An underwater robot and its payload throwing device

Abstract

The present invention belongs to the technical field of underwater vessels, and specifically relates to an underwater robot and its jettisoning device. The jettisoning device includes a fixed seat and a mounting seat, wherein a first clamping arm and a second clamping arm are hingedly connected to the mounting seat, and the bottoms of the two clamping arms clamp a jettisoning block. The fixed seat is also provided with an active pushing component located on one side of the mounting seat; at least one of the first clamping arm and the second clamping arm includes at least two parts connected by an explosive bolt; the weights on the two clamping arms are connected to the fixed seat by a pulling rope, and the pulling rope is pulled off after the breakable connecting member is disconnected; or, the weights on the two clamping arms are connected to the fixed seat by a breakable connecting member; the fixed seat is provided with a hollow sleeve, and the breakable connecting member includes a first part and a second part arranged in upper and lower parts, the first part including a closed hollow cylinder inserted into the hollow sleeve, and the closed hollow cylinder is interference-fitted with the hollow sleeve; the second part is connected to the mounting seat or the weight, and the first and second parts are connected by a voice-controlled lock.

Description

Technical Field

[0001] The present invention belongs to the technical field of underwater vessels, and in particular relates to a jettisoning device of an underwater robot. Background Art

[0002] The ocean covers approximately 71% of the Earth's total surface area, with an average depth of 3,800 meters. It holds abundant energy and mineral resources, and humanity urgently needs to develop and utilize these resources to address the challenges associated with resource scarcity on land. Underwater robots, as highly efficient underwater work platforms, play a vital role in ocean development and utilization. Operating in complex marine environments, underwater robots' safety has long been a concern for those working in this field. Accidents involving underwater robots can result in mission failure at best, or even the loss of the robot itself, resulting in significant losses.

[0003] The structure of underwater robots is mostly as shown in the Chinese invention patent application with application publication number CN113022827A. The underwater robot includes a carrier and various traveling units, detection units, etc. installed on the carrier. The carrier is also equipped with a throwing device. When the underwater robot encounters an emergency, the throwing device can throw heavy objects, and the carrier obtains positive buoyancy and floats to the surface. The throwing device protects the underwater robot.

[0004] To cope with complex underwater environments and improve the reliability of jettisoning devices, researchers have conducted extensive research on jettisoning methods. Currently, most approaches employ two jettisoning methods in parallel to enhance jettisoning reliability. For example, Chinese invention patent application publication number CN113212715A discloses an underwater active-passive dual-drive jettisoning device and operating method, which utilizes a combination of active electromagnet jettisoning and passive hydraulic cylinder jettisoning. Active jettisoning requires controlling the electromagnet's motion, while high-pressure water pushes the hydraulic cylinder to jettison the underwater robot when it falls. Another example is a deep-sea dual-drive jettisoning device and method, disclosed in Chinese invention patent application publication number CN112937818A, which utilizes an active jettisoning electric valve and explosive bolts in parallel to enhance jettisoning reliability. Another example is a safe jettisoning method and system for a deep-sea lander, disclosed in Chinese invention patent application publication number CN112061355A, which utilizes an acoustic releaser and an emergency / timed jettisoning device in parallel to enhance jettisoning reliability.

[0005] Although existing technologies employ two parallel methods to improve reliability, current jettisoning devices still suffer from poor reliability due to the complex underwater environment. For example, if an underwater robot uses a combination of active electromagnet jettisoning and passive hydraulic cylinder jettisoning, the hydraulic cylinder passive jettisoning will not function when the underwater robot dives above the safe depth. Once the underwater robot runs out of energy and the electromagnet fails to function properly, reliable jettisoning is impossible. Another example is a combination of an electric valve and explosive bolts. If the underwater robot sinks below the safe depth and runs out of energy, it cannot jettison its load and surface automatically, requiring it to wait for the explosive bolts to detonate before surfacing, making it impossible to quickly recover. Another example is a combination of an acoustic releaser and emergency / timed jettisoning. If the underwater robot encounters underwater rocks or other obstructions, the acoustic releaser will not receive the underwater acoustic signal and cannot complete the release. Once the underwater robot sinks below the safe depth and runs out of energy, it cannot jettison its load and surface automatically, requiring it to wait for the emergency / timed jettisoning to surface, making it impossible to quickly recover.

[0006] In general, the reliability of the existing jettisoning method is still relatively poor and cannot meet the complex underwater environment. Summary of the Invention

[0007] The purpose of the present invention is to provide a jettisoning device for an underwater robot to solve the technical problem of poor reliability of the jettisoning method in the prior art; and also to provide an underwater robot to solve the above technical problem.

