Hydraulic and electromagnetic dual-drive multi-working-condition rapid load rejection device and application

Abstract

The hydraulic and electromagnetic dual-drive multi-working-condition rapid load rejection device comprises a mounting frame, a lever base is connected to the middle of the mounting frame, an electromagnetic drive load rejection lever and a hydraulic drive load rejection lever which are arranged in a crossed mode are connected to the middle of the lever base through pin shafts, and a ballast is hung between the two crossed levers. The other ends of the two levers are respectively supported by parts in the electromagnetic load rejection unit and the hydraulic load rejection unit, and no matter which one of the electromagnetic load rejection unit and the hydraulic load rejection unit releases the supported lever, the crossed structure of the suspended ballast on the base is damaged, so that the ballast is released; and the hydraulic load rejection unit is connected with the pilot valve, so that the hydraulic valve can be quickly opened, and the rapidity of hydraulic drive load rejection is improved. According to the invention, the ballast can be rapidly discarded under various working conditions, the load rejection under the conditions of normal working conditions, active emergency working conditions, passive emergency working conditions and the like is realized, and the safety of devices such as manned submersible and underwater robot is greatly ensured.

Description

Technical Field

[0001] The present invention belongs to the technical field of submersible jettisoning devices, and in particular relates to a hydraulic and electromagnetic dual-driven multi-operating-condition rapid jettisoning device and its application. Background Art

[0002] The ocean is a key area for global change, so it is usually regarded as an important observation point and research field for the operation of the global system. Researchers have conducted in-depth research on the impact of the ocean on global change. At present, the research and investigation of various countries in these areas are gradually expanding and deepening, especially in the exploration of underwater resources. As an important tool for ocean development, deep-sea manned submersibles and autonomous underwater unmanned robots (AUV: Autonomous Underwater Vehicle) and other underwater equipment have developed rapidly. The jettison device is an important part of deep-sea manned submersibles and AUVs, and is one of the important devices to ensure the safety of underwater equipment and personnel.

[0003] In the prior art, for example, publication number CN 107054594A proposes a separate hydraulic dumping device triggered by depth. This invention uses the pressure of seawater to complete the dumping action, does not need to consume other energy, and is automatically triggered based on environmental pressure. It belongs to passive dumping, so the invention is not suitable for active dumping conditions; for example, publication number CN 113212715 B proposes an underwater active and passive dual-drive dumping device. Under normal conditions, the manned submersible operator controls the electromagnet to achieve ballast dumping; under passive emergency conditions, the ballast is dumped by driving the hydraulic cylinder through high-pressure seawater. It is suitable for normal conditions and passive emergency conditions. When active emergency situations such as power outages and control system failures occur, the ballast dumping cannot be completed, and it is not suitable for active emergency conditions. Moreover, it is difficult to ensure the rapidity of the driving dumping action when the above-mentioned prior art is driven by high-pressure seawater. Summary of the invention

[0004] The purpose of the present invention is to provide a hydraulic and electromagnetic dual-driven multi-operating condition rapid load dumping device and its application.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A hydraulic and electromagnetic dual-driven multi-working condition rapid load-releasing device comprises a mounting frame, an electromagnetically driven load-releasing lever, an electromagnetic load-releasing unit, ballast, a pilot valve, a hydraulic load-releasing unit, a hydraulically driven load-releasing lever and a lever base; the middle of the lower end surface of the mounting frame is connected to the lever base, and the electromagnetic load-releasing unit and the hydraulic load-releasing unit are installed at both ends of the lower end surface; the middle of the lever base is connected to a cross-arranged electromagnetically driven load-releasing lever and a hydraulically driven load-releasing lever through a pin shaft, and the other ends of the electromagnetically driven load-releasing lever and the hydraulically driven load-releasing lever are supported by the electromagnetic load-releasing unit and the hydraulic load-releasing unit respectively, and the hydraulic load-releasing unit is connected to a pilot valve; a ballast is suspended between the two cross-arranged levers; the pilot valve causes the valve to open rapidly, and the liquid enters the hydraulic load-releasing unit along the pilot valve, causing the hydraulically driven load-releasing lever to lose support and the ballast to be released.

