Micro optical fiber recovery device for underwater robot

Abstract

The invention relates to the technical field of underwater robots, in particular to a micro optical fiber recovery device for an underwater robot. Comprising a base and a control cabin, a power mechanism, a fiber arranging mechanism and a sensor mechanism which are arranged on the base, the fiber arranging mechanism is used for storing and arranging micro optical fibers in the recycling stage, the power mechanism is connected with the fiber arranging mechanism, and the power mechanism is used for providing power needed by recycling and arranging the micro optical fibers; the sensor mechanism is used for collecting and outputting tension data of the fine optical fiber in real time; the control cabin is used for receiving the tension data of the fine optical fiber sent by the sensor mechanism and regulating and controlling the recovery rotating speed of the power mechanism according to the tension data of the fine optical fiber. According to the invention, real-time monitoring and accurate management of the micro optical fiber are realized, efficient recovery of the micro optical fiber can be realized, and pollution of the micro optical fiber to the ocean is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of underwater robots, and in particular to a micro-optical fiber recovery device for underwater robots. Background Art

[0002] With the growing demand for marine scientific research and underwater operations, autonomous and remotely-operated vehicles (ARVs), a new type of underwater robot with both remote control and autonomous operation capabilities, have attracted widespread attention. In practical use, ARVs require a stable data transmission channel with a control center via microfiber optics. Through this microfiber transmission, operators can remotely control the ARV's trajectory, manipulator arm operation, and other functions, and receive real-time data feedback from the ARV. However, when the ARV completes its mission and is ready for recovery, the microfiber must be severed to ensure a smooth ascent without becoming entangled in the microfiber. These severed and discarded microfibers are a form of solid waste that is difficult to degrade naturally and poses a serious threat to the marine ecosystem. These microfibers, floating or sinking in the seawater, can entangle coral reefs, seagrass beds, and other habitats, disrupting ecological functions and affecting the survival and reproduction of marine life. Marine organisms can easily become entangled in these microfibers, resulting in injury, restricted movement, or even death. Smaller organisms can also ingest these fragments, causing digestive damage. Therefore, solving the problem of recycling fine optical fibers is of great significance to protecting the marine environment.

[0003] In summary, given the importance of micro-optical fibers in ARV operations and their potential harm to the marine environment, the development of an effective micro-optical fiber recovery device has become a top priority. Summary of the Invention

[0004] In view of the above problems, the purpose of the present invention is to provide a micro-optical fiber recovery device for an underwater robot, which can achieve efficient recovery of micro-optical fibers and avoid pollution of the ocean by micro-optical fibers.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: The present invention provides a micro-optical fiber recovery device for an underwater robot, comprising a base and a control cabin, a power mechanism, a fiber-discharging mechanism and a sensor mechanism arranged on the base, wherein the fiber-discharging mechanism is used to store and distribute the micro-optical fibers during the recovery stage, the power mechanism is connected to the fiber-discharging mechanism, and the power mechanism is used to provide the required power for the recovery and distribution of the micro-optical fibers; the sensor mechanism is used to collect and output the tension data of the micro-optical fibers in real time; the control cabin is used to receive the tension data of the micro-optical fibers sent by the sensor mechanism, and to regulate the recovery speed of the power mechanism according to the tension data of the micro-optical fibers.

[0006] The fiber arrangement mechanism includes a fiber arrangement support frame and a reel assembly and a fiber arrangement assembly arranged on the fiber arrangement support frame. The reel assembly is used for recycling and storing the fine optical fiber. The fiber arrangement assembly is located below the reel assembly and is used for arranging the fiber during the recycling process of the fine optical fiber.

[0007] The reel assembly includes a driving shaft, a reel, a blade and a blade pressure plate, wherein the driving shaft is rotatably mounted on the fiber arrangement support frame, and one end is connected to the power mechanism, and the reel is detachably mounted on the driving shaft and rotates with the driving shaft; corresponding wire holes are provided on the driving shaft and the reel, and the blade is mounted on one side of the wire hole on the driving shaft through the blade pressure plate; when the reel is removed from the driving shaft, the fine optical fiber is cut after passing through the blade.

