A pneumatic rope thrower for underwater robot recovery

Abstract

The present invention belongs to the field of underwater robot recovery, specifically, a pneumatic rope thrower for underwater robot recovery, including a body assembly, a rope, a rope thrower frame, and a pneumatic launcher assembly. The body assembly has two inner and outer fixed rings. When the body assembly is installed, one of the two fixed rings cooperates with the rope thrower frame, and the other cooperates with the pneumatic launcher assembly. One end of the rope is connected to the lifting ring of the body assembly, and the other end is connected to the underwater robot lifting ring. The pneumatic launcher assembly includes a high-pressure gas cylinder, a pressure-resistant cabin, a solenoid valve, and a launch chamber. When the solenoid valve is opened, the high-pressure gas in the high-pressure gas cylinder enters the launch chamber through the solenoid valve, quickly forms a high pressure, generates thrust to eject the body assembly, and the rope floats on the sea with the body assembly. The recovery personnel can tow and recover the underwater robot by salvaging the body assembly or the rope. The present invention has the characteristics of simple structure, strong pressure resistance, high efficiency, energy saving and convenient maintenance.

Description

Technical Field

[0001] The invention belongs to the field of underwater robot recovery, in particular to a pneumatic rope throwing device for underwater robot recovery. Background Art

[0002] According to the traditional recovery method of underwater robots, the staff needs to take a small boat to the surface to recover the underwater robot; due to the complex situation at sea, it is very dangerous. The power sources of the rope thrower used in the recovery of existing underwater robots are gunpowder and spring. Among them, gunpowder has high maintenance and transportation safety requirements, requires special personnel to be responsible during use, and is costly; the spring power source has a limited space range, resulting in a limited spring travel and insufficient ejection distance during launch. Summary of the invention

[0003] In view of the above problems existing in the power source of the existing rope thrower, the purpose of the present invention is to provide a pneumatic rope thrower for underwater robot recovery. The pneumatic rope thrower uses high-pressure gas as the power source of the rope thrower, which has high efficiency, low risk factor, pressure resistance, safety and reliability.

[0004] The objective of the present invention is achieved through the following technical solutions:

[0005] The present invention comprises a projectile assembly, a rope-throwing device frame, a rope and a pneumatic launcher assembly. The pneumatic rope-throwing device is installed on an underwater robot through the rope-throwing device frame. The pneumatic launcher assembly comprises a launch chamber, a pressure-resistant cabin, an electromagnetic valve and a high-pressure gas cylinder. The pressure-resistant cabin is installed on the rope-throwing device frame. The closed end of the pressure-resistant cabin is located outside the rope-throwing device frame, and the open end is located inside the rope-throwing device frame. The interior of the pressure-resistant cabin is respectively provided with an electromagnetic valve and a high-pressure gas cylinder. The air inlet side of the electromagnetic valve is connected to the high-pressure gas cylinder, and the air outlet side is sealed and connected to the launch chamber. The launch chamber is sealed and connected to the open end of the pressure-resistant cabin. The projectile assembly comprises a projectile buoyancy material. The projectile buoyancy material is inserted into the projectile buoyancy material. The invention relates to a rope-throwing device, wherein the rope-throwing device is in the frame of the rope-throwing device and is sealed and connected with the launching chamber. The projectile buoyancy material and the launching chamber enclose a space for accommodating high-pressure gas. A plurality of elastic telescopic clamps are arranged on the frame of the rope-throwing device along the circumferential direction. Each of the elastic telescopic clamps is clamped with the projectile buoyancy material before the projectile buoyancy material is ejected. One end of the rope is connected to the underwater robot, and the other end is passed through the projectile buoyancy material into the frame of the rope-throwing device and is connected with the projectile buoyancy material. After the solenoid valve is opened, the high-pressure gas of the high-pressure gas cylinder enters the space for accommodating high-pressure gas, generates thrust on the projectile buoyancy material, and the elastic telescopic clamp is squeezed and retracted by the projectile buoyancy material, and the projectile assembly is ejected and thrown out.