[0008] To achieve the above-mentioned purpose, the technical solution of the underwater robot jettisoning device provided by the present invention is as follows: a jettisoning device of the underwater robot comprises a fixing seat fixedly mounted on a carrier when in use, a mounting seat being anti-detachably connected below the fixing seat, a first clamping arm and a second clamping arm being hingedly connected to the mounting seat, a jettisoning block being clamped at the bottom of the first clamping arm and the second clamping arm, an active pushing component being further provided on one side of the mounting seat, the active pushing component being used for controlled movement to push the jettisoning block away from the first clamping arm and the second clamping arm; at least one of the first clamping arm and the second clamping arm comprises at least two parts connected by an explosive bolt, and after the explosive bolt is destroyed at a timed interval, the jettisoning block is released from the clamping of the first clamping arm and the second clamping arm; a weight is provided on the first clamping arm and the second clamping arm for driving the corresponding clamping arm to swing by its own weight to disengage the jettisoning block; a breakable connecting piece is provided on the fixing seat;

[0009] The mounting seat is assembled on the fixed seat in a floating manner in the up-down direction, and the weights on the first clamping arm and the second clamping arm are connected to the fixed seat by a pulling rope. The pulling rope is used to pull the weight upward so that the first clamping arm and the second clamping arm clamp the throw-over block. The breakable connecting piece is connected to the mounting seat. After the breakable connecting piece is broken, the mounting seat moves downward under its own weight and breaks the pulling rope, so that the weight drives the first clamping arm and the second clamping arm to swing to disengage the throw-over block.

[0010] Alternatively, the weight on the first clamping arm and the second clamping arm is connected to the fixing seat via the breakable connecting piece. After the breakable connecting piece is broken, the weight drives the first clamping arm and the second clamping arm to swing to disengage the throw-off block.

[0011] A hollow sleeve is provided on the fixing seat, and the breakable connecting piece includes a first part and a second part which are arranged in upper and lower parts. The first part includes a closed hollow cylinder inserted into the hollow sleeve. The closed hollow cylinder and the hollow sleeve have an interference fit. The closed hollow cylinder is used to be crushed by external water pressure to separate from the hollow sleeve after the underwater robot dives to a depth exceeding a safe depth; the second part is connected to the corresponding mounting seat or the corresponding heavy object. The first part and the second part are connected by a voice-controlled lock, which is used to open after receiving sound waves to disconnect the first part and the second part.

[0012] Beneficial effects: The jettisoning device of the present invention uses a method of clamping and fixing the jettisoning block with a first clamping arm and a second clamping arm, resulting in a simple structure and quick assembly and jettisoning. The present invention utilizes the combination of a closed hollow cylinder and a hollow sleeve to enable jettisoning when the underwater robot dives below a safe depth; utilizes a voice-controlled lock to unlock the lock by sending sound waves from the shore for jettisoning; utilizes an active thrust component to achieve active jettisoning; and utilizes an explosive bolt to achieve timed detonation jettisoning. When the underwater robot is navigating above a safe depth, in the event of an emergency and if it has sufficient energy, it can jettison the load using the active thrust component; if it does not have enough energy, it can unlock the lock using sound waves from the shore for jettisoning; when the underwater robot dives below a safe depth, it can jettison the load automatically; for safety reasons, a timed detonation is performed when the underwater robot is working, and when the other three jettisoning methods fail to work properly, the explosive bolt is used for detonation jettisoning. The present invention utilizes four modes to achieve a redundant design, meet the diverse underwater operating environments, and improve the reliability of the jettisoning device. Moreover, only a portion of the load is discarded during the dumping process, and structures such as the mounting base are not discarded, which facilitates secondary utilization and reduces costs.

[0013] Preferably, the load-jetting device includes a connecting rod mechanism connecting the fixed seat and the mounting seat, and the connecting rod mechanism includes at least two hinged connecting rods, so that the mounting seat can float in the vertical direction and be assembled on the fixed seat in a preventive manner. The connecting rod mechanism achieves the upward and downward floating and preventive disengagement, and the structure is simpler.

[0014] Preferably, the first clamping arm and the second clamping arm each comprise a lever hingedly connected to a mounting base, one end of the lever being provided with the weight, and the other end being provided with a cantilever beam extending vertically. The lower end of the cantilever beam is connected to a pressure plate via the explosive bolt. The pressure plates of the first and second clamping arms cooperate to clamp the throwaway load block, and the weight of the weight can drive the pressure plate to swing away from the throwaway load block by its own weight. The pressure plate and the cantilever beam are connected via the explosive bolt, and the pressure plate clamps the throwaway load block. Even if the explosive bolt detonates, only the pressure plate and the throwaway load block are discarded, and the cantilever beam, lever, etc. can be reused, thus saving costs.

[0015] Preferably, the upper end of the cantilever beam is hinged to the lever, and the first clamping arm and the second clamping arm further include a cross arm with one end hinged to the mounting seat, and the cross arm is hinged to the portion between the upper and lower ends of the cantilever beam.

[0016] Preferably, the mounting base is a plate body, and the lever and the cross arm are both splint structures hinged to the mounting base through a pin. The mounting base is a plate body, which realizes a lightweight design, while the lever and the cross arm are both splint structures, which improves the structural strength of the lever and the cross arm.

