Load rejection device based on memory alloy spring and underwater robot

Abstract

The invention provides a load rejection device based on a memory alloy spring and an underwater robot, the load rejection device comprises a load rejection bracket assembly, a load rejection mechanism and a change-over valve assembly, the load rejection mechanism comprises a driving sub-mechanism and a pin shaft connecting sub-mechanism, the pin shaft connecting sub-mechanism is arranged on the load rejection bracket assembly, and the driving sub-mechanism is arranged on the pin shaft connecting sub-mechanism; the driving sub-mechanism is used for pushing the pin shaft connecting sub-mechanism to move in the axial direction so that the load rejection mechanism can be separated from the load rejection bracket assembly. The change-over valve assembly is arranged on a driving sub-mechanism of the load rejection mechanism. When the underwater glider master control system judges that load rejection is needed, the change-over valve assembly is powered on, the driving sub-mechanism is heated, the driving sub-mechanism pushes the pin shaft connecting sub-mechanism to move in the axial direction, so that the load rejection mechanism is separated from the load rejection bracket assembly, load release is completed, and at the moment, the underwater glider floats upwards due to the fact that buoyancy is larger than gravity; the load rejection device is simple in structure, high in reliability and low in manufacturing cost; and meanwhile, the device has the advantages of small size and small occupied space.

Description

Technical Field

[0001] The present application belongs to the technical field of underwater submersibles, and specifically relates to a load-releasing device based on a memory alloy spring and an underwater robot. Background Art

[0002] Underwater gliders are a new type of unmanned underwater vehicle that achieves underwater gliding motion by adjusting its buoyancy and posture. The associated jettisoning mechanisms are typically complex, involving the coordinated operation of multiple mechanical components, such as mechanical transmission and hydraulic jettisoning. In the complex working environment of the seabed, these complex structures are prone to failure, resulting in delayed separation and the glider's inability to surface in a timely manner. Summary of the Invention

[0003] Therefore, the purpose of this application is to provide a load-releasing device and an underwater robot based on a memory alloy spring, so as to at least solve one technical problem existing in the prior art.

[0004] In order to solve the above problems, the first aspect of an embodiment of the present application provides a dumping device based on a memory alloy spring, including a dumping bracket assembly, a dumping mechanism and a conversion valve assembly, the dumping mechanism including a driving sub-mechanism and a pin connecting sub-mechanism, the pin connecting sub-mechanism is arranged on the dumping bracket assembly, and the driving sub-mechanism is arranged on the pin connecting sub-mechanism; the driving sub-mechanism is used to push the pin connecting sub-mechanism to move axially so that the dumping mechanism is separated from the dumping bracket assembly; the conversion valve assembly is arranged on the driving sub-mechanism of the dumping mechanism.

[0005] Optionally, the pin shaft connection sub-mechanism includes a jettison bracket fixing, a movable pin, and a movable pin positioning block; the jettison bracket fixing is provided with a chamber along the axial direction, and the movable pin positioning block is installed in the chamber; the movable pin positioning block is provided with a process hole along the axial direction, and the movable pin is inserted into the process hole of the movable pin positioning block along the axial direction and moves relative to the movable pin positioning block.

[0006] Optionally, a shoulder is provided at one end of the movable pin, an annular space is formed between the shoulder of the movable pin and the process hole of the movable pin positioning block, an elastomer is sleeved on the movable pin, and the elastomer is located in the annular space.

[0007] Optionally, the pin shaft connection sub-mechanism also includes a movable pin shaft end cover, a connecting flange is provided at one end of the movable pin positioning block, the movable pin shaft end cover is snapped onto the connecting flange of the movable pin positioning block, and the movable pin positioning block and the movable pin shaft end cover are simultaneously fixed on the boss of the chamber of the jettisoning bracket fixing member.

[0008] Optionally, the junk bracket assembly includes a junk bracket, and the junk bracket includes an insertion end; the junk bracket fixing piece is radially provided with a junk bracket fixing piece groove, and the insertion end of the junk bracket passes through the junk bracket fixing piece groove and is inserted on the movable pin positioning block.

[0009] Optionally, the movable pin positioning block includes a second movable pin fixing block, and a second movable pin shaft fixing block positioning groove is radially opened on the second movable pin fixing block; the insertion end of the jettisoning bracket is provided with a jettisoning bracket positioning groove, and a movable pin groove is opened on the movable pin, and the insertion end of the jettisoning bracket is inserted on the movable pin positioning block, so that the positioning ball is simultaneously stuck in the second movable pin shaft fixing block positioning groove, the jettisoning bracket positioning groove and the movable pin groove.

