An underwater release device and its design method

Abstract

The invention relates to an underwater releaser, comprising a lower push power mechanism, a push rod, a spring piece, a sphere, a base slide groove, and a counterweight slide groove; the counterweight slide groove is sleeved on the outside of the base slide groove, wherein the inner wall of the counterweight slide groove has a sphere groove for accommodating the sphere, and the base slide groove is provided with a side hole corresponding to the height of the sphere groove, and the lower edge of the side hole is inclined downward and tangent to the sphere groove; the spring piece has a rod diverging from the central vertex to the surroundings, and the end of the rod is fixedly connected to the sphere; the push rod is vertically limited, one end of which supports the central vertex, and the other end can move downward after being acted upon by the lower push power mechanism, forcing the spring piece to bend at the central vertex, thereby forcing the sphere to leave the sphere groove, and then causing the counterweight slide groove to sink under the action of its own weight.

Description

Technical Field

[0001] The invention relates to an underwater releaser and a design method thereof, belonging to the technical field of underwater releasers. Background Art

[0002] With the continuous development and deepening of marine resources, more and more unmanned equipment is being put into use in the ocean, such as video acquisition equipment for seabed environmental monitoring. Since anchored marine monitoring equipment needs to observe the marine environment and collect data at different depths in the deep sea, the sinking anchor of the equipment needs to be weighted differently according to the depth of the ocean to ensure that the equipment is deployed to the designed depth; after completing the marine data collection, the video equipment needs to be separated from the weighted anchor for recovery in order to retrieve and analyze the collected data. The separation of the equipment requires an underwater separation mechanism. In addition to the need to select the form of driving force, the underwater separation mechanism is also closely related to the composition of the mechanism, the force conditions between the structures, and the relationship between the size of the structural parts.

[0003] In the existing underwater releaser, it is difficult to design the linkage relationship between the action mechanism and the spring, and it is particularly difficult to make a targeted selection of the pre-pressure of the spring. Summary of the invention

[0004] The purpose of the present invention is to provide an underwater releaser and a matching design method, so that the calculation method of the spring preload of the key parts of the spherical release mechanism and the design of the entire mechanism can be coordinated and realized, so that there is a fixed formula for coordinated calculation of the spring preload and the overall structural size in the early stage of the design, which provides a favorable reference for the overall design, and specifically provides a set of underwater releaser hardware structure that can achieve the above-mentioned design purpose.

[0005] The present invention adopts the following technical solutions:

[0006] An underwater releaser comprises a lower push power mechanism, a push rod 3, a spring piece 4, a sphere, a base slide groove 6 and a counterweight slide groove 7; the counterweight slide groove 7 is sleeved on the outside of the base slide groove 6, wherein the inner wall of the counterweight slide groove 7 has a spherical groove for accommodating the sphere, and the base slide groove 6 is provided with a side hole corresponding to the height of the spherical groove, and the lower edge of the side hole is inclined downward and tangent to the spherical groove; the spring piece 4 has a rod diverging from the central vertex to the surroundings, and the end of the rod is fixedly connected to the sphere; the push rod 3 is vertically limited, one end of which supports the central vertex, and the other end can move downward after being acted upon by the lower push power mechanism, forcing the spring piece 4 to bend at the central vertex, thereby forcing the sphere to disengage from the spherical groove, and then causing the counterweight slide groove 7 to sink under the action of its own weight.

[0007] Preferably, the lower top driving mechanism includes a motor 1 and a cam 2 driven by the motor. After the cam 2 rotates, its protruding part can apply force to the push rod 3.

[0008] Preferably, the lower part of the counterweight chute 7 is fixedly connected to the counterweight anchor.

[0009] Preferably, the upper part of the base chute 6 is fixedly connected to the video acquisition device.

[0010] Preferably, the sphere is a steel ball 5.