[0006] Wherein: an inner fixing ring and an outer fixing ring are respectively embedded in the projectile buoyancy material, the launching cavity is inserted inside the inner fixing ring and sealed with the inner wall of the inner fixing ring; a pin hole is provided on the outer side surface of the outer fixing ring, and the elastic telescopic clamp is inserted into the pin hole.

[0007] A lifting ring sleeve is pre-buried in the projectile buoyancy material, a lifting ring is threadedly connected to the lifting ring in the lifting ring sleeve, and the other end of the rope is connected to the lifting ring.

[0008] The projectile buoyancy material is in an "inverted cone" shape, and is provided with an opening along the thickness direction thereof for the rope to pass through.

[0009] An oil pipe assembly is installed on the outer surface of the closed end of the pressure-resistant cabin located outside the rope-throwing device frame. The oil pipe assembly includes an oil pipe, an oil pipe joint, an inner compression nut and an outer compression nut. One end of the oil pipe joint is fixedly connected to the pressure-resistant cabin, and the interior of the other end is threadedly connected to the outer compression nut. The oil pipe passes through the oil pipe joint and the outer compression nut respectively. The inner compression nut is located inside the oil pipe. The solenoid valve signal line of the solenoid valve passes through the inner compression nut. The oil pipe is clamped on the oil pipe joint through the inner compression nut and is tightened and sealed by the outer compression nut.

[0010] A trapezoidal annular boss is provided on the outer circumferential surface of the inner clamping nut, and the portion of the oil pipe corresponding to the trapezoidal annular boss is clamped between the inner clamping nut and the oil pipe joint. An oil pipe sealing ring is provided between the outer clamping nut and the outer wall of the oil pipe. After the outer clamping nut is screwed into the oil pipe joint, the oil pipe sealing ring and the oil pipe are compressed; one end of the oil pipe is connected to the compensator, and the other end is connected to the interior of the pressure cabin. The oil pipe is filled with oil, and the compensator balances the oil pressure inside the pressure cabin through the oil pipe.

[0011] An annular cavity is formed between the pressure-resistant cabin and the rope-throwing device frame. The rope is accommodated in the annular cavity and is wound around the outside of the pressure-resistant cabin in a spiral manner.

[0012] A plurality of threaded holes are provided on the upper side of the rope throwing device frame in the circumferential direction, and an elastic telescopic clamp is installed in each of the threaded holes, and the elastic telescopic clamp is a ball screw.

[0013] The top edge of the projectile buoyancy material is provided with a groove for facilitating installation or removal of the projectile buoyancy material.

[0014] The advantages and positive effects of the present invention are:

[0015] 1. The present invention has a simple structure and is easy to operate. When launching, the projectile assembly is ejected with the rope. When the underwater robot is recovering, the projectile assembly or the rope can be directly salvaged. The rope is connected to the underwater robot's hoisting ring. When the vehicle is towed back to the mother ship, the underwater robot can be directly lifted without hooking.

[0016] 2. The present invention adopts a pneumatic launching method to convert internal energy into mechanical energy. Compared with the launching methods of gunpowder and electromagnet-spring, it has less potential safety hazards, a rapid release process, high launching efficiency and low energy consumption. By adjusting different launching air pressures, the ejection force can be controlled to adapt to different navigation environments.

[0017] 3. The present invention has good pressure resistance, and the oil-filled pressure-resistant cabin is connected to an external compensator to balance the pressure, so it can still be used after returning to the water surface.

[0018] 4. The rope in the rope throwing device frame of the present invention is directly coiled on the outer circumference of the pressure cabin, and the rope is not prone to knotting and other problems. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front cross-sectional view of the present invention;

[0020] Figure 2 It is a side sectional view of the present invention;

[0021] Figure 3 A cross-sectional view of the internal structure of the projectile assembly of the present invention;

[0022] Figure 4 A cross-sectional view of the internal structure of the pneumatic transmitter assembly of the present invention;

[0023] Figure 5 It is a cross-sectional view of the internal structure of the oil pipe assembly of the present invention;