[0007] Furthermore, the hydraulic load-releasing unit includes a connecting sleeve, a left end face component, a right end face component, a sliding rod, a slider and a connecting block; the left side of the connecting sleeve is connected to the left end face component, and the right side is connected to the right end face component; the left end face component and the right end face component are connected to the mounting frame through a connecting block; the left and right end faces of the sliding rod have different cross-sectional areas, and slide in the circular cavity formed by the connecting sleeve, the left end face component and the right end face component; the sliding rod is sleeved with a slider, and the slider forms a tight sliding fit with the connecting sleeve, so that the sliding rod moves to the left under the drive of the slider to withdraw the support for the electromagnetic-driven load-releasing lever, or the sliding rod with different cross-sectional areas on the left and right end faces withdraws the support for the electromagnetic load-releasing lever under the action of different pressure differences on the left and right sides under the action of high underwater pressure.

[0008] Furthermore, the end surface of the sliding rod that slides outward on the right side supports the hydraulically driven load-releasing lever.

[0009] Furthermore, the pilot valve includes a main valve housing, a main valve disc, a set pressure regulating part, a pilot valve push rod, an opening and closing pressure difference regulating part, a sliding valve push rod, a sliding valve body, a pilot valve outlet and a pilot valve housing; the main valve housing is connected to the lower side of the right end face component of the hydraulic load-releasing unit, the main valve disc is located inside the main valve housing, and the main valve housing and the pilot valve housing are connected through a conduit; the pilot valve housing is fixed with a sliding valve body; an opening and closing pressure difference regulating part is arranged on the right side of the sliding valve body, and an opening and closing pressure difference regulating part is arranged on the left side; the sliding valve push rod slides in the sliding valve body, and a pilot valve push rod is arranged on the left side; the sliding valve push rod pushes the pilot valve push rod under the action of liquid pressure, and a pilot valve outlet is arranged at the gap between the pilot valve push rod and the sliding push rod after the pilot valve push rod is pushed to allow liquid to flow out; the pilot valve push rod is in contact with the set pressure regulating part; the pressure value for pushing the pilot valve push rod is set by adjusting the set pressure regulating part.

[0010] Furthermore, the electromagnetic load-releasing unit includes an electromagnet and a suction cup; the electromagnet is connected to a mounting frame, and the suction cup is connected to an electromagnetically driven load-releasing lever. Initially, the suction cup is lifted by the suction force of the electromagnet, and at this time, the electromagnet drives the lever to be lifted. When the ballast needs to be released electromagnetically, the power to the electromagnet is cut off to separate the electromagnet from the suction cup, thereby destroying the cross structure on which the ballast is suspended on the lever base to release the ballast.

[0011] The invention discloses an application of a multi-working-condition rapid load-releasing device with hydraulic and electromagnetic dual drive. First, a lever base is connected in the middle of a mounting frame, and an electromagnetic load-releasing unit and a hydraulic load-releasing unit are connected at the left and right ends of the mounting frame. A cross-arranged electromagnetic-driven load-releasing lever and a hydraulic-driven load-releasing lever are connected in the middle of the lever base through a pin shaft, and a ballast is suspended in the middle of the two cross-arranged levers, and the other ends of the two levers are respectively supported by sliding rods in the electromagnetic load-releasing unit and the hydraulic load-releasing unit. When working, when any one of the electromagnetic load-releasing unit and the hydraulic load-releasing unit releases its supported lever, the cross structure of the ballast suspended on the lever base will be destroyed, so that the ballast is released. Moreover, a pilot valve connected to the hydraulic load-releasing unit enables the rapid opening of the hydraulic valve, so as to improve the rapidity of the hydraulic-driven load-releasing.