[0017] Preferably, the jettisoning device further includes a clamping plate fixed to the bottom of the first and second clamping arms, wherein the clamping plate has a larger cross-sectional area than the first and second clamping arms, and the clamping plate is used to directly clamp the jettisoning block. The larger cross-sectional area of the clamping plate enables reliable clamping of the jettisoning block, ensuring that the jettisoning block is securely held when not being jettisoned.

[0018] Preferably, the bottoms of the clamping plates extend obliquely, so that the bottoms of the two clamping plates form a flared structure, which facilitates the insertion of the throw-off block between the two clamping plates.

[0019] Preferably, the hollow sleeve is provided above the fixing seat, and the closed hollow cylinder passes through the fixing seat and then into the hollow sleeve. The hollow sleeve is located above the fixing seat, which can reduce the space occupied by the fixing seat below and reduce the size of the exposed part of the jettisoning device.

[0020] Preferably, the active pushing component comprises a push rod with a push plate fixed below the push rod for directly pushing the throwable load block. The push plate has a pushing area greater than the cross-sectional area of the push rod. The push plate ensures that the force point of the throwable load block is as close as possible to the center of the throwable load block, preventing the throwable load block from tilting and becoming unable to throw the load when one end of the throwable load block is pushed from a single point.

[0021] The technical solution of the underwater robot of the present invention is as follows: an underwater robot includes a carrier, a carrier is provided with a jettisoning device, the jettisoning device includes a fixing seat fixed to the carrier when in use, a mounting seat is anti-detachably connected below the fixing seat, a first clamping arm and a second clamping arm are hinged on the mounting seat, the bottoms of the first clamping arm and the second clamping arm clamp a jettisoning block, the fixing seat is further provided with an active pushing component located on one side of the mounting seat, the active pushing component is used for controlled action to push the jettisoning block away from the first clamping arm and the second clamping arm; at least one of the first clamping arm and the second clamping arm includes at least two parts connected by an explosive bolt, and after the explosive bolt is destroyed at a time, the jettisoning block is separated from the clamping of the first clamping arm and the second clamping arm; the first clamping arm and the second clamping arm are provided with a weight for driving the corresponding clamping arm to swing by its own weight to disengage the jettisoning block; the fixing seat is provided with a breakable connecting piece;

[0022] The mounting seat is assembled on the fixed seat in a floating manner in the up-down direction, and the weights on the first clamping arm and the second clamping arm are connected to the fixed seat by a pulling rope. The pulling rope is used to pull the weight upward so that the first clamping arm and the second clamping arm clamp the throw-over block. The breakable connecting piece is connected to the mounting seat. After the breakable connecting piece is broken, the mounting seat moves downward under its own weight and breaks the pulling rope, so that the weight drives the first clamping arm and the second clamping arm to swing to disengage the throw-over block.

[0023] Alternatively, the weight on the first clamping arm and the second clamping arm is connected to the fixing seat via the breakable connecting piece. After the breakable connecting piece is broken, the weight drives the first clamping arm and the second clamping arm to swing to disengage the throw-off block.

[0024] A hollow sleeve is provided on the fixing seat, and the breakable connecting piece includes a first part and a second part which are arranged in upper and lower parts. The first part includes a closed hollow cylinder inserted into the hollow sleeve. The closed hollow cylinder and the hollow sleeve have an interference fit. The closed hollow cylinder is used to be crushed by external water pressure to separate from the hollow sleeve after the underwater robot dives to a depth exceeding a safe depth; the second part is connected to the corresponding mounting seat or the corresponding heavy object. The first part and the second part are connected by a voice-controlled lock, which is used to open after receiving a sound wave to disconnect the first part and the second part.

[0025] Beneficial effects: The jettisoning device of the present invention uses a method of clamping and fixing the jettisoning block with a first clamping arm and a second clamping arm, resulting in a simple structure and quick assembly and jettisoning. The present invention utilizes the combination of a closed hollow cylinder and a hollow sleeve to enable jettisoning when the underwater robot dives below a safe depth; utilizes a voice-controlled lock to unlock the lock by sending sound waves from the shore for jettisoning; utilizes an active thrust component to achieve active jettisoning; and utilizes an explosive bolt to achieve timed detonation jettisoning. When the underwater robot is navigating above a safe depth, in the event of an emergency and if it has sufficient energy, it can jettison the load using the active thrust component; if it does not have enough energy, it can unlock the lock using sound waves from the shore for jettisoning; when the underwater robot dives below a safe depth, it can jettison the load automatically; for safety reasons, a timed detonation is performed when the underwater robot is working, and when the other three jettisoning methods fail to work properly, the explosive bolt is used for detonation jettisoning. The present invention utilizes four modes to achieve a redundant design, meet the diverse underwater operating environments, and improve the reliability of the jettisoning device. Moreover, only a portion of the load is discarded during the dumping process, and structures such as the mounting base are not discarded, which facilitates secondary utilization and reduces costs.

