Self-unlocking driving device and underwater mobile platform

Abstract

The present application relates to a self-unlocking drive device, comprising: a power piece, a hydraulic cylinder, a clutch and an accumulator, wherein the power piece includes a device for outputting power to move a mobile component. The piston rod of the hydraulic cylinder has two states: extended and retracted. When the piston rod is in the extended state, the clutch is in the engaged state, and the transmission system effectively connects the power piece and the mobile component. At this time, the power can be transmitted to the mobile component through the clutch; when the piston rod is in the retracted state, the clutch is in the disengaged state. At this time, the transmission system is destroyed, the power piece cannot transmit power to the mobile component, and the mobile component is in a free state and can roll. The accumulator is connected to the rod chamber of the hydraulic cylinder. The accumulator can transfer the high-pressure oil stored in itself to the rod chamber. After the high-pressure oil in the rod chamber increases, the piston rod will retract, thereby disengaging the clutch. The present application uses an accumulator to separate the clutch without external power, thereby making it convenient for the staff to tow it back.

Description

Technical Field

[0001] The present application relates to the technical field of drive devices, and in particular to a self-unlocking drive device and an underwater mobile platform. Background Art

[0002] In order to maintain good communication and emergency rescue, the underwater mobile platform is connected to an armored cable at its tail for travel. During the driving process, the underwater mobile platform needs to resist the water flow and cable drag force, so the drive control device of the underwater mobile platform can generally be realized when it needs to park, which can effectively resist the water flow and cable drag force, thereby keeping the underwater mobile platform stably in place. At this time, the balance valve on the power component of the drive control device can stop the output end of the power component from rotating. Since the transmission system of the drive control device effectively connects the power component with the mobile component of the underwater mobile platform, the track in the mobile component also stops moving relative to the ground.

[0003] When an underwater mobile platform malfunctions or experiences a weak signal, rendering its electronic equipment unusable and causing the transmission system in the control system to disconnect, the platform's moving components, such as the tracks, become locked, meaning they cannot roll. When the cable drags the underwater mobile platform, the moving components will slide and rub against the ground. This significantly increases the drag force, making it difficult to tow, and can lead to excessive track wear, poor navigation in complex terrain, and even track detachment, making it impossible to recover the equipment. This can increase foreign matter underwater, safety risks, and exploration costs. Summary of the Invention

[0004] Based on this, a self-unlocking drive device is provided to achieve the technical effect of effectively blocking the effective connection of the transmission system in the event of equipment communication interruption or mobile platform power failure, so that the mobile components of the underwater mobile platform are in a rolling state, reducing the risk of dragging damage. It includes:

[0005] Power parts, used for outputting power;

[0006] The clutch has an engaged state and a disengaged state. In the engaged state, the power output by the power member is transmitted to the mobile component of the underwater mobile platform through the clutch. In the disengaged state, the power output by the power member is disconnected from the mobile component.

[0007] A hydraulic cylinder, wherein the piston rod of the hydraulic cylinder is extended to drive the clutch to switch from the disengaged state to the engaged state, and the piston rod of the hydraulic cylinder is retracted to drive the clutch to switch from the engaged state to the disengaged state;

[0008] The accumulator is connected to the rod chamber of the hydraulic cylinder. The accumulator can transfer the high-pressure oil stored in itself to the rod chamber to drive the piston rod to retract.

[0009] In one embodiment, it also includes a hydraulic source and a main solenoid valve. The main solenoid valve connects the hydraulic source and the hydraulic cylinder. The hydraulic source is used to supply high-pressure oil to the rod chamber and the rodless chamber of the hydraulic cylinder at the same time. The main solenoid valve controls the pressure of the high-pressure oil provided by the hydraulic source to the hydraulic cylinder.

[0010] In one embodiment, a backup solenoid valve is also included. Both the main solenoid valve and the backup solenoid valve are two-position four-way solenoid valves with the same structure, including a PA channel, a TB channel, a normal channel and a blocking port. Both the main solenoid valve and the backup solenoid valve include a working state and a rest state.

[0011] In the working state, the PA channel connects the hydraulic source and the hydraulic cylinder;

[0012] In the rest state, the blocking port is connected to the hydraulic source to block the high-pressure oil supply of the hydraulic source.

[0013] In one embodiment, when the standby solenoid valve is in working state, the PA channel of the standby solenoid valve is connected to the normal channel of the main solenoid valve to connect the hydraulic source and the hydraulic cylinder;

[0014] When the standby solenoid valve is in a rest state, the normal channel of the standby solenoid valve is connected to the normal channel of the main solenoid valve to connect to the rodless chamber; or, is blocked by the TB channel of the main solenoid valve.