[0012] Furthermore, when the hydraulic load dumping unit and the pilot valve are working, the details are as follows:

[0013] When the seawater pressure reaches the value set by the opening and closing pressure difference adjustment part, the seawater pressure will push the sliding valve push rod to slide in the sliding valve body to push the pilot valve push rod. When the pushing force of the pilot valve push rod is greater than the setting value of the set pressure difference adjustment part, the pilot valve push rod will move. Once the pilot valve push rod moves to the left side of the main valve disc, the liquid will flow out of the valve body through the pilot valve outlet. At this time, the left side of the main valve disc loses the pressure of the liquid, and the main valve disc will move to the left under the action of the right hydraulic pressure. At this time, the main valve disc does not open slowly but quickly. The rapid opening of the main valve disc enables a large flow of sea current to enter the hydraulic load-dumping unit to complete the load-dumping action.

[0014] Furthermore, the following three working conditions are included:

[0015] Normal working conditions:

[0016] When the submersible or underwater robot needs to float up after completing its work, the staff controls the electromagnet in the electromagnetic jettisoning unit to cut off the power, thereby separating the electromagnet from the suction cup. At this time, the electromagnetically driven jettisoning lever connected to the suction cup loses its force support and flips clockwise. At this time, the cross structure of the ballast suspended on the lever base is destroyed, thereby releasing the ballast.

[0017] Active emergency conditions:

[0018] When the electromagnetic load dumping of the underwater robot or submersible fails and the load dumping cannot be achieved, the pilot valve is controlled to open the valve quickly, so that seawater enters the inner cavity of the hydraulic load dumping unit through the right end face component of the hydraulic load dumping unit along the pilot valve, thereby pushing the slider and then pushing the slide bar to move left, which makes the slide bar move leftward under the drive of the slider to withdraw the support for the hydraulic drive load dumping lever. At this time, the hydraulic drive load dumping lever loses the force support and turns counterclockwise, which destroys the cross structure of the ballast hanging on the lever base to release the ballast;

[0019] Passive emergency conditions:

[0020] When the underwater robot or submersible cannot achieve load-releasing by the above two loading methods and when the water conditions suddenly change and cause the robot to fall rapidly, because the left and right end surface areas of the slide bar in the hydraulic loading unit are different, the pressure difference on the left and right sides becomes larger and larger as the robot falls. When the pressure difference exceeds the friction value set by the sealing ring outside the slide bar, the slide bar in the hydraulic loading unit will be pushed to the left due to the large cross-sectional area on the right side and the large force, which causes the slide bar to move to the left and withdraw its support for the hydraulically driven loading-releasing lever. At this time, the hydraulically driven loading-releasing lever loses its force support and flips counterclockwise, which destroys the cross structure of the ballast suspended on the lever base and releases the ballast.

[0021] The beneficial effects of the present invention are:

[0022] 1. The present invention adopts a cross-arranged lever suspension ballast method. The lever can magnify the force arm to lift the weight of the mount. The cross-arranged lever method can achieve the load-throwing action as long as one of the levers is released. The middle of the lever base is connected with a cross-arranged electromagnetic-driven load-throwing lever and a hydraulic-driven load-throwing lever through a pin shaft. The ballast is suspended between the two cross-arranged levers. The other ends of the two levers are supported by components in the electromagnetic load-throwing unit and the hydraulic load-throwing unit respectively. No matter which of the electromagnetic load-throwing unit and the hydraulic load-throwing unit releases its supported lever, the cross structure of the ballast suspended on the base will be destroyed to release the ballast.

