Soft collision protection device and use method

Abstract

The invention discloses a soft body collision protection device and a using method in the field of hydraulic structures, the device comprises a soft body protection head, the soft body protection head comprises a mounting part and a collision part, the mounting part is axially connected with the collision part, and a fixing ring is connected to the end, away from the collision part, of the mounting part; a connecting piece is fixed on the fixing ring, and the diameter of the joint of the mounting part and the collision part is gradually changed; the connecting piece is designed on the soft protection head and used for being connected with the robot, the collision protection set is formed through multiple times of assembly according to the structure of the robot to conduct assembly protection on the underwater robot, flexible contact can be achieved when collision occurs, and the collision part generates different elastic deformation energy absorption and recovers according to different collision conditions; the self-adaptability is good, and repeated collision protection can be formed.

Description

Technical Field

[0001] The present application relates to the technical field of hydraulic structures, and in particular to a soft collision protection device and a method of using the same. Background Art

[0002] Using underwater robots instead of divers to conduct dam safety inspections can effectively avoid safety risks and improve inspection efficiency. However, underwater robots are prone to collisions with surrounding hydraulic structures from all directions during operation. Existing collision protection devices are mostly rigid metal frame structures, which are large in size and mass, difficult to carry, and difficult to adapt to complex robot structures. They have poor adaptability to different collision conditions and are difficult to recover from deformation after a collision. Summary of the invention

[0003] The purpose of the present application is to provide a soft collision protection device and a method of use, so as to solve the defects of the protection device in the prior art that the protection device has poor adaptability to the assembly of underwater robots and poor effect of repeated use.

[0004] In order to achieve the above objectives, this application is implemented by adopting the following technical solutions: In the first aspect, the present application discloses a soft collision protection device, which includes a soft protection head, the soft protection head includes a mounting portion and a collision portion, the mounting portion and the collision portion are axially connected, the end of the mounting portion away from the collision portion is connected to a fixing ring, a connecting piece is fixed on the fixing ring, and the diameter of the connection between the mounting portion and the collision portion is gradually changed.

[0005] According to a further solution of the present application, a foam ball is provided inside the collision part, and the center point of the foam ball coincides with the center point of the collision part.

[0006] According to a further solution of the present application, a connecting ring is fixed to one end of the mounting portion away from the collision portion, and the connecting ring is detachably connected to the fixing ring.

[0007] In a further solution, the connecting ring is connected to the fixing ring by threaded cooperation.

[0008] According to a further solution of the present application, the connecting member is fixed to a side of the fixing ring away from the mounting portion along an arrangement direction of the mounting portion.

[0009] According to a further solution of the present application, the soft protective head includes a spherical contact body, a transition section and a support section; the spherical contact body, the transition section and the support section are linearly connected in sequence as one piece, and the support section is axially extended with a connecting section; the diameter of the transition section gradually decreases from the spherical contact body to the support section.

[0010] In a further solution, the two ends of the transition section are coplanar with the tangent planes of the contact surfaces of the spherical contact body and the support section.

[0011] According to a further solution of the present application, an extension portion is further provided at one end of the mounting portion away from the collision portion.

[0012] In a second aspect, the present application discloses a method for using the above-mentioned soft collision protection device, which comprises the following steps: Fixing the connecting piece to the part of the underwater robot that needs to be protected; Driving the underwater robot so that the collision part of the soft protection head moves and hits the sensor; Gradually adding weight to the underwater robot, adjusting the moving speed of the underwater robot during testing, and conducting a collision sensor test of the collision part; Plot the test results of the protection device under different test conditions into a chart.

[0013] A further solution of the present application is that the protection device can be replaced for testing; different installation positions of the underwater robot are replaced to install the protection device; and the protection device with different extensions is replaced to conduct an adaptability test, wherein connecting parts can be reserved on the surface of the robot for quick disassembly and assembly through connecting rings and fixing rings.

