A full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device

Abstract

A full-sea-depth oil-filled corrosion-resistant electromagnetic suction cup device belongs to the field of underwater robot safety jettisoning devices. The present invention solves the problem that the electromagnet in the existing underwater robot jettisoning device is prone to damage of the anti-corrosion treatment layer on the surface after long-term use, causing rapid corrosion of the electromagnet itself. After corrosion, it not only affects the appearance, but also makes the suction surface of the suction cup and the electromagnet extremely rough, increasing the air gap between the two, thereby causing the problem of increased magnetic resistance and reduced magnetic force. The device of the present invention includes an anti-corrosion electromagnet assembly and an anti-corrosion suction cup assembly. The anti-corrosion electromagnet assembly is arranged at the bottom of the underwater robot cabin, and the anti-corrosion electromagnet assembly is detachably connected to the underwater robot cabin, the anti-corrosion suction cup assembly is arranged below the anti-corrosion electromagnet assembly, and the anti-corrosion electromagnet assembly is magnetically adsorbed and connected to the anti-corrosion suction cup assembly, and a mount is mounted on the anti-corrosion suction cup assembly. The present invention is mainly used as a jettisoning device for underwater operations of underwater robots.

Description

Technical Field

[0001] The invention belongs to the field of underwater robot safety jettisoning devices, and in particular relates to a full-sea-depth oil-filled, corrosion-resistant electromagnetic chuck device. Background Art

[0002] Autonomous underwater robots and other underwater operation equipment are important tools for modern marine resource development and marine biological research. When working, they are not only threatened by the surrounding environment, but they may also fail due to various emergencies. When the autonomous underwater robot diagnoses a limit fault or its fault-tolerant control strategy fails, it abandons the operation task, and the safety self-rescue system floats the autonomous deep-sea submersible by discarding ballast, which is the last line of defense to ensure the safety of the autonomous deep-sea submersible. Electromagnetic drive dumping is one of the commonly used drive methods in ballast release devices, but the existing electromagnets used in full sea depth have the disadvantages of large size, small mount, and easy corrosion. Nowadays, my country's scientific research on the 11,000-meter depth of the Mariana Trench continues to deepen, so improving the performance and reliability of electromagnets in safe dumping has become the current primary scientific research task.

[0003] In the Chinese patents "A full-sea depth electromagnet structure (authorization publication number: CN111261363B)" and "A suction cup type electromagnet sealed magnetic structure (authorization publication number: CN109243756B)", the method of increasing the wall thickness to balance the external water pressure is mentioned. Its characteristics are that the processing and assembly are relatively easy, and the thick outer shell balances the external pressure, so that the internal accommodating cavity is in a low-pressure environment. However, the outer wall of the electromagnet is made of magnetic conductive material electrical pure iron, which has low strength, making the outer wall of the electromagnet too thick, increasing the volume and weight of the electromagnet. In addition, the outer wall of the electromagnet in the above two patents is treated with nickel-phosphorus immersion for corrosion protection. The disadvantage is that bumps will inevitably occur after long-term use, so that the electrical pure iron is directly exposed to seawater and corrodes rapidly. After corrosion, it will not only affect the appearance, but also make the suction surface of the suction cup and the electromagnet extremely rough, increasing the air gap between the two, thereby increasing the magnetic resistance and reducing the magnetic force. In the full sea depth environment, it is inevitable to require the electromagnet to balance the external pressure in a certain way so that it will not be crushed under the large external pressure environment. The corrosion resistance of the electromagnet has an important influence on the performance and reliability of the entire load-dumping system. Therefore, it is necessary to further optimize the electromagnet to maximize its performance and reliability. Summary of the invention

[0004] The present invention solves the problem that the anti-corrosion treatment layer on the surface of the electromagnet in the existing underwater robot jettisoning device is easily damaged after long-term use, causing the electromagnet itself to corrode rapidly. After corrosion, not only the appearance is affected, but also the suction surface of the suction cup and the electromagnet is extremely rough, increasing the air gap between the two, thereby increasing the magnetic resistance and reducing the magnetic force. A full-sea-depth oil-filled corrosion-resistant electromagnetic suction cup device is developed.