[0023] 2. The present invention adopts three types of dumping. The first type is to control the suction between the electromagnet and the suction cup by controlling the on and off of the electromagnet in the electromagnetic dumping unit under normal working conditions. The electromagnet suction disappears, and the lever connecting the suction cup loses force support. At this time, the cross structure of the ballast hanging on the base is destroyed, so that the ballast is released. The second type is to control the opening of the pilot valve to quickly introduce high-pressure seawater into the hydraulic dumping unit to realize the dumping by hydraulic pressure during active emergency working conditions. The third type is passive emergency dumping. When the underwater robot or submersible cannot dump in the above two dumping methods and when the water body conditions suddenly change and cause the robot to fall rapidly, the left and right end surface areas of the slide bar in the hydraulic dumping unit are different, and the left and right pressure difference increases with the fall of the robot. When the pressure difference exceeds the friction value set by the sealing ring outside the slide bar, the slide bar in the hydraulic dumping unit will be pushed to the left due to the large cross-sectional area on the right side and the large force, which causes the slide bar to move left and withdraw the support for the hydraulic drive dumping lever, destroying the cross structure of the ballast hanging on the base to release the ballast.

[0024] 3. The invention adds a pilot valve outside the hydraulic load dumping unit, which improves the sealing performance compared with a large valve, and can realize the rapid introduction of hydraulic pressure, thereby increasing the hydraulic load dumping speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 This is a schematic diagram of the overall structure of the patent of this invention;

[0026] Figure 2 This is a cross-sectional view of the hydraulic dumping part of the patent of the present invention;

[0027] Figure 3 This is a simplified diagram of the structure of the electromagnetic load dumping part in the patent of this invention.

[0028] Among them, the mounting frame 1, the electromagnetically driven load-releasing lever 2, the electromagnetic load-releasing unit 3, the ballast 4, the pilot valve 5, the hydraulic load-releasing unit 6, the hydraulically driven load-releasing lever 7, the lever base 8, the connecting block 9, the left end surface component 10, the connecting sleeve 11, the slider 12, the right end surface component 13, the sliding rod 14, the main valve disc 15, the main valve housing 16, the opening and closing pressure difference adjustment part 17, the sliding valve body 18, the sliding valve push rod 19, the pilot valve housing 20, the pilot valve outlet 21, the pilot valve push rod 22, the set pressure adjustment part 23, the electromagnet 24, and the suction cup 25. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0030] In the description of the present invention, it should be understood that the terms "upper", "middle", "outer", "inner" and the like indicating directions or positional relationships are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0031] according to Figure 1 The overall structure of a hydraulic and electromagnetic dual-driven multi-working condition rapid load-releasing device includes: a mounting frame 1, an electromagnetically driven load-releasing lever 2, an electromagnetic load-releasing unit 3, a ballast 4, a pilot valve 5, a hydraulic load-releasing unit 6, a hydraulically driven load-releasing lever 7, and a lever base 8.

[0032] First, a lever base 8 is connected in the middle of the mounting frame 1, and a cross-arranged electromagnetic-driven load-releasing lever 2 and a hydraulic-driven load-releasing lever 7 are connected in the middle of the lever base 8 through a pin shaft. A ballast 4 is suspended in the middle of the two cross-arranged levers, and the other ends of the two levers are supported by components in the electromagnetic load-releasing unit 3 and the hydraulic load-releasing unit 6, respectively. In the present invention, no matter which of the electromagnetic load-releasing unit 3 and the hydraulic load-releasing unit 6 releases the lever it supports, the cross structure of the ballast 4 suspended on the lever base 8 will be destroyed to release the ballast 4, and the hydraulic load-releasing unit 6 is connected to the pilot valve 5, which can realize the rapid opening of the hydraulic valve and improve the rapidity of the hydraulic-driven load-releasing. The hydraulic load-releasing unit 6 and the electromagnetic load-releasing unit 3 are both connected to the mounting frame 1.

[0033] according to Figure 3 As shown, the electromagnetic load-releasing unit 3 comprises an electromagnet 24 and a suction cup 25. The electromagnet 24 is connected to the mounting frame 1, and the suction cup 25 is connected to the electromagnetically driven load-releasing lever 2.