[0010] Optionally, the driving sub-mechanism includes a spring sleeve, a throw-down shaft, a memory alloy spring and an electric heating element; the spring sleeve includes a first end and a second end, the spring sleeve is connected to the throw-down bracket fixing member, and the first end is inserted into the chamber of the throw-down bracket fixing member; the throw-down shaft includes a pushing portion and an open end, the throw-down shaft is installed in the spring sleeve, the pushing portion of the throw-down shaft passes through the spring sleeve and the movable pin shaft end cover, the electric heating element is inserted into the throw-down shaft from the open end, the memory alloy spring is sleeved on the throw-down shaft, and the electric heating element is used to heat the memory alloy spring.

[0011] Optionally, the throwing load bracket assembly further includes a throwing load lead block, a throwing load lead block positioning hole is provided at the center of the throwing load lead block, and the throwing load bracket further includes a connecting end, and the connecting end of the throwing load bracket is inserted into the throwing load lead block positioning hole.

[0012] Optionally, the conversion valve assembly includes a conversion valve block, an electrode assembly and a hose assembly, the conversion valve block is connected to the second end of the spring sleeve, and the conversion valve block is inserted into the spring sleeve; a limiting portion is provided on the throw-down shaft, and an oil chamber is formed between the limiting portion of the throw-down shaft and the conversion valve block, which is connected to the valve chamber of the conversion valve block; the memory alloy spring is located in the oil chamber; the electrode assembly and the hose assembly are provided on the conversion valve block, and the electrode assembly and the hose assembly are arranged relatively on both sides of the conversion valve block, the electrode assembly is electrically connected to the electric heating element, and the hose assembly is used to fill hydraulic oil into the valve chamber of the conversion valve block and the oil chamber.

[0013] A second aspect of the present application provides an underwater robot comprising any one of the aforementioned memory alloy spring-based load-releasing devices.

[0014] By means of the above technical solution, the present invention has at least the following beneficial effects:

[0015] The memory alloy spring-based jettisoning device and underwater robot provided in the present application inject hot-pressed oil into the jettisoning mechanism through a conversion valve assembly to make it consistent with the external pressure; when the underwater glider main control system determines that jettisoning is required, the conversion valve assembly is energized to heat the driving sub-mechanism, and the driving sub-mechanism pushes the pin shaft connecting sub-mechanism to move axially to separate the jettisoning mechanism from the jettisoning bracket assembly, completing the release of the load. At this time, the buoyancy of the underwater glider is greater than the gravity and it floats up; the jettisoning device of the present application has a simple structure, high reliability, and low manufacturing cost; it also has the advantages of being small in size and taking up little space. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an axonometric diagram of the structure of the load-releasing device based on the memory alloy spring according to an embodiment of the present application;

[0017] Figure 2 This is a front cross-sectional view of a load-releasing device based on a memory alloy spring according to an embodiment of the present application;

[0018] Figure 3 This is a top cross-sectional view of a load-releasing device based on a memory alloy spring according to an embodiment of the present application;

[0019] Figure 4 A side view of a socket housing according to an embodiment of the present application;

[0020] Figure 5 This is a cross-sectional view taken along line AA of the socket housing according to an embodiment of the present application;

[0021] Figure 6 This is a schematic diagram of a hose connector for a conversion valve block according to an embodiment of the present application;

[0022] Figure 7 This is a cross-sectional view of the hose connector of the conversion valve block taken along line BB of an embodiment of the present application;

[0023] Figure 8 This is a left side view of the spring sleeve according to an embodiment of the present application;

[0024] Figure 9 This is a right side view of the spring sleeve according to an embodiment of the present application;

[0025] Figure 10 This is a front view of the movable pin of an embodiment of the present application;

[0026] Figure 11 A top view of a movable pin according to an embodiment of the present application;

[0027] Figure 12 This is a right side view of the movable pin of an embodiment of the present application;

[0028] Figure 13 This is a front view of the first movable pin fixing block of an embodiment of the present application;

[0029] Figure 14 A side view of a first movable pin fixing block according to an embodiment of the present application;

[0030] Figure 15 A top view of the first movable pin fixing block according to an embodiment of the present application;

[0031] Figure 16 This is a front view of the second movable pin fixing block of an embodiment of the present application;

[0032] Figure 17 This is a cross-sectional view taken along the CC line of the second movable pin fixing block according to an embodiment of the present application;

[0033] Figure 18 This is a bottom view of the second movable pin fixing block according to an embodiment of the present application;

[0034] Figure 19 This is a front view of the movable pin end cover of an embodiment of the present application;

[0035] Figure 20 A schematic diagram of a dumping bracket according to an embodiment of the present application;

[0036] Figure 21 This is a schematic diagram of the embodiment of the present application being thrown onto the bracket in the DD direction;

[0037] Figure 22 A side view of a jettison bracket fixing member according to an embodiment of the present application;

[0038] Figure 23 This is a schematic diagram of the jettison bracket fixing member in the EE direction according to an embodiment of the present application;

[0039] Figure 24 A side view of a load-casting spring according to an embodiment of the present application;

[0040] Figure 25 A top view of a load-releasing spring sheet according to an embodiment of the present application;

[0041] Figure 26 This is a front view of the lead throwing block according to an embodiment of the present application;

[0042] Figure 27 This is a top view of the lead throwing block according to an embodiment of the present application.