[0015] In one embodiment, it further includes a relief valve and an oil tank, wherein the relief valve is connected to the accumulator and the oil tank;

[0016] The standby solenoid valve is in working condition, and the oil tank is connected to its blocking port;

[0017] When the standby solenoid valve is in rest state, the fuel tank is connected to its normal channel.

[0018] In one embodiment, the clutch is a dog clutch, which includes an active half-shaft and a passive half-shaft, and the active half-shaft and the passive half-shaft can be engaged or disengaged;

[0019] When the active half shaft and the passive half shaft are in the engaged state, the clutch is in the engaged state; when the active half shaft and the passive half shaft are in the disengaged state, the clutch is in the disengaged state;

[0020] The active half-shaft is slidably connected to the output end of the power component, and the passive half-shaft is fixedly connected to the moving component;

[0021] When the piston rod extends, the active half-shaft and the passive half-shaft are driven to engage, and when the piston rod retracts, the active half-shaft and the passive half-shaft are driven to separate.

[0022] In one embodiment, the hydraulic cylinder is provided with a displacement sensor, which is fixedly connected to the piston rod. The displacement sensor is used to detect the displacement state of the piston rod relative to the rod cavity to determine the engagement state of the clutch.

[0023] The present application further provides an underwater mobile platform, comprising the self-unlocking drive device in any of the above embodiments, including:

[0024] The frame and the moving assembly include a crawler belt and a driven gear, the crawler belt is engaged with the outer tooth surface of the driven gear, and the driven gear is rotatably connected to the frame;

[0025] The self-unlocking driving device is installed on the frame, wherein the driven gear is coaxially fixedly connected with the clutch.

[0026] In one embodiment, an encoder is further included, and the rotating shaft of the encoder is fixedly connected to the driven gear to obtain the moving speed and moving distance of the crawler track.

[0027] In one embodiment, an auxiliary support assembly is further included, which includes a suspension supporting wheel system and a bracket. The auxiliary support assembly is located in the inner space of the track ring, the bracket is fixedly connected to the frame, and the suspension supporting wheel system is located below the bracket and fixedly connected to the bracket to maintain the normal shape of the track.

[0028] The self-unlocking drive device includes: a power member, a hydraulic cylinder, a clutch, and an accumulator. The power member includes a rotatable output end to output power for the movement of the mobile component. The piston rod of the hydraulic cylinder has two states: extended and retracted. The clutch is a link in the transmission system. When the piston rod is in the extended state, the clutch is in the engaged state, and the transmission system effectively connects the power member and the mobile component. At this time, the power can be transmitted to the mobile component through the clutch; when the piston rod is in the retracted state, the clutch is in the disengaged state. At this time, the transmission system is destroyed, the power member cannot transmit power to the mobile component, and the mobile component is in a free state and can roll. The accumulator is connected to the rod chamber of the hydraulic cylinder. The accumulator can transfer the high-pressure oil stored in it to the rod chamber. When the high-pressure oil in the rod chamber increases, the piston rod will retract, thereby disengaging the clutch.

[0029] When the underwater mobile platform is moving normally, the piston rod of the hydraulic cylinder is always in an extended state, the clutch is engaged, and the transmission system is effectively connected. However, when the underwater mobile platform fails, the piston rod cannot be retracted. Therefore, even if the power component stops outputting power, the transmission system is still effectively connected, and the track cannot idle due to the engagement of the clutch. The self-unlocking drive device provided in the present application is provided with an accumulator. The accumulator can judge that the pressure of the high-pressure oil in the rod chamber of the hydraulic cylinder is reduced, and thus actively supplies oil to the rod chamber to retract the piston rod, the clutch becomes disengaged, the transmission system is disconnected, and the track is not restricted by the balance valve on the power component and can roll, so as to facilitate the staff to tow the underwater mobile platform back. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a front sectional view of the self-unlocking drive device.

[0031] Figure 2 for Figure 1 A top sectional view of the self-unlocking drive device in an embodiment.

[0032] Figure 3 for Figure 1 Schematic diagram of the assembly of the self-unlocking drive device in the embodiment.

[0033] Figure 4 This is a partial structural diagram of the underwater mobile platform.

[0034] Figure 5 Schematic diagram of the hydraulic control system when the main solenoid valve is connected.

[0035] Figure 6 Schematic diagram of the hydraulic control system when the main solenoid valve is disconnected.

[0036] Figure 7 This is the schematic diagram of the hydraulic control system when the backup solenoid valve is connected.