[0024] Among them: 1 is the buoyancy material of the projectile, 2 is the launching chamber, 3 is the inner fixing ring, 4 is the sealing copper gasket, 5 is the fixing screw of the launching chamber, 6 is the lifting ring sleeve, 7 is the lifting ring, 8 is the pressure cabin, 9 is the signal line, 10 is the flange fixing screw, 11 is the oil pipe assembly, 12 is the solenoid valve, 13 is the copper gasket, 14 is the high-pressure gas cylinder, 15 is the gas cylinder fixing screw, 16 is the sealing clamp ring, 17 is the upper sealing ring of the pressure cabin, 18 is the frame of the rope thrower, 19 is the sealing ring of the solenoid valve, 20 is the outer fixing ring, 21 is the ball screw, 22 is the rope, 23 is the lower sealing ring of the pressure cabin, 24 is the oil pipe, 25 is the oil pipe joint, 26 is the inner compression nut, 27 is the oil pipe sealing ring, 28 is the outer compression nut, 29 is the opening, 30 is the pin hole, and 31 is the groove. DETAILED DESCRIPTION

[0025] The present invention will be further described below in conjunction with the accompanying drawings.

[0026] like Figures 1 to 5 As shown, the present invention includes a body assembly, a rope throwing device frame 18, a rope 22 and a pneumatic launcher assembly. The pneumatic rope throwing device is installed on the underwater robot body through the rope throwing device frame 18. The pneumatic launcher assembly includes a launch chamber 2, a pressure-resistant cabin 8, a solenoid valve 12 and a high-pressure gas cylinder 14. The pressure-resistant cabin 8 is installed on the rope throwing device frame 18. The closed end of the pressure-resistant cabin 8 is located outside the rope throwing device frame 18, and the open end is located inside the rope throwing device frame 18. The solenoid valve 12 and the high-pressure gas cylinder 14 are respectively arranged inside the pressure-resistant cabin 8. The air inlet side of the solenoid valve 12 is connected to the high-pressure gas cylinder 14, and the air outlet side is connected to the high-pressure gas cylinder 14. The projectile assembly includes a projectile buoyancy material 1, which is inserted into the rope-throwing device frame 18 and is sealed with the launching chamber 2. The projectile buoyancy material 1 and the launching chamber 2 enclose a space for accommodating high-pressure gas. The rope-throwing device frame 18 is provided with a plurality of elastic retractable clips along the circumferential direction. Each elastic retractable clip is connected with the projectile buoyancy material 1 before the projectile buoyancy material 1 is ejected. One end of the rope 22 is connected to the underwater robot, and the other end is inserted into the rope-throwing device frame 18 by the projectile buoyancy material 1 and is connected with the projectile buoyancy material 1.

[0027] The pressure-resistant cabin 8 of this embodiment is installed at the bottom of the rope-throwing device frame 18 through the flange fixing screws 10, the high-pressure gas cylinder 14 is installed in the pressure-resistant cabin 8 through the gas cylinder fixing screws 15, the air inlet side of the solenoid valve 12 is threadedly connected to the top of the high-pressure gas cylinder 14, and is sealed with a copper gasket 13; the air outlet side of the solenoid valve 12 is matched and connected with the bottom of the launch chamber 2, and is sealed through the solenoid valve sealing ring 19, and the solenoid valve sealing ring 19 is accommodated in the sealing groove processed at the bottom of the launch chamber 2. The launch chamber 2 is fixed to the open end of the pressure-resistant cabin 8 through the flange chamber fixing screws 5, and the sealing of the launch chamber 2 is ensured by the sealing copper gasket 4 sleeved on the flange chamber fixing screws 5, and the sealing copper gasket 4 is in contact with the bottom surface of the launch chamber 2; and the open end of the pressure-resistant cabin 8 is sealed with the launch chamber 2 through the pressure-resistant cabin upper sealing ring 17, and the closed end of the pressure-resistant cabin 8 is processed with a sealing groove, and the pressure-resistant cabin lower sealing ring 23 is arranged in the sealing groove, and the pressure-resistant cabin 8 is radially sealed with the high-pressure gas cylinder 14 through the pressure-resistant cabin lower sealing ring 23.