[0005] A full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device, the electromagnetic chuck device comprising an anti-corrosion electromagnet assembly and an anti-corrosion chuck assembly, the anti-corrosion electromagnet assembly being arranged at the bottom of an underwater robot cabin, and the anti-corrosion electromagnet assembly being detachably connected to the underwater robot cabin, the anti-corrosion chuck assembly being arranged below the anti-corrosion electromagnet assembly, and the anti-corrosion electromagnet assembly being magnetically adsorbed and connected to the anti-corrosion chuck assembly, and a mount being mounted on the anti-corrosion chuck assembly;

[0006] The anti-corrosion electromagnet assembly includes a plug, an end cover, a magnetic ring, a magnetic inner sleeve, an anti-corrosion outer sleeve, an electromagnetic coil, a magnetic isolation ring, an iron core, an iron core anti-corrosion thin plate and a magnetic inner sleeve anti-corrosion thin plate. The iron core is a stepped shaft structure, the shaft diameter of the upper shaft section of the iron core is smaller than the shaft diameter of the lower shaft section, a limiting step is formed at the connection between the upper shaft section and the lower shaft section, the magnetic ring is sleeved on the upper shaft section of the iron core, and the magnetic ring is positioned by the limiting step, the electromagnetic coil is arranged at the lower part of the magnetic ring, and the electromagnetic coil is sleeved on the lower shaft section of the iron core, the magnetic isolation ring is arranged at the lower part of the electromagnetic coil, and the magnetic isolation ring is sleeved on the lower shaft section of the iron core, and the magnetic inner sleeve The sleeve is coaxially arranged with the iron core, and the magnetic inner sleeve is sleeved on the outer circumferential surface of the magnetic ring and the magnetic isolation ring, the anti-corrosion outer sleeve is coaxially arranged with the magnetic inner sleeve, and the anti-corrosion outer sleeve is sleeved on the outer circumferential surface of the magnetic inner sleeve, the end cover is installed on the top of the anti-corrosion outer sleeve, an oil hole is processed on the upper surface of the end cover, a plug is inserted in the oil hole, the iron core anti-corrosion thin plate is arranged at the bottom of the iron core, and the iron core anti-corrosion thin plate is fixedly connected to the bottom of the iron core, the magnetic inner sleeve anti-corrosion thin plate is arranged at the bottom of the magnetic inner sleeve, and the magnetic inner sleeve anti-corrosion thin plate is fixedly connected to the bottom of the magnetic inner sleeve, and the anti-corrosion electromagnet assembly is detachably connected to the underwater robot cabin through bolts on the end cover;

[0007] The anti-corrosion suction cup assembly includes a suction cup anti-corrosion thin plate, a suction cup magnetic core, a suction cup anti-corrosion jacket, a step connecting piece and a baffle; the suction cup magnetic core is arranged in the suction cup anti-corrosion jacket, and the suction cup anti-corrosion thin plate is arranged above the suction cup magnetic core, and the suction cup anti-corrosion thin plate is embedded in the port of the suction cup anti-corrosion jacket, the outer cylindrical surface of the suction cup anti-corrosion thin plate is welded and fixed to the inner cylindrical wall of the suction cup anti-corrosion jacket, a mounting hole is processed at the bottom center of the suction cup anti-corrosion jacket, the top of the step connecting piece is fixedly connected to the mounting hole at the bottom of the suction cup anti-corrosion jacket, the baffle is sleeved on the bottom end of the step connecting piece, and a locking nut is provided under the baffle, the locking nut is threadedly connected to the bottom end of the step connecting piece, the mount is mounted on the step connecting piece, and the mount is limited by the baffle, the anti-corrosion suction cup assembly is magnetically adsorbed and connected to the anti-corrosion electromagnet assembly through the suction cup magnetic core and the iron core;

[0008] Furthermore, a No. 1 ring groove is processed at the bottom of the contact surface between the plug and the upper surface of the end cover, and a No. 1 O-ring is embedded in the No. 1 ring groove;

[0009] Furthermore, a second ring groove is processed on the top of the anti-corrosion jacket, and a second O-ring is embedded in the second ring groove;

[0010] Furthermore, the iron core anti-corrosion thin plate, the magnetic inner sleeve anti-corrosion thin plate and the suction cup anti-corrosion thin plate are made of iron-nickel alloy, and the anti-corrosion outer sleeve and the suction cup anti-corrosion outer sleeve are made of stainless steel.

[0011] Furthermore, a cylindrical protrusion is provided on the upper surface of the end cover, a threaded connection hole is processed in the cylindrical protrusion, and the end cover is threadedly connected to a tiny circular double-core watertight connector on the underwater robot cabin through the threaded connection hole;

[0012] Furthermore, the upper surface of the magnetic conductive ring is processed with an oil inlet hole, an electromagnetic coil wiring hole and two threaded through holes;

[0013] Furthermore, the bottom of the anti-corrosion outer sleeve is coplanar with the bottom of the magnetic inner sleeve, and the top of the magnetic inner sleeve is lower than the top of the anti-corrosion outer sleeve;

[0014] Furthermore, an annular groove is processed along the circumferential direction at the bottom of the magnetic isolation ring;

[0015] Furthermore, a No. 3 O-ring is provided between the suction cup anti-corrosion jacket and the mount, and the No. 3 O-ring is sleeved on the stepped connector;

[0016] Furthermore, a plurality of No. 4 O-rings are sequentially arranged between the mount and the stepped connector along the length direction of the stepped connector, and each No. 4 O-ring is sleeved on the stepped connector;

[0017] Furthermore, four No. 1 plug welding holes are equidistantly processed along the circumference on the upper surface of the suction cup anti-corrosion thin plate, and four No. 2 plug welding holes are equidistantly processed along the circumference on the lower surface of the suction cup anti-corrosion jacket, and plug welding is performed in each No. 1 plug welding hole and each No. 2 plug welding hole respectively.

