Miniaturized deep-sea robot automatic laying device and method

Abstract

The invention provides a miniature deep-sea robot automatic laying device and method, and belongs to the technical field of ocean robot laying devices. The problems that a robot releasing device is huge in structure, high in cost and long in releasing time are solved. The device comprises a base, a tensioning structure, a metal wire ferrule, a power source and a control panel, the tensioning structure comprises two rotating shafts, an elastic piece and two wrapping type clamping jaws, the wrapping type clamping jaws can rotate around the rotating shafts, and one ends of the wrapping type clamping jaws are fixedly connected with the elastic piece; the metal wire ferrule is made of a low-melting-point alloy material and fixedly arranged at the other end of the wrapping type clamping jaw in a sleeving mode, the power source is connected with a fusing point of the metal wire ferrule, the control panel is connected with the power source, and the control panel can conduct electric heating fusing on the fusing point of the metal wire ferrule by controlling the power source. The device is high in automation degree, easy to operate, high in response speed and capable of rapidly releasing the deep-sea robot.

Description

Technical Field

[0001] The present invention belongs to the technical field of marine robot deployment devices, and in particular relates to a miniaturized deep-sea robot automatic deployment device and method. Background Art

[0002] Existing release devices for marine robots mostly rely on motors, electromagnets, and other mechanisms. These require metal pressure-resistant housings and consume significant amounts of electricity, requiring either large batteries or connection to a mother ship for power. This results in bulky and expensive devices, and the release process requires specialized personnel. A few release devices utilize a fuse mechanism based on underwater galvanic cells, but these still suffer from long release times. Summary of the Invention

[0003] In view of this, in order to solve the problem that the marine robot release device that relies on motors, electromagnets and other mechanisms has a large structure, high cost, and requires the participation of professionals for release, and the marine robot release device that uses the underwater primary battery principle fusing mechanism has a long release time, the present invention proposes a miniaturized deep-sea robot automatic deployment device and method.

[0004] To achieve the above object, the present invention adopts the following technical solutions:

[0005] A miniaturized deep-sea robot automatic deployment device, comprising:

[0006] base;

[0007] The tensioning structure includes two rotating shafts, an elastic member, and two covered clamping jaws. The two rotating shafts are fixedly arranged on both sides of the base. The two covered clamping jaws have a first end, a second end, and a rotating hole. The rotating hole is located between the first end and the second end. The two rotating shafts are respectively passed through the rotating holes of the two covered clamping jaws. The first ends of the two covered clamping jaws are respectively fixedly connected to the two ends of the elastic member.

[0008] A metal wire ferrule is made of a low-melting-point alloy material and is fixedly sleeved on the second ends of the two enclosed clamping jaws, with the robot accommodating space formed between the two enclosed clamping jaws and the base;

[0009] The power supply and the control board are connected to the fusing point of the metal wire ring, and the control board is connected to the power supply. The control board can electrically fuse the fusing point of the metal wire ring by controlling the power supply.

[0010] As a preferred solution of the above-mentioned miniaturized deep-sea robot automatic deployment device, the wrapped gripper includes a connecting arm, a horizontal bar and two wrapped fingers, one end of the connecting arm is fixedly connected to the elastic member, and the other end is fixedly connected to the lower end of the horizontal bar, the two wrapped fingers are both fixedly connected to the upper end of the horizontal bar and the two wrapped fingers are arranged at intervals, and the wire loop is arranged on the four wrapped fingers of the two wrapped grippers.

[0011] As a preferred solution of the above-mentioned miniaturized deep-sea robot automatic deployment device, the enveloping gripper further includes two handles, both of which are fixedly arranged on the horizontal bar, and the two handles are arranged in a one-to-one correspondence with the two enveloping fingers.