[0026] Preferably, the load-jetting device includes a connecting rod mechanism connecting the fixed seat and the mounting seat, and the connecting rod mechanism includes at least two hinged connecting rods, so that the mounting seat can float in the vertical direction and be assembled on the fixed seat in a preventive manner. The connecting rod mechanism achieves the upward and downward floating and preventive disengagement, and the structure is simpler.

[0027] Preferably, the first clamping arm and the second clamping arm each comprise a lever hingedly connected to a mounting base, one end of the lever being provided with the weight, and the other end being provided with a cantilever beam extending vertically. The lower end of the cantilever beam is connected to a pressure plate via the explosive bolt. The pressure plates of the first and second clamping arms cooperate to clamp the throwaway load block, and the weight of the weight can drive the pressure plate to swing away from the throwaway load block by its own weight. The pressure plate and the cantilever beam are connected via the explosive bolt, and the pressure plate clamps the throwaway load block. Even if the explosive bolt detonates, only the pressure plate and the throwaway load block are discarded, and the cantilever beam, lever, etc. can be reused, thus saving costs.

[0028] Preferably, the upper end of the cantilever beam is hinged to the lever, and the first clamping arm and the second clamping arm further include a cross arm with one end hinged to the mounting seat, and the cross arm is hinged to the portion between the upper and lower ends of the cantilever beam.

[0029] Preferably, the mounting base is a plate body, and the lever and the cross arm are both splint structures hinged to the mounting base through a pin. The mounting base is a plate body, which realizes a lightweight design, while the lever and the cross arm are both splint structures, which improves the structural strength of the lever and the cross arm.

[0030] Preferably, the jettisoning device further includes a clamping plate fixed to the bottom of the first and second clamping arms, wherein the clamping plate has a larger cross-sectional area than the first and second clamping arms, and the clamping plate is used to directly clamp the jettisoning block. The larger cross-sectional area of the clamping plate enables reliable clamping of the jettisoning block, ensuring that the jettisoning block is securely held when not being jettisoned.

[0031] Preferably, the bottoms of the clamping plates extend obliquely, so that the bottoms of the two clamping plates form a flared structure, which facilitates the insertion of the throw-off block between the two clamping plates.

[0032] Preferably, the hollow sleeve is provided above the fixing seat, and the closed hollow cylinder passes through the fixing seat and then into the hollow sleeve. The hollow sleeve is located above the fixing seat, which can reduce the space occupied by the fixing seat below and reduce the size of the exposed part of the jettisoning device.

[0033] Preferably, the active pushing component comprises a push rod with a push plate fixed below the push rod for directly pushing the throwable load block. The push plate has a pushing area greater than the cross-sectional area of the push rod. The push plate ensures that the force point of the throwable load block is as close as possible to the center of the throwable load block, preventing the throwable load block from tilting and becoming unable to throw the load when one end of the throwable load block is pushed from a single point. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 A schematic diagram of the underwater robot provided by the present invention;

[0035] Figure 2 This is a front view of the jettisoning device of the underwater robot provided by the present invention (the traction rope is not shown in the figure);

[0036] Figure 3 This is a left view of the jettisoning device of the underwater robot provided by the present invention;

[0037] Figure 4 This is a front view of the load-releasing device of the underwater robot provided by the present invention when the closed hollow cylinder is crushed and the load is released (the pulling rope is not shown in the figure);

[0038] Figure 5 This is a left side view of the load-releasing device of the underwater robot provided by the present invention when the closed hollow cylinder is crushed and the load is released;

[0039] Figure 6 This is a schematic diagram of the load-releasing device of the underwater robot provided by the present invention during electronic load-releasing (the traction rope is not shown in the figure);

[0040] Figure 7 This is a schematic diagram of the underwater robot's load-releasing device provided by the present invention when the voice-controlled lock is opened and the load is released (the pulling rope is not shown in the figure);

[0041] Figure 8This is a schematic diagram of the load-releasing device of the underwater robot provided by the present invention during timed load-releasing (the pulling rope is not shown in the figure).

[0042] Description of reference numerals:

[0043] 100. Carrier; 200. Load-discharging device; 201. Fixing seat; 202. Mounting seat; 203. Linkage mechanism; 204. First link; 205. Second link; 206. Hollow casing; 207. Closed hollow cylinder; 208. Vertical rod; 209. Voice-activated lock; 210. First clamping arm; 211. Second clamping arm; 212. Lever; 213. Cantilever beam; 214. Pressure plate; 215. Explosive bolt; 216. Cross arm; 217. Weight; 218. Timer; 219. Clamping plate; 220. Load-discharging block; 221. Push plate; 222. Pull rope; 223. Electric cylinder; 224. Push rod. DETAILED DESCRIPTION

[0044] In order to make the objectives, technical solutions, and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present invention and are not intended to limit the present invention. That is, the embodiments described herein are only some embodiments of the present invention, not all embodiments. Generally, the components of the embodiments of the present invention described and illustrated in the drawings herein may be arranged and designed in various different configurations.