[0014] The beneficial effects of this application are: In the present application, a connector is designed on the soft protective head, which is used to connect the robot. The connector is assembled multiple times according to the robot structure to form a collision protection group to assemble and protect the underwater robot. Flexible contact can be achieved when a collision occurs. The collision part produces different elastic deformations to absorb energy and recover according to different collision conditions. It has good adaptability and can form multiple collision protections.

[0015] The device is also provided with a connecting ring. During manufacturing, the connecting ring and the mounting part of the soft protective head are fixed, and the connecting ring and the fixing ring are installed by threaded matching. This allows the connecting part and the fixing ring to be pre-set on the robot, which speeds up the replacement efficiency of the soft protective head and improves the installation stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a schematic diagram of the structure of the soft collision protection device in the embodiment of the present application; Figure 2 This is an axial cross-sectional view of the soft collision protection device in the embodiment of the present application; Figure 3 This is a schematic diagram of the structure of the software protection head in the embodiment of the present application; Figure 4 This is a schematic diagram of the structure of a software protection head in another embodiment of the present application; Figure 5 This is a schematic diagram of the structure of a software protection head in another embodiment of the present application; Figure 6 This is a schematic diagram of the collision phase of the soft collision protection device in the embodiment of the present application; Figure 7 This is a comparison chart of test data when the rigid buoyancy block material in the embodiment of the present application is tested at a moving speed; Figure 8 This is a comparison chart of test data when the rigid buoyancy block material in the embodiment of the present application is tested at another moving speed.

[0017] in: 1. Soft protective head; 2. Foam ball; 3. Connecting ring; 4. Fixing ring; 5. Connecting piece; 81. Spherical contact body; 82. Transition section; 83. Support section; 84. Connecting section; 85. First extension section; 86. Second extension section. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Embodiment 1

[0019] like Figure 1 and Figure 2 As shown, this embodiment discloses a soft collision protection device, which includes a soft protection head 1, the soft protection head 1 includes a mounting portion and a collision portion, the mounting portion and the collision portion are axially connected, and the end of the mounting portion away from the collision portion is connected to a fixing ring 4, and a connecting piece 5 is fixed on the fixing ring 4, wherein the diameter of the connection between the mounting portion and the collision portion is gradually changed.

[0020] When in use, the connector 5 is fixed on the surface of the underwater robot, and the underwater robot moves so that the collision part of the soft protection head 1 is squeezed. At this time, the soft structure of the collision part has a strong energy absorption effect, and finally rebounds to restore the deformation. The installation position can be adjusted at will. When multiple are used together, a collision protection group is formed to assemble and protect the underwater robot. In this embodiment, a foam ball 2 is arranged inside the collision part, and the soft protection head 1 and the foam ball 2 constitute a soft collision protection component. The center point of the foam ball 2 and the collision part coincides. Such installation makes the spacing between the inside of the collision part and the foam ball 2 more balanced, and ensures that the protection ability of each contact point of the collision part is more balanced during collision; the soft protection head 1 is 3D printed by 98A hardness TPU material, and the foam ball 2 is H250PU material.

[0021] During production, the soft protection head 1 is made of 98A hardness TPU (thermoplastic polyurethane) material with 0.1mm-0.15mm thickness printing filament 100% filled with vertical 3D printing. The foam ball 2 is processed from H250 density PU (polyurethane) foam. When assembling the soft collision protection component, the 3D printing of the soft protection head 1 is paused when it reaches the spherical diameter of the end, and the foam ball 2 is embedded before continuing printing.