[0037] Figure 8 Schematic diagram of the hydraulic control system when both the main solenoid valve and the backup solenoid valve are connected.

[0038] Figure numerals: power part 10; output end 11; first gear 12; second gear 13; hydraulic cylinder 20; piston rod 21; rod chamber 22; rodless chamber 23; displacement sensor 24; clutch 30; active half shaft 31; passive half shaft 32; accumulator 40; hydraulic source 50; one-way valve 60; main solenoid valve 71; spare solenoid valve 72; oil tank 80; overflow valve 90; moving assembly 100; track 110; driven gear 120; frame 200; encoder 300; auxiliary support assembly 400; suspension supporting wheel system 410; bracket 420. DETAILED DESCRIPTION

[0039] To make the above-mentioned objects, features, and advantages of the present application more clearly understood, the specific embodiments of the present application are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways than those described herein, and those skilled in the art can make similar improvements without violating the scope of the present application. Therefore, the present application is not limited to the specific embodiments disclosed below.

[0040] In the description of this application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing this application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0041] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of this application, if the term "plurality" appears, "plurality" means at least two, for example, two, three, etc., unless otherwise specifically defined.

[0042] In this application, unless otherwise specified or limited, the terms "mounted," "connected," "connected," "fixed," etc., should be interpreted broadly. For example, these terms may refer to fixed connections, removable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediary; and internal communication between two components or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of these terms in this application based on the specific circumstances.

[0043] In this application, unless otherwise expressly specified or limited, if a first feature is described as being "above" or "below" a second feature, or similar descriptions, this may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is described as being "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is described as being "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0044] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be an intermediate element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only embodiment.

[0045] See Figures 1 to 4 The present application provides a self-unlocking drive device and an underwater mobile platform (hereinafter referred to as the mobile platform) using the self-unlocking drive device. The mobile platform is generally used for exploration or maintenance operations in an underwater environment. Since the underwater environment is relatively complex, an armored cable will be connected to the tail of the mobile platform to tow it back when a failure occurs in the mobile platform.

[0046] The current driving device of the mobile platform includes a power system, a transmission system, an execution system and a control system. The most important power component 10 in the power system can be a common hydraulic motor, which provides power through the rotation of its output end 11. In simple terms, the transmission system includes a clutch 30 and a hydraulic component that controls the state of the clutch 30.

[0047] Like a common automotive drive assembly, the hydraulic motor transmits power to the clutch 30. The hydraulic assembly then controls the engagement of the clutch 30, thereby transmitting power to the actuator system. The actuator system of the mobile platform can be summarized as a driven gear 120 and a moving part. Due to the relatively soft underwater soil and for the sake of balance, the moving part is a track 110. The driven gear 120 is fixedly connected to the clutch 30 to receive the power of the hydraulic motor. The track 110 is engaged with the outer surface of the driven gear 120 and moves as the driven gear 120 rotates, thereby achieving underwater movement of the mobile platform.

[0048] When the mobile platform needs to enter the operation, the track 110 needs to stop moving. At this time, the clutch 30 is still in the engaged state. The stopping of the operation is mainly achieved by the balance valve set on the hydraulic motor. The balance valve is an existing device. It can lock the oil in the hydraulic motor through the brake command sent by the staff to the outside world via an electrical signal, so that the output end 11 cannot rotate, and the track 110 is stopped. At this time, because the clutch 30 in the transmission system is in the engaged state, the track 110 is controlled by the hydraulic motor and cannot be rotated by external force. It can only be forced to slide relative to the ground. At this time, if the mobile platform fails and the cable is needed to drag the mobile platform, the track 110 will slide and rub against the ground. In addition to greatly increasing the drag force and making it difficult to drag, the track 110 will also be excessively worn and have poor passability in complex terrain. In severe cases, the track 110 will fall off, and even the equipment cannot be recovered, resulting in the increase of foreign matter underwater, increasing safety hazards and exploration costs.