[0045] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention as claimed, but is merely intended to represent selected embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative work are within the scope of protection of the present invention.

[0046] It should be noted that relational terms such as "first" and "second" that may appear are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, terms such as "include", "comprise" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, elements defined by the phrase "including a..." do not exclude processes or methods that include the elements.

[0047] In the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed, detachable, or integral connections; mechanical or electrical connections; direct or indirect connections 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 the present invention based on specific circumstances.

[0048] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "provided with" and "provided with" should be understood in a broad sense. For example, the object "provided with" may be a part of the main body, or may be arranged separately from the main body and connected to the main body. The connection may be detachable or non-detachable. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0049] The present invention is described in further detail below with reference to the examples.

[0050] Specific embodiments of the underwater robot provided by the present invention:

[0051] The improvement of the underwater robot of the present invention lies in the jettisoning device, which has a redundant design and can realize multiple modes of jettisoning, thereby improving the reliability of jettisoning.

[0052] like Figures 1 to 8 As shown, the underwater robot includes a carrier 100 and a jettisoning device 200 installed on the carrier 100, wherein the structure of the carrier 100 and other components provided on the carrier 100 such as a traveling unit and a detection unit are consistent with the prior art.

[0053] The structure of the ejection device 200 is as follows: Figure 2 and Figure 3 As shown, the jettisoning device 200 includes a fixed base 201, which is fixedly mounted on the carrier 100. Here, the fixed base 201 is a support plate. In other embodiments, the fixed base 201 may be a thick block-shaped structure. A mounting base 202 is connected below the fixed base 201. Specifically, the mounting base 202 is connected to the fixed base 201 via two linkages 203, which are located on either side of the fixed base 201 and the mounting base 202. The linkages 203 include a first link 204 and a second link 205, each hingedly connected. The upper end of the first link 204 is hinged to the fixed base 201, and the lower end of the second link 205 is hinged to the mounting base 202. The first link 204 and the second link 205 can rotate relative to each other to achieve folding, thereby allowing the mounting base 202 to float vertically on the fixed base 201 while preventing the mounting base 202 from detaching from the fixed base 201.

[0054] A first clamping arm 210 and a second clamping arm 211 are rotatably mounted on the mounting base 202, and a throw-off block 220 is clamped at the bottom of the first clamping arm 210 and the second clamping arm 211. The structures of the first clamping arm 210 and the second clamping arm 211 are the same, and only the first clamping arm 210 is used as an example for description. The first clamping arm 210 includes a lever 212 hinged to the mounting base 202 by a pin shaft, a weight 217 is fixed to one end of the lever 212, and a cantilever beam 213 is hinged to the other end by a pin shaft. The cantilever beam 213 extends up and down, and a pressure plate 214 is fixed to the lower end of the cantilever beam 213 by bolts, wherein the bolts are explosive bolts 215. The first clamping arm 210 also includes a cross arm 216 hinged to the mounting base 202 by a pin shaft, and the other end of the cross arm 216 is hinged between the upper and lower ends of the cantilever beam 213 by a pin shaft. When the weight 217 is pulled upward, the weight 217 drives the lever 212 to swing, driving the cantilever beam 213 and the cross arm 216 to tilt, and the lower end of the cantilever beam 213 swings inward, and the pressure plates 214 on the two cantilever beams 213 can cooperate to clamp the throw load block 220; when the weight 217 loses its restraint, the weight 217 relies on its own weight to drive the lower end of the cantilever beam 213 to swing outward, so that the throw load block 220 is released from the clamping of the first clamping arm 210 and the second clamping arm 211.

[0055] In this embodiment, the mounting base 202 is a mounting plate, and the lever 212 and cross arm 216 are both clamping plates. The clamping plates comprise two plates positioned on either side of the mounting base 202, which clamp the mounting plate and are connected by a pin. Accordingly, the first clamping arm 210 and the second clamping arm 211 each include two weights 217.

[0056] like Figure 2 As shown, a timer 218 is installed on the pressure plate 214, and the timer 218 is connected to the explosive bolt 215, and the explosion is performed after the time is set.

[0057] In order to pull the weight 217 , a pulling rope 222 is connected between the weight 217 and the fixing seat 201 . The pulling rope 222 pulls the weight 217 upward, thereby keeping the first clamping arm 210 and the second clamping arm 211 in a state of clamping the throwing block 220 .

[0058] The first clamping arm 210 and the second clamping arm 211 are respectively fixed with a clamping plate 219 on the pressure plate 214. The cross-sectional area of the clamping plate 219 is larger than that of the pressure plate 214, and the throw-off block 220 can be reliably clamped. Figure 2 As shown, the bottoms of the two clamping plates 219 are inclined, so that the lower parts of the two clamping plates 219 form a flared structure, which facilitates the ejection block 220 to enter between the two clamping plates 219.