[0028] In the projectile buoyancy material 1 of this embodiment, an inner fixing ring 3, an outer fixing ring 20 and a lifting ring sleeve 6 are respectively embedded. The middle of the bottom of the projectile buoyancy material 1 is recessed inward, and the inner wall of the inner fixing ring 3 is coplanar with the side wall of the recess. The launch chamber 2 of this embodiment is a hollow cylinder with an open upper end. The launch chamber 2 is inserted into the inner fixing ring 3. The inner wall of the inner fixing ring 3 is provided with a sealing groove. The sealing groove contains a sealing collar 16. The launch chamber 2 is radially sealed with the inner wall of the inner fixing ring 3 through the sealing collar 16. The outer side surface of the outer fixing ring 20 is provided with the same number of pin holes 30 as the elastic telescopic clips, and the elastic telescopic clips are inserted into the corresponding pin holes 30 for fixing the projectile assembly before ejection. The lifting ring sleeve 6 and the outer fixing ring 20 are respectively embedded in the bottom of the projectile buoyancy material 1. The outer fixing ring 20 is located at the outer edge of the bottom of the projectile buoyancy material 1. The inner fixing ring 10 is located above the outer fixing ring 20 and is concentrically arranged with the outer fixing ring 20. The lifting ring sleeve 6 is internally threadedly connected with a lifting ring 7 , and the other end of the cable 22 is connected to the lifting ring 7 .

[0029] The projectile buoyancy material 1 of this embodiment is in an "inverted cone" shape to reduce the resistance generated by the projectile assembly and the rope-throwing device frame 18 during the ejection process; the outer edge of the projectile buoyancy material 1 is provided with an opening 29 for the rope 22 to pass through in the thickness direction. A groove 31 is provided on the top edge of the projectile buoyancy material 1 to facilitate the installation or removal of the projectile buoyancy material 1. An annular cavity is formed between the pressure cabin 8 and the rope-throwing device frame 18, and the other end of the rope 22 enters the rope-throwing device frame from the opening 29 on the projectile buoyancy material 1, and is accommodated in the annular cavity, and is spirally wound around the outside of the pressure cabin 8; the winding method is to wind around the outside of the pressure cabin 8 from bottom to top, and then wind around from top to bottom in the opposite direction, and repeat this process until all are evenly wound, and the other end of the rope 22 is connected to the lifting ring 7 after winding. After winding, the projectile assembly is installed in the rope throwing device frame 18, the inner fixing ring 3 and the launching chamber 2 are clamped by the sealing clamp ring 16, and the projectile assembly is rotated circumferentially so that the pin hole 30 of the outer fixing ring 20 is clamped with the elastic telescopic clamp. The upper part of the rope throwing device frame 18, corresponding to the position of the outer fixing ring 20, is evenly provided with a plurality of threaded holes along the circumferential direction, and an elastic telescopic clamp is installed in each threaded hole; the elastic telescopic clamp of this embodiment is a ball screw 21, which is a prior art, has an external thread, and a spring steel ball structure inside. The steel ball is clamped into the corresponding pin hole 30 by rotating the projectile assembly before ejection. When the projectile assembly is ejected and thrown out, the steel ball is compressed by pressure and the spring retracts, which can play a role of limiting and fixing. There are four ball screws 21 in this embodiment, which are screwed into the four threaded holes opened on the rope throwing device frame 18 respectively.