[0049] At present, the hydraulic components that control the engagement and separation of the clutch 30 include a hydraulic cylinder 20, a hydraulic source 50, an oil tank 80 and a solenoid valve, wherein the solenoid valve controls the pressure of the high-pressure oil supplied by the hydraulic source 50 to the hydraulic cylinder 20, the piston rod 21 of the hydraulic cylinder 20, the piston rod 21 includes a rod portion and a bottom portion, the bottom portion divides the hydraulic cylinder into two chambers, the rod portion of the piston rod 21 is located in one of the chambers and extends outward, so the two chambers are also called the rod chamber 22 and the rodless chamber 23, the hydraulic source 50 supplies oil to the rod chamber 22 and the rodless chamber 23 at the same time through the solenoid valve to form a differential connection, the rodless chamber 23 and the rod chamber 2 2 shares the bottom of the piston rod 21 and is divided by the bottom to form a rodless chamber 23 and a rod chamber 22. Therefore, since the rod portion of the piston rod 21 is fixedly connected to the bottom, it occupies a part of the pressure area of ​​the rod chamber on the bottom, resulting in a pressure area of ​​the high-pressure oil in the rodless chamber 23 supplied to the rod chamber 22 being larger than the pressure area of ​​the high-pressure oil in the rod chamber 22 supplied to the rodless chamber 23. Therefore, the piston rod 21 will extend, causing the clutch 30 to change from a disengaged state to an engaged state. At this time, the crawler track 110 enters a moving state. In the normal moving process and when the mobile platform is in operation, the piston rod 21 always remains in an extended state.

[0050] Because the solenoid valve is controlled by external electrical signals from the operator, if the mobile platform malfunctions or enters an area with poor signal quality, the solenoid valve will not receive any electrical signals and will automatically shut down after a certain period of time. Alternatively, after operating in a complex underwater environment for a period of time, the solenoid valve may become damaged for various reasons and unable to receive any electrical signals, thus shutting down. In this case, the solenoid valve will block the supply of high-pressure oil from the hydraulic source 50 to the hydraulic cylinder 20, preventing the piston rod 21 from retracting, causing the transmission system to remain effectively connected to the power unit 10 and the track 110.

[0051] The self-unlocking drive device provided in the present application adds an accumulator 40 on the basis of the existing drive device. The accumulator 40 is connected to the rod chamber 22 of the hydraulic cylinder 20. The accumulator 40 can transfer the high-pressure oil stored in itself to the rod chamber 22 to drive the piston rod 21 to retract. In this way, when the solenoid valve cannot work, that is, the power source is blocked from supplying oil to the hydraulic cylinder 20, oil can be supplied to the rod chamber 22, thereby pushing the piston rod 21 to move toward the rodless chamber 23 to achieve retraction, so that the clutch 30 is disengaged, and the track 110 can be freely rotatable.

[0052] The details are as follows:

[0053] See Figures 5 to 8 , when the mobile platform is under normal working conditions, Figure 5 For example, first, the control system controls the hydraulic source 50 to simultaneously supply oil to the rod chamber 22 and the rodless chamber 23 of the hydraulic cylinder 20. The rod chamber 22 and the rodless chamber 23 are connected by a one-way valve 60, so that high-pressure oil can only flow from the rodless chamber 23 to the rod chamber 22 and cannot flow back. The main solenoid valve 71 between the hydraulic cylinder 20 and the hydraulic source 50 is a two-position four-way solenoid valve. The specific design is shown in Figure 5 The main solenoid valve 71 includes a PA channel, a TB channel, a blocking port and a normal channel. Figure 5 It can be seen that the sealing port is in the rest position, with the symbol "┻" or "┳". When the main solenoid valve 71 is in working condition, the PA channel connects the hydraulic source 50 and the hydraulic cylinder 20. At this time, high-pressure oil is continuously supplied. When the hydraulic cylinder 20 is full of oil, the excess high-pressure oil will pass through the one-way valve 60 or flow directly into the accumulator 40 which is unique to this application relative to the prior art. The accumulator 40 is connected to both the one-way valve 60 and the rod chamber 22. The accumulator 40 can store a portion of the oil when the oil supply is sufficient.

[0054] When the hydraulic source 50 fails to supply oil, that is, the main solenoid valve 71 is in active power-off or passive power-off, the main solenoid valve 71 switches from the working state to the rest state. Figure 6 At this time, the PA channel of the main solenoid valve 71 is closed, the sealing port is connected to the hydraulic source 50, and the hydraulic cylinder 20 is connected to the normal channel of the main solenoid valve 71. The accumulator 40 can detect insufficient pressure and then discharge the high-pressure oil in the accumulator 40. Since the one-way valve 60 cannot prevent the oil from flowing back, all the high-pressure oil will enter the rod chamber 22, so that the pressure in the rod chamber 22 is greater than that in the rodless chamber 23, the piston rod 21 will retract, and the clutch 30 will be separated, so that the track 110 is in a free state.

[0055] from Figure 6 It can be seen from the figure that the oil in the rodless chamber 23 is compressed by the rod chamber 22 and flows out from the normal channel of the main solenoid valve 71.