[0059] In order to ensure that the pulling rope 222 will not be broken by the deadweight of the dumping block 220 and the related structures on the mounting seat 202 during normal navigation, and in order to break the pulling rope 222 when dumping is required, a breakable connector is connected between the fixing seat 201 and the mounting seat 202.

[0060] The severable connector consists of a first and second, upper and lower section. The first section includes a closed hollow cylinder 207, which extends upward through the mounting base 201. A voice-activated lock 209 is secured to the lower end of the cylinder. The second section includes a vertical rod 208, whose lower end is hinged to the mounting base 202. Alternatively, the rod 208 can be directly secured to the mounting base 202. A keyhole is defined in the rod 208, which engages with the voice-activated lock 209 for securement.

[0061] like Figure 2 and Figure 3 As shown, a hollow sleeve 206 is fixed on the top surface of the fixing seat 201, and a closed hollow cylinder 207 is inserted into the hollow sleeve 206. The hollow sleeve 206 and the closed hollow cylinder 207 are interference fit, thereby fixing the breakable connector on the fixing seat 201.

[0062] like Figure 2 and Figure 3 As shown, an electric cylinder 223 is also mounted at the bottom of the fixing base 201. The electric cylinder 223 is located on one side of the mounting base 202, and the ejection block 220 extends below the electric cylinder 223. A push plate 221 is fixedly mounted on the push rod 224 of the electric cylinder 223. Specifically, the push plate 221 and the push rod 224 are threadedly assembled together. The area of the push plate 221 pushing against the ejection block 220 is larger than the cross-sectional area of the push rod 224. When the electric cylinder 223 pushes the ejection block 220, the push plate 221 can increase the force-bearing area of the ejection block 220 and bring it closer to the center of the ejection block 220, ensuring that the ejection block 220 can be smoothly pushed away from the first clamping arm 210 and the second clamping arm 211.

[0063] The initial state of the ejection device 200 is as follows: Figure 2 and Figure 3 As shown, in the initial state, the voice-controlled lock 209 connects the vertical rod 208 and the closed hollow cylinder 207 together, the closed hollow cylinder 207 is fixed in the hollow sleeve 206, and the pulling rope 222 pulls the weight 217 upward, so that the first clamping arm 210 and the second clamping arm 211 clamp the throwing load block 220, and the pressure plate 214 and the cantilever beam 213 are reliably connected together through the explosive bolt 215.

[0064] like Figure 4 and Figure 5As shown, when the underwater robot dives beyond a certain depth, the external water pressure crushes the closed hollow cylinder 207, causing the mounting base 202 and its components to descend under their own weight. This breaks the pull rope 222 and straightens the connecting rod 203. The weight 217 drives the lower end of the cantilever beam 213 to swing outward, reducing the clamping force on the jettison block 220. The jettison block 220 then falls freely under its own weight. The jettison block 220 is released, and the underwater robot gains additional buoyancy, surfacing to the surface. In this jettisoning mode, the maximum safe diving depth of the underwater robot can be adjusted by designing the wall thickness of the closed hollow cylinder 207.

[0065] like Figure 6 As shown, when the underwater robot encounters an emergency (such as flooding of the pressure chamber) and needs to surface, the control computer sends a downward movement command to the electric cylinder 223. The push rod 224 acts on the jettison block 220 via the push plate 221, overcoming the grip of the first and second clamping arms 210 and 211, pushing the jettison block 220 away from the first and second clamping arms 210 and 211. The jettison block 220 falls freely under its own weight. When the jettison block 220 is released, the underwater robot gains additional buoyancy and rises to the surface. In this jettisoning mode, the underwater robot can release the jettison block 220 at any depth.

[0066] like Figure 7 As shown, when the underwater robot dives less than the safe diving depth and its own energy is exhausted, a hydroacoustic signal of a specific frequency spectrum is released on the ground using a hydroacoustic device. The voice-controlled lock 209 unlocks after receiving the specific signal. The mounting base 202 and the components thereon descend under the action of their own weight, breaking the pull rope 222 and straightening the connecting rod mechanism 203. The weight 217 drives the lower end of the cantilever beam 213 to swing outward, and the clamping force on the throw-load block 220 becomes smaller. The throw-load block 220 falls freely under the action of its own weight. The throw-load block 220 is released, and the underwater robot obtains additional buoyancy and floats to the water surface.

[0067] like Figure 8 As shown, before the underwater robot is launched into the water, the operating time is pre-loaded into timer 218. When the underwater robot reaches the specified time for autonomous operation and has not yet surfaced, the two timers 218 control the detonation of the two explosive bolts 215, releasing the jettisoning block 220 and the pressure plate 214. The underwater robot gains additional buoyancy and rises to the surface. If the underwater robot's autonomous operation ends and is safely recovered, the control of the timer 218 on the detonation of the explosive bolts 215 can be released through a control command. This mode can release the jettisoning block on a regular basis when other modes fail to work properly (for example, if the underwater robot has not descended to a safe depth, its own energy is exhausted, or it is unable to receive underwater acoustic signals).