[0018] The beneficial effects of this application compared to the prior art are as follows:

[0019] 1. The full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device proposed in the present invention optimizes the anti-corrosion method compared to the prior art. If the traditional nickel-phosphorus immersion plating or spray painting method is used for anti-corrosion, the electromagnet and the chuck will be directly exposed to the seawater after some bumps during use, resulting in corrosion. The iron-nickel alloy sheet can resist a certain degree of bumps. In addition, when the nickel-phosphorus immersion plating or spray painting method is applied to the full-sea-depth and high-external-pressure environment, a small amount of seawater will contact the electrical pure iron through the gaps in the plating or paint. The metal will also have many gaps at the microscopic level. The seawater will also be affected by the high external pressure and enter the metal gaps to corrode the electrical pure iron. Even if it is cleaned with fresh water in time after use, it is still impossible to avoid the seawater in the gaps from corroding the electrical pure iron. Experiments show that after the nickel-phosphorus immersion plating anti-corrosion method is used 3-4 times in the ocean, after about 6 hours each time, the surface of the electromagnet has obvious rust. However, this patent improves the corrosion resistance of the two suction surfaces of the electromagnet and the suction cup by bonding the magnetic conductive material iron-nickel alloy, and improves the corrosion resistance of the non-suction surface by welding the non-magnetic conductive material stainless steel. Experiments show that after long-term immersion in seawater, the anti-corrosion method of this patent still has no rust.

[0020] 2. The present invention proposes a full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device, which adopts a method of filling insulating oil inside the electromagnet to balance the external pressure. Compared with the method of simply increasing the thickness of the outer wall to balance the external pressure, the volume is reduced by nearly half. It has the advantage of small size and is more suitable for the full-sea-depth working environment.

[0021] 3. The full-sea-depth oil-filled, corrosion-resistant electromagnetic chuck device proposed in the present invention optimizes the connection method between the chuck and the mount. The structural design of the present application allows the chuck to have a certain movable space relative to the mount. When the mount has an overturning moment, the chuck still adheres firmly, thereby increasing the reliability of the mount. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the electromagnet and the suction cup of the present invention;

[0023] Figure 2 It is described Figure 1 The structural diagram of the electromagnet part;

[0024] Figure 3 It is described Figure 2 Schematic diagram of the electromagnet welding part and the enlarged view of the welding part;

[0025] Figure 4 It is described Figure 3 A partial enlarged view of the welding point A in the middle;

[0026] Figure 5 It is described Figure 3 A partial enlarged view of the welding point B in the middle;

[0027] Figure 6 It is described Figure 2 A main cross-sectional schematic diagram of the intermediate magnetic ring 5;

[0028] Figure 7 It is described Figure 2 A schematic top view of the intermediate magnetic ring 5;

[0029] Figure 8 It is described Figure 1 A schematic diagram of the structure of the middle suction cup part;

[0030] Fig. 9 It is described Figure 8 Structural schematic diagram of the mid-step connector;

[0031] Fig.10 It is described Fig. 9 A main cross-sectional schematic diagram of a suction cup anti-corrosion sheet;

[0032] Fig.11 It is described Fig. 9 Top view of the middle suction cup anti-corrosion sheet;

[0033] Fig.12 It is described Fig. 9 A schematic diagram of the main section of the suction cup anti-corrosion jacket;

[0034] Fig.13 It is described Fig. 9 Top view of the middle suction cup anti-corrosion jacket;

[0035] In the figure: 1 plug, 2 No. 1 O-ring, 3 end cover, 4 No. 2 O-ring, 5 magnetic ring, 51 oil inlet hole, 52 threaded through hole, 53 electromagnetic coil wiring hole, 6 magnetic inner sleeve, 7 anti-corrosion outer sleeve, 8 electromagnetic coil, 9 magnetic isolation ring, 10 iron core, 11 iron core anti-corrosion sheet, 12 magnetic inner sleeve anti-corrosion sheet, 13 suction cup anti-corrosion sheet, 14 suction cup magnetic core, 15 suction cup anti-corrosion outer sleeve, 16 No. 3 O-ring, 17 mount, 18 No. 4 O-ring, 19 stepped connector, 20 baffle, C is the area where the magnetic inner sleeve anti-corrosion sheet and the magnetic inner sleeve are bonded by magnetic adhesive, and D is the area where the iron core anti-corrosion sheet and the iron core are bonded by magnetic adhesive. DETAILED DESCRIPTION