[0030] The pressure-resistant cabin 8 of this embodiment is provided with an oil pipe assembly 11 on the outer surface of the closed end located outside the rope-throwing device frame 18. The oil pipe assembly 11 includes an oil pipe 24, an oil pipe joint 25, an inner compression nut 26 and an outer compression nut 28. One end of the oil pipe joint 25 is welded to the pressure-resistant cabin 8, and the inner part of the other end is threadedly connected with the outer compression nut 28. The oil pipe 24 passes through the oil pipe joint 25 and the outer compression nut 28 respectively. The inner compression nut 26 is located inside the oil pipe 24. The solenoid valve signal line 9 of the solenoid valve 12 extends from the solenoid valve 12 to the oil pipe assembly 11, and then passes through and leads to the outside of the pressure-resistant cabin 8 through the inner compression nut 26, and finally enters the control box; the oil pipe 24 is clamped on the oil pipe joint 25 through the inner compression nut 26, and is tightened and sealed by the outer compression nut 28. The oil pipe of this embodiment is made of polyether polyurethane material. A trapezoidal annular boss is provided on the outer circumferential surface of the inner clamping nut 26 of the present embodiment, and the portion of the oil pipe 24 corresponding to the trapezoidal annular boss is clamped between the inner clamping nut 26 and the oil pipe joint 25. An oil pipe sealing ring 27 is provided between the outer clamping nut 28 and the outer wall of the oil pipe 24. After the outer clamping nut 28 is screwed into the oil pipe joint 25, the oil pipe sealing ring 27 and the oil pipe 24 are compressed; one end of the oil pipe 24 is connected to the compensator, and the other end is connected to the interior of the pressure cabin 8. The interior of the oil pipe 24 is filled with transformer oil, and then the pressure cabin 8 is filled with transformer oil. The compensator balances the oil pressure inside the pressure cabin 8 through the oil pipe 24.

[0031] The rated gas pressure of the high pressure gas cylinder 14 in this embodiment is 30 MPa.

[0032] The working principle of the present invention is:

[0033] When the underwater robot is ready to be recovered after completing the mission, the operator sends a signal to the underwater robot to open the solenoid valve 12 through the solenoid valve signal line 9, and the high-pressure air (15MPa) in the high-pressure gas cylinder 14 enters the launching chamber 2 through the solenoid valve 12, causing the internal air pressure of the space surrounded by the projectile buoyancy material 1 and the launching chamber 2 to rise sharply, generating a thrust acting on the lower surface of the projectile buoyancy material 1, and the steel ball of the ball screw 21 is squeezed and retracted, and the projectile assembly is ejected and ejected, and at the same time, the rope 22 wrapped around the outer ring of the pressure-resistant cabin 8 is ejected together; because the density of the projectile buoyancy material 1 is smaller than that of water, the density of the combination of the embedded inner fixing ring 3, the outer fixing ring 20 and the lifting ring sleeve 6 is still smaller than that of water, so it can float on the sea surface after being ejected. The pneumatic launcher assembly and the rope-throwing device frame 18 are still connected to the underwater robot. At this time, the underwater robot's projectile assembly and the underwater robot's lifting ring are connected together through the cable 22. The operator can drag the underwater robot back to the mother ship by salvaging the projectile assembly and the cable 22. The underwater robot can be directly lifted and recovered through the cable 22.

