Parallel load rejection device of resident deep-sea autonomous underwater robot

Abstract

The invention relates to the technical field of deep-sea autonomous underwater robots, in particular to a parallel load rejection device of a resident deep-sea autonomous underwater robot. Comprising a power-off load rejection device, a power-on load rejection device, a ballast and a rack assembly, the rack assembly is in positioning connection with the underwater robot, the power-off load rejection device and the power-on load rejection device are both arranged on the rack assembly, the ballast is arranged below the rack assembly and connected with the power-off load rejection device or the power-on load rejection device, and the rack assembly is connected with the power-on load rejection device or the power-on load rejection device. The power-off load rejection device achieves load rejection of the ballast through power-off, and the power-on load rejection device achieves load rejection of the ballast through power-on. The device has the power-on load rejection function and the power-off load rejection function at the same time, and when long-time underwater operation is needed, in order to save energy, the ballast is rejected in a power-on load rejection mode; when a short-time underwater operation working condition is needed, in order to save economic cost, a power-down load rejection mode is adopted for load rejection and ballasting, the structural mode is simple, the use requirement of the deep sea underwater robot can be met, and installation and maintenance are convenient.

Description

Technical Field

[0001] The present invention relates to the technical field of deep-sea autonomous underwater robots, and in particular to a parallel-type jettisoning device of a resident deep-sea autonomous underwater robot. Background Art

[0002] With the continuous progress and development of autonomous underwater robot technology, the research and development of resident deep-sea underwater robots has been carried out one after another, which puts forward higher requirements on the working time, reliability and safety of deep-sea underwater robots. The jettisoning device is an important component of the deep-sea underwater robot. It is the most important link for the deep-sea underwater robot to complete the deep-sea operation mission and float to the surface. The traditional power-down jettisoning device uses an electromagnet to jettison the load, and continuous electrical energy is required to adsorb the ballast. The energy carried by the underwater robot is limited, and it does not meet the use requirements of the operation under long-term operation conditions. The traditional power-up jettisoning device can realize the jettisoning action and save energy. Its technical disadvantage is that the system is relatively complex and has low reliability. Summary of the invention

[0003] In view of the above problems, the purpose of the present invention is to provide a parallel-type jettisoning device for a resident deep-sea autonomous underwater robot. The power-on jettisoning device adopts an unlocking bolt to solve the problems of complex system and low reliability of traditional power-on jettisoning devices. At the same time, a power-off jettisoning device is provided, which can evaluate the energy consumption according to the length of the operation time and realize the selection of the jettisoning device function.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The present invention provides a parallel-type load-jetting device of a resident deep-sea autonomous underwater robot, comprising a lower-power-jetting device, an upper-power-jetting device, a ballast and a frame assembly, wherein the frame assembly is positioned and connected to the underwater robot, the lower-power-jetting device and the upper-power-jetting device are both arranged on the frame assembly, the ballast is arranged below the frame assembly and connected to the lower-power-jetting device or the upper-power-jetting device, the lower-power-jetting device realizes the jettisoning of the ballast by powering off, and the upper-power-jetting device realizes the jettisoning of the ballast by powering on.

[0006] The power-down load-rejecting device includes a junction box, a pressure compensator and a plurality of electromagnets arranged on the bottom fixing plate of the frame assembly, wherein the junction box is connected to the pressure compensator and the plurality of electromagnets through a sealed oil pipe, the power supply cable of the electromagnet passes through the sealed oil pipe and is connected to the watertight connector of the junction box to achieve electrical connection, and the electromagnet realizes ballast absorption and load rejection by powering on and off; the interior of the junction box is filled with insulating oil, and the pressure compensator is used to perform pressure compensation on the junction box and the electromagnet.

[0007] The electromagnet, junction box and pressure compensator are respectively provided with an electromagnet sealing interface, a junction box sealing interface and a pressure compensator sealing interface for sealing connection with the sealing oil pipe.

[0008] There are four electromagnets in a rectangular shape installed in the installation holes of the bottom fixing plate. The junction box is arranged at the center of the four electromagnets and is connected to the bottom fixing plate through a transition structure.