[0068] In this embodiment, the electric cylinder 223 constitutes an active pushing component for actively pushing the thrower block 220. The electric cylinder 223 has a simple structure and is relatively small in weight and size. In other embodiments, the active pushing component may be a hydraulic cylinder, an air cylinder, or the like.

[0069] In this embodiment, the lower end of the push rod 224 is connected to a push plate 221, and the push plate 221 directly pushes the throw-through block 220. In other embodiments, the push rod directly pushes the throw-through block, and the push rod is arranged near the center of the throw-through block, or the bottom of the push rod is a bent structure, and the lower end presses against the throw-through block.

[0070] In this embodiment, the hollow sleeve 206 is located above the fixing seat 201. In other embodiments, the hollow sleeve is fixed below the fixing seat, and in this case, the closed hollow cylinder does not need to pass through the fixing seat.

[0071] In this embodiment, the bottom of the clamping plates 219 extends obliquely, forming a flared structure at the bottom of the two clamping plates 219. In other embodiments, the clamping plates 219 are straight plates extending vertically. In other embodiments, the clamping plates are eliminated and the pressure plate is used to directly clamp the throw-off block.

[0072] In this embodiment, the mounting base 202 is a plate, and the lever 212 and the cross arm 216 are both splint structures. In other embodiments, the mounting base is a block, and the lever and the cross arm are both located on one side of the mounting base.

[0073] In this embodiment, the first clamping arm 210 and the second clamping arm 211 each include a lever 212, a cantilever beam 213, a pressure plate 214, and a cross arm 216. The upper end of the cantilever beam 213 is hinged to the lever 212, and the lower end is fixedly connected to the pressure plate 214 via an explosive bolt 215. In other embodiments, the cross arm is eliminated, and the upper end of the cantilever beam is fixed to the lever via bolts, and the lower end is fixed to the pressure plate via bolts. In this case, at least one of the two bolts is an explosive bolt. In other embodiments, the cantilever beam and the lever are an integral structure, or the cantilever beam and the pressure plate are an integral structure.

[0074] In this embodiment, the connecting rod mechanism 203 includes two connecting rods hinged together. In other embodiments, the number of connecting rods in the connecting rod mechanism can be increased according to actual conditions. In other embodiments, in order to achieve the up and down floating of the mounting seat and the anti-slip assembly on the fixed seat, the connecting rod mechanism can be replaced with a spring, or replaced with a guide post and guide sleeve assembly, the guide post and guide sleeve assembly including a guide sleeve, a guide sleeve having a guide sleeve stop step, a guide post having a guide post stop step, the guide post inserted into the guide sleeve, and the guide sleeve stop step and the guide post stop step are used to achieve anti-slip.

[0075] In this embodiment, mounting base 202 is mounted on fixed base 201 in a floating and anti-detachment manner, weight 217 is connected to fixed base 201 via a pull rope 222, and a breakable connector connects mounting base 202 and fixed base 201. In other embodiments, a breakable connector connects the fixed base and the weight. When the breakable connector is disconnected, the weight descends and is dumped. At this time, the mounting base can be mounted on the fixed base in a floating and anti-detachment manner, or it can be fixedly mounted on the fixed base.

[0076] In this embodiment, both the first clamping arm 210 and the second clamping arm 211 have explosive bolts 215. In other embodiments, only one of the first clamping arm and the second clamping arm has an explosive bolt. In other embodiments, the timer can be installed in other locations or on the carrier 100.

[0077] Specific embodiment of the jettisoning device of the underwater robot of the present invention:

[0078] The structure of the jettisoning device of the underwater robot is the same as that of the jettisoning device in the above-mentioned embodiments of the underwater robot, and will not be described in detail here.

[0079] Finally, it should be noted that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments without inventive effort, or replace some of the technical features therein with equivalents. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of protection of the present invention.