[0043] The reference numerals indicate:

[0044] 1. Electrode pin;

[0045] 2. Socket housing; 201. Socket housing fixing hole; 202. Socket housing sealing groove;

[0046] 3. Convert valve block;

[0047] 4. Conversion valve block hose;

[0048] 5. Conversion valve block hose connector; 501. External thread of conversion valve block hose connector; 502. Sealing groove of conversion valve block hose connector;

[0049] 6. Plug;

[0050] 7. Heating wire;

[0051] 8. Throwing shaft;

[0052] 9. Memory alloy spring;

[0053] 10. Spring sleeve; 1001. Spring sleeve sealing groove; 1002. Spring sleeve fixing hole; 1003. Spring sleeve threaded hole;

[0054] 11. Moving pin; 1101. Moving pin groove;

[0055] 12. Compression spring;

[0056] 13. First movable pin fixing block; 1301. First movable pin fixing block fixing hole;

[0057] 14. Second movable pin fixing block; 1401. Positioning groove of second movable pin fixing block; 1402. Fixing hole of second movable pin fixing block;

[0058] 15. Set piece;

[0059] 16. Mobile pin end cover; 1601. Mobile pin end cover fixing hole;

[0060] 17. Jetting bracket; 1701. Positioning groove of the jettisoning bracket; 1702. External thread of the jettisoning bracket;

[0061] 18. Jetting bracket fixing piece; 1801. Threaded hole for the jettison bracket fixing piece; 1802. Fixing hole for the jettison bracket fixing piece; 1803. Groove for the jettison bracket fixing piece;

[0062] 19. Cast-off spring piece; 1901. First positioning hole for cast-off spring piece; 1902. Fixing hole for cast-off spring piece; 1903. Second positioning hole for cast-off spring piece;

[0063] 20. Lead throw block; 2001. Positioning hole for lead throw block. DETAILED DESCRIPTION

[0064] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0065] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0066] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integral connection; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; or internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this application based on specific circumstances.

[0067] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0068] See also Figures 1 to 27 As shown, according to the first aspect of the embodiment of the present application, a dumping device based on a memory alloy spring is provided, including a dumping bracket assembly, a dumping mechanism and a conversion valve assembly, the dumping mechanism including a driving sub-mechanism and a pin connecting sub-mechanism, the pin connecting sub-mechanism is arranged on the dumping bracket assembly, and the driving sub-mechanism is arranged on the pin connecting sub-mechanism; the driving sub-mechanism is used to push the pin connecting sub-mechanism to move axially so that the dumping mechanism is separated from the dumping bracket assembly; the conversion valve assembly is arranged on the driving sub-mechanism of the dumping mechanism.

[0069] Hot pressurized oil is injected into the jettisoning mechanism through the conversion valve assembly to make it consistent with the external pressure; when the underwater glider main control system determines that jettisoning is required, the conversion valve assembly is energized to heat the driving sub-mechanism, and the driving sub-mechanism pushes the pin shaft connecting sub-mechanism to move axially to separate the jettisoning mechanism from the jettisoning bracket assembly, completing the release of the load. At this time, the buoyancy of the underwater glider is greater than the gravity and it floats up; the jettisoning device based on the memory alloy spring of the present application has a simple structure, high reliability, and low manufacturing cost; it also has the advantages of being small in size and taking up little space.

[0070] The jettison bracket assembly provides negative buoyancy for the underwater glider, enabling it to maintain a stable submerged position. By adjusting the weight of the jettison bracket assembly, the buoyancy and gravity balance of the underwater glider can be controlled, enabling precise diving and surfacing operations.

[0071] In another embodiment, the pin shaft connection sub-mechanism includes a jettison bracket fixing part 18, a movable pin 11, and a movable pin positioning block; the jettison bracket fixing part 18 is provided with a chamber along the axial direction, and the movable pin positioning block is installed in the chamber; the movable pin positioning block is provided with a process hole along the axial direction, and the movable pin 11 is inserted into the process hole of the movable pin positioning block along the axial direction and moves relative to the movable pin positioning block.

[0072] Among them, the jettisoning bracket fixing block 18 is provided with a chamber along the axial direction, the chamber is stepped, including a small diameter hole and a large diameter hole connected to the small diameter; the movable pin positioning block is installed in the small diameter hole, and a connecting flange is provided at one end of the movable pin positioning block, and the connecting flange is fixed on the chamber boss.