[0036] Specific implementation method 1: Combination Figures 1 to 13 The present embodiment is described. In the present embodiment, a full-sea-depth oil-filled corrosion-resistant electromagnetic suction cup device is provided, characterized in that: the device comprises an anti-corrosion electromagnet assembly and an anti-corrosion suction cup assembly, the anti-corrosion electromagnet assembly is arranged at the bottom of the underwater robot cabin, and the anti-corrosion electromagnet assembly is detachably connected to the underwater robot cabin, the anti-corrosion suction cup assembly is arranged below the anti-corrosion electromagnet assembly, and the anti-corrosion electromagnet assembly is magnetically adsorbed and connected to the anti-corrosion suction cup assembly, and a mount 17 is mounted on the anti-corrosion suction cup assembly;

[0037] The anti-corrosion electromagnet assembly includes a plug 1, an end cover 3, a magnetic ring 5, a magnetic inner sleeve 6, an anti-corrosion outer sleeve 7, an electromagnetic coil 8, a magnetic isolation ring 9, an iron core 10, an iron core anti-corrosion thin plate 11 and a magnetic inner sleeve anti-corrosion thin plate 12. The iron core 10 is a stepped shaft structure, the shaft diameter of the upper shaft section of the iron core 10 is smaller than the shaft diameter of the lower shaft section, and a limiting step is formed at the connection between the upper shaft section and the lower shaft section. The magnetic ring 5 is sleeved on the upper shaft section of the iron core 10, and the magnetic ring 5 is positioned by the limiting step. The electromagnetic coil 8 is arranged at the lower part of the magnetic ring 5, and the electromagnetic coil 8 is sleeved on the lower shaft section of the iron core 10. The magnetic isolation ring 9 is arranged at the lower part of the electromagnetic coil 8, and the magnetic isolation ring 9 is sleeved on the lower shaft section of the iron core 10. The inner sleeve 6 is coaxially arranged with the iron core 10, and the magnetic inner sleeve 6 is sleeved on the outer circumference of the magnetic ring 5 and the magnetic isolation ring 9. The anti-corrosion outer sleeve 7 is coaxially arranged with the magnetic inner sleeve 6, and the anti-corrosion outer sleeve 7 is sleeved on the outer circumference of the magnetic inner sleeve 6. The end cover 3 is installed on the top of the anti-corrosion outer sleeve 7. An oil hole is processed on the upper surface of the end cover 3, and a plug 1 is inserted in the oil hole. The iron core anti-corrosion thin plate 11 is arranged at the bottom of the iron core 10, and the iron core anti-corrosion thin plate 11 is fixedly connected to the bottom of the iron core 10. The magnetic inner sleeve anti-corrosion thin plate 12 is arranged at the bottom of the magnetic inner sleeve 6, and the magnetic inner sleeve anti-corrosion thin plate 12 is fixedly connected to the bottom of the magnetic inner sleeve 6. The anti-corrosion electromagnet assembly is detachably connected to the underwater robot cabin through the bolts on the end cover 3;

[0038] The anti-corrosion suction cup assembly includes a suction cup anti-corrosion sheet 13, a suction cup magnetic core 14, a suction cup anti-corrosion jacket 15, a step connector 19 and a baffle 20; the suction cup magnetic core 14 is arranged in the suction cup anti-corrosion jacket 15, and the suction cup anti-corrosion sheet 13 is arranged above the suction cup magnetic core 14, and the suction cup anti-corrosion sheet 13 is embedded in the port of the suction cup anti-corrosion jacket 15, the outer cylindrical surface of the suction cup anti-corrosion sheet 13 is welded and fixed to the inner cylindrical wall of the suction cup anti-corrosion jacket 15, and the bottom of the suction cup anti-corrosion jacket 15 A mounting hole is processed at the center, and the top of the stepped connector 19 is fixedly connected to the mounting hole at the bottom of the suction cup anti-corrosion jacket 15. The baffle 20 is mounted on the bottom end of the stepped connector 19, and a locking nut is provided below the baffle 20. The locking nut is threadedly connected to the bottom end of the stepped connector 19. The mount 17 is mounted on the stepped connector 19, and the mount 17 is limited by the baffle 20. The anti-corrosion suction cup assembly is magnetically adsorbed and connected to the anti-corrosion electromagnet assembly through the suction cup magnetic core 14 and the iron core 10.

