function is realized, the control and the recovery are easy, and the invention can be well applied to the underwater robot, so that the underwater robot has good safety performance.
Claims (10)
1. An emergency load rejection device for an underwater robot is characterized in that: the device comprises a power source, a cast-load fixing seat (5), a cast-load horizontal shaft (6), a matched bevel gear A (7), a matched bevel gear B (9), a cast-load vertical shaft (12), a cast-load tray (15), a cast-load lead block supporting piece (17), a cast-load base (18), a cast-load lead block (19) and a lead block locking nut (20), wherein the power source is arranged on the cast-load fixing seat (5), the cast-load horizontal shaft (6) is rotatably arranged inside the cast-load fixing seat (5), one end of the cast-load horizontal shaft penetrates out of the cast-load fixing seat (5) and is connected with the output end of the power source, and the other end of the cast-load horizontal shaft is linked with the matched bevel gear A (7); the polishing and carrying base (18) is connected with the bottom of the polishing and carrying fixed seat (5), the upper part of the polishing and carrying vertical shaft (12) is rotationally connected in the polishing and carrying fixed seat (5) and is linked with a pairing bevel gear B (9), the pairing bevel gear B (9) is meshed with the pairing bevel gear A (7) for transmission, the rotation motion is transmitted to the polishing and carrying vertical shaft (12), and the lower part of the polishing and carrying vertical shaft (12) is in sealed rotational connection with the polishing and carrying base (18); the bottom of the throwing load base (18) is provided with a throwing load tray (15), and the throwing load tray (15) is provided with a strip-shaped chute A; the polishing lead block supporting piece (17) is rotationally connected with the polishing lead block (19), two ends of the polishing lead block supporting piece extend out of the polishing lead block (19), a long-strip-shaped chute B and a cross chute are respectively formed in the upper end of the polishing lead block supporting piece (17) from top to bottom, the long-strip-shaped chute A on the polishing tray (15) is supported at the cross chute on the polishing lead block supporting piece (17), and a lead block locking nut (20) is connected with the lower end of the polishing lead block supporting piece (17) in a threaded manner; the lower extreme of throwing carries vertical axle (12) is rectangle axle head, and this rectangle axle head inserts and locates in rectangle spout B, and then drives throw and carry lead piece support piece (17) rotate, when this throw carries lead piece support piece (17) rotate to rectangle spout B is parallel with rectangle spout A, throw and carry lead piece support piece (17) by throwing the rectangle spout A on carrying tray (15) and drop, throw and carry lead piece (19) and break away from under the action of gravity throw and carry base (18), realize emergent throwing and carry.
2. The emergency load rejection device for an underwater robot according to claim 1, wherein: the upper end part of the throwing lead block supporting piece (17) above the cross chute is in a long strip shape corresponding to the long strip chute A, and is positioned above the long strip chute A, the rectangular chute B is formed, and the part of the throwing lead block supporting piece (17) below the cross chute is positioned below the long strip chute A; when the strip-shaped sliding groove B on the throwing lead block supporting piece (17) is mutually perpendicular to the strip-shaped sliding groove A on the throwing tray (15), the throwing lead block supporting piece (17) is supported by the throwing tray (15) and is locked and positioned with the throwing lead block (19) through a lead block locking nut (20) with the lower end in threaded connection, and the throwing lead block (19) is connected with the throwing base (18).
3. The emergency load rejection device for an underwater robot according to claim 1, wherein: the bottom of the throwing load base (18) is provided with a groove, and the throwing load lead block (19) is accommodated in the groove when being connected with the throwing load base (18) and a gap is reserved between the throwing load lead block and the throwing load base (18).
4. An emergency load rejection apparatus for an underwater robot according to claim 3, wherein: the horizontal section of the polishing and carrying lead block (19) is elliptical, and the horizontal section of the groove at the lower end of the polishing and carrying base (18) is elliptical; the arc surface at the lower end of the throwing lead block (19) is concentric with the arc surface of the throwing base (18) and has the same diameter.