[0022] As attached Figure 3 As shown, in this embodiment, the soft protection head 1 includes a spherical contact body 81, a transition section 82 and a support section 83; the spherical contact body 81, the transition section 82 and the support section 83 are linearly connected in sequence, and the support section 83 is axially extended with a connection section 84; the diameter of the transition section 82 gradually decreases from the spherical contact body 81 to the support section 83. The two ends of the transition section 82 are coplanar with the tangents of the contact surfaces of the spherical contact body 81 and the support section 83, that is, the two are smoothly connected and transitioned by tangents. In layman's terms, the connection between the transition section 82 and the spherical contact body 81 and the support section 83 is matched and docked, without a sense of misalignment, ensuring the beauty of the protection device; the spherical contact body 81 is used to deal with collisions in various directions that may occur in the underwater environment; the support section 83 plays the role of the main body supporting the contact body; the transition section 82 is used to connect the contact body and the support section 83 part with a circular tangent to avoid the generation of stress concentration, and at the same time, it has little effect on the hydrodynamic performance of the underwater robot when it is running in water.

[0023] In some other embodiments, an extension portion is further provided at one end of the mounting portion away from the collision portion. The extension portion is exemplified as shown in the attached Figure 4 and 5 , Figure 4 and Figure 5 The first extension section 85 and the second extension section 86 are mentioned in the figure, and three kinds of soft collision protection devices are given in the overall figure. The soft collision protection device with the first extension section 85 and the second extension section 86 is used for adaptive assembly selection of underwater robots with complex structures.

[0024] In a further embodiment, the attached Figure 2 and Figure 3In this embodiment, a connecting ring 3 is fixed between the connecting section 84 and the supporting section 83, and the connecting ring 3 is detachably connected to the fixing ring 4; the connecting member 5 is fixed to the side of the fixing ring 4 away from the supporting section 83 along the arrangement direction of the installation portion; the connecting ring 3 and the fixing ring 4 can be separated, so that the fixing ring 4 and the connecting member 5 are pre-fixed on the underwater robot, and the soft protection head 1 can be replaced by disassembling and assembling the connecting ring 3 and the fixing ring 4, thereby improving the installation efficiency. Here, the connecting ring 3 and the fixing ring 4 can be connected by threaded fit, or by interference fit. For this, the designer prefers to use the threaded fit connection method in terms of installation strength. It should be noted here that, in theory, the connector 5 can be directly installed on the connecting section 84, but due to the material characteristics of the device, it is not conducive to the long-term use of the device; it can be understood here that this scheme design adds a transition structure, and the transition structure is a connecting ring 3 and a fixing ring 4 that are threaded together, which improves the structural strength of the connection. In actual use, only the fixing ring 4 and the connector 5 (bolts are used in this embodiment) need to be left on the underwater robot to improve the hydrodynamic performance of the underwater robot when the anti-collision requirement is low. At the same time, when there is an anti-collision requirement, only the part other than the connecting ring needs to be assembled through the connector 5, which improves the assembly efficiency. Embodiment 2

[0025] As attached Figure 6 As shown, a: providing a protection area; b: generating flexible contact; c: elastic deformation to absorb energy; d: rebound to restore shape; This embodiment discloses a method of use, which uses the soft body collision protection device in the above embodiment to conduct a test, and the method includes the following steps: First, the connector 5 is fixed to the part of the underwater robot that needs to be protected, and then the underwater robot is driven to move at a speed of 0.25 m / s so that the collision part of the soft protection head 1 moves and hits the test device; the test weight is replaced and the test is repeated; Reinstall the rigid buoyancy block material on the underwater robot to conduct a collision test. It should be noted that the sensor installation and the robot's movement speed are controlled by the control center. The specific installation belongs to mature existing technology and will not be repeated here. The final experimental data is plotted into a data graph; Adjust the underwater robot's towing speed to 0.5 m / s, repeat the above operation, and draw a line graph of the measured experimental results.

[0026] Among them, the protective device can be replaced in the test; replace the different installation positions of the underwater robot to install the protective device. The adaptability test is carried out by replacing the protective devices with different extension parts. In actual use, multiple protective devices can be installed on the required surface of the underwater robot. They are easy to assemble and disassemble, and are reusable and highly adaptable.