[0073] Among them, the movable pin positioning block is provided with a process hole along the axial direction, and the process hole has the same length as the movable pin positioning block; the process hole is a stepped hole, including a small hole and a large hole connected to the small hole, and the movable pin 11 is inserted into the small hole of the movable pin positioning block along the axial direction.

[0074] The specific working process is: under the push of the driving sub-mechanism, the movable pin 11 moves along the axial direction and moves to the outside of the movable pin positioning block to separate the jettisoning bracket assembly from the pin shaft connecting sub-mechanism. At this time, the buoyancy of the underwater glider is greater than the gravity and it floats up.

[0075] In another embodiment, a shoulder is provided at one end of movable pin 11. An annular space is formed between the shoulder of movable pin 11 and the process hole of the movable pin positioning block. An elastic body is sleeved over movable pin 11 and located within the annular space. When the driving sub-mechanism no longer propels movable pin 11 axially, the elastic body releases its elastic force, causing movable pin 11 to return to its original position.

[0076] The movable pin 11 is sleeved with an elastic body, which is located in the annular space. That is, one end of the elastic body abuts against the cavity boss of the movable pin positioning block, and the other end abuts against the shaft shoulder of the movable pin 11 .

[0077] Specifically, the elastic body is a compression spring 12 , and when subjected to an external force, the elastic body is compressed.

[0078] The specific working process is: when the driving sub-mechanism pushes the movable pin 11 to move axially, the elastic body is compressed; when the driving sub-mechanism no longer applies axial force, the elastic body releases the elastic force and pushes the movable pin 11 to reset.

[0079] In another embodiment, the pin connection sub-mechanism further includes a movable pin end cap 16. A connecting flange is provided at one end of the movable pin positioning block. The movable pin end cap 16 snaps onto the connecting flange of the movable pin positioning block. Both the movable pin positioning block and the movable pin end cap 16 are simultaneously secured to a boss within the cavity of the jettison bracket fixture 18. The movable pin end cap 16 is used to limit the position of the movable pin 11. When the movable pin 11 is reset, the shoulder of the movable pin 11 precisely abuts against the movable pin end cap 16.

[0080] Among them, the movable pin positioning block and the movable pin shaft end cover 16 are fixed on the boss of the cavity of the jettison bracket fixing part 18 at the same time, that is, the bolts pass through the connecting flanges of the movable pin shaft end cover 16 and the movable pin positioning block in sequence and are screwed on the boss of the cavity of the jettison bracket fixing part 18.

[0081] In another embodiment, the jettisoning bracket assembly includes a jettisoning bracket 17, which includes an insertion end; the jettisoning bracket fixing member 18 is radially provided with a jettisoning bracket fixing member groove 1803, and the insertion end of the jettisoning bracket 17 passes through the jettisoning bracket fixing member groove 1803 and is inserted into the movable pin positioning block.

[0082] The junk bracket fixing member 18 is provided with a junk bracket fixing member groove 1803 in the radial direction, that is, the junk bracket fixing member groove 1803 is communicated with the small diameter hole of the movable pin positioning block.

[0083] Specifically, the junk bracket fixing groove 1803 is square.

[0084] The insertion end of the jettisoning bracket 17 passes through the jettisoning bracket fixing groove 1803 and is inserted into the movable pin positioning block, thereby realizing quick connection between the jettisoning bracket assembly and the jettisoning mechanism, and the connection method is simple and reliable.

[0085] In another embodiment, the movable pin positioning block includes a second movable pin fixing block 14, and a second movable pin shaft fixing block positioning groove 1401 is radially opened on the second movable pin fixing block 14; a ejection bracket positioning groove 1701 is opened at the insertion end of the ejection bracket 17, and a movable pin groove 1101 is opened on the movable pin 11, and the insertion end of the ejection bracket 17 is inserted on the movable pin positioning block, so that the positioning ball 15 is simultaneously stuck on the second movable pin shaft fixing block positioning groove 1401, the ejection bracket positioning groove 1701 and the movable pin groove 1101.

[0086] Among them, a second movable pin shaft fixing block positioning groove 1401 is radially opened on the second movable pin fixing block 14. Here, the second movable pin shaft fixing block positioning groove 1401 is a stepped hole, and the diameter becomes smaller near the outer peripheral end of the second movable pin fixing block 14, causing part of the positioning ball 15 to protrude to the outside of the second movable pin fixing block 14, while preventing the positioning ball 15 from slipping out of the second movable pin shaft fixing block positioning groove 1401.