[0039] In this embodiment, the magnetic circuit passes through the iron core 10, the magnetic ring 5, the magnetic inner sleeve 6, the magnetic inner sleeve anti-corrosion sheet 12, the suction cup part, the iron core anti-corrosion sheet 11 and the iron core 10 to form a closed loop. The magnetic isolation ring 9 is spot welded with the iron core 10 and the magnetic inner sleeve 6, and the anti-corrosion outer sleeve 7 and the magnetic inner sleeve 6 are cold welded. After the above welding is completed, the surface of the welding part needs to be processed flat. The iron core anti-corrosion sheet 11 and the magnetic inner sleeve anti-corrosion sheet 12 need to be glued and pressed with the iron core 10 and the magnetic inner sleeve 6 by magnetic glue first. In order to improve the sealing effect, they are firmly welded to the electromagnet by cold welding. After welding, the surface is processed flat. After welding, the electromagnetic coil 8 is placed in the electromagnet, and the magnetic ring 5 is installed. In order to reduce the air gap magnetic resistance between the parts on the magnetic circuit, the magnetic ring 5 is interference fit with the magnetic inner wall 6 and the iron core 10. The end cover 3 is connected to the whole by bolts to clamp the No. 2 O-ring 4 to meet the sealing requirements. Insulating oil is injected through the plug 1, and the insulating oil is soaked into the electromagnetic coil through the magnetic ring 5. The entire inner cavity is filled with insulating oil, and then put into the vacuum equipment, and the residual bubbles in the gap are extracted to ensure that the oil is completely filled. Finally, the plug 1 is covered with a No. 1 O-ring 2 and tightened to complete the sealing. In practical applications, a connecting flange is respectively provided on the outer cylindrical surface of the end cover 3 and the outer cylindrical surface of the top of the anti-corrosion jacket 7. The two connecting flanges are connected together by connecting bolts, wherein the threaded section of each connecting bolt is extended, and the above-mentioned connecting bolts are also used to fasten the electromagnet assembly to the underwater robot cabin;

[0040] The suction cup anti-corrosion sheet 13 and the suction cup anti-corrosion jacket 15 are connected by welding to wrap the suction cup magnetic core 14. The step connector 19 and the suction cup anti-corrosion jacket 15 are also connected by welding. A No. 3 O-ring 16 with a slightly larger diameter is first put on the step connector 19, and then three No. 4 O-rings 18 with smaller diameters are put on. The above two O-ring materials are made of silicone with extremely low hardness. The mounting connection schematic part 17 is flexibly connected to the step connector 19 through the No. 4 O-ring 18, allowing the mounting connection schematic part 17 to have a certain inclination angle relative to the suction cup to reduce the overturning torque of the suction cup. The nut fixes the baffle 20 to prevent the mounting connection schematic part 17 from falling off;

[0041] The surfaces of the electromagnet and the suction cup are attached with iron-nickel alloy sheets (iron core anti-corrosion sheet 11, magnetic inner sleeve anti-corrosion sheet 12 and suction cup anti-corrosion sheet 13) for corrosion protection. The iron core 10 and the magnetic inner sleeve 6 are made of electrical pure iron with excellent magnetic conductivity. This material is very easy to corrode in seawater. After corrosion, it not only affects the appearance, but also makes the suction surface of the suction cup and the electromagnet extremely rough, increasing the air gap between the two, thereby increasing the magnetic resistance and reducing the magnetic force. Iron-nickel alloy has good corrosion resistance and extremely high magnetic permeability in weak magnetic fields. As an anti-corrosion sheet, it has little effect on the magnetic resistance of the entire magnetic circuit. The circumferential surface of the electromagnet is anti-corroded by welding an anti-corrosion outer wall (anti-corrosion jacket 7) made of stainless steel. Considering that the price of iron-nickel alloy is relatively high and this outer wall does not need to be magnetic, non-magnetic stainless steel is used. The electromagnet is filled with insulating oil to balance the large external pressure in the deep sea. The electromagnet of the present invention can be applied to the environment of 110MPa at full sea depth (11000m). If the external pressure is balanced by increasing the thickness of the outer wall, the volume of the electromagnet will be larger. The method of filling the electromagnet with insulating oil to balance the external pressure effectively reduces the volume of the electromagnet. In order to ensure that the electromagnet is not crushed, it is necessary to ensure that the electromagnet is completely filled with oil. Therefore, the electromagnet is vacuumed after filling with oil to ensure that there are no residual bubbles in the internal gap. The diameter of the iron core needs to ensure a certain size. Through simulation verification, the cross-sectional area of ​​the iron core has a greater impact on the magnetic resistance of the iron core part. The larger the cross-sectional area of ​​the iron core, the better the performance, but it will increase the volume of the electromagnet. The core diameter of the 30kg suction electromagnet of the present invention is 21mm, and the suction cup iron core (suction cup magnetic core 14) needs to ensure a certain thickness to reduce the magnetic resistance. The thickness of the suction cup magnetic core of the present invention is 4mm, and the gain effect of continuing to increase the suction cup magnetic core is not great.

[0042] Specific implementation method 2: Combination Figures 1 to 13 This embodiment is described. The difference between this embodiment and the first embodiment is that a first ring groove is processed at the bottom of the contact surface between the plug 1 and the upper surface of the end cover 3, and a first O-ring 2 is embedded in the first ring groove. The other components and connection methods are the same as those of the first embodiment.

[0043] Such arrangement ensures the sealing performance of the plug 1 during operation.