[0011] A design method of an underwater release device. The weight of the sphere 5 is much smaller than the weight of the device and is not taken into account. Under the condition of initial external force balance, the pre-pressure F' of the elastic sheet 4 acting on the sphere and the supporting force are a pair of balanced action and reaction forces. The magnitude of the pre-pressure F' of the spring is obtained by multiplying the pre-pressure value by the number of times of the spring deformation Δx plus the safety factor ψ, so as to ensure reliable locking of the base chute 6 and the counterweight chute 7. The calculation formula is expressed as: F' = nψkΔx, where: k is the stiffness coefficient of the spring material, n is the number of steel balls, the spring deformation is Δx, and Δx is limited by the size of the component and the size of the sphere. At the moment of detachment of a single sphere, the external force of the lower top driving mechanism is applied to the push rod 3 and then transmitted to the elastic sheet 4 to pull the sphere fixed to the elastic sheet. Static friction is generated at the contact points a and b, where a is located at the top of the sphere and b is located on the normal direction of the sphere relative to the oblique downward direction of the sphere groove. The external force is greater than the resultant force of the static friction and the pre-pressure of the spring. At this time, the expression of the external force is: F > n(F' + μNa + μNbcosα) / sinθ; where n is the number of uniformly distributed spheres, μ is the static friction coefficient between the contacting sphere and the contact surface, Na and Nb are the normal pressures of each contacting sphere, α is the angle between the sphere and the normal force of the contact surface, and θ is the angle of the external force acting on the sphere.

[0012] The beneficial effects of the present invention are as follows:

[0013] 1) An underwater release device is provided, which has a simple structure, is easy to manufacture, and has high operation reliability.

[0014] 2) A force design method matching the underwater release device is provided, specifically embodied as: a calculation method for the pre-pressure of the spring, a key part of the underwater steel ball detachment mechanism, and an implementation method for the entire mechanism, so that there is a fixed formula for collaborative calculation in the spring pre-pressure calculation and the overall structural dimensions in the early stage of design, providing a favorable reference for the overall design.

[0015] 3) The calculation of the force condition and the change trend of the component size of the component can be realized, which not only meets the accuracy requirements of the equipment, but also is convenient for engineering application. Description of the Drawings

[0016] Figure 1This is a diagram of the initial state of the separation mechanism of the underwater releaser of the present invention.

[0017] Figure 2 This is a state diagram of the underwater releaser of the present invention, in which the separation mechanism is in action.

[0018] Figure 3 It is the initial force state diagram of a single steel ball.

[0019] Figure 4 It is a schematic diagram of the force acting on a single steel ball at the moment of detachment.

[0020] In the figure, 1. motor, 2. cam, 3. push rod, 4. spring, 5. steel ball, 6. base slide, 7. counterweight slide. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0022] See also Figure 1 and Figure 2 , an underwater releaser, comprising a lower push power mechanism, a push rod 3, a spring piece 4, a ball, a base slide groove 6, and a counterweight slide groove 7; the counterweight slide groove 7 is sleeved on the outside of the base slide groove 6, wherein the inner wall of the counterweight slide groove 7 has a ball groove for accommodating the ball, and the base slide groove 6 is provided with a side hole corresponding to the height of the ball groove, and the lower edge of the side hole is inclined downward and tangent to the ball groove; the spring piece 4 has a rod diverging from the central vertex to the surrounding area, and the end of the rod is fixedly connected to the ball; the push rod 3 is vertically limited, one end of which supports the central vertex, and the other end can move downward after being acted upon by the lower push power mechanism, forcing the spring piece 4 to bend at the central vertex, thereby forcing the ball to disengage from the ball groove, and then causing the counterweight slide groove 7 to sink under the action of its own weight.

[0023] In this embodiment, see Figure 1-2 The lower push power mechanism includes a motor 1 and a cam 2 driven by the motor. After the cam 2 rotates, its protruding part can apply force to the push rod 3.

[0024] In this embodiment, continue to see Figure 1-2 The lower part of the counterweight block slide slot 7 is fixedly connected to the counterweight anchor.