[0087] Among them, a moving pin groove 1101 is opened on the moving pin 11, and here the moving pin groove 1101 is arranged on the outer peripheral surface of the moving pin 11, and the moving pin groove 1101 is composed of a first groove with a flat bottom and a second groove with an inclined bottom, and the bottom of the second groove is inclined from the end close to the shaft shoulder to the end away from the shaft shoulder; when the insertion end of the jettisoning bracket 17 is inserted on the moving pin positioning block, the positioning ball 15 at least partially rests on the second groove with an inclined bottom, and when the moving pin 11 moves axially toward the outside of the moving pin positioning block, the positioning ball 15 at least partially moves into the first groove with a flat bottom, and at this time the positioning ball 15 is separated from the jettisoning bracket positioning groove 1701, so that the jettisoning bracket assembly is separated from the jettisoning mechanism.

[0088] Among them, the movable pin positioning block also includes a first movable pin fixing block 13, and the first movable pin fixing block 13 and the second movable pin fixing block 14 are buckled together; the movable pin positioning block adopts a two-petal structure, which facilitates the installation and disassembly of the movable pin positioning block in the cavity of the jettisoning bracket fixing part 18.

[0089] Specifically, a movable pin end cover fixing hole 1601 is formed on the movable pin end cover 16, and a first movable pin fixing block fixing hole 1301 is formed on the flange end of the first movable pin fixing block 13. A bolt passes through a portion of the movable pin end cover fixing hole 1601 and the first movable pin fixing block fixing hole 1301 and is screwed onto the threaded hole 1801 of the jettison bracket fixing member to fix the movable pin end cover 16 and the first movable pin fixing block 13 on the boss of the chamber of the jettison bracket fixing member 18. A second movable pin fixing block fixing hole 1402 is formed on the flange end of the second movable pin fixing block 14. A bolt passes through another portion of the movable pin end cover fixing hole 1601 and the second movable pin fixing block fixing hole 1402 and is screwed onto the threaded hole 1801 of the jettison bracket fixing member to mount the movable pin end cover 16 and the second movable pin fixing block 14 on the boss of the chamber of the jettison bracket fixing member 18.

[0090] A second movable pin shaft fixing block positioning groove 1401 is radially opened on the second movable pin fixing block 14; a jettisoning bracket positioning groove 1701 is opened on the insertion end of the jettisoning bracket 17, and the insertion end of the jettisoning bracket 17 is inserted on the movable pin positioning block so that the positioning ball 15 is simultaneously stuck on the second movable pin shaft fixing block positioning groove 1401, the jettisoning bracket positioning groove 1701 and the movable pin 11.

[0091] In another embodiment, the driving sub-mechanism includes a spring sleeve 10, a throwing load shaft 8, a memory alloy spring 9 and an electric heating element; the spring sleeve 10 includes a first end and a second end, the spring sleeve 10 is connected to the throwing load bracket fixing member 18, and the first end is inserted into the cavity of the throwing load bracket fixing member 18; the throwing load shaft 8 includes a pushing portion and an open end, the throwing load shaft 8 is installed in the spring sleeve 10, the pushing portion of the throwing load shaft 8 passes through the spring sleeve 10 and the movable pin shaft end cover 16, the electric heating element is inserted into the throwing load shaft 8 from the open end, the memory alloy spring 9 is mounted on the throwing load shaft 8, and the electric heating element is used to heat the memory alloy spring 9.

[0092] Among them, a spring sleeve threaded hole 1003 is opened on the flange in the middle of the outer peripheral surface of the spring sleeve 10, and a jettison bracket fixing hole 1802 is opened on the flange of the jettison bracket fixing part 18. The bolt passes through the spring sleeve threaded hole 1003 and the jettison bracket fixing hole 1802 to screw the spring sleeve 10 to the jettison bracket fixing part 18.

[0093] A spring sleeve fixing hole 1002 is formed at the second end of the spring sleeve 10 , and a bolt passes through the spring sleeve fixing hole 1002 to connect the spring sleeve 10 to the conversion valve assembly.

[0094] A spring sleeve sealing groove 1001 is formed on the second end surface of the spring sleeve 10 . A sealing ring is provided in the spring sleeve sealing groove 1001 to isolate the external pressure liquid medium.

[0095] In this embodiment, the electric heating element is a heating wire 7 .

[0096] The driving sub-mechanism further includes a plug 6, which is arranged at the open end of the throw-load shaft 8 so that the electric heating element is always kept inside the open end of the throw-load shaft 8 when subjected to external force.

[0097] The driving sub-mechanism further includes a throw-off spring piece 19 , which is a right-angle structure.

[0098] Specifically, a first positioning hole 1901 for the jettison spring piece and a fixing hole 1902 for the jettison spring piece are opened at one end of the jettison spring piece 19; the jettison spring piece 19 is sleeved on the spring sleeve 10 through the first positioning hole 1901 for the jettison spring piece, and a bolt passes through the threaded hole 1003 of the spring sleeve, the fixing hole 1902 for the jettison spring piece and the fixing hole 1802 for the jettison bracket fixing piece, thereby screwing the spring sleeve 10 and the jettison spring piece 19 to the jettison bracket fixing piece 18.