Claims

1. A jettisoning device for an underwater robot, characterized in that: The invention comprises a fixing seat (201) fixed on a carrier (100) when in use, a mounting seat (202) being connected to the fixing seat (201) in a manner that prevents it from falling off, a first clamping arm (210) and a second clamping arm (211) being hinged on the mounting seat (202), a throwing block (220) being clamped at the bottom of the first clamping arm (210) and the second clamping arm (211), and an active pushing component located on one side of the mounting seat (202) being further provided on the fixing seat (201), the active pushing component being used for controlled action to push the throwing block (220) away from the first clamping arm (210). 0), and a second clamping arm (211); at least one of the first clamping arm (210) and the second clamping arm (211) comprises at least two parts connected by an explosive bolt (215); after the explosive bolt (215) is regularly destroyed, the throwing block (220) is separated from the clamping of the first clamping arm (210) and the second clamping arm (211); a weight (217) is provided on the first clamping arm (210) and the second clamping arm (211) for driving the corresponding clamping arm to swing by its own weight to separate the throwing block (220); and a breakable connecting piece is provided on the fixing seat (201); The mounting seat (202) is assembled on the fixing seat (201) in a floating manner in the vertical direction. The weight (217) on the first clamping arm (210) and the second clamping arm (211) is connected to the fixing seat (201) via a pulling rope (222). The pulling rope (222) is used to pull the weight (217) upward so that the first clamping arm (210) and the second clamping arm (211) clamp the throwing block (220). The breakable connecting piece is connected to the mounting seat (202). After the breakable connecting piece is broken, the mounting seat (202) moves downward by its own weight and breaks the pulling rope (222), so that the weight (217) drives the first clamping arm (210) and the second clamping arm (211) to swing by its own weight to disengage the throwing block (220). Alternatively, the weight (217) on the first clamping arm (210) and the second clamping arm (211) is connected to the fixing seat (201) via the breakable connecting piece, and after the breakable connecting piece is broken, the weight (217) drives the first clamping arm (210) and the second clamping arm (211) to swing by its own weight to disengage the throwing block (220); The fixing seat (201) is provided with a hollow sleeve (206), and the disconnectable connecting member includes a first part and a second part which are arranged in upper and lower parts. The first part includes a closed hollow cylinder (207) which penetrates into the hollow sleeve (206), and the closed hollow cylinder (207) is interference-fitted with the hollow sleeve (206). The closed hollow cylinder (207) is used to be crushed by external water pressure to separate from the hollow sleeve (206) after the underwater robot dives to a depth exceeding a safe depth; the second part is connected to the corresponding mounting seat (202) or the corresponding weight (217). The first part and the second part are connected by a voice-controlled lock (209), and the voice-controlled lock (209) is used to open after receiving a sound wave to disconnect the first part and the second part.

2. The jettisoning device of the underwater robot according to claim 1, characterized in that: The ejection device (200) comprises a connecting rod mechanism (203) connecting a fixed seat (201) and a mounting seat (202); the connecting rod mechanism (203) comprises at least two connecting rods hinged together, so that the mounting seat (202) can float in an up-down direction and be assembled on the fixed seat (201) in a non-detachable manner.

3. The jettisoning device of the underwater robot according to claim 1, characterized in that: The first clamping arm (210) and the second clamping arm (211) both comprise a lever (212) hingedly connected to the mounting seat (202); one end of the lever (212) is provided with the weight (217); the other end is provided with a cantilever beam (213) extending up and down; the lower end of the cantilever beam (213) is connected to a pressure plate (214) via the explosive bolt (215); the pressure plates (214) of the first clamping arm (210) and the second clamping arm (211) are used to cooperate with clamping the throw-off block (220); the weight (217) can drive the pressure plate to swing in a direction away from the throw-off block (220) by relying on its own weight.

4. The jettisoning device of the underwater robot according to claim 3, characterized in that: The upper end of the cantilever beam (213) is hinged on the lever (212), and the first clamping arm (210) and the second clamping arm (211) further include a cross arm (216) with one end hinged on the mounting seat (202), and the cross arm (216) is hinged to the portion between the upper and lower ends of the cantilever beam (213).

5. The jettisoning device of the underwater robot according to claim 4, characterized in that: The mounting seat (202) is a plate body, and the lever (212) and the cross arm (216) are both splint structures hinged to the mounting seat (202) through a pin shaft.

6. The underwater robot jettisoning device according to any one of claims 1 to 5, characterized in that: The ejection device (200) further comprises a clamping plate (219) fixedly arranged at the bottom of the first clamping arm (210) and the second clamping arm (211); the cross-sectional area of the clamping plate (219) is larger than the cross-sectional area of the first clamping arm (210) and the second clamping arm (211); the clamping plate (219) is used to directly clamp the ejection block (220).

7. The jettisoning device of the underwater robot according to claim 6, characterized in that: The bottom of the clamping plate (219) extends obliquely, so that the bottoms of the two clamping plates (219) form a flared structure.

8. The underwater robot jettisoning device according to any one of claims 1 to 5, characterized in that: The hollow sleeve (206) is arranged above the fixing seat (201), and the closed hollow cylinder (207) penetrates the fixing seat (201) and then enters the hollow sleeve (206).

9. The underwater robot jettisoning device according to any one of claims 1 to 5, characterized in that: The active pushing component comprises a push rod (224), a push plate (221) is fixedly provided below the push rod (224), the push plate (221) is used for directly pushing the throw-load block (220), and the pushing area of the push plate (221) is larger than the cross-sectional area of the push rod (224).

10. An underwater robot comprising a carrier provided with a jettisoning device, characterized in that: The jettisoning device (200) is the jettisoning device (200) of the underwater robot according to any one of claims 1 to 9.

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