[0044] Specific implementation method three: Combination Figures 1 to 13 This embodiment is described. The difference between this embodiment and the second embodiment is that a second ring groove is processed on the top of the anti-corrosion jacket 7, and a second O-ring 4 is embedded in the second ring groove. Other components and connection methods are the same as those of the second embodiment.

[0045] Such an arrangement ensures the sealing between the end cover 4 and the anti-corrosion jacket 7.

[0046] Specific implementation method four: Combination Figures 1 to 13This embodiment is described. The difference between this embodiment and the specific embodiment 1 is that a cylindrical protrusion is provided on the upper surface of the end cover 3, and a threaded connection hole is processed in the cylindrical protrusion. The end cover 3 is threadedly connected to the tiny circular double-core watertight connector on the underwater robot cabin through the threaded connection hole. The other components and connection methods are the same as those of the specific embodiment 3.

[0047] With such arrangement, the cylindrical protrusion is detachably connected to the underwater robot cabin, thereby ensuring the stability of the connection. The wire of the electromagnetic coil 8 can be connected to the power supply of the underwater robot cabin through the threaded connection hole on the cylindrical protrusion.

[0048] Specific implementation method five: Combination Figures 1 to 13 This embodiment is described. The difference between this embodiment and the fourth embodiment is that the upper surface of the magnetic ring 5 is processed with an oil inlet hole 51, an electromagnetic coil wiring hole 53 and two threaded through holes 52. Other components and connection methods are the same as those of the fourth embodiment.

[0049] In the present embodiment, since the magnetic ring 5 is interference fit with the magnetic inner sleeve 6 and the iron core 10, it will make disassembly extremely difficult. Therefore, two threaded through holes 52 are processed on the magnetic ring 5, and the eye bolts are threadedly connected to the magnetic ring 5 through the threaded through holes 52, which is convenient for disassembly. The magnetic coil wiring hole 53 of the magnetic ring 5 is the outlet hole of the electromagnetic coil 8. After long-term use, in order to prevent the edges of the hole from wearing the wire, the corners need to be rounded. The oil inlet hole 51 is the insulating oil through hole. The insulating oil passes through the oil inlet hole 51 to soak the electromagnetic coil 8, so that the entire inner cavity is filled with insulating oil.

[0050] Specific implementation method six: Combination Figures 1 to 3 This embodiment is described. The difference between this embodiment and the fifth embodiment is that the bottom of the anticorrosion outer sleeve 7 is coplanar with the bottom of the magnetic inner sleeve 6, and the top of the magnetic inner sleeve 6 is lower than the top of the anticorrosion outer sleeve 7. Other components and connection methods are the same as those of the fifth embodiment.

[0051] Such an arrangement facilitates the formation of a gap between the magnetic ring 5 and the end cover 3, providing an effective space for storing excess wires. In order to adapt to the full sea depth and high external pressure environment, the internal insulating oil filling method is adopted to reduce the wall thickness of the electromagnet. The oil filling hole is at the highest point of the internal cavity of the electromagnet, and vacuum is drawn to ensure that the internal oil is completely filled.

[0052] Specific implementation method seven: Combination Figures 1 to 13 This embodiment is described. The difference between this embodiment and the fifth embodiment is that an annular groove is processed along the circumferential direction at the bottom of the magnetic isolation ring 9. The other components and connection methods are the same as those of the sixth embodiment.

[0053] In this way, the annular groove is processed on the magnetic isolation ring 9, which can reduce the contact area between the suction cup and the electromagnet, reduce the internal and external pressure difference caused by the external water pressure of the suction cup, and ensure that the suction cup falls off normally after the electromagnet is powered off.

[0054] Specific implementation method eight: Combination Figures 1 to 13 This embodiment is described. The difference between this embodiment and the fifth embodiment is that a third O-ring 16 is provided between the suction cup anti-corrosion jacket 15 and the mount 17, and the third O-ring 16 is mounted on the stepped connector 19. Other components and connection methods are the same as those of the seventh embodiment.

[0055] Specific implementation method nine: Combination Figures 1 to 13 This embodiment is described. The difference between this embodiment and the specific embodiment five is that a plurality of No. 4 O-rings 18 are sequentially arranged between the mount 17 and the step connector 19 along the length direction of the step connector 19, and each No. 4 O-ring 18 is sleeved on the step connector 19. The other components and connection methods are the same as those of the specific embodiment eight.

[0056] In combination with the eighth and ninth embodiments, the connection between the suction cup and the mount 17 is flexibly connected via an O-ring with relatively low hardness, allowing the mount connector to have a certain degree of inclination and deformation to avoid applying an overturning moment to the suction cup.