[0025] In this embodiment, continue to see Figure 1-2 The upper part of the base slide groove 6 is fixedly connected to the video acquisition device.

[0026] In this embodiment, the sphere is a steel ball 5 .

[0027] In the design method of the underwater releaser described above, the weight of the ball 5 is much smaller than the weight of the device and is not taken into account;

[0028] Under the condition of initial external force balance, the pre-pressure F' of the elastic piece 4 acting on the sphere and the supporting force are a pair of balanced action and reaction forces. The magnitude of the pre-pressure F' of the spring is obtained by multiplying the pre-compression value by the number of times of the spring deformation Δx and the safety factor ψ, so as to ensure reliable locking between the matrix chute 6 and the counterweight chute 7. The calculation formula is expressed as: F' = nψkΔx, where: k is the stiffness coefficient of the spring material, n is the number of steel balls, the spring deformation is Δx, and Δx is limited by the size of the component and the size of the sphere;

[0029] At the moment when a single sphere detaches, the external force of the lower jacking power mechanism is applied to the push rod 3, and then transmitted to the elastic piece 4 to pull the sphere fixed to the elastic piece;

[0030] Static friction is generated at the contact points a and b, where a is located at the top of the sphere and b is located on the normal direction of the sphere relative to the inclined downward direction of the sphere groove. The external force is greater than the resultant force of the static friction and the pre-pressure of the spring. At this time, the expression of the external force is: F > n(F' + μNa + μNbcosα) / sinθ;

[0031] Where n is the number of uniformly distributed spheres, μ is the static friction coefficient between the contacting spheres and the contact surface, Na and Nb are the normal pressures of the contacting spheres, α is the angle between the sphere and the normal force of the contact surface, and θ is the angle of the external force acting on the sphere.

[0032] In summary, this embodiment provides an underwater release device with a simple structure, convenient manufacturing, ingenious design and high operation reliability; a force design method supporting the underwater release device is provided, which is specifically embodied as: the calculation method of the spring pre-pressure of the key parts of the underwater steel ball detachment mechanism and the implementation method of the whole mechanism, so that there is a fixed formula for collaborative calculation in the spring pre-pressure calculation and the overall structural dimensions in the early stage of design, providing a favorable reference for the overall design; the calculation of the force condition of the component and the change trend of the component size can be realized, which not only meets the equipment accuracy requirements, but also is convenient for engineering application.

[0033] The above is the preferred embodiment of the present invention. Those of ordinary skill in the art can also make various transformations or improvements on this basis. Without departing from the overall concept of the present invention, these transformations or improvements should all fall within the scope of protection required by the present invention.

Claims

1. An underwater release device, characterized in that: It comprises a lower push power mechanism, a push rod (3), a spring sheet (4), a sphere, a base slide groove (6), and a counterweight slide groove (7); The counterweight block slide groove (7) is sleeved on the outside of the base slide groove (6), wherein the inner wall of the counterweight block slide groove (7) has a ball groove for accommodating the ball, and the base slide groove (6) is provided with a side hole corresponding to the height of the ball groove, and the lower edge of the side hole is inclined downward and tangent to the ball groove; The spring piece (4) has a rod member that diverges from a central vertex to the surroundings, and the end of the rod member is fixedly connected to the sphere; The push rod (3) is vertically limited, with one end supporting the central vertex, and the other end can move downward under the action of the downward power mechanism, forcing the spring sheet (4) to bend at the central vertex, thereby forcing the ball to leave the ball groove, and then causing the counterweight block slide groove (7) to sink under the action of its own weight; The push-down power mechanism comprises a motor (1) and a cam (2) driven by the motor, and when the cam (2) rotates, its protruding portion can exert force on the push rod (3); The upper part of the base slide groove (6) is fixedly connected to the video acquisition device; The lower part of the counterweight block slide groove (7) is fixedly connected to the counterweight anchor.

2. The underwater release device according to claim 1, characterized in that: The sphere is a steel ball (5).

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