[0012] As a preferred solution of the above-mentioned miniaturized deep-sea robot automatic deployment device, the miniaturized deep-sea robot automatic deployment device also includes a waterproof box, which is fixed to the base, and the power supply and control board are both located in the waterproof box. The waterproof box is filled with silicone, and the silicone wraps the power supply and control board.

[0013] As a preferred solution of the above-mentioned miniaturized deep-sea robot automatic deployment device, the miniaturized deep-sea robot automatic deployment device also includes a timer, which is arranged in the waterproof box.

[0014] As a preferred solution of the above-mentioned miniaturized deep-sea robot automatic deployment device, the miniaturized deep-sea robot automatic deployment device also includes a depth sensor, which is arranged in a waterproof box.

[0015] As a preferred solution of the above-mentioned miniaturized deep-sea robot automatic deployment device, the number of the fusing points of the metal wire ring is two, and both fusing points are connected to the power supply.

[0016] As a preferred solution of the above-mentioned miniaturized deep-sea robot automatic deployment device, the upper wall of the base facing the robot accommodating space is wavy.

[0017] As a preferred solution of the above-mentioned miniaturized deep-sea robot automatic deployment device, a receiving cavity is provided at the lower end of the base, and the elastic member is located in the receiving cavity.

[0018] The present invention also provides a method for automatically deploying a miniaturized deep-sea robot, which uses the above-mentioned automatic deployment device for a miniaturized deep-sea robot and comprises:

[0019] After placing the deep-sea robot in the robot accommodation space, a metal wire ferrule is fixedly sleeved on the two covering clamping claws, thereby fixing the deep-sea robot in the robot accommodation space;

[0020] The miniaturized deep-sea robot automatic deployment device is carried on a submersible and enters the sea; determining whether the miniaturized deep-sea robot automatic deployment device has sunk to a set depth;

[0021] If so, it is determined whether the time when the miniaturized deep-sea robot automatic deployment device is at the set depth reaches the set time. If the set time is reached, the power supply is controlled to electrically fuse the melting point of the wire ring.

[0022] Compared with the prior art, the present invention provides a miniaturized deep-sea robot automatic deployment device and method with the following beneficial effects:

[0023] The present invention provides a miniaturized deep-sea robot automatic deployment device and method. The device places the deep-sea robot in a robot accommodation space above a base. The device pushes the second ends of two enveloping jaws inward, causing the jaws to rotate about a rotation axis. A wire ferrule then encloses the second ends of the enveloping jaws, securing the positions of the two enveloping jaws and confining the deep-sea robot within the robot accommodation space. At this point, an elastic member is stretched by the first ends of the two enveloping jaws. When the deep-sea robot and the device sink to a set depth and for a set time, a control panel controls a power supply to electrically fuse the fusing point of the wire ferrule. Once the wire ferrule is disconnected, the elastic member rapidly retracts. Under the action of the elastic member, the first ends of the two enveloping jaws rapidly approach each other, causing the second ends of the two enveloping jaws to rapidly move away from each other, releasing the deep-sea robot. This miniaturized deep-sea robot automatic deployment device has a simple structure and relatively small size, a high degree of automation, and is easy to operate. It uses the electric thermal fusing principle to melt the melting point of the metal wire ring. With the cooperation of elastic parts, it has a fast response speed and can quickly release the deep-sea robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] The accompanying drawings, which constitute part of the present invention, are provided to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are provided to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0025] Figure 1 1 is a schematic structural diagram of a miniaturized deep-sea robot automatic deployment device provided by a specific embodiment of the present invention from a first perspective;

[0026] Figure 2 2 is a schematic structural diagram of a miniaturized deep-sea robot automatic deployment device according to a specific embodiment of the present invention, taken from a second viewing angle;

[0027] Figure 3 It is a structural schematic diagram of a miniaturized deep-sea robot automatic deployment device provided by a specific embodiment of the present invention from a third perspective.