[0009] The power-down load-discharging device is connected to the watertight cable of the underwater robot control system through a watertight connector, and is powered on and off by the control electromagnet of the underwater robot main control system.

[0010] The power-on load-releasing device includes an unlocking bolt and a locking nut, wherein the unlocking bolt is fixed to the bottom fixing plate of the frame assembly, the unlocking bolt is accommodated in the center hole of the ballast, and the locking nut is connected to the unlocking bolt at the bottom of the ballast to lock and fix the ballast; the unlocking bolt is a pyrotechnic bolt, and the unlocking bolt is sheared by powering on to achieve load shedding of the ballast.

[0011] A positioning pin hole is provided at the center of the bottom fixing plate, and the unlocking bolt passes through the positioning pin hole. The upper end of the unlocking bolt is fixed to the bottom fixing plate by a screw.

[0012] The unlocking bolt is connected to the watertight cable of the underwater robot main control system through a watertight connector, and is powered on by the underwater robot main control system.

[0013] The advantages and beneficial effects of the present invention are as follows: the present invention has the functions of both power-on and power-off load jettisoning. When the underwater operation condition needs to be maintained for a long time, the ballast is jettisoned in the form of power-on load jettisoning in order to save energy. When the underwater operation condition needs to be maintained for a short time, the ballast is jettisoned in the form of power-off load jettisoning in order to save economic costs. The structure is simple, the function is reliable, the economy is good, the use requirements of deep-sea underwater robots are met, and installation and maintenance are convenient. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a structural schematic diagram of a parallel-type jettisoning device of a resident deep-sea autonomous underwater robot of the present invention;

[0015] Figure 2 It is a structural schematic diagram of the power-on load-rejection mechanism in the present invention;

[0016] Figure 3 It is a structural schematic diagram of the lower power load dumping mechanism in the present invention.

[0017] In the figure: 1. Power-down load-releasing device; 2. Power-up load-releasing device; 3. Ballast; 4. Frame assembly; 41. Bottom fixing plate; 5. Unlocking bolt; 6. Locking nut; 11. Electromagnet; 12. Junction box; 13. Pressure compensator; 14. Sealed oil pipe; 15. Electromagnet sealing interface; 16. Pressure compensator sealing interface; 17. Junction box sealing interface. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] See also Figures 1 to 3 As shown, the present invention provides a parallel-type loading device of a resident deep-sea autonomous underwater robot, comprising a lower-powered loading device 1, an upper-powered loading device 2, a ballast 3 and a frame assembly 4, wherein the frame assembly 4 is positioned and connected to the underwater robot, the lower-powered loading device 1 and the upper-powered loading device 2 are both arranged on the frame assembly 4, the ballast 3 is arranged below the frame assembly 4, and is connected to the lower-powered loading device 1 or the upper-powered loading device 2, the lower-powered loading device 1 realizes the dumping of the ballast 3 by powering off, and the upper-powered loading device 2 realizes the dumping of the ballast 3 by powering on.

[0020] See also Figure 2 As shown, in the embodiment of the present invention, the power-on load-dumping device 2 includes an unlocking bolt 5 and a locking nut 6, wherein the unlocking bolt 5 is fixed on the bottom fixing plate 41 of the frame assembly 4, the unlocking bolt 5 is accommodated in the central hole of the ballast 3, and the locking nut 6 is connected to the unlocking bolt 5 at the bottom of the ballast 3 to lock and fix the ballast 3; the unlocking bolt 5 is a pyrotechnic bolt, and the unlocking bolt is cut off by powering on to realize the load dumping of the ballast 3. In the power-off state, the ballast 3 is fixed to the bottom fixing plate 41 of the frame assembly 4 by the locking nut 6.

[0021] Specifically, a positioning pin hole is provided at the center of the bottom fixing plate 41, through which the unlocking bolt 5 passes, and the upper end of the unlocking bolt 5 is fixed to the bottom fixing plate 41 by a screw. The unlocking bolt 5 is connected to the watertight cable of the underwater robot main control system through a watertight connector, and is powered on by the underwater robot main control system. In the powered-on state, the unlocking bolt 5 acts to shear off the screw of the unlocking bolt, and the ballast 3 is separated from the underwater robot under the action of gravity, completing the load dumping action.