[0008] One end of the reel is clamped on the driving shaft to limit its axial movement in one direction, and the reel can rotate with the driving shaft. The other end of the reel is axially fixed by a retaining spring to limit its axial movement in the other direction.

[0009] The fiber arrangement assembly includes a lead screw nut, a guide bracket, a reciprocating screw and sliding guide rods arranged parallel to both sides of the reciprocating screw, wherein the reciprocating screw is rotatably installed on the fiber arrangement support frame, and one end is connected to the power mechanism; the reciprocating screw is threadedly connected to the lead screw nut, and the lead screw nut slides with the sliding guide rods on both sides, and a guide bracket is provided on the lead screw nut, and the guide bracket is provided with a guide hole for the fine optical fiber to pass through; the rotation of the reciprocating screw drives the guide bracket to make reciprocating linear motion, thereby realizing the fiber arrangement of the fine optical fiber.

[0010] The power mechanism includes an underwater recovery motor, a coupling, a driving sprocket, a motor bracket, a driven sprocket and a chain, wherein the motor bracket is arranged on the base, the underwater recovery motor is installed on the motor bracket, and the output end of the underwater recovery motor is connected to the driving shaft through a coupling, and the driving sprocket is arranged on the driving shaft; the driven sprocket is arranged on the reciprocating screw and is connected to the driving sprocket through a chain, and the underwater recovery motor provides power for the rotation of the driving shaft and the reciprocating screw.

[0011] The diameter of the driving sprocket is smaller than the diameter of the driven sprocket.

[0012] The sensor mechanism includes a sensor bracket, a tension and compression sensor and three anti-jump wire guide wheels, wherein the tension and compression sensor is installed at the bottom of the base through the sensor bracket, one anti-jump wire guide wheel is installed on the tension and compression sensor, and the other two anti-jump wire guide wheels are installed on the sensor bracket and are respectively located on the upper and lower sides of the tension and compression sensor; when the fine optical fiber passes through the three anti-jump wire guide wheels in sequence and is tightened, a fixed angle will be formed.

[0013] The advantages and benefits of the present invention include: It achieves safe and reliable microfiber recovery. Its design fully considers the operational safety of underwater robots (AUVs) and the reliability of microfiber recovery. During the recovery process, the device operates independently without interfering with the ARV's recovery operations. Precise control and real-time monitoring of the microfiber ensure high-quality recovery. Multiple built-in safety protection mechanisms, such as overload protection and emergency stop, ensure rapid response and action in abnormal situations, ensuring equipment safety.

[0014] The present invention is highly versatile and can be widely applied to various devices that require the recovery of fine optical fibers. Its design fully considers the interface standards and operational requirements of different devices, allowing integration into a variety of underwater robots, ocean monitoring equipment, and other systems requiring the recovery of fine optical fibers. Furthermore, the recovery device features a compact design, requiring minimal space, making it adaptable to various space-constrained environments. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is an axonometric diagram of a micro-optical fiber recovery device for an underwater robot according to the present invention; Figure 2 This is a top view of a micro-optical fiber recovery device for an underwater robot according to the present invention; Figure 3 This is a left side view of a micro-optical fiber recovery device for an underwater robot according to the present invention; Figure 4 Schematic diagram of the micro optical fiber routing of the present invention.

[0016] Among them: 1 is the underwater recovery motor, 2 is the coupling, 3 is the driving sprocket, 4 is the sliding guide rod, 5 is the screw nut, 6 is the reciprocating screw, 7 is the bearing A, 8 is the control cabin, 9 is the control cabin bracket, 10 is the motor bracket, 11 is the driven sprocket, 12 is the chain, 13 is the screw bracket A, 14 is the reel bracket A, 15 is the guide bracket, 16 is the screw bracket B, 17 is the reel bracket B, 18 is the shaft end retaining ring, 19 is the sensor bracket, 20 is the tension and compression sensor, 21 is the anti-jump wire guide wheel, 22 is the fine optical fiber, 23 is the driving shaft, 24 is the blade, 25 is the blade pressure plate, 26 is the reel, 27 is the retaining spring, 28 is the bearing B, and 29 is the base. DETAILED DESCRIPTION

[0017] In order to make the objectives, 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.