[0028] In the picture:

[0029] 100. Deep-sea robot; 1. Base; 2. Rotating shaft; 3. Connecting arm; 4. Horizontal bar; 5. Covering finger; 6. Wire ferrule; 7. Waterproof box; 8. Handle; 9. Elastic part. DETAILED DESCRIPTION

[0030] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely explain the technical solutions in the embodiments of the present invention. It should be noted that the embodiments of the present invention and the features therein can be combined with each other in the absence of conflict, and the embodiments described are only part of the embodiments of the present invention, not all of the embodiments.

[0031] In the description of the present invention, unless otherwise expressly specified or limited, the terms "connected," "connected," and "fixed" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integration; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention in specific circumstances.

[0032] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0033] In the description of this embodiment, terms such as "upper," "lower," and "right" are used to refer to positions or locations based on the positions or locations shown in the accompanying drawings. These terms are intended solely to facilitate description and simplify operation, and are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention. Furthermore, the terms "first" and "second" are used solely for descriptive purposes and have no special meaning.

[0034] See also Figure 1-3Describing this embodiment, the present invention provides a miniaturized deep-sea robot automatic deployment device and method, the miniaturized deep-sea robot automatic deployment device includes a base 1, a tensioning structure, a wire ferrule 6, a power supply and a control board, the tensioning structure includes two rotating shafts 2, an elastic member 9 and two covered jaws, the two rotating shafts 2 are respectively fixedly arranged on both sides of the base 1, the two covered jaws have a first end, a second end and a rotating hole, the rotating hole is located between the first end and the second end, the two rotating shafts 2 are respectively passed through the rotating holes of the two covered jaws, the first ends of the two covered jaws are respectively fixedly connected to the two ends of the elastic member 9; the wire ferrule 6 is made of a low-melting-point alloy material, the wire ferrule 6 is fixedly sleeved on the second ends of the two covered jaws, and a robot accommodating space is formed between the two covered jaws and the base 1; the power supply is connected to the fuse point of the wire ferrule 6, and the control board is connected to the power supply, and the control board can electrically fuse the fuse point of the wire ferrule 6 by controlling the power supply.

[0035] In this miniaturized deep-sea robot automatic deployment device, a deep-sea robot 100 is placed in a robot accommodation space above a base 1. The deep-sea robot 100 pushes the second ends of the two enclosed jaws inward, causing the enclosed jaws to rotate about a rotation axis 2. A wire ferrule 6 is then used to enclose the second ends of the enclosed jaws, thereby fixing the positions of the two enclosed jaws and confining the deep-sea robot 100 within the robot accommodation space. At this time, the elastic member 9 is stretched by the first ends of the two enclosed jaws. When the deep-sea robot 100 and the miniaturized deep-sea robot automatic deployment device sink to a set depth in the sea for a set time, the control panel controls the power supply to electrically fuse the fuse point of the wire ferrule 6. After the wire ferrule 6 is disconnected, the elastic member 9 rapidly retracts. Under the action of the elastic member 9, the first ends of the two enclosed jaws rapidly approach each other, causing the second ends of the two enclosed jaws to rapidly move away from each other, releasing the deep-sea robot 100. The miniaturized deep-sea robot automatic deployment device has a simple structure and a relatively small size, a high degree of automation, and is easy to operate. It uses the electric thermal fusing principle to melt the melting point of the metal wire ring 6. With the cooperation of the elastic part 9, it has a fast response speed and can quickly release the deep-sea robot 100.

[0036] Optionally, the enclosed clamp includes a connecting arm 3, a horizontal bar 4, and two enclosed fingers 5. One end of the connecting arm 3 is fixedly connected to the elastic member 9, and the other end is fixedly connected to the lower end of the horizontal bar 4. The two enclosed fingers 5 are both fixedly connected to the upper end of the horizontal bar 4 and the two enclosed fingers 5 are spaced apart. The wire ferrule 6 is sleeved on the four enclosed fingers 5 of the two enclosed clamps. In this embodiment, the rotary hole is provided on the connecting arm 3. The horizontal bar 4 and the enclosed fingers 5 can limit the side of the deep-sea robot 100, and the enclosed fingers 5 can also limit the upper part of the deep-sea robot 100. The base 1 limits the lower part of the deep-sea robot 100. The wings of the deep-sea robot 100 are located between the two enclosed fingers 5, thereby completely confining the deep-sea robot 100 to the robot accommodation space.