[0056] Therefore, the self-unlocking drive device provided in the present application can enable the accumulator 40 to actively release the high-pressure oil stored in the normal state of the mobile platform when the solenoid valve is in the power-off state, thereby completing the automatic unlocking of the track 110, and changing the track 110 from the locked state to the free state, so as to facilitate the staff to tow back the underwater mobile platform.

[0057] See Figures 5 to 8 In some embodiments, there are two two-position four-way solenoid valves, namely the main solenoid valve 71 and the backup solenoid valve 72, and the structures of the two are exactly the same, that is, the backup solenoid valve 72 also has a PA channel, a TB channel, a blocking port and a normal channel. Among them, the main solenoid valve 71 and the backup solenoid valve 72 both include a working state and a rest state. When the solenoid valve (including the main solenoid valve 71 and the backup solenoid valve 72) is in the working state, its PA channel connects the hydraulic source 50 and the hydraulic cylinder 20; when the solenoid valve (including the main solenoid valve 71 and the backup solenoid valve 72) is in the rest state, its blocking port is connected to the hydraulic source 50. The specific connection relationship between the main solenoid valve 71 and the backup solenoid valve 72 can be seen from Figure 5-Figure 8 The specific description is as follows:

[0058] from Figures 5 to 8 The basic connections of the hydraulic components can be seen in any of the accompanying figures. First, the hydraulic source 50 and hydraulic cylinder 20 are connected via a first pipeline. A main solenoid valve 71 is located on this first pipeline, actively allowing, actively blocking, or passively blocking the hydraulic source 50 from supplying high-pressure oil to the hydraulic cylinder 20 via the first pipeline. A second pipeline is then included. One end of the second pipeline is connected to the hydraulic source 50, and the other end is connected to either the T-port or the normal channel of the TB channel of the main solenoid valve 71, depending on the state of the main solenoid valve 71: the T-port is connected when in operation, and the normal channel is connected when in rest. Channel B of the TB channel is normally closed, preventing high-pressure oil from the hydraulic source 50 from leaking through the B port.

[0059] The standby solenoid valve 72 is located on the second pipeline. When the standby solenoid valve 72 is in working state and the main solenoid valve 71 is in rest state, Figure 7 The first pipeline includes a first sub-pipeline and a second sub-pipeline. The blocking port of the main solenoid valve 71 is connected to the hydraulic source 50 through the first sub-pipeline to block the hydraulic source 50 from supplying high-pressure oil through the first sub-pipeline. One end of the second sub-pipeline is connected to the hydraulic cylinder 20, and the other end is connected to the outlet of the normal channel of the main solenoid valve 71. The PA channel of the backup solenoid valve 72 is connected to the normal channel of the main solenoid valve 71, so that the high-pressure oil of the hydraulic source 50 is smoothly supplied to the hydraulic cylinder 20 through the second pipeline and the second sub-pipeline. When the backup solenoid valve 71 is in a resting state, see Figure 5 or Figure 6At this time, the blocking port of the standby solenoid valve 72 is connected to the hydraulic source 50 to block the connection of the second pipeline, thereby blocking the hydraulic source 50 from supplying high-pressure oil through the second pipeline.

[0060] Based on the basic pipeline connection relationship between the hydraulic source 50, the main solenoid valve 71, the backup solenoid valve 72 and the hydraulic cylinder 20, the oil supply relationship between the hydraulic source 50 and the hydraulic cylinder 20 in four cases is introduced below.

[0061] Figure 5 The schematic diagram shows the main solenoid valve 71 in operation and the backup solenoid valve 72 in rest. Specifically, the main solenoid valve 71 and the backup solenoid valve 72 are controlled by internal springs via electrical signals, switching between the operating and resting states. It is understood that when the main solenoid valve 71 is in operation, the backup solenoid valve 72 is not required. Only when the main solenoid valve 71 needs to be powered down and rested does the backup solenoid valve 72 become operational. Of course, both valves could fail simultaneously, allowing the accumulator 40 to function properly.

[0062] Figure 5 In the embodiment, the standby solenoid valve 72 is in a resting state, its blocking port is connected to the hydraulic source 50, and its normal channel is connected to the blocking port of the main solenoid valve 71. It can be understood that in this state, the mobile platform is in a normal state.

[0063] When the main electromagnetic valve 71 needs to rest and the standby electromagnetic valve 72 needs to work, refer to Figure 7 and Figure 8 , Figure 7 The schematic diagram of the main solenoid valve 71 after power is cut off is shown. Figure 7 In the figure, the PA channel of the standby solenoid valve 72 is connected to the hydraulic source 50 and the hydraulic cylinder 20. Please note that the normal channel of the main solenoid valve 71 passes through them.