[0018] See also Figures 1 to 4As shown, the present invention provides a fine optical fiber recovery device for an underwater robot, comprising a base 29 and a control cabin 8, a power mechanism, a fiber arrangement mechanism and a sensor mechanism arranged on the base 29, wherein the fiber arrangement mechanism is used to store and arrange the fine optical fiber 22 during the recovery stage, the power mechanism is connected to the fiber arrangement mechanism, and the power mechanism is used to provide the required power for the recovery and arrangement of the fine optical fiber 22; the sensor mechanism is used to collect and output the tension data of the fine optical fiber 22 in real time; the control cabin 8 is installed on the base 29 through the control cabin bracket 9, and the control cabin 8 is used to receive the tension data of the fine optical fiber 22 sent by the sensor mechanism, and adjust the recovery speed of the power mechanism according to the tension data of the fine optical fiber 22.

[0019] In an embodiment of the present invention, the fiber arrangement mechanism includes a fiber arrangement support frame and a reel assembly and a fiber arrangement assembly arranged on the fiber arrangement support frame. The reel assembly is used for recycling and storing the fine optical fiber 22. The fiber arrangement assembly is located below the reel assembly. The fiber arrangement assembly is used for arranging the fibers during the recycling process of the fine optical fiber 22.

[0020] See also Figure 2 As shown, in an embodiment of the present invention, the reel assembly includes a drive shaft 23, a reel 26, a blade 24, and a blade pressure plate 25. The drive shaft 23 is rotatably mounted on a fiber arrangement support frame, with one end connected to a power mechanism. The reel 26 is detachably mounted on the drive shaft 23 and rotates with the drive shaft 23. The drive shaft 23 and the reel 26 are provided with corresponding wire holes for passing fine optical fibers 22. The blade 24 is mounted on one side of the wire hole on the drive shaft 23 via the blade pressure plate 25. When the reel 26 is removed from the drive shaft 23, the fine optical fiber 22 passes through the blade 24 and is cut.

[0021] Specifically, one end of the reel 26 is clamped on the driving shaft 23, limiting the axial movement of the reel 26 in one direction, and the reel 26 can rotate with the driving shaft 23. The other end of the reel 26 is axially fixed by a retaining spring 27, limiting the axial movement of the reel 26 in the other direction.

[0022] See also Figure 1 As shown, in an embodiment of the present invention, the fiber arrangement assembly includes a screw nut 5, a guide bracket 15, a reciprocating screw 6 and a sliding guide rod 4 arranged parallel to both sides of the reciprocating screw 6, wherein the reciprocating screw 6 is rotatably installed on the fiber arrangement support frame, and one end is connected to the power mechanism; the reciprocating screw 6 is threadedly connected with a screw nut 5, and the screw nut 5 slides with the sliding guide rod 4 on both sides, and a guide bracket 15 is provided on the screw nut 5, and the guide bracket 15 is provided with a guide hole for the fine optical fiber 22 to pass through; the reciprocating screw 6 rotates to drive the guide bracket 15 to make reciprocating linear motion, thereby realizing the fiber arrangement of the fine optical fiber 22.

[0023] Specifically, the fiber arrangement support frame includes a screw bracket A3, a screw bracket B16, a drum bracket A14 and a drum bracket B17 installed on the base 29, wherein the screw bracket A3 and the screw bracket B16 respectively support the two ends of the reciprocating screw 6 through the bearing A7, and the drum bracket A14 and the drum bracket B17 respectively support the two ends of the driving shaft 23 through the bearing B28.

[0024] See also Figure 1 As shown, in an embodiment of the present invention, the power mechanism includes an underwater recovery motor 1, a coupling 2, a driving sprocket 3, a motor bracket 10, a driven sprocket 11 and a chain 12, wherein the motor bracket 10 is arranged on the base 29, the underwater recovery motor 1 is installed on the motor bracket 10, and the output end of the underwater recovery motor 1 is connected to the driving shaft 23 through the coupling 2, and the driving sprocket 3 is arranged on the driving shaft 23; the driven sprocket 11 is arranged on the reciprocating screw 6 and is axially limited by the shaft end retaining ring 18; the driven sprocket 11 is connected to the driving sprocket 3 through the chain 12, and the underwater recovery motor 1 provides power for the rotation of the driving shaft 23 and the reciprocating screw 6.