[0057] Specific implementation method ten: Combination Figures 1 to 13 This embodiment is described. The difference between this embodiment and the specific embodiment 5 is that four No. 1 plug welding holes are processed equidistantly along the circumference on the upper surface of the suction cup anti-corrosion thin plate 13, and four No. 2 plug welding holes are processed equidistantly along the circumference on the lower surface of the suction cup anti-corrosion jacket 15, and plug welding is performed in each No. 1 plug welding hole and each No. 2 plug welding hole. Other components and connection methods are the same as those of the specific embodiment 9.

[0058] In this embodiment, four plug welding holes are processed on the suction cup anti-corrosion thin plate 13 and the suction cup anti-corrosion outer wall 15, and plug welding is performed in the holes to weld the two plates through and fill the holes so that the three parts are tightly connected to prevent gaps from being generated due to thermal deformation of the parts in subsequent welding. If gaps are generated there, the magnetic resistance of the suction cup will be greatly affected, and after mounting, the parts are subjected to greater force there, and the connection reliability there needs to be improved. The suction cup anti-corrosion thin plate 13 and the suction cup anti-corrosion outer wall 15 are connected by welding to wrap the suction cup magnetic core 14, and the step connector 19 is also connected to the suction cup anti-corrosion outer wall 15 by welding.

[0059] The present invention has been disclosed as above with preferred implementation cases, but it is not intended to limit the present invention. Any technician familiar with the profession can make some changes or modifications to equivalent implementation cases with equivalent changes by using the above-disclosed structures and technical contents without departing from the scope of the technical solution of the present invention. However, any simple modifications, equivalent changes and modifications made to the above implementation cases based on the technical essence of the present invention without departing from the content of the technical solution of the present invention are still within the scope of the technical solution of the present invention.

[0060] Working principle:

[0061] When the present invention is in use, the various components are first assembled according to the schemes described in Specific Embodiments 1 to 10. After the electromagnet part of the present application is stably connected to the underwater robot cabin, it is ensured that the wire of the electromagnetic coil 8 can pass through the threaded connection hole on the end cover 3 and be connected to the power module of the underwater robot. As the electromagnetic coil 8 is energized, the magnetic circuit passes through the iron core 10, the magnetic ring 5, the magnetic inner sleeve 6, the magnetic inner sleeve anti-corrosion sheet 12, the suction cup part, the iron core anti-corrosion sheet 11 and the iron core 10 to form a closed loop. The suction cup part is tightly fitted with the electromagnet part and is in an adsorbed connection state. When the underwater robot cabin needs to float, the electromagnetic coil 8 in the electromagnet part is powered off, and the suction cup part is separated from the electromagnet part to realize the load-dumping action. As the suction cup part is separated from the underwater robot cabin with the mount 17, the underwater robot cabin completes the floating action.

Claims

1. A full sea depth oil-filled corrosion-resistant electromagnetic chuck device, characterized in that: The electromagnetic suction cup device comprises an anti-corrosion electromagnet assembly and an anti-corrosion suction cup assembly, wherein the anti-corrosion electromagnet assembly is arranged at the bottom of the underwater robot cabin, and the anti-corrosion electromagnet assembly is detachably connected to the underwater robot cabin, the anti-corrosion suction cup assembly is arranged below the anti-corrosion electromagnet assembly, and the anti-corrosion electromagnet assembly is magnetically adsorbed and connected to the anti-corrosion suction cup assembly, and a mount (17) is mounted on the anti-corrosion suction cup assembly; The anti-corrosion electromagnet assembly comprises a plug (1), an end cover (3), a magnetic ring (5), a magnetic inner sleeve (6), an anti-corrosion outer sleeve (7), an electromagnetic coil (8), a magnetic isolation ring (9), an iron core (10), an iron core anti-corrosion thin plate (11) and a magnetic inner sleeve anti-corrosion thin plate (12), wherein the iron core (10) is a stepped shaft structure, wherein the shaft diameter of the upper shaft section of the iron core (10) is smaller than the shaft diameter of the lower shaft section, and a limiting step is formed at the connection between the upper shaft section and the lower shaft section, the magnetic ring (5) is sleeved on the upper shaft section of the iron core (10), and the magnetic ring (5) is positioned by the limiting step, the electromagnetic coil (8) is arranged at the bottom of the magnetic ring (5), and the electromagnetic coil (8) is sleeved on the lower shaft section of the iron core (10), the magnetic isolation ring (9) is arranged at the bottom of the electromagnetic coil (8), and the magnetic isolation ring (9) is sleeved on the lower shaft section of the iron core (10), The magnetic inner sleeve (6) is coaxially arranged with the iron core (10), and the magnetic inner sleeve (6) is sleeved on the outer circumference of the magnetic ring (5) and the magnetic isolation ring (9); the anti-corrosion outer sleeve (7) is coaxially arranged with the magnetic inner sleeve (6), and the anti-corrosion outer sleeve (7) is sleeved on the outer circumference of the magnetic inner sleeve (6); the end cover (3) is mounted on the top of the anti-corrosion outer sleeve (7); an oil hole is machined on the upper surface of the end cover (3), and a plug (1) is inserted into the oil hole; the iron core anti-corrosion thin plate (11) is arranged at the bottom of the iron core (10), and the iron core anti-corrosion thin plate (11) is fixedly connected to the bottom of the iron core (10); the magnetic inner sleeve anti-corrosion thin plate (12) is arranged at the bottom of the magnetic inner sleeve (6), and the magnetic inner sleeve anti-corrosion thin plate (12) is fixedly connected to the bottom of the magnetic inner sleeve (6); the anti-corrosion electromagnet assembly is detachably connected to the underwater robot cabin body through bolts on the end cover (3); The anti-corrosion suction cup assembly comprises a suction cup anti-corrosion thin plate (13), a suction cup magnetic core (14), a suction cup anti-corrosion jacket (15), a stepped connector (19) and a baffle (20); the suction cup magnetic core (14) is arranged in the suction cup anti-corrosion jacket (15), and the suction cup anti-corrosion thin plate (13) is arranged above the suction cup magnetic core (14), and the suction cup anti-corrosion thin plate (13) is embedded in the port of the suction cup anti-corrosion jacket (15), the outer cylindrical surface of the suction cup anti-corrosion thin plate (13) is welded and fixed to the inner cylindrical wall of the suction cup anti-corrosion jacket (15), and the suction cup anti-corrosion jacket (15) is fixed to the outer cylindrical surface of the suction cup anti-corrosion thin plate (13), and the suction cup anti-corrosion jacket (15) is fixed to the outer cylindrical surface of the suction cup anti-corrosion jacket (15). A mounting hole is processed at the center of the bottom, the top of the step connector (19) is fixedly connected to the mounting hole at the bottom of the suction cup anti-corrosion jacket (15), the baffle (20) is sleeved on the bottom end of the step connector (19), and a locking nut is provided below the baffle (20), the locking nut is threadedly connected to the bottom end of the step connector (19), the mount (17) is mounted on the step connector (19), and the mount (17) is limited by the baffle (20), and the anti-corrosion suction cup assembly is magnetically adsorbed and connected to the anti-corrosion electromagnet assembly through the suction cup magnetic core (14) and the iron core (10).