[0064] It can be understood that when the main electromagnetic valve 71 needs to rest, in order to maintain the normal operation of the mobile platform, it is necessary to open the backup electromagnetic valve 72 first, and then close the main electromagnetic valve 71. Figure 8 In the figure, the principle diagram of the main solenoid valve 71 and the backup solenoid valve 72 working simultaneously can be seen. At this time, the PA channels of the main solenoid valve 71 and the backup solenoid valve 72 are both connected to the hydraulic source 50 and the hydraulic cylinder 20.

[0065] It can be found that Figure 5 , Figure 7 and Figure 8 The mobile platform is in normal operation, so the piston rod 21 in the hydraulic cylinder 20 is in an extended state in the three figures.

[0066] In some other embodiments, the PA channel of the backup solenoid valve 72 can be directly connected to the hydraulic cylinder 20, that is, one end of the second pipeline is connected to the hydraulic source 50, and the other end is not connected to the main solenoid valve 71 but directly connected to the hydraulic cylinder 20. This connection relationship indicates that the main solenoid valve 71 and the backup solenoid valve 72 are independent of each other. At this time, a situation will occur. When the main solenoid valve 71 and the backup solenoid valve 72 are both in working condition, the hydraulic source 50 will supply high-pressure oil to the hydraulic cylinder 20 through two pipelines. Although the purpose of engaging the clutch 30 can be achieved, some parameters of the high-pressure oil may be uncontrollable, resulting in unstable movement of the mobile platform, thereby affecting the operation.

[0067] The design of the main solenoid valve 71 and the backup solenoid valve 72 can effectively increase the service life of the mobile platform and avoid the embarrassing situation that the entire mobile platform cannot be used when a single solenoid valve cannot be used.

[0068] In one embodiment, a relief valve 90 and an oil tank 80 are also included. Figures 5 to 8 In any of the accompanying drawings, the relief valve 90 is located on the flow side of the one-way valve 60 and is connected to the rod chamber 22. At the same time, it is located downstream of the accumulator 40. When the mobile platform is working normally, the pressure of the hydraulic source 50 is continuous, and the accumulator 40 accumulates energy under the action of high-pressure oil. After the pressure gradually increases to the set pressure, the relief valve 90 opens to discharge excess oil into the oil tank, so that the oil in the hydraulic cylinder 20 maintains a constant pressure.

[0069] from Figure 5 As can be seen, the fuel tank 80 is connected to the spare solenoid valve 72. Figure 5 The two oil tanks 80 can be combined into one oil tank 80. When the standby solenoid valve 72 is in working state, the oil tank 80 is connected to its blocking port; when the standby solenoid valve 72 is in resting state, the oil tank 80 is connected to its normal channel.

[0070] So see Figure 6 When both the main solenoid valve 71 and the backup solenoid valve 72 are in a resting state, the oil in the rodless chamber 23 of the hydraulic cylinder 20 flows into the oil tank 80 through the normal passages of the main solenoid valve 71 and the backup solenoid valve 72. Due to the rapid drop in oil pressure, the oil released from the accumulator 40 cannot pass through the relief valve 90 and can only flow into the rod chamber 22.

[0071] The above is the hydraulic control principle of the self-unlocking drive device in this application.

[0072] In one embodiment, the clutch 30 used in the present application is a dog clutch 30, which includes an active half-shaft 31 and a passive half-shaft 32, and the active half-shaft 31 and the passive half-shaft 32 can be engaged or disengaged. When the active half-shaft 31 and the passive half-shaft 32 are engaged, the clutch 30 is in an engaged state, and when the active half-shaft 31 and the passive half-shaft 32 are disengaged, the clutch 30 is in a disengaged state. The active half-shaft 31 is in sliding connection with the output end 11, and the passive half-shaft 32 is fixedly connected to the moving assembly 100. When the piston rod 21 is extended, the active half-shaft 31 and the passive half-shaft 32 are engaged, and when the piston rod 21 is retracted, the active half-shaft 31 and the passive half-shaft 32 are disengaged.

[0073] Specifically, when the power member 10 adopts a hydraulic motor, a first gear 12 is sleeved on the output shaft of the hydraulic motor, and the first gear 12 is relatively stationary with the output shaft. The second gear 13 is engaged with the first gear 12, and the axial direction of the second gear 13 is parallel to the axial direction of the first gear 12. The inner hole of the second gear 13 is provided with a keyway, and a part of the main plate half shaft of the dog clutch 30 extends into the inner hole and is key-connected with the second gear 13. The key and the keyway of the second gear 13 or the keyway of the dog clutch 30 are different in length, so the active half shaft 31 can slide relative to the second gear 13, but at the same time rotate with the second gear 13.