[0025] Furthermore, the diameter of the driving sprocket 3 is smaller than the diameter of the driven sprocket 11 .

[0026] See also Figure 3 and Figure 4 As shown, in an embodiment of the present invention, the sensor mechanism includes a sensor bracket 19, a tension and compression sensor 20 and three anti-jumping guide wheels 21, wherein the tension and compression sensor 20 is installed at the bottom of the base 29 through the sensor bracket 19, one anti-jumping guide wheel 21 is installed on the tension and compression sensor 20, and the other two anti-jumping guide wheels 21 are installed on the sensor bracket 19 and are respectively located on the upper and lower sides of the tension and compression sensor 20; when the fine optical fiber 22 passes through the three anti-jumping guide wheels 21 in sequence and is tightened, a fixed angle will be formed, and the tension of the local fine optical fiber 22 can be calculated according to its designed angle and the reading of the tension and compression sensor 20, and the tension is used to adjust the recovery speed.

[0027] In this embodiment, the control cabin 8 is fixed to the control cabin bracket 9 and located below the underwater recovery motor 1 (the control cabin can be relocated based on equipment space requirements). The control cabin 8 houses the motor driver, motor power module, and control board, which are used for communication, collecting fine optical fiber tension data, and accurately controlling the speed of the underwater recovery motor 1 based on this data.

[0028] The present invention provides a micro-fiber recovery device for an underwater robot, and its working principle is as follows: During the preparation phase, a fine optical fiber 22 is guided from the fiber spool's outlet, first into a shear, and then through the threading holes of the reel 26, the threading holes of the guide bracket 15, and three anti-jump guide wheels 21. Preset parameters, such as the breaking force of the fine optical fiber 22, are input into the control system to provide a basis for adjusting the rotational speed of the control cabin 8.

[0029] When the underwater robot enters the water, the microfiber recovery device also enters the water. During the release process, the microfiber 22 can be smoothly pulled out of the recovery device without any obstruction. At this time, the microfiber recovery device can detect the local tension of the microfiber 22 in real time and synchronously transmit the detected tension data to the display and control center.

[0030] During the recovery phase, a control command is first issued, causing the underwater recovery motor 1 to rotate according to preset parameters. The output shaft of the underwater recovery motor 1 is connected to the driving shaft 23 through the coupling 2, thereby driving the driving shaft 23 and the driving sprocket 3 mounted thereon to rotate synchronously.

[0031] On the one hand, the rotation of the driving shaft 23 directly drives the reel 26 mounted thereon to rotate together. As the reel 26 rotates, the fine optical fiber 22 begins to wind around the surface of the reel 26. Sufficient friction is generated between the fine optical fiber 22 and the reel 26 to ensure that the fine optical fiber 22 is tightly and evenly wound around the reel 26. After the reel 26 rotates for a period of time, the fine optical fiber 22 is wound around the reel 26 and forms a certain pre-tightening force. Then, the shears inside the underwater robot and the shears at the optical fiber group above the water surface act simultaneously to cut off the fine optical fiber 22, entering the normal recovery stage. At this time, the rotation is gradually accelerated according to the preset process, the parameters of the sensor feedback intervene, and the feedback control of the control cabin 8 begins to adjust.

[0032] On the other hand, the driving sprocket 3 transmits power to the driven sprocket 11 through the chain 12. The driven sprocket 11 further transmits power to the reciprocating screw 6, so that the screw nut 5 performs linear reciprocating motion along the sliding guide rod 4. The guide bracket 15 is fixed to the screw nut 5 by fasteners, so that the guide bracket 15 can perform linear reciprocating motion synchronously with the movement of the screw nut 5. The fine optical fiber 22 passes through the guide hole on the guide bracket 15, and driven by the guide bracket 15, the fine optical fiber 22 moves laterally on the reel 26. By precisely designing the pitch of the reciprocating screw 6 and considering parameters such as the thickness of the fine optical fiber 22, it is ensured that the fine optical fiber 22 can be wound evenly and neatly on the reel 26, avoiding local accumulation or over-dense winding, thereby achieving efficient and orderly recovery of the fine optical fiber 22.