[0099] The specific operation process is as follows: the electric heating element generates heat when it is energized, which heats the memory alloy spring 9 mounted on the throw-off shaft 8. The memory alloy spring 9 absorbs the heat and expands, pushing the throw-off shaft 8 toward one end of the movable pin 11. This in turn pushes the movable pin 11 to move, providing the driving force for the movable pin 11 to move. When the electric heating element stops heating, the memory alloy spring 9 returns to its compressed state.

[0100] In another embodiment, the throwing load bracket assembly further includes a throwing load lead block 20, a throwing load lead block positioning hole 2001 is opened in the center of the throwing load lead block 20, and the throwing load bracket 17 further includes a connecting end, and the connecting end of the throwing load bracket 17 is inserted into the throwing load lead block positioning hole 2001.

[0101] Among them, a throwing lead block positioning hole 2001 is opened in the center of the throwing lead block 20, and the throwing lead block positioning hole 2001 is composed of three parts, and the aperture of the two end parts is larger than the aperture of the middle part; a limiting boss is set in the middle of the throwing bracket 17. When the connecting end of the throwing bracket 17 is inserted into the throwing lead block positioning hole 2001, the limiting boss is clamped on the end hole. At this time, the connecting end at least partially extends to the outside of the throwing lead block 20, and a nut is screwed on the protruding part to fix the throwing bracket 17 on the throwing lead block 20.

[0102] Among them, a second positioning hole 1903 of the throwing spring piece is opened at the other end of the throwing spring piece 19, and the axis of the second positioning hole 1903 of the throwing spring piece is perpendicular to the axial direction of the first positioning hole 1901 of the throwing spring piece. The other end of the throwing spring piece 19 is against the surface of the throwing lead block 20. When the throwing bracket 17 is connected to the throwing lead block 20, it passes through the second positioning hole 1903 of the throwing spring piece.

[0103] Specifically, the diameter of the second positioning hole 1903 of the jettison spring is larger than the size of the plug-in end of the jettison bracket 17. When the jettison bracket assembly is separated from the jettison mechanism, the jettison spring 19 can be smoothly separated from the plug-in end of the jettison bracket 17. The elastic force provided by the jettison spring 19 further provides the driving force for the underwater glider to float upward.

[0104] In another embodiment, the conversion valve assembly includes a conversion valve block 3, an electrode assembly, and a hose assembly. The conversion valve block 3 is connected to the second end of the spring sleeve 10 and is inserted into the spring sleeve 10. A limit portion is provided on the load-releasing shaft 8, and an installation space is formed between the limit portion of the load-releasing shaft 8 and the conversion valve block 3, which is connected to the valve chamber of the conversion valve block 3. A memory alloy spring 9 is located in the installation space. The conversion valve block 3 is provided with an electrode assembly and a hose assembly, and the electrode assemblies and the hose assembly are arranged on opposite sides of the conversion valve block 3. The electrode assembly is electrically connected to the electric heating element. The hose assembly is used to fill the load-releasing mechanism with hydraulic oil through the conversion valve block 3. The conversion valve assembly is used to energize the load-releasing mechanism and to introduce hydraulic oil into the load-releasing mechanism. By balancing the pressure inside the load-releasing mechanism with the external pressure, the problem of leakage that easily occurs during the load-releasing operation of a deep underwater glider is solved.

[0105] The cavity formed between the spring sleeve 10, the jettison shaft 8, and the conversion valve assembly, as well as the cavity between the open end of the jettison shaft 8 and the plug 6, of the load-releasing mechanism, are oil chambers for filling hydraulic oil through the conversion valve assembly's hose assembly. At great depths, the internal and external pressures of the memory alloy spring-based jettisoning device are balanced, resolving the pressure-resistance issues of conventional jettisoning devices caused by increasing the thickness of the outer shell and thus significantly increasing the overall weight. This application significantly reduces the weight of the memory alloy spring-based jettisoning device, making it suitable for operation at full ocean depths.

[0106] Among them, the electrode assembly includes a socket shell 2 and an electrode pin 1. The socket shell 2 includes a socket interface. The electrode pin 1 is arranged in the socket interface, and the gap between the two is filled with epoxy resin. The electrode pin 1 is fixed in the socket interface by the epoxy resin.

[0107] The socket housing 2 also includes a socket housing fixing hole 201 and a socket housing sealing groove 202. Bolts pass through the socket housing fixing hole 201 to screw the socket housing 2 onto the conversion valve block 3, and at least part of the socket housing 2 extends into the valve chamber of the conversion valve block 3; a socket housing sealing groove 202 is provided on the surface of the socket housing 2 that contacts the conversion valve block 3, and a sealing ring is provided on the socket housing sealing groove 202 for isolating the external pressure liquid medium.