2. The full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device according to claim 1, characterized in that: A No. 1 ring groove is machined at the bottom of the contact surface between the plug (1) and the upper surface of the end cover (3), and a No. 1 O-ring (2) is embedded in the No. 1 ring groove. A No. 2 ring groove is machined at the top of the anti-corrosion jacket (7), and a No. 2 O-ring (4) is embedded in the No. 2 ring groove.

3. The full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device according to claim 2, characterized in that: The iron core anti-corrosion thin plate (11), the magnetic inner sleeve anti-corrosion thin plate (12) and the suction cup anti-corrosion thin plate (13) are made of an iron-nickel alloy, and the anti-corrosion outer sleeve (7) and the suction cup anti-corrosion outer sleeve (15) are made of stainless steel.

4. The full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device according to claim 3 is characterized by: The upper surface of the end cover (3) is provided with a cylindrical protrusion, in which a threaded connection hole is processed, and the end cover (3) is threadedly connected to a tiny circular double-core watertight connector on the underwater robot cabin through the threaded connection hole.

5. The full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device according to claim 4, characterized in that: The upper surface of the magnetic conductive ring (5) is processed with an oil inlet hole (51), an electromagnetic coil wiring hole (53) and two threaded through holes (52).

6. The full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device according to claim 5, characterized in that: The bottom of the anti-corrosion outer sleeve (7) is arranged coplanar with the bottom of the magnetic inner sleeve (6), and the top of the magnetic inner sleeve (6) is lower than the top of the anti-corrosion outer sleeve (7).

7. The full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device according to claim 6, characterized in that: The bottom of the magnetic isolation ring (9) is machined with an annular groove along the circumferential direction.

8. The full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device according to claim 7, characterized in that: A No. 3 O-ring (16) is provided between the suction cup anti-corrosion jacket (15) and the mount (17), and the No. 3 O-ring (16) is sleeved on the stepped connector (19).

9. The full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device according to claim 8, characterized in that: A plurality of No. 4 O-rings (18) are arranged in sequence between the mount (17) and the stepped connecting piece (19) along the length direction of the stepped connecting piece (19), and each No. 4 O-ring (18) is sleeved on the stepped connecting piece (19).

10. The full-sea-depth oil-filled corrosion-resistant electromagnetic chuck device according to claim 9, characterized in that: Four No. 1 plug welding holes are processed equidistantly along the circumference on the upper surface of the suction cup anti-corrosion thin plate (13), and four No. 2 plug welding holes are processed equidistantly along the circumference on the lower surface of the suction cup anti-corrosion jacket (15), and plug welding is performed in each No. 1 plug welding hole and each No. 2 plug welding hole.

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