[0033] During the recovery process of the fine optical fiber 22, the tension and compression sensor 20 monitors the tension of the fine optical fiber 22 in real time. When it detects that the tension of the fine optical fiber 22 is less than a preset breaking force threshold, the control cabin 8 automatically adjusts the speed of the underwater recovery motor 1 to increase it, ensuring that the tension of the fine optical fiber 22 remains within a reasonable range during the recovery process. Conversely, when the tension of the fine optical fiber 22 exceeds the preset threshold, the control cabin 8 automatically reduces the speed of the underwater recovery motor 1, thereby reducing the tension of the fine optical fiber 22, preventing the fine optical fiber 22 from breaking due to excessive tension, and ensuring the integrity of the recovery process of the fine optical fiber 22.

[0034] After the equipment completes the water discharge operation, it immediately enters the maintenance stage. First, the reel bracket B17 and the retaining spring 27 are disassembled in turn. Then, the reel 26 is pulled outward along the axial direction of the driving shaft 23. During this process, the fine optical fiber 22 in the center hole of the reel 26 will be cut by the pre-set blade 24, so that the reel 26 can be smoothly detached from the driving shaft 23 and pulled out. At this time, the used reel 26 is replaced with a new reel 26, and the previously disassembled parts are reinstalled in the reverse order of disassembly. At this point, the entire maintenance process is declared complete, and the equipment is restored to standby state and can be put into use again at any time.

[0035] This invention enables real-time monitoring and precise management of fine optical fibers. Traditionally, it's difficult to monitor the stresses applied to fine optical fibers in real time, leading to a high risk of damage. This invention utilizes force sensors to enable real-time monitoring of fine optical fibers. This allows precise monitoring of the stresses applied to fine optical fibers during use and recycling, ensuring their safety.

[0036] This invention achieves efficient and intelligent microfiber recovery. Through an innovative recovery mechanism and intelligent control, this invention achieves efficient microfiber recovery. Specifically, after the ARV completes its operation, the invention can quickly and completely recover the microfiber attached to the ARV. During this process, a force sensor monitors the force applied to the microfiber in real time and automatically adjusts the recovery speed based on the data, ensuring that the microfiber maintains a safe and appropriate tension throughout the recovery process.

[0037] The present invention features efficient and convenient maintenance. The quick-change spool design allows for quick removal and replacement of the spool, ensuring the equipment is quickly restored to a usable state and seamlessly transitioning to subsequent tasks, improving overall equipment utilization and operational continuity.

[0038] This invention achieves safe and reliable microfiber recovery. Its design fully considers the operational safety of underwater robots (AUVs) and the reliability of microfiber recovery. During the recovery process, the device operates independently without interfering with the ARV's recovery operations. Precise control and real-time monitoring of the microfiber ensure high-quality recovery. The device also incorporates multiple safety protection mechanisms, such as overload protection and an emergency stop function, to rapidly respond and take action in abnormal situations, ensuring equipment safety.

[0039] The present invention is highly versatile and can be widely applied to various devices requiring the recovery of fine optical fibers. Its design fully considers the interface standards and operational requirements of different devices, allowing integration into a wide range of underwater robots, ocean monitoring equipment, and other systems requiring the recovery of fine optical fibers. Furthermore, the recovery device of the present invention features a compact design, requiring minimal space, making it adaptable to various space-constrained environments.

[0040] In summary, the micro-optical fiber recovery device for an underwater robot provided by the present invention can achieve efficient recovery of micro-optical fibers and prevent micro-optical fibers from polluting the ocean.

[0041] The above description is only an embodiment of the present invention and is not intended to limit the scope of protection 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 scope of protection of the present invention.