Claims

1. A pneumatic rope thrower for underwater robot recovery, characterized in that: The invention comprises a projectile assembly, a rope throwing device frame (18), a rope (22) and a pneumatic launcher assembly. The pneumatic rope throwing device is installed on an underwater robot through the rope throwing device frame (18). The pneumatic launcher assembly comprises a launch chamber (2), a pressure-resistant cabin (8), a solenoid valve (12) and a high-pressure gas cylinder (14). The pressure-resistant cabin (8) is installed on the rope throwing device frame (18). The closed end of the pressure-resistant cabin (8) is located outside the rope throwing device frame (18), and the open end is located inside the rope throwing device frame (18). The solenoid valve (12) and the high-pressure gas cylinder (14) are respectively arranged inside the pressure-resistant cabin (8). The air inlet side of the solenoid valve (12) is connected to the high-pressure gas cylinder (14), and the air outlet side is sealedly connected to the launch chamber (2). The launch chamber (2) is sealedly connected to the open end of the pressure-resistant cabin (8). The projectile assembly comprises a projectile buoyancy material (1). The projectile buoyancy material (1) is inserted into the rope throwing device frame (18) and is sealedly connected to the launching chamber (2). The projectile buoyancy material (1) and the launching chamber (2) enclose a space for accommodating high-pressure gas. A plurality of elastic retractable clamps are provided on the rope throwing device frame (18) along the circumferential direction. Each of the elastic retractable clamps is clamped with the projectile buoyancy material (1) before the projectile buoyancy material (1) is ejected. One end of the rope (22) is connected to the underwater robot, and the other end is inserted into the rope throwing device frame (18) through the projectile buoyancy material (1) and is connected to the projectile buoyancy material (1). After the electromagnetic valve (12) is opened, the high-pressure gas in the high-pressure gas cylinder (14) enters the space for accommodating high-pressure gas, generating thrust on the projectile buoyancy material (1). The elastic retractable clamp is squeezed and retracted by the projectile buoyancy material (1), and the projectile assembly is ejected and thrown out. An oil pipe assembly (11) is installed on the outer surface of the closed end of the pressure-resistant cabin (8) located outside the rope-throwing device frame (18). The oil pipe assembly (11) comprises an oil pipe (24), an oil pipe joint (25), an inner compression nut (26) and an outer compression nut (28). One end of the oil pipe joint (25) is fixedly connected to the pressure-resistant cabin (8), and the inner part of the other end is threadedly connected to the outer compression nut (28). The oil pipe (24) passes through the oil pipe joint (25) and the outer compression nut (28) respectively. The inner compression nut (26) is located inside the oil pipe (24). The solenoid valve signal line (9) of the solenoid valve (12) passes through the inner compression nut (26). The oil pipe (24) is clamped on the oil pipe joint (25) through the inner compression nut (26) and is fastened and sealed by the outer compression nut (28). A trapezoidal annular boss is provided on the outer circumferential surface of the inner clamping nut (26); a portion of the oil pipe (24) corresponding to the trapezoidal annular boss is clamped between the inner clamping nut (26) and the oil pipe joint (25); an oil pipe sealing ring (27) is provided between the outer clamping nut (28) and the outer wall of the oil pipe (24); after the outer clamping nut (28) is screwed into the oil pipe joint (25), the oil pipe sealing ring (27) and the oil pipe (24) are compressed; one end of the oil pipe (24) is connected to the compensator, and the other end is connected to the interior of the pressure-resistant cabin (8); the interior of the oil pipe (24) is filled with oil, and the compensator balances the oil pressure inside the pressure-resistant cabin (8) through the oil pipe (24).

2. The pneumatic rope thrower for underwater robot recovery according to claim 1, characterized in that: An inner fixing ring (3) and an outer fixing ring (20) are respectively pre-buried in the projectile buoyancy material (1); the launching chamber (2) is inserted into the inner fixing ring (3) and is sealed with the inner wall of the inner fixing ring (3); a pin hole (30) is provided on the outer side surface of the outer fixing ring (20), and the elastic telescopic clamp is inserted into the pin hole (30).

3. The pneumatic rope thrower for underwater robot recovery according to claim 1, characterized in that: A lifting ring sleeve (6) is pre-buried in the projectile buoyancy material (1), a lifting ring (7) is connected to the lifting ring sleeve (6) through an internal thread, and the other end of the rope (22) is connected to the lifting ring (7).

4. The pneumatic rope thrower for underwater robot recovery according to claim 1, characterized in that: The projectile buoyancy material (1) is in an "inverted cone" shape, and is provided with an opening (29) along the thickness direction thereof for the rope (22) to pass through.

5. The pneumatic rope thrower for underwater robot recovery according to claim 1, characterized in that: An annular cavity is formed between the pressure-resistant cabin (8) and the rope-throwing device frame (18), and the rope (22) is accommodated in the annular cavity and is wound around the outside of the pressure-resistant cabin (8) in a spiral manner.

6. The pneumatic rope thrower for underwater robot recovery according to claim 1, characterized in that: A plurality of threaded holes are provided on the upper side of the rope throwing device frame (18) in the circumferential direction, and an elastic telescopic clamp is installed in each of the threaded holes, wherein the elastic telescopic clamp is a ball screw (21).

7. The pneumatic rope thrower for underwater robot recovery according to claim 1, characterized in that: The top edge of the projectile buoyancy material (1) is provided with a groove (31) for facilitating installation or removal of the projectile buoyancy material (1).

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