[0037] Optionally, the enclosed gripper further includes two handles 8, both of which are fixedly mounted on the horizontal bar 4, and are disposed one-to-one with the two enclosed fingers 5. When the deep-sea robot 100 is installed, due to the action of the elastic member 9, a reaction force will be generated when the second end of the enclosed gripper is pushed inward. Therefore, the handles 8 are provided to provide a force point for the operator, making it easier to push the second end of the enclosed gripper.

[0038] Optionally, the miniaturized deep-sea robot automatic deployment device further includes a waterproof case 7, which is fixedly mounted on the base 1. The power supply and control board are both located within the case 7. The case 7 is potted with silicone, which encapsulates the power supply and control board. Potting the silicone within the case 7 protects the power supply and control board, ensuring resistance to high external water pressure and insulation.

[0039] Optionally, the miniaturized deep-sea robot automatic deployment device further includes a timer, which is arranged in the waterproof box 7. The timer is also wrapped in silica gel.

[0040] Optionally, the miniaturized deep-sea robot automatic deployment device further includes a depth sensor, which is disposed within the waterproof box 7. The depth sensor can detect the depth of the miniaturized deep-sea robot automatic deployment device in the sea. Except for the probe, the rest of the depth sensor is encased in silicone.

[0041] Optionally, the number of the fuse points of the metal wire ring 6 is two, and both fuse points are connected to the power supply. Setting two fuse points can avoid the situation where the fuse point fails to fuse due to unexpected factors such as seabed mud.

[0042] Optionally, the upper wall of the base 1 facing the robot accommodation space is wavy, which can prevent the deep-sea robot 100 from excessively contacting the base 1 and causing adsorption, which would prevent the deep-sea robot 100 from being able to detach from the base 1 .

[0043] Optionally, a receiving cavity is provided at the lower end of the base 1, and the elastic member 9 is located in the receiving cavity. In this embodiment, the elastic member 9 is a spring. The spring is located in the receiving cavity to protect the spring from being contaminated by mud and sand and causing failure.

[0044] The present invention also provides a method for automatically deploying a miniaturized deep-sea robot, which uses the above-mentioned automatic deployment device for a miniaturized deep-sea robot and comprises:

[0045] Install the deep-sea robot 100: After placing the deep-sea robot 100 in the robot accommodation space, push the second ends of the two covering jaws inward, and fix the wire ring 6 on the second ends of the two covering jaws, thereby fixing the deep-sea robot 100 in the robot accommodation space; at this time, the elastic member 9 is in a stretched state.

[0046] Releasing the deep-sea robot 100: The miniaturized deep-sea robot automatic deployment device is mounted on the submersible and enters the sea;

[0047] Determine whether the miniaturized deep-sea robot automatic deployment device has sunk to a set depth;

[0048] If so, the system then determines whether the miniaturized deep-sea robot automatic deployment device has been at the set depth for a set time. If so, the system controls the power supply to electrically fuse the fuse point of the wire ferrule 6. Once the fuse point is blown, the elastic member 9 retracts, moving the second ends of the enclosed gripping jaws away from each other, thereby automatically releasing the deep-sea robot 100.

[0049] Obviously, the embodiments of the present invention disclosed above are intended only to help illustrate the present invention. The embodiments do not describe all details in detail, nor do they limit the invention to the specific embodiments described. Numerous modifications and variations are possible based on the contents of this specification. This specification selects and specifically describes these embodiments in order to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. It is not necessary and impossible to list all embodiments here.