5. The emergency load rejection device for an underwater robot according to claim 1, wherein: the polishing horizontal shaft (6) is rotationally connected with the polishing fixed seat (5) through a horizontal angular contact bearing (8), and the horizontal angular contact bearing (8) is used for supporting the rotation of the polishing horizontal shaft (6) and bearing the horizontal axial force brought by meshing transmission of the paired bevel gears A (7) and B (9); the vertical load throwing shaft (12) is rotationally connected with the load throwing fixing seat (5) through a vertical angular contact bearing (13), and the vertical angular contact bearing (13) is used for supporting the vertical load throwing shaft (12) to perform rotary motion and bear axial load in the vertical direction.
6. The emergency load rejection device for an underwater robot according to claim 5, wherein: the horizontal angular contact bearing (8) is installed face to face, and transfers horizontal axial load to the load throwing fixing seat (5); the vertical angular contact bearing (13) is installed back to back, and transmits vertical axial load to the load throwing fixing seat (5) and finally transmits axial load brought by seawater pressure to the load throwing base (18).
7. The emergency load rejection device for an underwater robot according to claim 1, wherein: the matched bevel gear A (7) realizes axial positioning through a shaft shoulder and a set screw, realizes circumferential positioning through key connection, the matched bevel gear B (9) realizes axial positioning through a clamp spring (10), a sleeve (11) and the set screw, realizes circumferential positioning through key connection, and the clamp spring (10) and the sleeve (11) are sleeved on a throwing-loading vertical shaft (12).
8. The emergency load rejection device for an underwater robot according to claim 1, wherein: the lead throwing and carrying block (19) is rotationally connected with the lead throwing and carrying block supporting piece (17) and is fixed through a lead throwing and carrying block locking nut (20), and a metal piece (21) for supporting the lead throwing and carrying block supporting piece (17) to perform rotary motion and preventing friction between the lead throwing and carrying block locking nut (20) and the lead throwing and carrying block (19) is embedded in the lead throwing and carrying block (19).
9. The emergency load rejection device for an underwater robot according to claim 1, wherein: and a seal is formed between the load-throwing vertical shaft (12) and the load-throwing base (18) through two O-shaped sealing rings (14).
10. The emergency load rejection device for an underwater robot according to claim 1, wherein: the throwing lead block (19) is arranged at the lowest part of the underwater robot carrier, and the stable height of the underwater robot carrier is increased, so that the sailing stability of the underwater robot is increased; or, the load-throwing lead block (19) is arranged below the gravity center and the floating center of the underwater robot, so that the underwater robot has no influence on the self posture of the underwater robot carrier after the emergency load-throwing function is realized.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911382112.7A CN110979604B (en) | 2019-12-28 | 2019-12-28 | Emergency load throwing device for underwater robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911382112.7A CN110979604B (en) | 2019-12-28 | 2019-12-28 | Emergency load throwing device for underwater robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110979604A CN110979604A (en) | 2020-04-10 |
| CN110979604B true CN110979604B (en) | 2023-08-04 |
Family
ID=70078495
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911382112.7A Active CN110979604B (en) | 2019-12-28 | 2019-12-28 | Emergency load throwing device for underwater robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110979604B (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113247217B (en) * | 2021-06-15 | 2021-09-28 | 天津海翼科技有限公司 | Underwater load rejection mechanism and aircraft |
| CN114055495A (en) * | 2021-11-30 | 2022-02-18 | 国网重庆市电力公司电力科学研究院 | Function reconstruction type intelligent robot for detecting inside of transformer |