[0034] When the electromagnetic load-releasing unit 3 starts working, the electromagnet 24 is energized first, and the suction cup 25 is sucked up by the suction force of the electromagnet 24. At this time, the electromagnet drives the load-releasing lever 2 to be lifted. When the ballast 4 needs to be released electromagnetically, the electromagnet 24 can be powered off to separate the electromagnet 24 from the suction cup 25, thereby destroying the cross structure of the ballast 4 suspended on the lever base 8 to release the ballast 4.

[0035] according to Figure 2As shown, the hydraulic load-releasing unit 6 comprises: a connecting sleeve 11, a left end face component 10, a right end face component 13, a sliding rod 14, a slider 12, and a connecting block 9. The left side of the connecting sleeve 11 is connected to the left end face component 10, and the right side thereof is connected to the right end face component 13. The sliding rod 14 slides in the circular cavity formed by the connecting sleeve 11, the left end face component 10, and the right end face component 13. The left and right end faces of the sliding rod 14 have different cross-sectional areas. The sliding rod 14 is sleeved with the slider 12, and the slider 12 forms a tight sliding fit with the connecting sleeve 11.

[0036] When the device of the present invention is working, the slide bar 14 in the hydraulic dumping unit 6 can move to the left to withdraw the support for the hydraulically driven dumping lever 2 through the underwater pressure acting on the slider 12, thereby completing the dumping under the active emergency condition. As the depth of the seawater increases, the pressure acting on both sides of the slide bar 14 gradually increases. Therefore, when the device cannot dump the load in the first two dumping methods and continues to dive, as the underwater pressure difference increases, the slide bar 14 can withdraw the support for the electromagnetically driven dumping lever 2 under the action of the left and right pressure difference, thereby achieving a passive emergency condition.

[0037] according to Figure 2 The pilot valve 5 includes a main valve housing 16, a main valve disc 15, a set pressure regulating part 23, a pilot valve push rod 22, an opening and closing pressure difference regulating part 17, a slide valve push rod 19, a slide valve body 18, a pilot valve outlet 21, and a pilot valve housing 20. The main valve disc 15 is located in the main valve housing 16, which is connected to the lower part of the right end surface component. The main valve housing 16 and the pilot valve housing 20 are connected through two conduits. A slide valve body 18 is fixed in the pilot valve cavity. The slide valve push rod 19 can slide in the slide valve body 18. The opening and closing pressure difference regulating part 17 is arranged on the right side of the slide valve body 18. The pilot valve push rod 22 is arranged on the left side of the slide valve push rod 19. The slide valve push rod 22 can push the pilot valve push rod 22 under the action of liquid pressure. The pilot valve push rod 22 is in contact with the set pressure regulating part 23. The pressure value for pushing the pilot valve push rod 22 can be set by adjusting the set pressure regulating part 23.

[0038] When the device of the present invention is working, when the seawater pressure reaches the value set by the opening and closing pressure difference regulating part 17, the seawater pressure will push the sliding valve top rod 19 to slide in the sliding valve body 18 to push the pilot valve top rod 22. When the driving force of the pilot valve top rod 22 is greater than the setting value of the set pressure difference regulating part 23, the pilot valve top rod 22 will move. Once the pilot valve top rod 22 moves to the left side of the main valve disc 15, the liquid will flow out of the valve body through the pilot valve outlet 21. At this time, the left side of the main valve disc 15 loses the pressure of the liquid, and the main valve disc 15 will move to the left under the action of the right hydraulic pressure. At this time, the main valve disc 15 is not opened slowly but opened quickly. The rapid opening of the main valve disc 15 enables a large flow of sea current to enter the hydraulic load-releasing unit 6 to complete the load-releasing action.