[0022] In this embodiment, the unlocking principle of the unlocking bolt 5 is: after the unlocking bolt 5 receives the 5A ignition signal (current), the electric ignition bridge converts the electrical energy into thermal energy, and after the temperature rises to reach the explosion point of the pyrotechnic agent in contact with it, the main charge component is detonated, and the detonation wave acts on the piston to generate axial thrust, so that the pre-section of the unlocking bolt shell is cut into two sections, the unlocking bolt 5 completes the work, and the ballast 3 is separated from the underwater robot.

[0023] When the power-on load-discharging device 2 is in the power-off state, the ballast 3 is fixed to the bottom fixing plate 41 by the locking nut 6. The unlocking bolt 5 of the power-on load-discharging device 2 is connected to the watertight cable of the underwater robot control system by the watertight connector. Under the control of the underwater robot main control system, when the power is on, the unlocking bolt 5 is activated, and the screw of the unlocking bolt 5 is sheared off and becomes ineffective. The ballast 3 is separated from the underwater robot under the action of gravity, and the load-discharging action is completed.

[0024] See also Figure 3 As shown, in an embodiment of the present invention, the power-off load-rejecting device 1 includes a junction box 12, a pressure compensator 13 and a plurality of electromagnets 11, which are arranged on a bottom fixing plate 41 of a frame assembly 4, wherein the junction box 12 is connected to the pressure compensator 13 and the plurality of electromagnets 11 through a sealed oil pipe 14, and a power supply cable of the electromagnet 11 passes through the sealed oil pipe 14 and is connected to a watertight connector of the junction box 12 to achieve electrical connection, and the electromagnet 11 realizes the adsorption and load rejection of the ballast 3 by powering on and off; the interior of the junction box 12 is filled with insulating oil, and the pressure compensator 13 is used to perform pressure compensation on the junction box 12 and the plurality of electromagnets 11.

[0025] Furthermore, the electromagnet 11, the junction box 12 and the pressure compensator 13 are respectively provided with an electromagnet sealing interface 15, a junction box sealing interface 17 and a pressure compensator sealing interface 16 for sealing connection with the sealing oil pipe 14. Each sealing interface is connected through the sealing oil pipe 14 to form a sealed cabin, so that the interior of the cabin is filled with insulating oil to resist the pressure of the external seawater environment and adapt to the deep sea environment.

[0026] In the embodiment of the present invention, four electromagnets 11 are rectangular and installed in the mounting holes of the bottom fixing plate 41 and connected by screws. The junction box 12 is arranged at the center of the four electromagnets 11 and connected to the bottom fixing plate 41 through a transition structure. The pressure compensator 13 is arranged at the rear of the junction box 12 and connected to the transition structure by screws through a pressure ring.

[0027] Specifically, the power-off load-discharging device 1 is connected to the watertight cable of the underwater robot control system through a watertight connector, and the power is turned on and off by the control electromagnet 11 of the underwater robot main control system. In the power-on state, the electromagnet 11 generates a magnetic field to adsorb the ballast 3 through magnetic force; in the power-off state, the electromagnet 11 loses the magnetic field, and the ballast 3 is separated from the underwater robot under the action of gravity, completing the load-discharging action.

[0028] The present invention provides a parallel-type load-discharging device for a resident deep-sea autonomous underwater robot, wherein an electromagnet 11 is fixed to a frame assembly 4 through a structural interface. In the power-on state, the electromagnet 11 is powered on to generate a magnetic field and adsorb the ballast 3 through the control of the underwater robot main control system; in the power-off state, the electromagnet 11 loses its magnetic field effect and discards the ballast 3. At the same time, the power supply cable of the electromagnet 11 is connected to a watertight electrical connector at one end of a junction box 12 through a sealing oil pipe 14, and the other end of the junction box 12 is connected to a pressure compensator 13, so that the interior is filled with insulating oil to resist the pressure of the external seawater environment and adapt to the deep-sea environment. The power-on load-discharging device 2 is connected to the frame assembly 4 through a structural interface. In the power-off state, the ballast 3 is reliably connected to the underwater robot through the locking nut 6, and is controlled by the underwater robot main control system. In the power-on state, the unlocking bolt 5 acts to discard the ballast 3.