Claims

1. A micro-optical fiber recovery device for an underwater robot, characterized in that: It comprises a base (29) and a control cabin (8) arranged on the base (29), a power mechanism, a fiber arrangement mechanism and a sensor mechanism, wherein the fiber arrangement mechanism is used to store and arrange the fine optical fiber (22) during the recovery phase, the power mechanism is connected to the fiber arrangement mechanism, and the power mechanism is used to provide the required power for the recovery and arrangement of the fine optical fiber (22); the sensor mechanism is used to collect and output the tension data of the fine optical fiber (22) in real time; the control cabin (8) is used to receive the tension data of the fine optical fiber (22) sent by the sensor mechanism, and to adjust the recovery speed of the power mechanism according to the tension data of the fine optical fiber (22); The fiber arrangement mechanism includes a fiber arrangement support frame, a reel assembly and a fiber arrangement assembly arranged on the fiber arrangement support frame, the reel assembly is used for recycling and storing the fine optical fiber (22), the fiber arrangement assembly is located below the reel assembly, and the fiber arrangement assembly is used for arranging the fibers during the recycling process of the fine optical fiber (22); The reel assembly comprises a driving shaft (23), a reel (26), a blade (24) and a blade pressing plate (25), wherein the driving shaft (23) is rotatably mounted on the fiber arrangement support frame, and one end is connected to the power mechanism, and the reel (26) is detachably mounted on the driving shaft (23) and rotates together with the driving shaft (23); corresponding wire holes are provided on the driving shaft (23) and the reel (26), and the blade (24) is mounted on one side of the wire hole on the driving shaft (23) through the blade pressing plate (25); when the reel (26) is removed from the driving shaft (23), the fine optical fiber (22) is cut after passing through the blade (24).

2. The micro-optical fiber recovery device for underwater robots according to claim 1, characterized in that: One end of the reel (26) is clamped on the driving shaft (23), limiting the axial movement of the reel (26) in one direction, and the reel (26) can rotate with the driving shaft (23). The other end of the reel (26) is axially fixed by a retaining spring (27), limiting the axial movement of the reel (26) in the other direction.

3. The micro-optical fiber recovery device for underwater robots according to claim 1, characterized in that: The fiber arrangement assembly includes a screw nut (5), a guide bracket (15), a reciprocating screw (6) and sliding guide rods (4) arranged parallel to both sides of the reciprocating screw (6), wherein the reciprocating screw (6) is rotatably mounted on the fiber arrangement support frame, and one end is connected to the power mechanism; a screw nut (5) is threadedly connected to the reciprocating screw (6), and the screw nut (5) slides with the sliding guide rods (4) on both sides, and a guide bracket (15) is provided on the screw nut (5), and the guide bracket (15) is provided with a guide hole for the fine optical fiber (22) to pass through; the reciprocating screw (6) rotates to drive the guide bracket (15) to make reciprocating linear motion, thereby realizing the fiber arrangement of the fine optical fiber (22).

4. The micro-optical fiber recovery device for underwater robots according to claim 3, characterized in that: The power mechanism comprises an underwater recovery motor (1), a coupling (2), a driving sprocket (3), a motor bracket (10), a driven sprocket (11) and a chain (12), wherein the motor bracket (10) is arranged on the base (29), the underwater recovery motor (1) is mounted on the motor bracket (10), and the output end of the underwater recovery motor (1) is connected to the driving shaft (23) through the coupling (2), and the driving sprocket (3) is arranged on the driving shaft (23); the driven sprocket (11) is arranged on the reciprocating screw (6) and is transmission-connected to the driving sprocket (3) through the chain (12), and the underwater recovery motor (1) provides power for the rotation of the driving shaft (23) and the reciprocating screw (6).

5. The micro-optical fiber recovery device for underwater robots according to claim 4, characterized in that: The diameter of the driving sprocket (3) is smaller than the diameter of the driven sprocket (11).

6. The micro-optical fiber recovery device for underwater robots according to claim 1, characterized in that: The sensor mechanism includes a sensor bracket (19), a tension and compression sensor (20) and three anti-jump wire guide wheels (21), wherein the tension and compression sensor (20) is mounted on the bottom of the base (29) through the sensor bracket (19), one anti-jump wire guide wheel (21) is mounted on the tension and compression sensor (20), and the other two anti-jump wire guide wheels (21) are mounted on the sensor bracket (19) and are respectively located on the upper and lower sides of the tension and compression sensor (20); when the fine optical fiber (22) passes through the three anti-jump wire guide wheels (21) in sequence and is tightened, a fixed angle is formed.

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