[0108] Among them, the hose assembly includes a conversion valve block hose 4 and a conversion valve block hose connector 5; one end of the conversion valve block hose connector 5 is provided with a conversion valve block hose connector external thread 501, and the conversion valve block hose connector 5 is screwed to the conversion valve block 3 through the conversion valve block hose connector external thread 501, and the other end of the conversion valve block hose connector 5 is provided with a protrusion, and the conversion valve block hose 4 is sleeved on the protrusion at the other end of the conversion valve block hose connector 5, thereby realizing quick connection and disassembly of the conversion valve block hose 4 and the conversion valve block hose connector 5.

[0109] A conversion valve block hose connector sealing groove 502 is provided on the surface where the conversion valve block hose connector 5 contacts the conversion valve block 3 . A sealing ring is provided in the conversion valve block hose connector sealing groove 502 to isolate the external pressure liquid medium.

[0110] By arranging a socket housing sealing groove 202 on the socket housing 2, a conversion valve block hose connector sealing groove 502 on the conversion valve block hose connector 5, and a spring sleeve sealing groove 1001 on the spring sleeve 10, the sealing ring can prevent liquid from penetrating into the device from the outside of the memory alloy spring-based jettisoning device, thereby improving the sealing ability of the connection; at the same time, the setting of the sealing ring can also ensure that the pressure inside the memory alloy spring-based jettisoning device remains stable, preventing pressure leakage; and solves the problem of dynamic sealing of traditional jettisoning devices at great depths.

[0111] A second aspect of an embodiment of the present application provides an underwater robot, comprising any one of the above-mentioned memory alloy spring-based load-releasing devices.

[0112] Hot pressurized oil is injected into the inside of the load-dumping device based on the memory alloy spring through the conversion valve assembly to make it consistent with the external pressure; when the underwater glider main control system determines that load dumping is required, the conversion valve assembly is energized to heat the driving sub-mechanism, and the driving sub-mechanism pushes the pin shaft connecting sub-mechanism to move axially to separate the load-dumping mechanism from the load-dumping bracket assembly, completing the release of the load. At this time, the buoyancy of the underwater glider is greater than the gravity and it floats up; the load-dumping device based on the memory alloy spring of the present application has a simple structure, high reliability and low manufacturing cost; it also has the advantages of being small in size and taking up little space.

[0113] The specific use process of the underwater glider is as follows:

[0114] When the underwater glider needs to perform pressure compensation when diving, hydraulic oil is pumped into the conversion valve hose 4 underwater to make the pressure inside the mechanism consistent with the external pressure. When the underwater glider's main control system determines that load jettisoning is required, power is supplied to the electrode pin 1 connected to the memory alloy spring-based load jettisoning device, heating the electric heating element in the load jettisoning mechanism. The heat is transferred to the memory alloy spring 9 through the hydraulic oil, causing the memory alloy spring 9 to extend and provide thrust to the load jettisoning shaft 8. The load jettisoning shaft 8 is displaced in the axial direction and transfers the thrust to the movable pin 11, overcoming the pre-compression force of the elastic body on the movable pin. During this process, the positioning ball 15 located between the movable pin 11, the second movable pin fixing block 14 and the load jettisoning bracket 17 slides from the second groove with an inclined bottom to the first groove with a flat bottom due to the axial movement of the movable pin 11. That is, as the radial cross-section decreases as it moves forward, radial displacement begins to occur. Finally, the load jettisoning lead block 20 connected to the load jettisoning bracket 17 loses the support of the positioning ball 15 and detaches, completing the load release, causing the underwater glider to float upward due to its buoyancy being greater than the gravity.

[0115] It is easy for those skilled in the art to understand that, under the premise of no conflict, the above-mentioned advantageous methods can be freely combined and superimposed.

[0116] The above are merely preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principles of the present application shall be included within the scope of protection of the present application. The above are merely preferred embodiments of the present application. It should be noted that those skilled in the art may make various improvements and variations without departing from the technical principles of the present application, and such improvements and variations shall also be considered within the scope of protection of the present application.

Claims

1. A load-releasing device based on a memory alloy spring, characterized in that: include: Dump bracket assembly; A jettisoning mechanism, the jettisoning mechanism comprising a driving sub-mechanism and a pin connecting sub-mechanism, the pin connecting sub-mechanism being disposed on the jettisoning bracket assembly, the driving sub-mechanism being disposed on the pin connecting sub-mechanism; the driving sub-mechanism being configured to push the pin connecting sub-mechanism to move axially to separate the jettisoning mechanism from the jettisoning bracket assembly; A conversion valve assembly is provided on the driving sub-mechanism of the dumping mechanism.