| CN117141693B (en) * | 2023-09-12 | 2024-03-08 | 中国船舶集团有限公司第七一九研究所 | Load throwing device, assembly method and underwater robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08127391A (en) * | 1994-10-31 | 1996-05-21 | Kokusai Denshin Denwa Co Ltd <Kdd> | Ballast releaser |
| 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 |
| CN103708011A (en) * | 2013-12-03 | 2014-04-09 | 浙江大学 | Underwater robot load rejection device |
| CN205524897U (en) * | 2016-03-04 | 2016-08-31 | 中国船舶重工集团公司第七一〇研究所 | Device is carried to emergent throwing of unmanned navigation ware under water |
| CN106926994A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of safe jettison system of underwater robot |
| CN211391648U (en) * | 2019-12-28 | 2020-09-01 | 中国科学院沈阳自动化研究所 | Emergency load rejection device for underwater robot |
-
2019
- 2019-12-28 CN CN201911382112.7A patent/CN110979604B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08127391A (en) * | 1994-10-31 | 1996-05-21 | Kokusai Denshin Denwa Co Ltd <Kdd> | Ballast releaser |
| 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 |
| CN103708011A (en) * | 2013-12-03 | 2014-04-09 | 浙江大学 | Underwater robot load rejection device |
| CN106926994A (en) * | 2015-12-30 | 2017-07-07 | 中国科学院沈阳自动化研究所 | A kind of safe jettison system of underwater robot |
| CN205524897U (en) * | 2016-03-04 | 2016-08-31 | 中国船舶重工集团公司第七一〇研究所 | Device is carried to emergent throwing of unmanned navigation ware under water |
| CN211391648U (en) * | 2019-12-28 | 2020-09-01 | 中国科学院沈阳自动化研究所 | Emergency load rejection device for underwater robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110979604A (en) | 2020-04-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110979604B (en) | Emergency load throwing device for underwater robot | |
| CN109606592B (en) | Load rejection releasing mechanism | |
| CN101402396B (en) | Emergency release gear module of submersible | |
| CN103879532B (en) | Deep sea manned submersible Emergency Device mechanism | |
| CN106926994A (en) | A kind of safe jettison system of underwater robot | |
| CN106347618B (en) | Underwater airscrew propulsion unit | |
| CN102658555B (en) | Gas drive type underwater disconnecting device | |
| CN110844096B (en) | Water sampling environmental protection unmanned aerial vehicle | |
| CN211055353U (en) | Safe load rejection device for autonomous underwater robot | |
| CN108214542B (en) | Two-stage force-increasing mechanism driving type underwater electromechanical release device | |
| CN110775231B (en) | Autonomous underwater robot is with safe device of carrying that throws | |
| CN211391648U (en) | Emergency load rejection device for underwater robot | |
| CN109677573B (en) | Deep sea magnetic coupling transmission load rejection mechanism | |
| CN111731461B (en) | Underwater load rejection mechanism | |
| CN107933861B (en) | AUV retrieves and uses throwing rope ware | |
| CN111591417B (en) | Cable throwing mechanism | |
| CN109538764A (en) | A kind of miniature self-service ship driving shafting grease seal leak-proof device | |
| CN101723070B (en) | Device for locking and unlocking underwater rope | |
| CN112937810B (en) | Double-acting unlocking mechanism suitable for underwater equipment and unlocking method thereof | |
| CN205239871U (en) | Underwater robot carries device with safe throwing | |
| CN221402228U (en) | Small-size pipeline robot with waterproof ability | |
| CN115583323A (en) | Autonomous vacuum adsorption emergency safety system of underwater unmanned vehicle | |
| CN206936669U (en) | A kind of pipeline girth weld AUT dollies and drive module used | |
| CN114704220B (en) | Electromagnetic fisher for horizontal well | |
| CN118479022A (en) | Automatic underwater robot's lower electricity throws carries device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240122 Address after: Room 906, Building 4, No. 18 Jialing Jiangdong Street, Jianye District, Nanjing City, Jiangsu Province, 210000 Patentee after: Zhongke Xingtu Deep Sea Technology Co.,Ltd. Country or region after: China Address before: No.114, Nanta street, Shenhe District, Shenyang City, Liaoning Province, 110016 Patentee before: SHENYANG INSTITUTE OF AUTOMATION, CHINESE ACADEMY OF SCIENCES Country or region before: China |
|
| TR01 | Transfer of patent right |