Claims

1. A miniaturized deep-sea robot automatic deployment device, characterized in that: include: Base (1); The tensioning structure comprises two rotating shafts (2), an elastic member (9) and two covered clamping jaws, wherein the two rotating shafts (2) are respectively fixedly arranged on both sides of the base (1), the two covered clamping jaws have a first end, a second end and a rotating hole, the rotating hole is located between the first end and the second end, the two rotating shafts (2) are respectively passed through the rotating holes of the two covered clamping jaws, and the first ends of the two covered clamping jaws are respectively fixedly connected to the two ends of the elastic member (9); A metal wire ferrule (6) is made of a low-melting-point alloy material, and the metal wire ferrule (6) is fixedly sleeved on the second ends of the two enveloping clamping jaws, and a robot accommodating space is formed between the two enveloping clamping jaws and the base (1); A power supply and a control panel are provided, wherein the power supply is connected to the fusing point of the metal wire ferrule (6), and the control panel is connected to the power supply. The control panel can electrically fuse the fusing point of the metal wire ferrule (6) by controlling the power supply.

2. The miniaturized deep-sea robot automatic deployment device according to claim 1, characterized in that: The enclosed clamp comprises a connecting arm (3), a horizontal bar (4) and two enclosed fingers (5); one end of the connecting arm (3) is fixedly connected to the elastic member (9), and the other end is fixedly connected to the lower end of the horizontal bar (4); the two enclosed fingers (5) are both fixedly connected to the upper end of the horizontal bar (4) and the two enclosed fingers (5) are spaced apart; the metal wire ring (6) is sleeved on the four enclosed fingers (5) of the two enclosed clamps.

3. The miniaturized deep-sea robot automatic deployment device according to claim 2, characterized in that: The enveloping clamp further comprises two handles (8), both of which are fixedly arranged on the horizontal bar (4), and the two handles (8) are arranged in a one-to-one correspondence with the two enveloping fingers (5).

4. The miniaturized deep-sea robot automatic deployment device according to claim 1, characterized in that: The device further comprises a waterproof box (7), which is fixedly arranged on the base (1), wherein the power supply and the control panel are both located in the waterproof box (7), and the waterproof box (7) is filled with silica gel, which wraps the power supply and the control panel.

5. The miniaturized deep-sea robot automatic deployment device according to claim 4, characterized in that: It also includes a timer, which is arranged in the waterproof box (7).

6. The miniaturized deep-sea robot automatic deployment device according to claim 4, characterized in that: It also includes a depth sensor, which is arranged in the waterproof box (7).

7. The miniaturized deep-sea robot automatic deployment device according to claim 1, characterized in that: The number of the fusing points of the metal wire ferrule (6) is two, and both fusing points are connected to the power supply.

8. The miniaturized deep-sea robot automatic deployment device according to claim 1, characterized in that: The upper wall of the base (1) facing the robot accommodating space is wavy.

9. The miniaturized deep-sea robot automatic deployment device according to claim 1, characterized in that: The lower end of the base (1) is provided with a receiving cavity, and the elastic member (9) is located in the receiving cavity.

10. A method for automatically deploying a miniaturized deep-sea robot, characterized by: The miniaturized deep-sea robot automatic deployment device according to any one of claims 1 to 9 comprises: After placing the deep-sea robot (100) in the robot accommodation space, a metal wire ferrule (6) is fixedly sleeved on the two covering clamping claws, thereby fixing the deep-sea robot (100) in the robot accommodation space; The miniaturized deep-sea robot automatic deployment device is carried on a submersible and enters the sea; Determine whether the miniaturized deep-sea robot automatic deployment device has sunk to a set depth; If so, it is determined whether the time at which the miniaturized deep-sea robot automatic deployment device is located at the set depth reaches the set time. If the set time is reached, the power supply is controlled to electrically fuse the fusing point of the wire ring (6).

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