2. The load-releasing device based on a memory alloy spring according to claim 1, characterized in that: The pin shaft connection sub-mechanism includes a jettison bracket fixing part (18), a movable pin (11), and a movable pin positioning block; the jettison bracket fixing part (18) is provided with a cavity along the axial direction, and the movable pin positioning block is installed in the cavity; the movable pin positioning block is provided with a process hole along the axial direction, and the movable pin (11) is inserted into the process hole of the movable pin positioning block along the axial direction and moves relative to the movable pin positioning block.

3. The load-releasing device based on a memory alloy spring according to claim 2, characterized in that: A shoulder is provided at one end of the movable pin (11), and an annular space is formed between the shoulder of the movable pin (11) and the process hole of the movable pin positioning block. An elastomer is sleeved on the movable pin (11), and the elastomer is located in the annular space.

4. The load-releasing device based on a memory alloy spring according to claim 2, characterized in that: The pin shaft connection sub-mechanism also includes a movable pin shaft end cover (16), one end of the movable pin positioning block is provided with a connecting flange, the movable pin shaft end cover (16) is buckled on the connecting flange of the movable pin positioning block, and the movable pin positioning block and the movable pin shaft end cover (16) are simultaneously fixed on the boss of the chamber of the jettison bracket fixing member (18).

5. The load-releasing device based on a memory alloy spring according to claim 2, characterized in that: The jettisoning bracket assembly includes a jettisoning bracket (17), and the jettisoning bracket (17) includes an insertion end; the jettisoning bracket fixing piece (18) is radially provided with a jettisoning bracket fixing piece groove (1803), and the insertion end of the jettisoning bracket (17) passes through the jettisoning bracket fixing piece groove (1803) and is inserted into the movable pin positioning block.

6. The load-releasing device based on a memory alloy spring according to claim 5, characterized in that: The movable pin positioning block comprises a second movable pin fixing block (14), and a second movable pin shaft fixing block positioning groove (1401) is radially provided on the second movable pin fixing block (14); the insertion end of the jettisoning bracket (17) is provided with a jettisoning bracket positioning groove (1701), and the movable pin (11) is provided with a movable pin groove (1101), and the insertion end of the jettisoning bracket (17) is inserted into the movable pin positioning block so that the positioning ball (15) is simultaneously clamped in the second movable pin shaft fixing block positioning groove (1401), the jettisoning bracket positioning groove (1701) and the movable pin groove (1101).

7. The load-releasing device based on a memory alloy spring according to claim 4, characterized in that: The driving sub-mechanism includes a spring sleeve (10), a throwing shaft (8), a memory alloy spring (9) and an electric heating element; the spring sleeve (10) includes a first end and a second end, the spring sleeve (10) is connected to the throwing bracket fixing member (18), and the first end is inserted into the chamber of the throwing bracket fixing member (18); the throwing shaft (8) includes a push portion and an open end, the throwing shaft (8) is installed in the spring sleeve (10), the push portion of the throwing shaft (8) passes through the spring sleeve (10) and the movable pin shaft end cover (16), the electric heating element is inserted into the throwing shaft (8) from the open end, the memory alloy spring (9) is sleeved on the throwing shaft (8), and the electric heating element is used to heat the memory alloy spring (9).

8. The load-releasing device based on a memory alloy spring according to claim 5, characterized in that: The throwing bracket assembly further comprises a throwing lead block (20), a throwing lead block positioning hole (2001) is provided at the center of the throwing lead block (20), and the throwing bracket (17) further comprises a connecting end, and the connecting end of the throwing bracket (17) is inserted into the throwing lead block positioning hole (2001).

9. The load-releasing device based on a memory alloy spring according to claim 4, characterized in that: The conversion valve assembly comprises a conversion valve block (3), an electrode assembly and a hose assembly, the conversion valve block (3) is connected to the second end of the spring sleeve (10), and the conversion valve block (3) is inserted into the spring sleeve (10); a limiting portion is provided on the throw-load shaft (8), an oil cavity is formed between the limiting portion of the throw-load shaft (8) and the conversion valve block (3), and is communicated with the valve chamber of the conversion valve block (3); the memory alloy spring (9) is located in the oil cavity; the conversion valve block (3) is provided with the electrode assembly and the hose assembly, and the electrode assembly and the hose assembly are arranged on both sides of the conversion valve block (3) relative to each other, the electrode assembly is electrically connected to the electric heating element, and the hose assembly is used to fill the valve chamber of the conversion valve block (3) and the oil cavity with hydraulic oil.

10. An underwater robot, characterized in that: A load-releasing device based on a memory alloy spring comprising any one of claims 1 to 9.

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