[0039] When the device of the present invention is working, there are the following three working conditions:

[0040] Normal working conditions:

[0041] When the submersible or underwater robot needs to surface after completing its work, the staff can control the electromagnet 24 in the electromagnetic jettisoning unit 3 to cut off the power, thereby separating the electromagnet 24 from the suction cup 25. At this time, the electromagnetic driven jettisoning lever 2 connected to the suction cup 25 loses its force support and flips clockwise. At this time, the cross structure of the ballast 4 suspended on the lever base 8 is destroyed, thereby releasing the ballast 4.

[0042] Active emergency conditions:

[0043] When the electromagnetic dumping of the underwater robot or submersible fails and the dumping cannot be achieved, the valve can be opened by controlling the pilot valve 5, because the pilot valve 5 can make the valve open quickly and widely, so that seawater can enter the inner cavity of the hydraulic dumping unit 6 along the pilot valve 5 through the right end face component 13 of the hydraulic dumping unit 6, thereby pushing the slider 12 and then pushing the slide rod 14 to move left, which makes the slide rod 14 move to the left under the drive of the slider 12 to withdraw the support for the hydraulically driven dumping lever 7. At this time, the hydraulically driven dumping lever 7 loses its force support and flips counterclockwise, which destroys the cross structure of the ballast 4 suspended on the lever base 8, thereby releasing the ballast 4.

[0044] Passive emergency conditions:

[0045] When the underwater robot or submersible cannot achieve the dumping by the above two dumping methods, and when the water condition changes suddenly and causes the robot to fall rapidly, because the left and right end surface areas of the slide bar 14 in the hydraulic dumping unit 6 are different, the left and right pressure difference will become larger and larger as the robot falls. When the pressure difference exceeds the friction value set by the sealing ring arranged outside the slide bar 14, the slide bar 14 in the hydraulic dumping unit 6 is pushed to the left due to the large force caused by the large cross-sectional area on the right side, which makes the slide bar 14 move to the left and withdraw its support for the hydraulically driven dumping lever 7. At this time, the hydraulically driven dumping lever 7 loses its force support and flips counterclockwise, which destroys the cross structure of the ballast 4 suspended on the lever base 8, thereby releasing the ballast 4.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A hydraulic and electromagnetic dual-driven multi-operating-condition rapid load dumping device, characterized in that: The invention comprises a mounting frame (1), an electromagnetically driven load-releasing lever (2), an electromagnetic load-releasing unit (3), a ballast (4), a pilot valve (5), a hydraulic load-releasing unit (6), a hydraulically driven load-releasing lever (7) and a lever base (8); the middle of the lower end surface of the mounting frame (1) is connected to the lever base (8), and the electromagnetic load-releasing unit (3) and the hydraulic load-releasing unit (6) are installed at both ends of the lower end surface; the middle of the lever base (8) is connected to the electromagnetically driven load-releasing lever (2) and the hydraulic load-releasing unit (6) arranged crosswise via a pin shaft. The electromagnetically driven load-releasing lever (2) and the hydraulically driven load-releasing lever (7) are supported by an electromagnetic load-releasing unit (3) and a hydraulic load-releasing unit (6) at the other ends, respectively, and the hydraulic load-releasing unit (6) is connected to a pilot valve (5); a ballast (4) is suspended between the two cross-arranged levers; the pilot valve (5) causes the valve to open rapidly, and liquid flows along the pilot valve (5) into the hydraulic load-releasing unit (6), causing the hydraulically driven load-releasing lever (7) to lose support, and the ballast (4) is released.