[0074] When the piston rod 21 extends, it pushes the active half-shaft 31 toward the passive half-shaft 32 , causing the two to change from a separated state to a coupled state. The entire tooth clutch 30 is engaged, and the transmission system transmits power to the crawler track 110 .

[0075] Since the dog clutch 30 is a common clutch 30 , the connection relationship between the driving half-shaft 31 and the driven half-shaft 32 will not be described in detail here.

[0076] In one embodiment, the hydraulic cylinder 20 is provided with a displacement sensor 24 , which is fixedly connected to the piston rod 21 . The displacement sensor 24 is used to detect the displacement state of the piston rod 21 relative to the rod cavity 22 to determine the engagement state of the clutch 30 .

[0077] Specifically, the displacement sensor 24 is a cylinder magnetostrictive displacement sensor 24 , which can detect a unique state of the piston rod 21 through the movement of a magnetic ring fixed on the piston rod 21 , and the staff can determine the engagement state of the clutch 30 through the control system.

[0078] The underwater mobile platform provided in this application mainly includes a frame 200, a self-unlocking drive device provided in this application, and a mobile component 100. Other exploration equipment and control equipment are not within the scope of this application and will not be described in detail here.

[0079] See Figure 4 ,from Figure 4 The shape and structure of the mobile platform can be seen in the figure. Of course, it is understandable that some unnecessary equipment is not included. Figure 4 As shown in FIG, the frame 200 is connected to a mobile assembly 100 on both the right and left sides. As described above, the mobile assembly 100 includes a track 110 and a driven gear 120. The track 110 is meshed with the outer tooth surface of the driven gear 120, and the driven gear 120 is rotationally connected to the frame 200. The self-unlocking drive device is installed on the frame 200, wherein the driven gear 120 is coaxially fixedly connected to the clutch 30. Therefore, the underwater mobile platform provided by this application can achieve the technical effect of unlocking the mobile platform when the track 110 is locked through the self-unlocking drive device provided by this application.

[0080] See Figure 3 The present application also provides an encoder 300. The connecting shaft of the encoder 300 is connected to the internal control of the passive half-shaft 32 of the clutch 30 or to the driven gear 120. Through the control system conversion, the rotation speed and full book of the crawler 110 can be obtained, thereby obtaining the mileage and speed of the mobile platform.

[0081] See Figure 4 In one embodiment, an auxiliary support assembly 400 is further included. The auxiliary support assembly 400 includes a suspension supporting wheel system 410 and a bracket 420. The auxiliary support assembly 400 is located in the inner ring space of the track 110. The bracket 420 is fixedly connected to the frame 200. The suspension supporting wheel system 410 is located below the bracket 420 and is fixedly connected to the bracket 420 to maintain the normal shape of the track 110.

[0082] Specifically, the driven gear 120 is covered with the embedded track 110, and the other end of the track 110 guides the tensioning wheel system to adjust the tension of the track 110. The inner surface of the contact surface between the track 110 and the ground is installed with a plurality of suspension supporting wheel systems 410. The suspension supporting wheel systems 410 are connected to the bracket 420, and the bracket 420 is fixedly connected to the frame 200.

[0083] The self-unlocking drive device provided in the present application is strictly sealed and waterproof and pressure-resistant. In order to fix the position of each component relative to the frame 200 in space, such as the cylinder body of the hydraulic cylinder 20, the main structure of the power component 10 is fixedly connected to the frame 200 and sealed. The sealing content also belongs to the existing relatively mature technology, so it will not be repeated in this article.

[0084] The technical features of the above-mentioned embodiments can be combined arbitrarily. In order to make the description concise, not all possible combinations of the technical features in the above-mentioned embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0085] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the patent application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present patent application shall be determined by the appended claims.