[0029] The present invention has both the functions of power-on and power-off. When the underwater operation is required for a long time, the ballast 3 is thrown away in the form of power-on to save energy. When the underwater operation is required for a short time, the ballast 3 is thrown away in the form of power-off to save economic costs. The structure is simple, the function is reliable, the economy is good, it can meet the use requirements of deep-sea underwater robots, and it is easy to install and maintain.

[0030] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A parallel jettisoning device for a resident deep-sea autonomous underwater robot, characterized in that: The invention comprises a power-down load-jetting device (1), a power-up load-jetting device (2), a ballast (3) and a frame assembly (4), wherein the frame assembly (4) is positioned and connected to the underwater robot, the power-down load-jetting device (1) and the power-up load-jetting device (2) are both arranged on the frame assembly (4), the ballast (3) is arranged below the frame assembly (4) and is connected to the power-down load-jetting device (1) or the power-up load-jetting device (2), the power-down load-jetting device (1) jettisons the ballast (3) by powering down, and the power-up load-jetting device (2) jettisons the ballast (3) by powering up.

2. The parallel jettisoning device of the resident deep-sea autonomous underwater robot according to claim 1 is characterized in that: The power-down load-rejecting device (1) comprises a junction box (12), a pressure compensator (13) and a plurality of electromagnets (11) arranged on a bottom fixing plate (41) of the frame assembly (4), wherein the junction box (12) is connected to the pressure compensator (13) and the plurality of electromagnets (11) via a sealed oil pipe (14), a power supply cable of the electromagnet (11) passes through the sealed oil pipe (14) and is connected to a watertight connector of the junction box (12) to achieve electrical connection, and the electromagnet (11) achieves absorption and load rejection of the ballast (3) by powering on and off; the interior of the junction box (12) is filled with insulating oil, and the pressure compensator (13) is used to perform pressure compensation on the junction box (12) and the electromagnet (11).

3. The parallel jettisoning device of the resident deep-sea autonomous underwater robot according to claim 2 is characterized in that: The electromagnet (11), junction box (12) and pressure compensator (13) are respectively provided with an electromagnet sealing interface (15), a junction box sealing interface (17) and a pressure compensator sealing interface (16) for sealingly connecting with the sealing oil pipe (14).

4. The parallel jettisoning device of the resident deep-sea autonomous underwater robot according to claim 2 is characterized in that: The electromagnets (11) are four and rectangular and are installed in the installation holes of the bottom fixing plate (41). The junction box (12) is arranged at the center of the four electromagnets (11) and is connected to the bottom fixing plate (41) via a transition structure.

5. The parallel jettisoning device of the resident deep-sea autonomous underwater robot according to claim 2 is characterized in that: The power-down load-discharging device (1) is connected to a watertight cable of an underwater robot control system via a watertight connector, and is powered on and off by a control electromagnet (11) of the underwater robot main control system.

6. The parallel jettisoning device of the resident deep-sea autonomous underwater robot according to claim 1, characterized in that: The power-on load-releasing device (2) comprises an unlocking bolt (5) and a locking nut (6), wherein the unlocking bolt (5) is fixed on a bottom fixing plate (41) of the frame assembly (4), the unlocking bolt (5) is accommodated in a central hole of the ballast (3), and the locking nut (6) is connected to the unlocking bolt (5) at the bottom of the ballast (3) to lock and fix the ballast (3); the unlocking bolt (5) is a pyrotechnic bolt, and the unlocking bolt is cut off by powering on, thereby realizing the load-releasing of the ballast (3).

7. The parallel jettisoning device of the resident deep-sea autonomous underwater robot according to claim 6 is characterized in that: A positioning pin hole is provided at the center of the bottom fixing plate (41), and the unlocking bolt (5) passes through the positioning pin hole. The upper end of the unlocking bolt (5) is fixed to the bottom fixing plate (41) by a screw.

8. The parallel jettisoning device of the resident deep-sea autonomous underwater robot according to claim 6, characterized in that: The unlocking bolt (5) is connected to a watertight cable of the underwater robot main control system via a watertight connector, and is powered on by the underwater robot main control system.

Images