2. According to claim 1, a hydraulic and electromagnetic dual-driven multi-operating-mode rapid load dumping device is characterized in that: The hydraulic load-releasing unit (6) comprises a connecting sleeve (11), a left end face component (10), a right end face component (13), a sliding rod (14), a sliding block (12) and a connecting block (9); the left side of the connecting sleeve (11) is connected to the left end face component (10), and the right side is connected to the right end face component (13); the left end face component (10) and the right end face component (13) are connected to the mounting frame (1) via the connecting block (9); the left and right end faces of the sliding rod (14) have different cross-sectional areas, and are connected to the connecting sleeve (11), The slide rod (14) slides in a circular cavity formed by a left end surface component (10) and a right end surface component (13); a slider (12) is sleeved on the slide rod (14), and the slider (12) forms a tight sliding fit with the connecting sleeve (11), so that the slide rod (14) moves to the left under the drive of the slider (12) to withdraw the support for the electromagnetically driven load-releasing lever (3), or the slide rod (14) with different cross-sectional areas on the left and right end surfaces withdraws the support for the electromagnetically driven load-releasing lever (3) under the action of a large underwater pressure under the action of a different pressure difference on the left and right sides.

3. According to claim 2, a hydraulic and electromagnetic dual-driven multi-operating-mode rapid load dumping device is characterized in that: The end surface of the sliding rod (14) that slides out on the right side supports the hydraulically driven load-releasing lever (7).

4. According to claim 2, a hydraulic and electromagnetic dual-driven multi-operating-mode rapid load dumping device is characterized in that: The pilot valve (5) comprises a main valve housing (16), a main valve disc (15), a set pressure regulating part (23), a pilot valve push rod (22), an opening and closing pressure difference regulating part (17), a sliding valve push rod (19), a sliding valve body (18), a pilot valve outlet (21) and a pilot valve housing (20); the main valve housing (16) is connected to the lower side of the right end face component (13) of the hydraulic dumping unit (6), the main valve disc (15) is located inside the main valve housing (16), and the main valve housing (16) and the pilot valve housing (20) are connected via a conduit; the pilot valve housing (20) is fixed with a sliding valve body (18); the sliding valve body (18) 8) An opening and closing pressure difference adjustment part (17) is provided on the right side, and an opening and closing pressure difference adjustment part (17) is provided on the left side; a sliding valve push rod (19) slides in a sliding valve body (18), and a pilot valve push rod (22) is provided on the left side; the sliding valve push rod (19) pushes the pilot valve push rod (22) under the action of liquid pressure, and a pilot valve discharge port (21) is provided at a gap between the pilot valve push rod (22) and the sliding push rod (19) after the pilot valve push rod (22) is pushed to allow liquid to flow out; the pilot valve push rod (22) contacts with a set pressure adjustment part (23); and the pressure value for pushing the pilot valve push rod (22) is set by adjusting the set pressure adjustment part (23).

5. According to claim 1, a hydraulic and electromagnetic dual-driven multi-operating-mode rapid load dumping device is characterized in that: The electromagnetic load-releasing unit (3) comprises an electromagnet (24) and a suction cup (25); the electromagnet (24) is connected to a mounting frame (1), and the suction cup (25) is connected to an electromagnetically driven load-releasing lever (2). At the beginning, the suction cup (25) is lifted up by the suction force of the electromagnet (24), and the electromagnet drives the lever (2) to be lifted up. When the ballast needs to be released by electromagnetic means, the electromagnet (24) is powered off to separate the electromagnet (24) from the suction cup (25), thereby destroying the cross structure of the ballast suspended on the lever base (8) to release the ballast (4).

6. Application of a hydraulic and electromagnetic dual-driven multi-operating-mode rapid load-dumping device, which adopts the hydraulic and electromagnetic dual-driven multi-operating-mode rapid load-dumping device according to claims 1-5, characterized in that: First, a lever base (8) is connected in the middle of the mounting frame (1), and the left and right ends of the mounting frame (1) are connected to an electromagnetic load-releasing unit (3) and a hydraulic load-releasing unit (6); an electromagnetic load-releasing lever (2) and a hydraulic load-releasing lever (5) arranged crosswise are connected in the middle of the lever base (8) through a pin shaft, and a ballast (4) is suspended in the middle of the two crosswise levers, and the other ends of the two levers are supported by sliding rods (14) in the electromagnetic load-releasing unit (3) and the hydraulic load-releasing unit (6) respectively; when working, if either the electromagnetic load-releasing unit (3) or the hydraulic load-releasing unit (6) releases the lever it supports, the cross structure of the ballast (4) suspended on the lever base (8) will be destroyed, so that the ballast (4) is released; and the pilot valve (5) connected to the hydraulic load-releasing unit (6) enables the hydraulic valve to be opened quickly, thereby improving the rapidity of the hydraulic drive load-releasing.