Claims

1. A self-unlocking drive device, characterized in that: include: A power member (10) for outputting power; The clutch (30) has an engaged state and a disengaged state. In the engaged state, the power output by the power member (10) is transmitted to the mobile assembly (100) of the underwater mobile platform via the clutch (30). In the disengaged state, the clutch (30) stops transmitting the power of the power member (10) to the mobile assembly (100). A hydraulic cylinder (20), wherein the piston rod (21) of the hydraulic cylinder (20) is capable of driving the clutch (30) to switch from a disengaged state to a coupled state when the piston rod (21) of the hydraulic cylinder (20) is extended, and the piston rod (21) of the hydraulic cylinder (20) is capable of driving the clutch (30) to switch from a coupled state to a disengaged state when the piston rod (21) of the hydraulic cylinder (20) is retracted; as well as an accumulator (40), the accumulator (40) being connected to the rod chamber (22) of the hydraulic cylinder (20), the accumulator (40) being capable of transferring the high-pressure oil stored in the accumulator to the rod chamber (22) to drive the piston rod (21) to retract; The self-unlocking drive device further comprises a hydraulic source (50) and a main solenoid valve (71), wherein the main solenoid valve (71) connects the hydraulic source (50) and the hydraulic cylinder (20), the hydraulic source (50) is used to simultaneously supply high-pressure oil to the rod chamber (22) and the rodless chamber (23) of the hydraulic cylinder (20), and the main solenoid valve (71) controls the pressure of the high-pressure oil supplied by the hydraulic source (50) to the hydraulic cylinder (20); The self-unlocking drive device further includes a spare solenoid valve (72). The main solenoid valve (71) and the spare solenoid valve (72) are both two-position four-way solenoid valves with the same structure, both including a PA channel, a TB channel, a normal channel and a blocking port; the main solenoid valve (71) and the spare solenoid valve (72) both include a working state and a rest state: In the working state, the PA channel connects the hydraulic source (50) and the hydraulic cylinder (20); In the rest state, the blocking port is connected to the hydraulic source (50) to block the supply of high-pressure oil from the hydraulic source (50); When the standby solenoid valve (72) is in the working state, the PA channel of the standby solenoid valve (72) is connected to the normal channel of the main solenoid valve (71), so as to connect the hydraulic source (50) and the hydraulic cylinder (20); When the standby solenoid valve (72) is in the rest state, the normal channel of the standby solenoid valve (72) is connected to the normal channel of the main solenoid valve (71) to connect to the rodless chamber; or, the standby solenoid valve (72) is blocked by the TB channel of the main solenoid valve (71).

2. The self-unlocking drive device according to claim 1, characterized in that: It also includes a relief valve (90) and an oil tank (80), wherein the relief valve (90) connects the accumulator (40) and the oil tank (80); When the standby solenoid valve (72) is in a working state, the oil tank (80) is connected to its TB channel; When the standby solenoid valve (72) is in a resting state, the oil tank (80) is connected to its normal passage.

3. The self-unlocking drive device according to claim 1, characterized in that: The clutch (30) is a tooth clutch (30), and the tooth clutch (30) includes an active half-shaft (31) and a passive half-shaft (32), and the active half-shaft (31) and the passive half-shaft (32) can be engaged or disengaged; When the active half-shaft (31) and the passive half-shaft (32) are in an engaged state, the clutch (30) is in an engaged state; when the active half-shaft (31) and the passive half-shaft (32) are in a disengaged state, the clutch (30) is in a disengaged state; The active half-shaft (31) is slidably connected to the output end (11) of the power member (10), and the passive half-shaft (32) is fixedly connected to the moving assembly (100); When the piston rod (21) is extended, the active half-shaft (31) and the passive half-shaft (32) are driven to be coupled, and when the piston rod (21) is retracted, the active half-shaft (31) and the passive half-shaft (32) are driven to be separated.

4. The self-unlocking drive device according to claim 1, characterized in that: The hydraulic cylinder (20) is provided with a displacement sensor (24), the displacement sensor (24) being fixedly connected to the piston rod (21), and the displacement sensor (24) being used to detect the displacement state of the piston rod (21) relative to the rod chamber (22) to determine the engagement state of the clutch (30).

5. An underwater mobile platform, comprising the self-unlocking drive device according to any one of claims 1 to 4, characterized in that: Also includes: A frame (200) and a moving assembly (100), wherein the moving assembly (100) includes a crawler belt (110) and a driven gear (120), wherein the crawler belt (110) is engaged with an outer tooth surface of the driven gear (120), and the driven gear (120) is rotatably connected to the frame (200); The self-unlocking drive device is mounted on the frame (200), wherein the driven gear (120) is coaxially fixedly connected to the clutch (30).

6. The underwater mobile platform according to claim 5, characterized in that: It also includes an encoder (300), the rotating shaft of which is fixedly connected to the driven gear (120) to obtain the moving speed and moving distance of the crawler (110).

7. The underwater mobile platform according to claim 5, characterized in that: The auxiliary support assembly (400) further comprises a suspension roller system (410) and a bracket (420). The auxiliary support assembly (400) is located in the inner ring space of the crawler track (110). The bracket (420) is fixedly connected to the frame (200). The suspension roller system (410) is located below the bracket (420) and is fixedly connected to the bracket (420) to maintain the normal shape of the crawler track (110).

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