[0027] Attached Figure 7The time history curve of underwater collision contact force of soft collision protection device and rigid buoyancy block material at 0.25m / s traction speed is shown, and the additional conditions correspond to the following; Example 1: Buoyancy block without counterweight; Example 3: Soft collision protection device without counterweight; Example 5: Soft collision protection device with 25kg counterweight; Example 7: Soft collision protection device with 50kg counterweight; Example 9: Soft collision protection device with 75kg counterweight; Example 11: Soft collision protection device with 100kg counterweight Figure 8 The time history curve of underwater collision contact force of soft collision protection device and rigid buoyancy block material at 0.5m / s traction speed is shown, and the additional conditions are as follows; Example 2: The buoyancy block has no counterweight; Example 4: The soft collision protection device has no counterweight; Example 6: The soft collision protection device has a 25kg counterweight; Example 8: The soft collision protection device has a 50kg counterweight; Example 10: The soft collision protection device has a 75kg counterweight; Example 12: The soft collision protection device has a 100kg counterweight.

[0028] Attached Figure 7 and 8 It can be seen from the experimental data that the soft part of the device of the present application can make the underwater robot rebound after the first collision compared with the rigid buoyancy block structure, thereby absorbing energy through multiple collisions.

[0029] The software part of the device of the present application can undergo greater deformation in a high-speed collision than in a low-speed collision, thereby prolonging the time when the contact force peak occurs and absorbing more energy. In addition, the software part of the device of the present application exhibits different mechanical curves for different underwater collision conditions, providing good collision protection and being adaptive.

[0030] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying 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 the present application. In addition, the terms "first", "second", etc. are used only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features. In the description of the present application, unless otherwise specified, "multiple" means two or more.

[0031] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

Claims

1. A soft collision protection device, characterized in that: It comprises a soft protective head, which comprises a mounting part and a collision part, wherein the mounting part and the collision part are axially connected, an end of the mounting part away from the collision part is connected with a fixing ring, a connecting piece is fixed on the fixing ring, and the diameter of the connection between the mounting part and the collision part changes gradually.

2. The soft body collision protection device according to claim 1, characterized in that: A foam ball is arranged inside the collision part, and the center points of the foam ball and the collision part coincide with each other.

3. The soft body collision protection device according to claim 1, characterized in that: A connecting ring is fixed to one end of the mounting portion away from the collision portion, and the connecting ring is detachably connected to the fixing ring.

4. The soft body collision protection device according to claim 3, characterized in that: The connecting ring is connected to the fixing ring through threaded fitting.

5. The soft body collision protection device according to claim 1, characterized in that: The connecting member is fixed to a side of the fixing ring away from the mounting portion along an arrangement direction of the mounting portion.

6. The soft body collision protection device according to claim 1, characterized in that: The soft protective head includes a spherical contact body, a transition section and a support section; the spherical contact body, the transition section and the support section are linearly connected in sequence as one piece, and the support section is axially extended with a connecting section; the diameter of the transition section gradually decreases from the spherical contact body to the support section.

7. The soft body collision protection device according to claim 6, characterized in that: The two ends of the transition section are coplanar with the tangent planes of the contact surfaces of the spherical contact body and the support section.

8. The soft body collision protection device according to claim 1, characterized in that: An extension portion is further provided at one end of the mounting portion away from the collision portion.

9. A method for using the soft body collision protection device according to any one of claims 1 to 8, characterized in that: include The connecting piece is fixed to the part of the underwater robot that needs to be protected; or the protective device is installed at multiple positions on the underwater robot at the same time, so that the robot has a selective range of protection; Driving the underwater robot so that the collision part of the soft protection head moves and hits the sensor; The counterweight of the underwater robot is gradually increased, and the moving speed of the underwater robot during the test is adjusted to perform a collision sensor test of the collision part movement.

10. The protection test method according to claim 9, characterized in that: The protective device can be tested for replacement; Replace different installation positions of the underwater robot to install the protective device; Replace the protective device of different extension parts to carry out adaptability test, in which the connection parts can be reserved in the above The robot surface can be quickly disassembled and assembled through connecting rings and fixing rings.

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