7. Application of a hydraulic and electromagnetic dual-driven multi-operating-mode rapid load dumping device according to claim 6, characterized in that: When the hydraulic load dumping unit (6) and the pilot valve (5) are working, the details are as follows: When the seawater pressure reaches the value set by the opening and closing pressure difference adjustment part (17), the seawater pressure will push the sliding valve top rod (19) to slide in the sliding valve body (18) to push the pilot valve top rod (22). When the driving force of the pilot valve top rod (22) is greater than the setting value of the set pressure difference adjustment part (23), the pilot valve top rod (22) will move. Once the pilot valve top rod (22) moves to the left side of the main valve disc (15), the liquid will flow out of the valve body through the pilot valve outlet (21). At this time, the left side of the main valve disc (15) loses the pressure of the liquid. The main valve disc (15) will move to the left under the action of the right hydraulic pressure. At this time, the main valve disc (15) does not open slowly but quickly. The rapid opening of the main valve disc (15) enables a large flow of sea water to enter the hydraulic load-releasing unit (6) to complete the load-releasing action.

8. Application of a hydraulic and electromagnetic dual-driven multi-operating-mode rapid load dumping device according to claim 6, characterized in that: It includes the following three working conditions: Normal working conditions: When the submersible or underwater robot needs to surface after completing its work, the staff controls the electromagnet (24) in the electromagnetic load-releasing unit (3) to cut off the power, thereby separating the electromagnet (24) from the suction cup (25). At this time, the electromagnetically driven load-releasing lever (2) connected to the suction cup (25) loses its force support and turns clockwise. At this time, the cross structure of the ballast (4) suspended on the lever base (8) is destroyed, thereby releasing the ballast (4); Active emergency conditions: When the electromagnetic load dumping of the underwater robot or submersible fails and the load dumping cannot be achieved, the pilot valve (5) is controlled to open the valve quickly, so that seawater flows along the pilot valve (5) through the right end face component (13) of the hydraulic load dumping unit (6) into the inner cavity of the hydraulic load dumping unit (6), thereby pushing the slider (12) and then pushing the slide bar (14) to move leftward, so that the slide bar (14) moves leftward under the drive of the slider (12) and withdraws the support for the hydraulic drive load dumping lever (7). At this time, the hydraulic drive load dumping lever (7) loses the force support and turns counterclockwise, which destroys the cross structure of the ballast (4) suspended on the lever base (8) and releases the ballast (4); Passive emergency conditions: When the underwater robot or submersible cannot jettison the load in the above two jettisoning methods and when the water condition changes suddenly and causes the robot to fall rapidly, because the left and right end surface areas of the slide bar (14) in the hydraulic jettisoning unit (6) are different, the pressure difference between the left and right sides increases as the robot falls. When the pressure difference exceeds the friction value set by the sealing ring set outside the slide bar (14), the slide bar (14) in the hydraulic jettisoning unit (6) is pushed to the left due to the large cross-sectional area on the right side and the large force, which causes the slide bar (14) to move to the left and withdraw support for the hydraulically driven jettisoning lever (7). At this time, the hydraulically driven jettisoning lever (7) loses its force support and flips counterclockwise, which destroys the cross structure of the ballast (4) suspended on the lever base (8) and releases the ballast (4).

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